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Trang 6MARINE STRUCTURAL DESIGN
2003 ELSEVIER Amsterdam - Boston - Heidelberg - London - New York - Oxford Paris - San Diego - San Francisco - Singapore - Sydney - Tokyo
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8 2003 Dr Yong Bai All rights reserved
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ideas contained in the material herein Because of rapid advances in the medical sciences, in particular,
First edition 2003
Library of Congress Cataloging in Publication Data
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Bai, Yong
Marine Structural Design
1 Offshore structures - Design and construction 2 Marine
Trang 8PREFACE
This book is written for marine structural engineers and naval architects, as well as mechanical engineers and civil engineers who work on struch~ral design The preparation of the book is motivated by extensive use of the finite element analysis and dynamidfatigue analysis, fast paced advances in computer and information technology, and application of risk and reliability methods
teaching course TE 6076 “Offshore Structures” and TE6541 “Risk and Reliability Analysis of Offshore Structures” for M.Sc and Ph.D students This book has also been used in IBC/Clarion industry training courses on design and construction of floating production systems for engineers in the oil/@ industry
As reliability-based limit-state design becomes popular in structural engineering, this book may also
be a reference for structural engineers in other disciplines, such as buildings, bridges and spacecraft
My former supervisors should be thanked for their guidance and inspiration These include: Executive Vice President Dr Donald Liu at American Bureau of Shipping (ABS), Professor Torgeir Moan at Norwegian University of Science and Technology 0, Professor Robert Bea and Professor Alaa Mansour at University of California at Berkeley, Prof Preben Terndrup Pedersen at Technical University of Denmark, Professor T Yao at Osaka University and Professor M Fujikubo
at Hiroshima University The friendship and technical advice from these great scientists and engineers have been very important for me to develop materials used in this book
and manager of offshore technology department at the American Bureau of Shipping, I was given opportunities to meet many industry leaders in oil companies, desigdconsulting offices, classification societies and contractors From ISSC, IBC, S N M , OMAE, ISOPE and OTC conferences and industry (ISO/APYDeepstar) committees, I leamed about the recent developments
in industry applications and research
The collaboration with Dr R u i n Song and Dr Tao Xu for a long period of time has been helpful to develop research activities on structural reliability and fatigue respectively Sections of this book relating to extreme response, buckling of tubular members, FPSO hull girder strength and reliability were based on my SNAME, 0- and ISOPE papers co-authored with Professors Preben Temdrup Pedersen and T Yao and Drs Yung Shin, C.T Zhao and H.H Sun
Dr Qiang Bai and Ph.D student Gang Dong provided assistance to format the manuscript
Professor Rameswar Bhattacharyya, Elsevier’s Publishing Editor James Sullivan and Publisher Nick Pinfield and Senior Vice President James Card of ABS provided me continued encouragement in completing this book
I appreciate my wife Hua Peng and children, Lihua and Carl, for creating an environment in which it has been possible to continue to write this book for more than 5 years in different culture and working environments
I wish to thank all of the organizations and individuals mentioned in the above (and many friends and authors who were not mentioned) for their support and encouragement
Yong BAI
Houston, USA
Trang 10TABLE OF CONTENTS
Preface v
Part I: Structural Design Principles CHAPTER 1 INTRODUCTION 3
Structural Design Principles 3
1.1.1 Introduction 3
1.1.2 Limit-State Design 4
1.2 Strength and Fatigue Analysis 5
1.2.1 Ultimate Strength Criteria 6
1.2.2 Design for Accidental Loads 7
1.2.3 Design for Fatigue 8
1.3 Structural Reliability Applications 10
1.3.1 Structural Reliability Concepts 10
1.3.2 Reliability-Based Calibration of Design Factor 12
1.3.3 Requalification of Existing Structures 12
1.4 Risk Assessment 13
1.4.1 Application of Risk Assessment 13
1.4.2 Risk-Based Inspection (RBI) 13
1.4.3 Human and Organization Factors 14
1.5 Layout of This Book 14
1.6 How to Use This Book 16
1.7 References 16
CHAPTER 2 WAVE LOADS FOR SHIP DESIGN AND CLASSIFICATION 19
2.1 Introduction 19
2.2 Ocean Waves and Wave Statistics 19
2.2.1 Basic Elements of Probability and Random Process 19
2.2.2 Statistical Representation of the Sea Surface 21
2.2.3 Ocean Wave Spectra 22
2.2.4 Moments of Spectral Density Function 24
2.2.5 Statistical Determination of Wave Heights and Periods 26
2.3 Ship Response to a Random Sea 26
2.3.1 Introduction 26
2.3.2 Wave-Induced Forces 28
2.3.3 Structural Response 29
2.3.4 Slamming and Green Water on Deck 30
Ship Design for Classification 32
2.4.1 Design Value of Ship Response 32
2.4.2 Design Loads per Classification Rules 33
2.5 References 35
CHAPTER 3 LOADS AND DYNAMIC RESPONSE FOR OFFSHORE STRUCTURES 39
3.1 General 39 1.1
2.4
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3.2 Environmental Conditions 39
3.2.1 Environmental Criteria 39
3.2.2 Regular Waves 41
3.2.3 Irregular Waves 41
3.2.4 Wave Scatter Diagram 42
3.3 Environmental Loads and Floating Structure Dynamics 45
3.3.1 Environmental Loads 45
3.3.2 Sea loads on Slender Structures 45
3.3.3 Sea loads on Large-Volume Structures 45
3.3.4 Floating Structure Dynamics 46
3.4 Structural Response Analysis 47
3.4.1 Structural Analysis 47
3.4.2 Response Amplitude Operator (RAO) 49
3.5 Extreme Values 53
3.5.1 General 53
3.5.2 Short-Term Extreme Approach 54
3.5.3 Long-Term Extreme Approach 58
3.5.4 Prediction of Most Probable Maximum Extreme for Non-Gaussian Process 61
3.6 Concluding Remarks 65
3.7 References 66
3.8 Appendix A Elastic Vibrations of Beams 68
3.8.1 Vibration of A Springhiass System 68
3.8.2 Elastic Vibration of Beams 69
CHAPTER 4 SCANTLING OF SHIP'S HULLS BY RULES 71
4.1 General 71
4.2 Basic Concepts of Stability and Strength of Ships 71
4.2.1 Stability 71
4.2.2 Strength 73
4.2.3 Corrosion Allowance 75
4.3 Initial Scantling Criteria for Longitudinal Strength 76
4.3.1 Introduction 76
4.3.2 Hull Girder Strength 77
4.4 Initial Scantling Criteria for Transverse Strength 79
4.4.1 Introduction 79
4.4.2 Transverse Strength 79
4.5 Initial Scantling Criteria for Local Strength 79
4.5.1 Local Bending of Beams 79
4.5.2 Local Bending Strength of Plates 82
4.5.3 Structure Design of Bulkheads, Decks, and Bottom 83
4.5.4 Buckling of Platings 83
4.5.5 Buckling of Profiles 85
4.6 References 87
CHAPTER 5 SHIP HULL SCANTLING DESIGN BY ANALYSIS 89
5.1 General 89
5.2 Design Loads 89
5.3 Strength Analysis using Finite Element Methods 91
5.3.1 Modeling 91
5.3.2 Boundary Conditions 93
5.3.3 Type of Elements 94
5.4 Fatigue Damage Evaluation 95
5.3.4 Post-Processing 94
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5.5 References 97
CHAPTER 6 OFFSHORE STRUCTURAL ANALYSIS 99
6 I Introduction 99
6.1 1 General 99
6.1.2 Design Codes 99
6.1.3 Government Requirements 100
6.1.4 CertificatiodClassification Authorities 100
6.1.5 Codes and Standards 101
6.1.6 Other Technical Documents 102
6.2 Project Planning 102
6.2.1 General 102
6.2.2 Design Basis 103
6.2.3 Design Brief 105
6.3 Use of Finite Element Analysis 105
6.3.1 Introduction 105
6.3.2 Stiffness Matrix for 2D Beam Elements 107
6.3.3 Stifmess Matrix for 3D Beam Elements 109
6.4 Design Loads and Load Application 112
6.5 Structural Modeling 114
6.5.1 General 114
6.5.2 Jacket Structures 114
6.5.3 Floating Production and Offloading Systems (FPSO) 116
6.5.4 TLP, Spar and Semi-submersible 123
6.6 References 125
CHAPTER 7 LIMIT-STATE DESIGN OF OFFSHORE STRUCTURES 127
7.1 Limit State Design 127
7.2 Ultimate Limit State Design 128
7.2.1 Ductility and Brittle Fracture Avoidance 128
7.2.2 Plated Structures 129
7.2.3 Shell Structures 130
7.3.1 Introduction 134
7.3.3 Fatigue Design 137
7.4 References 138
7.3 Fatigue Limit State Design 134
7.3.2 Fatigue Analysis 135
Part 11: Ultimate Strength CHAPTER 8 BUCKLINGKOLLAPSE OF COLUMNS AND BEAM-COLUMNS 141
Buckling Behavior and Ultimate Strength of Columns 141
8.1.1 Buckling Behavior 141
8.1.2 Peny-Robertson Formula 143
8.1.3 Johnson-Ostenfeld Formula 144
8.2 Buckling Behavior and Ultimate Strength of Beam-Columns 145
8.2.1 Beam-Column with Eccentric Load 145
8.2.2 Beam-Column with Initial Deflection and Eccentric Load 146
8.2.3 Ultimate Strength of Beam-Columns 147
8.2.4 8.3.1 8.1 Alternative Ultimate Strength Equation - Initial Yielding 148
Plastic Design of Beam-Columns 148
Plastic Bending of Beam Cross-section 148 8.3
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8.3.2
8.3.3
8.4.1
8.4.2
Plastic Hinge Load 150
Plastic Interaction Under Combined Axial Force and Bending 150
8.4 Examples 151
Example 8.1: Elastic Buckling of Columns with Alternative Boundaty Conditions 151
Example 8.2 Two Types of Ultimate Strength Buckling vs Fracture 153
8.5 References 154
CHAPTER9 BUCKLING ANDLOCALBUCKLINGOFTUBULARMEMBERS 155
9.1 Introduction 155
9.1.1 General 155
9.1.2 Safety Factors for Offshore Strength Assessment 156
9.2.1 Test Specimens 156
9.2.2 Material Tests 158
9.2.3 Buckling Test Procedures 163
9.2.4 Test Results 163
Theory of Analysis 169
9.3.1 Simplified Elasto-Plastic Large Deflection Analysis 169
9.3.2 Idealized Structural Unit Analysis 180
9.4 Calculation Results 186
9.4.1 Simplified Elasto-Plastic Large Deflection Analysis 186
9.4.2 Idealized Structural Unit Method Analysis 190
9.2 Experiments 156
9.3 9.5 Conclusions 194
9.6 Example 195
9.7 References 196
CHAPTER 10 ULTIMATE STRENGTH OF PLATES AND STIFFENED PLATES 199
10.1 Introduction 199
10.1.1 General 199
10.1.2 Solution of Differential Equation 200
10.1.3 Boundary Conditions 202
10.1.5 Correction for Plasticity 204
10.2 Combined Loads 205
10.2.1 Buckling - Serviceability Limit State 205
10.2.2 Ultimate Strength - Ultimate Limit State 206
10.3 Buckling Strength of Plates 207
10.4 Ultimate Strength of Un-Stiffened Plates 208
10.4.1 Long Plates and Wide Plates 208
10.4.2 Plates Under Lateral Pressure 209
10.4.3 Shear Strength 209
10.4.4 Combined Loads 209
10.5 Ultimate Strength of Stiffened Panels 209
10.5.1 Beam-Column Buckling 209
10.5.2 Tripping of Stiffeners 210
10.6 Gross Buckling of Stiffened Panels (Overall Grillage Buckling) 210
10.7 References 210
CHAPTER 11 ULTIMATE STRENGTH OF CYLINDRICAL SHELLS 213
1 1.1 Introduction 213
11.1.1 General 213
11.1.2 Buckling Failure Modes 214
11.2 Elastic Buckling of Unstiffened Cylindrical Shells 215
10.1.4 Fabrication Related Imperfections and In-Service Structural Degradation 202
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11.2.1 Equilibrium Equations for Cylindrical Shells 215
11.2.2 Axial Compression 216
11.2.3 Bending 217
11.2.4 External Lateral Pressure 218
11.3 Buckling of Ring Stiffened Shells 219
1 1.3.1 Axial Compression 219
11.3.2 Hydrostatic Pressure 220
11.3.3 Combined Axial Compression and Pressure 221
11.4 Buckling of Stringer and Ring Stiffened Shells 221
1 1.4.1 Axial Compression 221
1 1.4.2 Radial Pressure 223
11.4.3 Axial Compression and Radial Pressure 223
1 1.5 References 224
CHAPTER 12 A THEORY OF NONLINEAR FINITE ELEMENT ANALYSIS 227
12.1 General 227
12.2 Elastic Beam-Column With Large Displacements 228
12.3 The Plastic Node Method 229
12.3.1 History of the Plastic Node Method 229
12.3.2 Consistency Condition and Hardening Rates for Beam Cross-Sections 230
12.3.3 Plastic Displacement and Strain at Nodes 233
12.4 Transformation Matrix 236
12.5 Appendix A: Stress-Based Plasticity Constitutive Equations 237
12.5.1 General 237
12.5.2 Relationship Between Stress and Strain in Elastic Region 239
12.5.3 Yield Criterion 240
12.5.4 Plastic Strain Increment 242
12.5.5 Stress Increment - Strain Increment Relation in Plastic Region 246
12.6 Appendix B: Deformation Matrix 247
12.7 References 248
CHAPTER 13 COLLAPSE ANALYSIS OF SHIP HULLS 251
13.1 Introduction 251
13.2 Hull Structural Analysis Based on the Plastic Node Method 252
13.2.1 Beam-Column Element 252
13.2.3 Shear Panel Element 257
13.2.4 Non-Linear Spring Element 257
13.2.5 Tension Tearing Rupture 257
13.3 Analytical Equations for Hull Girder Ultimate Strength 260
13.3.1 Ultimate Moment Capacity Based on Elastic Section Modulus 260
13.3.2 Ultimate Moment Capacity Based on Fully Plastic Moment 261
12.3.4 Elastic-Plastic Stiffness Equation for Elements 235
13.2.2 Attached Plating Element 254
13.2.6 Computational Procedures 259
13.3.3 Proposed Ultimate Strength Equations 263
13.4 Modified Smith Method Accounting for Corrosion and Fatigue Defects 264
13.4.1 Tensile and Comer Elements 265
13.4.2 Compressive Stiffened Panels 265
13.4.3 Crack Propagation Prediction 266
13.4.4 Corrosion Rate Model 267
13.5 Comparisons of Hull Girder Strength Equations and Smith Method 269
13.6 Numerical Examples Using the Proposed Plastic Node Method 271
13.6.1 Collapse of a Stiffened Plate 271