HYDROELASTIC ANALYSIS OF CIRCULAR VERY

LARGE FLOATING STRUCTURES

LE THI THU HANG

NATIONAL UNIVERSITY OF SINGAPORE

2005
HYDROELASTIC ANALYSIS OF CIRCULAR

VERY LARGE FLOATING STRUCTURES

BY

LE THI THU HANG

B.E. (Hanoi University of Civil Engineering)

A THESIS SUBMITTED
FOR THE DEGREE OF MASTER OF ENGINEERING
DEPARTMENT OF CIVIL ENGINEERING

NATIONAL UNIVERSITY OF SINGAPORE

2005
 ACKNOWLEDGEMENTS

I wish to convey my sincere gratitude to my supervisor Professor Wang Chien

Ming for his encouragements, critical comments and suggestions throughout the

research work. His invaluable guidance and advice have greatly shaped my thinking

over the past two years and what I have learnt and experience will undoubtedly be

useful for my future studies.

I am indeed grateful to Professor Tomoaki Utsunomiya from Kyoto University for

his advice and useful discussions on this research study.

I would like to express my thanks to the National University of Singapore for

providing the financial support in the form of the NUS scholarship and facilities to

carry out the research. Thanks are also extended to my colleagues in Civil Engineering

Department for their kind assistance.

Finally, special thanks to my family and my friends for their encouragements and

love in many respects.

Le Thi Thu Hang

i
 TABLE OF CONTENTS

ACKNOWLEGEMENTS ..................................................................................................... i

TABLE OF CONTENTS…………………………………………………………………...ii

SUMMARY……………………………………………………………………………...........v

NOTATIONS………………………………………………………………………………..vii

LIST OF FIGURES………………………………………………………………………....x

LIST OF TABLES……………………………………………………………………..….xiv

CHAPTER 1 INTRODUCTION ............................................................................... 1

1.1 BACKGROUND INFORMATION ON VLFS ........................................................1

1.2 LITERATURE REVIEW ........................................................................................5

1.3 OBJECTIVE OF RESEARCH .................................................................................8

1.4 LAYOUT OF THESIS..............................................................................................9

CHAPTER 2 VIBRATION ANALYSIS OF UNIFORM

CIRCULAR PLATES....................................................................... 11

2.1 PROBLEM DEFINITION ......................................................................................11

2.2 GOVERNING EQUATIONS AND METHOD OF SOLUTION ..........................12

2.3 RESULTS AND DISCUSSIONS ...........................................................................16

2.4 CONCLUDING REMARKS..................................................................................31

CHAPTER 3 VIBRATION ANALYSIS OF STEPPED

CIRCULAR PLATES....................................................................... 32

3.1 PROBLEM DEFINITON .......................................................................................32

3.2 METHOD OF SOLUTION AND MATHEMATICAL MODELLING.................32

ii
 3.3 RESULTS AND DISCUSSIONS ...........................................................................38

3.4 CONCLUDING REMARKS..................................................................................61

CHAPTER 4 HYDROELASTIC ANALYSIS OF UNIFORM

CIRCULAR VLFS ............................................................................ 62

4.1 BASIC ASSUMPTIONS AND PROBLEM DEFINITION ...................................62

4.2 BOUNDARY VALUE PROBLEMS AND GOVERNING EQUATIONS ...........63

4.3 MODAL EXPANSION OF MOTION ...................................................................66

4.4 SOLUTIONS FOR RADIATION POTENTIALS .................................................67

4.5 SOLUTIONS FOR DIFFRACTION POTENTIALS .............................................69

4.6 EQUATION OF MOTION IN MODAL COORDINATES ...................................70

4.7 NUMERICAL RESULTS.......................................................................................72

4.8 CONCLUDING REMARKS..................................................................................76

CHAPTER 5 HYDROELASTIC ANALYSIS OF STEPPED

CIRCULAR VLFS ............................................................................ 77

5.1 PROBLEM DEFINITION ......................................................................................77

5.2 GOVERNING EQUATIONS AND BOUNDARY CONDITIONS ......................77

5.3 EQUATIONS OF MOTION IN MODAL COORDINATES.................................80

5.4 RESULTS AND DISCUSSIONS ...........................................................................83

5.5 CONCLUDING REMARKS..................................................................................89

CHAPTER 6 CONCLUSIONS............................................................................. 90

6.1 CONCLUSIONS.....................................................................................................90

6.2 RECOMMENDATIONS ........................................................................................91

iii
REFERENCES ..................................................................................................................... 92

APPENDICES ...................................................................................................................... 97

APPENDIX 1 ELEMENTS OF MATRIX [K]9x9 FOR NON-AXISYMETRIC

VIBRATION OF STEPPED CIRCULAR PLATE ..............................97

APPENDIX 2 ELEMENTS OF MATRIX [K]6x6 FOR AXISYMETRIC

VIBRATION OF STEPPED CIRCULAR PLATE ............................102

iv
 SUMMARY

This thesis presents a hydroelastic analysis of pontoon-type, circular, very large

floating structure (VLFS) under action of waves. The coupled fluid-structure

interaction problem may be solved by firstly decomposing the unknown deflection of

the plate into modal functions associated with a freely vibrating plate in air. The

second step involves substituting the modal functions into the hydrodynamic equations

and solving the boundary value problem using the boundary element method. The

modal amplitudes of the set of equations of motion obtained are then back substituted

into the modal functions and the stress-resultants functions for the deflections and

stress-resultants of the VLFS under the action of waves.

Although one may use any form of admissible functions for the vibration

modes, it is essential that the final stress-resultants satisfy the natural boundary

conditions along the free edges of the plate. Recently, Wang et al. (2001) and Xiang et

al. (2001) showed that the use of the classical thin plate theory for modeling the

pontoon-type VLFS and well-known energy methods (such as the Ritz method and the

finite element method) for vibration analysis yield modal stress resultants that (a) do

not satisfy the natural boundary conditions and (b) contain oscillations/ripples in their

distributions, affecting the accuracy of the peak values and their locations. When these

modal solutions are used in the hydrodynamic analysis, the final stress-resultants will

also contain these aforementioned inaccuracies. The use of the more refined plate

theory of Mindlin (1951) that incorporates the effects of transverse shear deformation

and rotary inertia, the accuracy of the stress-resultants, especially the transverse shear

forces and twisting moments maybe improved. In order to develop accurate numerical

v
solution for detecting the hydroelastic response of VLFS, there is a need to obtain

benchmark solutions, especially the vibration modes and modal stress-resultants of

freely vibrating plates. As circular plate with free edge is the one can be obtained the

exact vibration results, this study focuses on VLFS with a circular planform. By

obtaining exact mode shapes and modal stress-resultants of circular Mindlin plate, the

hydroelastic results are expected to be accurate.

More specifically, we consider circular VLFS with constant thickness as well as

thickness variation. A comparative study on deflection and stress-resultants between

two kinds of circular plates (by keeping constant volume of material) is conducted.

Numerical results show that the stepped circular VLFS gives much better performance

than uniform circular plate because the final deflection and modal stress-resultants

maybe reduced. Therefore, it would be beneficial to design stepped circular VLFS

instead of uniform thickness one.

The formulations for vibration analysis and hydroelastic analysis for uniform and

stepped circular VLFS are given in explicit forms and the solutions obtained maybe

regarded as almost exact. Such exact solutions should be extremely useful for the

preliminary design of a circular VLFS.

vi
 NOTATIONS

A amplitude of incident wave (m)

b step location for step thickness junction

D plate rigidity of uniform circular plate (kNm)

D0 plate rigidity of reference uniform circular plate (kNm)

D1 plate rigidity of annular sub-plate (kNm)

D2 plate rigidity of core circular sub-plate (kNm)

E Young modulus (kN/m2)

G shear modulus (kN/m2)

g gravitational acceleration (m/sec2)

h thickness of uniform circular plate (m)

h0 thickness of reference uniform circular plate (m)

h1 thickness of annular sub-plate (m)

h2 thickness of core circular sub-plate (m)

k wave number

M rr bending moment per unit length the radial direction (kNm)

M rr = M rr R / D0 = non-dimensional bending moment

M rθ twisting moment (kNm)

M rθ = M rθ R / D0 = non-dimensional twisting moment

n number of nodal diameter

Qr shear forces (kN)

Qr =Q r R 2 / D0 = non-dimensional shear force

vii
R radius of circular plate (m)

r radial coordinate (m)

S non-dimensional plate rigidity of uniform circular plate

s number of sequence for each mode

S0 non-dimensional plate rigidity of reference uniform circular plate

w vertical displacement (m)

w = w / R = non-dimensional vertical displacement

wmax maximum deflection (m)

α step ratio of thicknesses = h2 h1

χ non-dimensional radial coordinate = r / R

φ velocity potential

φ Dn diffraction potential

φ ns radiation potential

γ density of plate material (kg/m3)

κ2 correction factor

λ = ϖR 2 γh D non-dimensionalized frequency parameter of circular plate

λ0 = ϖ 0 R 2 γh0 D 0 non-dimensionalized frequency parameter of reference

circular plate

λs = ϖ s R 2 γh0 D 0 non-dimensionalized frequency parameter of stepped circular

plate

ν Poisson’s ratio

Θi potential functions

θ circumferential coordinate (radiants)

viii
ρ density of the fluid (kg/m3)

h0
τ thickness ratio of uniform circular plate =
R

h0
τ0 thickness ratio of reference uniform circular plate =
R

h1
τ1 thickness ratios of stepped circular plate =
R

h2
τ2 thickness ratios of stepped circular plate =
R

ω natural frequency of uniform circular plate

ω0 natural frequency of reference uniform circular plate

ωs natural frequency of stepped circular plate

ψr rotary displacement along radial axis of circular plate

ψθ rotary displacement along circumferential of circular plate

ζ ns modal apmplitude

∇(•) Laplacian operator

ix
 LIST OF FIGURES

Figure 1.1 Mega Float in Tokyo Bay, Japan............................................................ 2

Figure 1.2 Floating Oil Storage at Kamigoto, Japan................................................ 2

Figure 1.3 Yumeshima-Maishima Floating Bridge in Osaka, Japan ....................... 3

Figure 1.4 Floating Rescue Emergency Base at Tokyo Bay, Japan ........................ 3

Figure 1.5 Floating island at Onomichi Hiroshima, Japan....................................... 3

Figure 1.6 Floating pier at Ujina Port Hiroshima, Japan ......................................... 3

Figure 1.7 Floating Restaurant in Yokohoma, Japan............................................... 3

Figure 1.8 Floating heliport in Vancouver, Canada................................................. 3

Figure 1.9 Nordhordland Brigde Floating Bridge, Norway.................................... 3

Figure 1.10 Hood Canal Floating Bridge, USA......................................................... 3

Figure 1.11 Types of Floating Structures ................................................................... 4

Figure 2.1 Geometry of a Circular Mindlin Plate ................................................... 12

Figure 2.2a SAP2000 modal stress resultants associated with the fundamental

frequency of a uniform circular plate with free edges .......................... 21

Figure 2.2b Exact modal stress resultants associated with the fundamental frequency

of a uniform circular plate with free edges ........................................... 21

Figure 2.2c Mode shapes and modal stress resultants for free circular plates based on

classical thin plate theory and Mindlin plate theory ............................ 21

Figure 2.3 3D-mode shape plots of uniform circular Mindlin plate.............. 22 to 24

Figure 2.4a Mode shapes and modal stress resultants for free circular Mindlin plates

with thickness ratio h/R = 0.01. The number of nodal diameters n = 0

(axisymmetric modes) ........................................................................... 22

x
Figure 2.4b Mode shapes and modal stress resultants for free circular Mindlin plates

with thickness ratio h/R = 0.01. The number of nodal diameters is n = 1,

2, 3 and 4, respectively.......................................................................... 23

Figure 2.4c Mode shapes and modal stress resultants for free circular Mindlin plates

with thickness ratio h/R = 0.01. The number of nodal diameters is n = 5,

6, 7 and 8, respectively.......................................................................... 24

Figure 2.5a Mode shapes and modal stress resultants for free circular Mindlin plates

with thickness ratio h/R = 0.10. The number of nodal diameters is n = 0

(axisymmetric modes) ........................................................................... 25

Figure 2.5b Mode shapes and modal stress resultants for free circular Mindlin plates

with thickness ratio h/R = 0.1. The number of nodal diameters is n = 1,

2, 3 and 4, respectively......................................................................... 26

Figure 2.5c Mode shapes and modal stress resultants for free circular Mindlin plates

with thickness ratio h/R = 0.1. The number of nodal diameters is n = 5,

6, 7 and 8, respectively.......................................................................... 27

Figure 3.1 Geometry of a Stepped Circular Plate ................................................... 29

Figure 3.2 Frequency parameter λ s versus step location b for Mindlin plates with

reference thickness ratio τ 0 = 0.1, α = 0.5 to 2 .................................... 43

Figure 3.3 Frequency parameter λ s versus step location b for plates with τ 0 = 0.1,

α = 2 and n = 2 .................................................................................... 45

Figure 3.4a Frequency parameter λ s versus reference thickness ratios τ 0 for plates

with step location b = 0.5 and stepped thickness ratio α = 0.5 ............ 46

Figure 3.4b Frequency parameter λ s versus reference stepped thickness ratio α for

plates with step location b=0.5 and reference thickness ratio τ 0 =0.1 .. 46

xi
Figure 3.5a Mode shapes (with n = 2, s = 1) and modal stress resultants for stepped

plates and their reference constant thickness plates ............................ 47

Figure 3.5b Mode shapes (with n = 0, s = 1) and modal stress resultants for stepped

plates and their reference constant thickness plates ............................ 48

Figure 3.5c Mode shapes (with n = 3, s = 1) and modal stress resultants for stepped

plates and their reference constant thickness plates ............................ 49

Figure 3.5d Mode shapes (with n = 1, s = 1) and modal stress resultants for stepped

plates and their reference constant thickness plates ............................ 50

Figure 3.5e Mode shapes (with n = 4, s = 1) and modal stress resultants for stepped

plates and their reference constant thickness plates ............................ 51

Figure 3.5f Mode shapes (with n = 5, s = 1) and modal stress resultants for stepped

plates and their reference constant thickness plates ............................ 52

Figure 3.5g Mode shapes (with n = 2, s = 2) and modal stress resultants for stepped

plates and their reference constant thickness plates ............................ 53

Figure 3.5h Mode shapes (with n = 0, s = 2) and modal stress resultants for stepped

plates and their reference constant thickness plates ............................ 54

Figure 3.6 Three Dimensional Stress-resultant Plots of Uniform and Stepped

Circular Plates ............................................................................. 58 to 60

Figure 4.1 Geometry of an Uniform Circular VLFS ............................................. 57

Figure 4.2 Deflection for Problem 1, Real part and Imaginary part ...................... 68

Figure 4.3 Deflection Amplitude for Problem 1 .................................................... 68

Figure 4.4 Deflection for Problem 2, Real part and Imaginary part ...................... 68

Figure 4.5 Deflection Amplitude for Problem 2 .................................................... 68

Figure 4.6 Bending moment amplitude for Problem 2 .......................................... 69

Figure 4.7 Twisting moment amplitude for Problem 2.......................................... 69

xii
Figure 4.8 Shear force amplitude for Problem 2.................................................... 69

Figure 5.1 Geometry of a Stepped Circular VLFS ................................................ 72

Figure 5.2 Displacements and Bending Moments for stepped VLFSs and the

reference constant thickness VLFS ...................................................... 81

Figure 5.3 Twisting Moments and Shear Forces for stepped VLFSs and the

reference constant thickness VLFS ...................................................... 82

Figure 5.4 Stresses M rri R /(τ i2 D0 A) , M rθi R /(τ i2 D0 A) , Qri R 2 /(τ i D0 A) for stepped

VLFSs and the reference constant thickness VLFS ............................. 83

xiii
 LIST OF TABLES

Table 2.1 Frequency parameters λ = ωR 2 γh / D for free circular Mindlin plates

(ν = 0.3 , κ 2 = 5 / 6 )................................................................................. 20

Table 3.1a Frequency parameter λs for stepped plates with step location at b = 1/2,

reference constant thicknesses τ o = 0.01 and 0.1 ................................. 39

Table 3.1b Frequency parameter λs for stepped plates with step location at b = 1/2 ,

reference constant thicknesses τ o = 0.125 and 0.15 .............................. 40

Table 3.2a Frequency parameter λs for stepped plates with step location at b = 1/3,

reference constant thicknesses τ o = 0.01 and 0.1 .................................. 41

Table 3.2b Frequency parameter λ s for stepped plates with step location at b = 1/3,

reference constant thicknesses τ o = 0.125 and 0.15 ............................. 42

Table 4.1 Parameters for Analyzed Circular VLFSs................................................ 66

Table 5.1 Parameters for Analyzed Stepped Circular VLFSs.................................. 79

xiv
 Chapter 1
INTRODUCTION

This chapter introduces the very large floating structures (VLFSs)

and their applications. A literature review on hydroelastic analysis of
pontoon-type VLFS, the objective of research work and layout of the
thesis are presented.

1.1 BACKGROUND INFORMATION ON VLFS

With a growing of population and a corresponding expansion of urban development

in land-scarce island countries and countries with long coastlines, the governments of

these countries have resorted to land reclamation from the sea in order to ease the

pressure on existing heavily-used land space. There are, however, constraints on land

reclamation works, such as the negative environmental impact on the country’s and

neigbouring countries’ coastlines and marine eco-system as well as the huge economic

costs in reclaiming land from deep coastal waters, especially when the cost of sand for

reclamation is very high. In response to both the aforementioned needs and problems,

engineers have proposed the construction of very large floating structures (VLFS) for

industrial space, airports, storage, facilities and even habitation. Japan, for instance,

has constructed the Mega-Float in the Tokyo Bay (Fig. 1.1), the floating oil storage

base Shirashima and Kamigoto (Fig. 1.2), the Yumeshima-Maishima floating bridge in

Osaka (Fig. 1.3), the floating emergency rescue bases in Tokyo Bay, Osaka Bay (Fig.

1.4), the floating island at Onomichi Hiroshima (Fig. 1.5), the floating pier at Ujina

Port Hiroshima (Fig. 1.6), and the floating restaurant in Yokohoma (Fig.1.7). Canada

has constructed a floating heliport in Vancouver (Fig. 1.8) and the Kelowna floating

bridge on Lake On in British Columbia. Norway has the Bergsoysund floating bridge

1
 Introduction

and Nordhordland Brigde (Fig. 1.9), while the United States has the Hood Canal

floating bridge (Fig. 1.10) and Korea has a floating hotel. These VLFSs have

advantages over the traditional land reclamation solution in the following aspects:

• They are cost effective when the water depth is large and sea bed is soft

• Environmentally friendly as they do not damage the marine eco-system or silt-up

deep harbours or disrupt the ocean currents

• They are easy and fast to construct and therefore sea-space can be speedily

exploited

• They can be easily removed or expanded

• The structures on VLFSs are protected from seismic shocks since the floating

structure is inherently base isolated

• They do not suffer from differential settlement due to reclaimed soil

consolidation

• Their positions with respect to the water surface are constant and thus facilitate

small boats and ship to come alongside when used as piers and berths

• Their location in coastal water provide scenic body of water all around, making

them suitable for developments associated with leisure and water sport activities.

Figure 1.1 Mega Float in Tokyo Bay, Figure 1.2 Floating Oil Storage at
Japan Kamigoto, Japan

2
 Introduction

Figure 1.3 Yumeshima-Maishima Floating Figure 1.4 Floating Rescue Emergency

Bridge in Osaka, Japan Base at Tokyo Bay, Japan

Figure 1.5 Floating island at Onomichi Figure 1.6 Floating pier at Ujina Port
Hiroshima, Japan Hiroshima, Japan

Figure 1.7 Floating Restaurant in Figure 1.8 Floating heliport in Vancouver,

Yokohoma, Japan Canada

Figure 1.9 Nordhordland Brigde Floating Figure 1.10 Hood Canal Floating Bridge,
Bridge, Norway USA

_________________________

Figures courtesy of Prof E Watanabe, Kyoto University

3
 Introduction

VLFS may be classified under two categories, namely the semi-submersible type

and the pontoon-type (see Fig. 1.11). The semi-submersibles type is designed to

minimize the effects of waves while maintaining a constant buoyant force. Thus it can

reduce the wave-induced movement of the structure, and therefore it is suitable for

areas where the water is very deep and very high waves. The semi-submersibles are

kept in position by either tethers or thrusters. In contrast, pontoon-type floating

structures lie on the sea level like a giant plate floating on water (see Fig. 1.1).

Pontoon-type floating structures are suitable for use in only calm waters, often near the

shoreline. The pontoon-type VLFS is very flexible when compared to other kinds of

offshore structures and so the elastic deformations are more important than their rigid

body motions.

Semi-submersible-type
Pontoon-type

Figure 1.11 Types of Floating Structures

This thesis deals with the hydroelastic analysis of pontoon-type circular VLFSs

under action of waves. Both uniform circular VLFS and stepped circular VLFS’s

solutions are considered. This study develops analytical approach for hydroelastic

analysis of these VLFS structures. Exact deflections and stress resultants are given and

should be useful as they served as benchmark solutions for verification of numerical

programs such as BEM or FEM for VLFS analysis.

4
 Introduction

1.2 LITERATURE REVIEW

The hydroelastic analysis of very large floating structures has attracted the attention

of many researchers, especially with the construction of the Mega-Float in Tokyo Bay

in 1995. Many researchers analyzed pontoon-type VLFS of a rectangular planform

(Utsunomiya et al. 1998, Mamidipudi and Webster 1994, Endo 2000, Ohkusu and

Namba 1998, Namba and Ohkusu 1999), mainly because of practical reasons for this

shape and also it lends itself for the construction of semi-analytical methods for

solution. There are very few studies on non-rectangular VLFS. Hamamota and Fujita

(2002) treated L-shaped, T-shaped, C-shaped and X-shaped VLFSs. It was suggested

that hexagonal shaped VLFSs be constructed as Japanese Society of Steel Construction

(1994). Circular pontoon-type VLFSs are considered by Hamamoto (1994), Zilman

and Miloh (2000), Tsubogo (2001), Peter et al. (2003) and Watanabe et al. (2003). So

it so appears that more studies on VLFSs of circular shape should be carried out.

The hydroelastic analysis of VLFS may be conducted in the frequency domain or in

the time domain. Most hydroelastic analyses are carried out in the frequency-domain,

being the simpler of the two. The commonly-used approaches for the analysis of VLFS

in the frequency domain are the modal expansion method and the direct method. The

principal difference between the modal superposition method and the direct method

lies in the treatment of the radiation motion for determining the radiation pressure.

In the direct method, the deflection of the VLFS is determined by directly solving

the motion of equation without any help of eigenmodes. Mamidipudi and Webster

(1994) pioneered this direct method for a VLFS. In their solution procedure, the

potential of diffractions and radiation problems were established first, and the

deflection of VLFS was determined by solving the combined hydroelastic equation via

the finite difference scheme. Their method was modified by Yago and Endo (1996)

5
 Introduction

who applied the pressure distribution method and the equation of motion was solved

using the finite element method. Ohkusu and Namba (1996) proposed a different type

of direct method which does away with the commonly-used two-step modal expansion

approach. Their approach is based on the ideal that the thin plate is part of the water

surface but with different physical characteristics than those of the free surface of the

water. The problem is considered as a boundary value problem in hydrodynamics

rather than the determination of action. In Kashiwagi’s direct method (1998), the

pressure distribution method was applied and the deflection was solved from the

vibration equation of the structure. In order to archive a high level of accuracy in a

very short wave length regime as well as short computational times and fewer

unknowns, he uses bi-cubic B-spline functions to present the unknown pressure and a

Galerkin’s method to satisfy the boundary conditions. His method for obtaining

accurate results in the short wave length regime is a significant improvement over the

numerical techniques proposed by other researchers (Maeda et al. 1995, Takaki and

Gu 1996, Yago 1995, Wang et al. 1997), who have also employed the pressure

distribution method.

The modal expansion method consists of separating the hydrodynamic analysis and

the dynamic response analysis of the plate. The deflection of the plate with free edges

is decomposed into vibration modes that can be arbitrarily chosen. In this regard,

researchers have adopted different modal functions such as products of free-free beam

modes (Maeda et al. 1995, Wu et al. 1995, 1996 and 1997, Kashiwagi 1998, Nagata et

al. 1998, Utsunomiya et. al. 1998, Ohmatsu 1998), B-spline function (Lin and Takaki

1998), Green function (Eatock Taylor and Ohkusu 2000), two-dimensional polynomial

functions (Wang et al. 2001) and finite element solutions of freely vibrating plates

(Takaki and Gu 1996). Also, it should be remarked that the modes may be that of the

6
 Introduction

dry type or the wet type. While the most analyses used the dry-mode approach (Wu et

al. 1997) because of its simplicity and numerical efficiency, Hamamoto et al. (1995,

1996, 1997, 2002) have conducted studies using the wet-mode approach. Although the

dry-modes superposition and wet-modes superposition can lead to the same solution,

the wet-mode superposition approach is considered to be rather complex (for example,

an iterative procedure is needed to obtain a wet-mode).

In order to validate the numerical methods and to check the accuracy and

convergence of solutions, analytical solutions are important needed for hydrodynamic

response of VLFSs. Moreover it was shown that numerical techniques such as the

finite element method (FEM) and the Rayleigh-Ritz method actually do not furnish

accurate distributions of modal stress-resultants (Wang et al. 2001, Xiang et al. 2001).

In fact, the distributions of the numerically obtained modal stress-resultants contain

oscillations and they do not satisfy completely the natural boundary conditions at the

free edges. The reason for this shortcoming is that the FEM and the Rayleigh-Ritz

method do not directly enforce the natural boundary conditions as is done for the

essential boundary conditions. Therefore exact vibration solutions, especially exact

modal stress resultants, for free plates are important to have as benchmark solutions for

assessing the accuracy of numerical results.

A plate shape that admits the derivation of exact solutions for plates with free edges

is the circular shape. Probably, the first paper on hydroelastic analysis of circular

VLFS is the one written by Hamamoto and Tanaka (1992). They developed an

analytical approach to predict the dynamic response of a flexible circular floating

island subjected to stochastic wind-waves and seaquakes (see also Hamamoto, 1994).

Their approach was based on the superposition of wet-modes (free vibration modes in

still-water).

7
 Introduction

Researchers have also been seeking analytical solutions. Zilman and Miloh (2000)

obtained a closed form solutions of the hydroelastic response of a circular floating

plate in shallow waters. Tsubogo (2000, 2001) solved the same floating circular plate

problem independently. However, the assumption of shallow water limits the

applicability range, and the extension of their method to finite-water depth has not yet

been made.

1.3 OBJECTIVE OF RESEARCH

Complementing the above studies, this study will develop analytical approach for

hydroelastic analysis of a circular VLFS. The analysis is carried out in the frequency

domain using the modal expansion method (dry-mode superposition). The aims of the

present study are

• to determine the exact mode shape and modal stress-resultants of freely vibrating

circular plate with uniform thickness as well as stepped thickness variation.

• to solve the hydroelastic problem of pontoon-type circular VLFS under action of

waves.

In the open literature, many analysts used the classical thin plate theory for

modeling the pontoon-type VLFS. For more accurate evaluation of modal stress

resultants, the more refined plate theory proposed by Mindlin (1951) should be

adopted instead. The Mindlin plate theory allows for the effect of transverse shear

deformation and rotary inertia which become significant in high vibration modes.

Moreover, the stress-resultants are evaluated from first order derivatives of deflection

and rotations. In contrast, the stress-resultants in the classical thin plate theory are

expressed in terms of second order and third order derivatives of deflection. Therefore,

more accurate stress-resultants can be obtained by using the Mindlin plate theory.

8
 Introduction

VLFSs are usually designed as optimally as possible with properties sometimes

varying abruptly over their cross-sections for economic distribution of materials.

Owing to the variations in structural properties, the deflection pattern may have a very

different spatial character from a similar structure with uniform structural property

characteristics. Therefore, vibration problem of stepped circular plate is tackled with

and the hydroelastic analysis solution for stepped circular VLFS is presented in this

thesis. The influence of the stepped thickness design on the vibration frequencies,

mode shapes and modal stress resultants is explored by comparing with the

corresponding results of a reference circular plate of constant thickness and equal

volume. Comparison study of the deflections and stress-resultants of stepped circular

VLFS and its reference uniform thickness circular VLFS are also given. These exact

solutions and research findings should be useful in the hydroelastic analysis and cost-

effective design of circular VLFSs with a stepped thickness variation.

1.4 LAYOUT OF THESIS

This thesis comprises of two parts. Part 1, consisting of Chapters 2 and 3, deals

with the free vibration analysis of a uniform and non-uniform circular plates vibrating

in air, normally reformed to dry mode solution. Part 2, consisting of Chapters 4 and 5,

is concerned with the hydroelastic analysis of these circular VLFSs under actions of

waves.

More specifically, Chapter 2 deals with the free vibration analysis of circular plates

with uniform thickness. Adopting the Mindlin plate theory, the governing equations

and the boundary condition are presented. They are solved analytically and the natural

frequencies, mode shapes and modal stress-resultants are given.

9
 Introduction

Chapter 3 is concerned with the free vibration solution of stepped circular plates. In

solving such a stepped plate problem, the stepped plate is decomposed into two sub-

plates, a core circular plate and an outer annular plate. The Mindlin plate theory is also

adopted. The boundary conditions are those of free edges the continuity conditions at

the interface between two sub-plates. By keeping the volume of stepped plates a

constant, the frequency values, mode shape and modal stress-resultants are

investigated with respect to those of a corresponding circular plate with constant

thickness. The influence of the stepped thickness design on the vibration frequencies,

mode shapes and modal stress resultants is also explored. In the hydrodynamic

analysis of a VLFS structure, the mode shapes and modal stress resultants from the

free vibration analysis of the structure are utilized to predict the dynamic responses of

the structure.

Following studies on the free vibration analysis, Chapter 4 and 5 deal with

hydroelastic analysis of uniform circular VLFS and stepped circular VLFS,

respectively. The analysis of VLFS is carried out in the frequency domain using modal

expansion matching method. Firstly, decomposing the deflection of circular Mindlin

plates given in Chapter 2 and 3 into vibration modes and then the hydrodynamic

diffraction and radiation forces are evaluated by using eigenfunction expansion

matching method. The modal deflection and stress resultants of both uniform and non-

uniform circular VLFS are served as benchmark solution for checking the validity,

convergence and accuracy of numerical solutions and methods for analysis of pontoon-

type VLFSs.

In Chapter 6, the conclusions and some suggestions for future research work on
circular VLFS are presented.

10
 Chapter 2

VIBRATION ANALYSIS OF UNIFORM

CIRCULAR PLATES

Presented herein are exact vibration solutions of freely vibrating,

circular Mindlin plates with free edges. The natural frequencies,
mode shapes and modal stress-resultant are given for various plate
thickness to radius ratios. As the vibration analysis is carried out
analytically the stress-resultants obtained completely satisfy the
natural boundary conditions.

2.1 PROBLEM DEFINITION

Considered as an isotropic, flat circular plate of radius R, thickness h, mass density

γ , Poisson’s ratio ν , Young’s modulus E and shear modulus G ( = E /[2(1 + ν )] ). The

plate is free from any attachment/support as shown in Fig. 2.1

R r, χ

θ
o Free Edge

Figure 2.1 Geometry of a Circular Mindlin Plate

11
 Vibration Analysis of Uniform Circular Plate

The problem at hand is to determine the modal displacement fields and stress

resultants for the freely vibrating circular plate. To allow for the effects of transverse

shear deformation and rotary inertia the Mindlin plate theory is adopted instead of the

commonly used classical thin plate theory.

2.2 GOVERNING EQUATIONS AND METHOD OF SOLUTION

Following the work by Mindlin and Deresiewicz (1951), the rotations (ψ r ,ψ θ ) and

transverse displacements w may be expressed as functions of three potentials Θ1 , Θ 2

and Θ 3 in the following manner:

∂Θ 1 ∂Θ 1 ∂Θ 3
ψ r = (σ 1 − 1) + (σ 2 − 1) 2 + (2.1)
∂χ ∂χ χ ∂θ

1 ∂Θ 1 1 ∂Θ 2 ∂Θ 3
ψ θ = (σ 1 − 1) + (σ 2 − 1) − (2.2)
χ ∂θ χ ∂θ ∂χ

w = Θ1 + Θ 2 (2.3)

where

(δ 22 , δ 12 ) 2(δ 22 , δ 12 )
σ1,σ 2 = = (2.4)
⎡τ 2 λ2 6(1 − ν )κ 2 ⎤ δ 32 (1 − ν )
⎢ − ⎥
⎣ 12 τ2 ⎦

⎡ 2 ⎤
λ 2 ⎢τ 2
τ2 ⎛τ 2 τ2 ⎞ 4
δ ,δ =
2 2
+ ± ⎜
⎜ − ⎟ + 2⎥
2 ⎟
(2.5)
2 ⎢ 12 6(1 − ν )κ ⎝ 12 6(1 − ν )κ ⎠ λ ⎥
1 2 2

⎣ ⎦

2 ⎡τ 2 λ2 6(1 − ν )κ 2 ⎤
δ =
2
−
(1 − ν ) ⎢⎣ 12 ⎥ (2.6)
τ2
3
⎦

r h γh
χ= , τ = , λ = ωR 2 (2.7 a, b, c)
R R D

12
 Vibration Analysis of Uniform Circular Plate

in which r and θ are the radial and circumferential coordinates of the polar coordinate

system, w, ψ r and ψ θ the transverse displacement and rotations in the Mindlin plate

theory, w is the transverse displacement of the plate, χ the non-dimensionalised

radial coordinate (see Figure 2.1), κ 2 the shear correction factor, and λ the non-

dimensionalised frequency parameter.

In view of the three potential functions Θ1 , Θ 2 and Θ 3 the governing differential

equations of the vibrating circular plate, in polar coordinates, may be compactly

expressed as (Mindlin 1951)

(∇ 2
+ δ 12 ) Θ1 = 0 (2.8)

(∇ 2
+ δ 22 ) Θ 2 = 0 (2.9)

(∇ 2
)
+ δ 32 Θ 3 = 0 (2.10)

where the Laplacian operator

∂ 2 (•) 1 ∂ (•) 1 ∂ 2 (•)

∇ 2 (•) = + + 2 (2.11)
∂χ 2 χ ∂χ χ ∂θ 2

The general solutions to equations (2.8) to (2.10) may be expressed as

Θ1 = A1 Rn (∆ 1 χ ) cos nθ + B1 S n (∆ 1 χ ) cos nθ (2.12)

Θ 2 = A2 Rn (∆ 2 χ ) cos nθ + B2 S n (∆ 2 χ ) cos nθ (2.13)

Θ 3 = A3 Rn (∆ 3 χ )sin nθ + B3 S n (∆ 3 χ )sin nθ (2.14)

where

⎧⎪ δ if δ j2 ≥ 0
∆j =⎨ j , j = 1, 2, 3
⎪⎩Im δ j ( ) if δ j2 < 0
(2.15)

( ⎧⎪ J ∆ χ
)
Rn ∆ j χ = ⎨ n j
( ) if δ j2 ≥ 0
, j = 1, 2, 3
(
⎪⎩ I n ∆ j χ ) if δ j2 < 0
(2.16)

13
 Vibration Analysis of Uniform Circular Plate

( )
Sn ∆ j χ = ⎨ n j
(
⎧⎪ Y ∆ χ ) if δ j2 ≥ 0
, j = 1, 2, 3
(
⎪⎩ K n ∆ j χ ) if δ j2 < 0
(2.17)

in which A j and B j ( j = 1, 2 and 3) are the arbitrary constants that will be determined

by the free boundary conditions of the plate, n is the number of nodal diameters of a

vibration mode, J n (•) and I n (•) are the first kind and the modified first kind Bessel

functions of order n, and Yn (•) and K n (•) the second kind and the modified second

kind Bessel functions of order n. For a circular plate, the arbitrary constants B j must

be set to zero in order to avoid singularity for the displacement fields w , ψ r and ψ θ

at the plate centre ( χ = r / R = 0 ). The displacement fields and the stress resultants of

the circular plate are therefore expressed in terms of the arbitrary constants A j .

The boundary conditions of circular Mindlin plate with free edge given by

Qr = 0, M rr = 0, M rθ = 0 (2.18 a-c)

where the transverse shear force Qr , the radial bending moment M rr and the twisting

moment M rθ are given by

⎛ ∂w ⎞
Qr = κ 2 Gh⎜⎜ +ψ r ⎟⎟ (2.19)
⎝ ∂χ ⎠

D ⎡ ∂ψ r ν ⎛ ∂ψ θ ⎞⎤
M rr = ⎢ + ⎜⎜ψ r + ⎟⎟⎥ (2.20)
R ⎢⎣ ∂χ χ⎝ ∂θ ⎠⎥⎦

D ⎛ 1 - ν ⎞ ⎡ 1 ⎛ ∂ψ r ⎞ ∂ψ θ ⎤
M rθ = ⎜ ⎟⎢ ⎜ −ψ θ ⎟⎟ + ⎥ (2.21)
R ⎝ 2 ⎠ ⎣⎢ χ ⎜⎝ ∂θ ⎠ ∂χ ⎥⎦

By substituting Eqs. (2.12) to (2.14) into Eqs. (2.1) to (2.3) and then into Eqs. (2.18

a-c), one obtain a homogeneous system of equations which may be expressed as

14
 Vibration Analysis of Uniform Circular Plate

⎧ A1 ⎫
[K ]⎪⎨ A2 ⎪⎬ = {0} (2.22)
⎪A ⎪
⎩ 3⎭
and [K ] is a 3 x 3 matrix where the elements are given by

k11 = (σ 1 − 1)[ J n'' (δ 1 ) + νJ n' (δ 1 ) − νn 2 J n (δ 1 )] (2.23)

k12 = (σ 2 − 1)[ J n'' (δ 2 ) + νJ n' (δ 2 ) − νn 2 J n (δ 2 )] (2.24)

k13 = n(1 − ν )[ J n' (δ 3 ) − J n (δ 3 )] (2.25)

k 21 = −2n(σ 1 − 1)[ J n' (δ 1 ) − J n (δ 1 )] (2.26)

k 22 = −2n(σ 2 − 1)[ J n' (δ 2 ) − J n (δ 2 )] (2.27)

k 23 = − J n'' (δ 3 ) + J n' (δ 3 ) − n 2 J n (δ 3 )] (2.28)

k 31 = σ 1 J n' (δ 1 ) (2.29)

k 32 = σ 2 J n' (δ 2 ) (2.30)

k 33 = nJ n (δ 3 ) (2.31)

By setting the determinant of [K ] in equation (2.22) to be zero and solving the

characteristic equation for the root, we obtain the natural frequency of vibration.

The modal displacement fields w , ψ r and ψ θ and modal stress resultants Qr , M rr

and M rθ are calculated from the angular frequency ω and the corresponding

eigenvector [A1 A2 A3 ] . In presenting the vibration modes and modal stress-

T

resultants, we normalize the maximum transverse displacement

w
w= ; wmax = 1 (2.32 a,b)
R

15
 Vibration Analysis of Uniform Circular Plate

The corresponding bending moment, twisting moment and shear force are presented in

their non-dimensional forms as follows:

R
M rr = M rr (2.33)
D

R
M rθ = M rθ (2.34)
D

R2
Qr = Qr (2.35)
D

2.3 RESULTS AND DISCUSSIONS

Before presenting vibration solutions for circular plates, we demonstrate the

shortcomings of the finite element method in obtaining accurate modal stress

resultants. Take for instance, the problem of a circular plate with free edges and its

thickness to radius ratio being equal to 0.01. We compute the fundamental vibration

frequency of this plate using well-known finite element software packages such as

SAP2000 and ABAQUS. Fig. 2.2a shows clearly that SAP2000 modal stress resultants

do not satisfy the natural boundary conditions at the free edge, especially the twisting

moment and the transverse shear force. On the other hand, Fig. 2.2b shows the

corresponding exact solutions that satisfy the boundary conditions. Moreover, the peak

value of modal stress resultants of SAP2000 have not converged to the exact values

even though a very fine mesh design was used (see Fig. 2.2a for the mesh design). For

example, the peak value of modal transverse shear force Qr = 1.315 was obtained by

SAP2000 while the corresponding exact peak value is Qr = 0.926 , a difference of

42%. Moreover, Figure 2.2c compares the exact modal displacement w and modal

stress resultants Qr , M rr and M rθ for a free circular plate obtained on the basis of the

classical thin plate theory (Leissa, 1969) and of the Mindlin plate theory. The

16
 Vibration Analysis of Uniform Circular Plate

normalised effective shear force Vr is calculated based on its definition in the classical

thin plate theory. The plate thickness ratio h/R is taken to be 0.01 and the number of

nodal diameters n and the mode sequence s are set to be 4 and 1, respectively. It shows

that the mode shape w and modal stress resultants from the thin and thick plate

theories are almost the same except for Qr and M rθ near the vicinity of the plate edge.

Unfortunately, the discrepancies found at the vicinity of the free edge also contain the

peak values of the stress-resultants. And the boundary conditions Qr = 0 and M rθ = 0,

are not satisfied when using the classical thin plate theory due to the free edge

conditions based on the thin plate theory are Vr = 0 and M rr = 0. Clearly, these shows

the importance of exact free vibration solutions that we shall be presenting below for

benchmark purposes as well as for use in the hydroelastic analysis of circular VLFS.

The Poisson ratio ν = 0.3 and the shear correction factor κ 2 = 5 / 6 are adopted for

all calculations. Exact vibration frequency parameters λ = ωR 2 γh / D for free

circular Mindlin plates with thickness to radius ratios of 0.005, 0.01, 0.1, 0.125 and

0.15 are presented in Table 2.1. The number of nodal diameters n varies from 1 to 8

and the mode sequence number s (for a given n value) for 1 to 4, respectively. For a

better view of how a circular plate deflect regarding to number of n and s, one may

refer to the 3D-plots of mode shapes as given in Figure 2.3

In the hydrodynamic analysis of a VLFS structure, the mode shapes and modal

stress resultants from the free vibration analysis of the structure are utilized to predict

the dynamic responses of the structure. The exact mode shapes and modal stress

resultants for free circular Mindlin plates are presented herein thus serve as important

benchmark values for researchers to verify their numerical models for circular Mindlin

plate analysis. The mode shapes and modal stress-resultants with frequency values that

17
 Vibration Analysis of Uniform Circular Plate

are boldfaced (in Table 2.1) are depicted in Figures 2.4a-c and 2.5a-c, respectively.

Note that the modal displacement fields and modal stress resultants in Figures 2.4 and

2.5 are plotted along radial direction where their peak values are found. The modal

displacements w and ψ r , and modal stress resultants Qr and M rr in the

circumferential direction vary with cos nθ , while the modal displacement ψ θ and

modal stress resultant M rθ vary with sin nθ .

Figures 2.4a and 2.5a present the normalized modal displacement fields and modal

stress resultants along the radial direction for a thinner circular Mindlin plate (h/R =

0.01) and a thicker plate (h/R = 0.10), respectively. The plates vibrate in axisymmetric

modes (n = 0). The modal displacement fields and modal stress resultants for the

thinner and thicker plates show very similar trends. The values of the modal rotation

ψ r and the modal stress resultants Qr and M rr for the thicker plate are smaller than

the ones for the thinner plate. As expected, the rotation ψ θ and moment M rθ on the

whole plate and the rotation ψ r and shear force Qr at the centre of the plates ( χ = r/R

= 0) are zero due to the plates vibrating in axisymmetric modes. The modal stress

resultants Qr , M rr and M rθ vanish at the plate free edge ( χ = r/R = 1). The number

of nodal circumferential lines of the modal displacements w and ψ r and modal stress

resultant M rr increases from 1 to 4 as the mode sequence number s varies from 1 to 4.

However, the number of nodal circumferential lines of the modal stress resultant Qr

changes from 2 to 5 while the mode sequence number s increases from 1 to 4.

Figures 2.4b, 2.4c, 2.5b and 2.5c show the normalized modal displacement fields

and modal stress resultants along the radial direction for a thinner circular Mindlin

plate (h/R = 0.01) and a thicker plate (h/R = 0.10), respectively. The vibration of the

plates is non-axisymmetric. Similar trends are observed for the modal displacement

18
 Vibration Analysis of Uniform Circular Plate

fields and modal stress resultants of the thinner and thicker plates. The values of the

modal displacements ψ r and ψ θ and the modal stress resultants Qr and M rr for the

thicker plate are smaller than the ones for the thinner plate. The mode sequence

number s is fixed at 1 and the number of nodal diameters n varies from 1 to 8. It is

interesting to observe that there are two nodal circumferential lines for the modal

displacement w if the plates vibrate with one nodal diameter (n = 1). The modes with

two nodal diameters (n = 2) are the fundamental modes as shown by the frequency

values in Table 2.1. The modal displacement fields and stress resultants for the modes

with 3 and more nodal diameters (i.e. n ≥ 3 ) show similar trends in general. The

modal displacement fields w , ψ r and ψ θ and stress resultants Qr , M rr and M rθ are

zero at the centre of the plates ( χ = r/R = 0). The values of the displacement fields w ,

ψ r and ψ θ increase monotonically with increasing radial coordinate ( χ = r/R) except

for the rotation ψ θ of the thicker plate near the free edge where a slight decrease of ψ θ

is observed. It is observed that as the number of nodal diameters n increases from 3 to

8, the vibration of the plates is more concentrated on the portion of the plates near the

free edge. It can be seen that the stress resultants Qr , M rr and M rθ satisfying the

natural boundary condition at free edge for all cases shown in Figures 2.4a to c and

2.5a to c. It is noted that for the thinner plate (h/R = 0.01), there are sharp variations in

stress resultants Qr and M rθ near the vicinity of the free edge when the number of

nodal diameters n varies from 2 to 8 as shown in Figures 2.4b and 2.4c. For the thicker

plate (h/R = 0.10), however, the variation of the stress resultants Qr , M rr and M rθ

near the vicinity of the free edge becomes quite smooth (see Figures 2.5b and 2.5c) and

the peak values of the shear force Qr near the free edge for the thicker plate is much

smaller than the ones for the thinner plate.

19
 Vibration Analysis of Uniform Circular Plate

Table 2.1 Frequency parameters λ = ωR 2 γh / D for free circular Mindlin plates

( ν = 0 .3 , κ 2 = 5 / 6 )

Thickness Ratio, h/R

n s
0.005 0.01 0.10 0.125 0.15
0 1 9.00279 9.00175 8.86877 8.79655 8.71132
0 2 38.4365 38.4164 36.0592 34.9310 33.7076
0 3 87.7151 87.6099 76.7577 72.3414 67.9521
0 4 156.706 156.370 126.483 116.194 106.673
1 1 20.4698 20.4613 19.7165 19.3460 18.9273
1 2 59.7918 59.7396 54.2993 51.8997 49.4103
1 3 118.889 118.692 100.071 93.1010 86.4264
1 4 197.689 197.151 153.044 139.024 126.415
2 1 5.35655 5.35453 5.27822 5.24446 5.20584
2 2 35.2426 35.2140 33.0500 32.0525 30.9716
2 3 84.3196 84.2088 73.9519 69.7839 65.6276
2 4 153.183 152.848 123.973 113.996 104.738
3 1 12.4320 12.4237 12.0667 11.9070 11.7271
3 2 52.9684 52.9040 48.2623 46.2614 44.1745
3 3 111.856 111.655 94.6541 88.2630 82.1058
3 4 190.492 189.964 148.269 134.907 122.837
4 1 21.8188 21.7983 20.8089 20.3694 19.8850
4 2 73.4713 73.3521 64.9534 61.5587 58.1397
4 3 142.283 141.953 116.137 107.120 98.6884
4 4 230.727 229.944 172.818 155.757 140.694
5 1 33.4641 33.4237 31.2861 30.3583 29.3621
5 2 96.6411 96.4439 82.8204 77.6511 72.6068
5 3 175.508 175.006 138.198 126.204 115.277
5 4 273.816 272.708 197.516 176.495 158.297
6 1 47.3269 47.2564 43.2853 41.6200 39.8807
6 2 122.400 122.097 101.624 94.3233 87.3984
6 3 211.462 210.736 160.684 145.411 131.809
6 4 319.699 318.185 222.285 197.089 175.638
7 1 63.3767 63.2633 56.6081 53.9310 51.2114
7 2 150.689 150.248 121.173 111.415 102.392
7 3 250.085 249.078 183.476 164.667 148.245
7 4 368.322 366.313 247.068 217.516 192.713
8 1 81.5905 81.4185 71.0734 67.0998 63.1697
8 2 181.462 180.845 141.313 128.807 117.501
8 3 291.329 289.975 206.485 183.920 164.557
8 4 419.639 417.037 271.824 237.763 209.519

Note: n is the number of nodal diameters of the mode and s is the mode sequence for a
given n value. The cases with the boldfaced values have their modes and modal stress
resultants presented.

20
 Vibration Analysis of Uniform Circular Plate

h/R = 0.01, λ = 5.39672 M rr = 1 . 315

Nondimensionalized Stress Resultants
Qr χ =1
M rθ
1
Qr

M rr χ =1 = 0.074
0
0.0 0.2 0.4 0.6 0.8 1.0
χc
Mrθ χ=1 = −0.44
-1

-2 Mesh Design

Figure 2.2a SAP2000 modal stress resultants associated with the fundamental
frequency of a uniform circular plate with free edges

λ = 5.35453 M rr R
Nondimensionalized Stress Resultants

h/R = 0.01,
M rθ
1
Qr
r, χ

χc θ
0
0.0 0.2 0.4 0.6 0.8 1.0
o

-1

-2

Figure 2.2b Exact modal stress resultants associated with the fundamental frequency
of a uniform circular plate with free edges

1 60
Qr
M rr
M odal Stress Resultants
M odal D isplacem ent w

M rθ
0.75 40
Thick Plate Theory

Thick Plate Theory Thin Plate Theory

Vr
0.5 Thin Plate Theory 20 Effective Shear ForceVr

0.25 0

0 χ -20 χ
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0

Figure 2.2c Mode shapes and modal stress resultants for free circular plates based on
classical thin plate theory and Mindlin plate theory
( h R = 0.01, n = 4, s = 1 )

21
 n s Mode shape n s Mode shape

0 1 1 1

0 2 1 2

0 3 1 3

0 4 1 4

Figure 2.3 3D-mode shape plots of uniform circular Mindlin plate

22
 n s Mode shape n s Mode shape

2 1 3 1

2 2 3 2

2 3 3 3

2 4 3 4

Figure 2.3 (Contd.) 3D-mode shape plots of uniform circular Mindlin plate

23
 n s Mode shape n s Mode shape

4 1 5 1

4 2 5 2

4 3 5 3

4 4 5 4

Figure 2.3 (Contd.) 3D-mode shape plots of uniform circular Mindlin plate

24
 Vibration Analysis of Uniform Circular Plate

Modal Displacement Fields Modal Stress Resultants

1
n = 0, s = 1 20
n = 0, s = 1

15 Qr

0 M rr
0.0 0.2 0.4 0.6 0.8 1.0 10 M rθ

-1 5

0
w
-2 0.0 0.2 0.4 0.6 0.8 1.0
ψr
-5
ψθ

-3 -10

n = 0, s = 2 100
n = 0, s = 2
4

Qr
50 M rr
2
M rθ

0
0.0 0.2 0.4 0.6 0.8 1.0
0
0.0 0.2 0.4 0.6 0.8 1.0
-50

w
-2
ψr -100
ψθ

-4 -150

n = 0, s = 3 n = 0, s = 3
4 600

w Qr
2 ψr 400 M rr
ψθ M rθ

0 200
0.0 0.2 0.4 0.6 0.8 1.0

-2 0
0.0 0.2 0.4 0.6 0.8 1.0

-4 -200

-6 -400

n = 0, s = 4 n = 0, s = 4
8 900

6 600

4 300

2 0
0.0 0.2 0.4 0.6 0.8 1.0
0 -300
0.0 0.2 0.4 0.6 0.8 1.0
-2 -600
w Qr

-4 ψr -900
M rr
ψθ M rθ
-6 -1200

Figure 2.4a Mode shapes and modal stress resultants for free circular Mindlin plates
with thickness ratio h/R = 0.01. The number of nodal diameters n = 0 (axisymmetric
modes)

25
 Vibration Analysis of Uniform Circular Plate

Modal Displacement Fields Modal Stress Resultants

n = 1, s = 1 n = 1, s = 1
6 75

4 w 50
ψr
ψθ 25
2
0
0 0.0 0.2 0.4 0.6 0.8 1.0
0.0 0.2 0.4 0.6 0.8 1.0 -25
-2
-50
Qr
-4 M rr
-75
M rθ
-6 -100

n = 2, s = 1 n = 2, s = 1
2 3
w
ψr
2
1 ψθ

0
0.0 0.2 0.4 0.6 0.8 1.0
0
0.0 0.2 0.4 0.6 0.8 1.0
-1 Qr
-1
M rr
M rθ
-2 -2

n = 3, s = 1 n = 3, s = 1
3 12
w
2 ψr 9 Qr
ψθ M rr

6 M rθ
1

0 3
0.0 0.2 0.4 0.6 0.8 1.0
-1 0
0.0 0.2 0.4 0.6 0.8 1.0

-2 -3

-3 -6

n = 4, s = 1 n = 4, s = 1
4 25
w
3 20 Qr
ψr
ψθ 15 M rr
2 M rθ
10
1
5
0
0.0 0.2 0.4 0.6 0.8 1.0 0
-1 0.0 0.2 0.4 0.6 0.8 1.0
-5

-2 -10

-3 -15

Figure 2.4b Mode shapes and modal stress resultants for free circular Mindlin plates
with thickness ratio h/R = 0.01. The number of nodal diameters is n = 1, 2, 3 and 4,
respectively

26
 Vibration Analysis of Uniform Circular Plate

Modal Displacement Fields Modal Stress Resultants

n = 5, s = 1 n = 5, s = 1
5 50
w
4 40 Qr
ψr
M rr
3 ψθ 30
M rθ
2 20

1 10

0 0
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
-1 -10

-2 -20

-30
-3

n = 6, s = 1 n = 6, s = 1
6 75
w
Qr
ψr 50
4 M rr
ψθ
M rθ

2 25

0 0
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0

-2 -25

-4 -50

n = 7, s = 1 n = 7, s = 1
8 100
w
6 ψr 75 Qr
ψθ M rr
50
4 M rθ

25
2
0
0.0 0.2 0.4 0.6 0.8 1.0
0
-25
0.0 0.2 0.4 0.6 0.8 1.0
-2 -50

-4 -75

n = 8, s = 1 n = 8, s = 1
8 150
w
6 ψr Qr
100
ψθ M rr
4
M rθ

2 50

0
0
0.0 0.2 0.4 0.6 0.8 1.0
0.0 0.2 0.4 0.6 0.8 1.0
-2
-50
-4

-6 -100

Figure 2.4c Mode shapes and modal stress resultants for free circular Mindlin
plates with thickness ratio h/R = 0.01. The number of nodal diameters is n = 5, 6, 7
and 8, respectively

27
 Vibration Analysis of Uniform Circular Plate

Modal Displacement Fields Modal Stress Resultants

n = 0, s = 1 n = 0, s = 1
1 20

15 Qr

0 M rr
0.0 0.2 0.4 0.6 0.8 1.0 10 M rθ

-1 5

0
w
-2 0.0 0.2 0.4 0.6 0.8 1.0
ψr
-5
ψθ

-3 -10

n = 0, s = 2 n = 0, s = 2
4 100

Qr
50 M rr
2
M rθ

0
0.0 0.2 0.4 0.6 0.8 1.0
0
0.0 0.2 0.4 0.6 0.8 1.0
-50
w
-2
ψr -100
ψθ

-4 -150

n = 0, s = 3 n = 0, s = 3
4 600

w Qr
2 ψr 400 M rr
ψθ M rθ

0 200
0.0 0.2 0.4 0.6 0.8 1.0

-2 0
0.0 0.2 0.4 0.6 0.8 1.0

-4 -200

-6 -400

n = 0, s = 4 n = 0, s = 4
8 900

6 600

4 300

2 0
0.0 0.2 0.4 0.6 0.8 1.0
0 -300
0.0 0.2 0.4 0.6 0.8 1.0
-2 -600
w Qr
ψr M rr
-4 -900
ψθ M rθ
-6 -1200

Figure 2.5a Mode shapes and modal stress resultants for free circular Mindlin plates
with thickness ratio h/R = 0.10. The number of nodal diameters is n = 0
(axisymmetric modes)

28
 Vibration Analysis of Uniform Circular Plate

Modal Displacement Fields Modal Stress Resultants

n = 1, s = 1 n = 1, s = 1
6 75

w 50
4
ψr
25
2 ψθ

0
0 0.0 0.2 0.4 0.6 0.8 1.0
0.0 0.2 0.4 0.6 0.8 1.0 -25

-2
-50
Qr
-4 M rr
-75
M rθ
-6 -100

n = 2, s = 1 n = 2, s = 1
2 3
w
ψr
2
1 ψθ

0
0.0 0.2 0.4 0.6 0.8 1.0
0
0.0 0.2 0.4 0.6 0.8 1.0
-1 Qr
-1
M rr
M rθ
-2 -2

n = 3, s = 1 n = 3, s = 1
3 12
w
ψr 9 Qr
2
ψθ M rr

6 M rθ
1

0 3
0.0 0.2 0.4 0.6 0.8 1.0
-1 0
0.0 0.2 0.4 0.6 0.8 1.0

-2 -3

-3 -6

n = 4, s = 1 n = 4, s = 1
4 25
w
3 20 Qr
ψr
ψθ 15 M rr
2 M rθ
10
1
5
0
0.0 0.2 0.4 0.6 0.8 1.0 0
-1 0.0 0.2 0.4 0.6 0.8 1.0
-5

-2 -10

-3 -15

Figure 2.5b Mode shapes and modal stress resultants for free circular Mindlin plates
with thickness ratio h/R = 0.1. The number of nodal diameters is n = 1, 2, 3 and 4,
respectively

29
 Vibration Analysis of Uniform Circular Plate

Modal Displacement Fields Modal Stress Resultants

n = 5, s = 1 n = 5, s = 1
5 50
w
4 40 Qr
ψr
3 ψθ 30 M rr
M rθ
2 20

1 10

0 0
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
-1 -10

-2 -20

-3 -30

n = 6, s = 1 n = 6, s = 1
6 75
w
ψr Qr
4 50
ψθ M rr
M rθ
2 25

0 0
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0

-2 -25

-4 -50

n = 7, s = 1 n = 7, s = 1
8 100
w
75 Qr
6 ψr
ψθ M rr
50
M rθ
4
25
2
0
0.0 0.2 0.4 0.6 0.8 1.0
0
-25
0.0 0.2 0.4 0.6 0.8 1.0
-2 -50

-4 -75

n = 8, s = 1 n = 8, s = 1
8 150
w
6 ψr Qr
100
ψθ M rr
4
M rθ

2 50

0
0
0.0 0.2 0.4 0.6 0.8 1.0
0.0 0.2 0.4 0.6 0.8 1.0
-2
-50
-4

-6 -100

Figure 2.5c Mode shapes and modal stress resultants for free circular Mindlin plates
with thickness ratio h/R = 0.1. The number of nodal diameters is n = 5, 6, 7 and 8,
respectively

30
 Vibration Analysis of Uniform Circular Plate

2.4 CONCLUDING REMARKS

Presented in this chapter are the exact vibration frequencies and their associated

mode shapes and modal stress-resultants of circular Mindlin plates with free edges.

The exact free vibration solutions, when employed in the hydrodynamic analysis, will

yield highly accurate deflections and stress-resultants of circular VLFS under the

action of waves. This point will be discussed in chapter 4.

31
 Chapter 3

VIBRATION ANALYSIS OF STEPPED

CIRCULAR PLATES

This chapter deals with the exact vibration solutions of stepped

circular Mindlin plates with free edges. By keeping a constant
material volume of stepped plates with the corresponding uniform
circular plates, a comparative study on frequency values, mode shape
and modal stress-resultants is conducted. The influence of the
stepped thickness design on the vibration frequencies, mode shapes
and modal stress resultants is also explored.

3.1 PROBLEM DEFINITION

Consider an isotropic, stepped, circular plate of radius R, Young’s modulus E, shear

modulus G = E/[2(1 + ν)], mass density γ and Poisson’s ratio ν . The plate edge is

completely free. The outer annular sub-plate 1 has a constant thickness h1 while the

inner circular sub-plate 2 has a constant thickness h2 . The separation between two

sub-plates occurs at stepped location r = bR . Two Design Types of stepped circular

plates are investigated. Design Type I plate is regarded as sub-plate 1 thinner than sub-

plate 2 while Design Type II plate is regarded as sub-plate 2 thinner than sub-plate 1

(see Fig. 3.1). The natural frequencies, the mode shapes and the modal stress-resultants

of the freely vibrating stepped circular plates need to be determined.

3.2 METHOD OF SOLUTION AND MATHEMATICAL MODELLING

To solve such a circular plate problem, the commonly used method is decomposing

stepped plate into two sub-plates where the separation boundary at r = bR. Similar to

32
 Vibration Analysis of Stepped Circular Plate

the uniform circular plate solved in Chapter 2, Mindlin plate theory be adopted where

the rotations (ψ r ,ψ θ ) and transverse displacements w may be expressed as functions

of three potential functions Θ1 , Θ 2 and Θ 3 in the stepped circular plate as the

followings

R
Sub-plate 1

χ, r

O θ Free edge
bR
Sub-plate2

Step location

h2
h1 h2 O Design Type I ( α = >1)
h1
bR
R

h2
h1 h2 Design Type II ( α = <1)
O h1

Figure 3.1 Geometry of a Stepped Circular Plate

∂Θ1i ∂Θ 1 ∂Θ 3i
ψ ri = (σ 1i − 1) + (σ 2i − 1) 2i + (3.1)
∂χ ∂χ χ ∂θ

1 ∂Θ1i 1 ∂Θ 2i ∂Θ 3i
ψ θi = (σ 1i − 1) + (σ 2i − 1) − (3.2)
χ ∂θ χ ∂θ ∂χ

wi = Θ1i + Θ 2i (3.3)

where

33
 Vibration Analysis of Stepped Circular Plate

(δ 22i , δ 12i ) 2(δ 22i , δ 12i )

σ 12i , σ 22i = = (3.4)
⎡τ i 2 λi 2 6(1 − ν )κ 2 ⎤ δ 32i (1 − ν )
⎢ − ⎥
⎢⎣ 12 τi2 ⎥⎦

⎡ ⎛τ i2 ⎞
2 ⎤
λi 2 ⎢τ i 2
τi2 ⎜
τi2 ⎟ + 4 ⎥
δ ,δ =
2 2
+ ± −
⎜ 12 6(1 − ν )κ ⎟ (3.5)
2 ⎢ 12 6(1 − ν )κ λi 2 ⎥
1i 2i 2 2

⎣⎢ ⎝ ⎠ ⎦⎥

2 ⎡τ i λi 6(1 − ν )κ 2 ⎤
2 2

δ 32i = − (3.6)
(1 − ν ) ⎢⎢⎣ 12 τi2
⎥
⎥⎦

r h γhi
χ= , τ i = i , λi = ωR 2 (3.7 a,b,c)
R R Di

in which λi is the non-dimensionalized frequency parameter of sub-plate i where i = 1

for the outer annular sub-plate and i = 2 for the inner circular sub-plate.

As the purpose of this study is to compare the solutions with a constant thickness

circular plate, the volume of the stepped plate is kept the same as the volume of the

reference constant thickness plate. By denoting the constant thickness of the reference

plate as ho , the thicknesses of the stepped plate are related to ho , via the constant

volume constraint, in the following manner

ho
h1 = (3.8a)
1 − b + αb 2
2

h2 = αh1 (3.8b)

The parameter α = h2 / h1 controls the change in thickness in the stepped plate. When

α >1 (designated as Design Type I), the circular sub-plate is thicker than the annular

sub-plate and when α <1 (designated as Design Type II), the circular sub-plate is

thinner than the annular sub-plate (see Fig. 3.1).

34
 Vibration Analysis of Stepped Circular Plate

In view of the reference plate dimensions, the frequency parameter λi of each sub-

plate may be expressed in terms of the frequency parameter of the stepped plate λ s

defined as

ρ ho
λs = ω R 2 (3.9)
Do

where Do = Eho3 /[12(1 − ν 2 )] is the flexural rigidity of the reference plate. The

relations between λi and λ s are given by

ho h
λ1 = λ s , λ2 = o λ s (3.10a, b)
h1 h2

And the non-dimensionalized frequency parameter of the reference plate may be

expressed as

ρho
λo = ω o R 2 (3.11)
Do

The governing differential equations for the vibrating circular stepped plate, in

polar coordinates which are exactly the same as the governing equations for circular

plates in chapter 2, may be compactly expressed in terms of each sub-plate as:

(∇ 2
)
+ δ 12i Θ1i = 0 , i = 1,2 (3.12)

(∇ 2
)
+ δ 22i Θ 2i = 0 , i = 1,2 (3.13)

(∇ 2
)
+ δ 32i Θ 3i = 0 , i = 1,2 (3.14)

The general solutions to Eqs. (3.12) to (3.14) are

Θ1i = A1i Rn (∆ 1i χ ) cos nθ + B1i S n (∆ 1i χ ) cos nθ (3.15)

Θ 2i = A2i Rn (∆ 2i χ ) cos nθ + B2i S n (∆ 2i χ ) cos nθ (3.16)

Θ 3i = A3i Rn (∆ 3i χ )sin nθ + B3i S n (∆ 3i χ )sin nθ (3.17)

where

35
 Vibration Analysis of Stepped Circular Plate

⎧⎪ δ if δ ji2 ≥ 0
∆ ji = ⎨ ji , i = 1,2; j = 1, 2, 3 (3.18)
( )
⎪⎩Im δ ji if δ ji2 < 0

( ) ⎧⎪ J ∆ χ
Rn ∆ ji χ = ⎨ n ji
( ) if δ ji2 ≥ 0
, i = 1,2; j = 1, 2, 3 (3.19)
(
⎪⎩ I n ∆ ji χ ) if δ ji2 < 0

( ) ⎧⎪Y ∆ χ
S n ∆ ji χ = ⎨ n ji
( ) if δ ji2 ≥ 0
, i = 1,2; j = 1, 2, 3 (3.20)
( )
⎪⎩ K n ∆ ji χ if δ ji2 < 0

in which A ji , B ji ( j = 1, 2, 3 and i = 1, 2) are the arbitrary constants that are to be

determined using the free boundary conditions at the edge and matching conditions at

the interface between sub-plate 1 and sub-plate 2, n is the number of nodal diameters

of a vibration mode. Note that for the circular sub-plate 2, the arbitrary constants B j 2

must be set to zero in order to avoid singularity for the displacement fieldsψ θ 2 , ψ r 2 at

the plate centre ( χ = r / R = 0 ).

The boundary conditions of a circular Mindlin plate at its free edge are given by

Qr1 = 0, M rr1 = 0, M rθ 1 = 0 (3.21a, b, c)

The matching conditions at the interface of stepped location ( χ = r / R = b ) are

w1 = w2 (3.22)

ψ r1 = ψ r 2 (3.23)

ψ θ1 = ψ θ 2 (3.24)

M rr1 = M rr 2 (3.25)

M rθ 1 = M rθ 2 (3.26)

Qr1 = Qr 2 (3.27)

where the transverse shear force Qri , the radial bending moment M rri and the twisting

moment M rθi are, respectively, given by

36
 Vibration Analysis of Stepped Circular Plate

⎛ ∂w ⎞
Qri = κ 2 Gh⎜⎜ i + ψ ri ⎟⎟ (3.28)
⎝ ∂χ ⎠

Di ⎡ ∂ψ ri ν ⎛ ∂ψ θi ⎞⎤
M rri = ⎢ + ⎜⎜ψ ri + ⎟⎥ (3.29)
R ⎣ ∂χ χ⎝ ∂θ ⎟⎠⎦

Di ⎛ 1 -ν ⎞ ⎡ 1 ⎛ ∂ψ ri ⎞ ∂ψ θi ⎤
M rθi = ⎜ ⎟ ⎢ ⎜⎜ − ψ θi ⎟⎟ + ⎥ (3.30)
R⎝ 2 ⎠ ⎣ χ ⎝ ∂θ ⎠ ∂χ ⎦

By substituting the displacement fields and the stress resultants into Eqs (3.21a, b,

c) to (3.27) a set of homogeneous system of equations with respect to 9 unknowns can

be derived and written as:

[K ]9×9 . {Ψ}9×1 = {0}9×1 (3.31)

where {Ψ} = {A11 , A21 , A31 , B11 , B21 , B31 , A12 , A22 , A32 }T is the vector of unknown

coefficients. The elements of the matrix [K ] for asymmetric mode (n ≠ 0) are given in

the Appendix 1 in symbolic form. Note that for symmetric vibration mode (n = 0), Eqs.

(3.21c), (3.24) and (3.26) are automatically fulfilled. Hence, the size of the matrix [K ]

reduces to 6 × 6 and the corresponding coefficient vector is

{Ψ} = {A11 , A21 , B11 , B21 , A12 , A22 }T . The elements of the matrix for this symmetric case
also are given in Appendix 2. The angular frequency parameter λ s of the stepped plate

is evaluated by setting the determinant of [K ] to zero and solving the characteristic

equation by a root finding algorithm.

The modal displacement fields wi , ψ ri and ψ θi and the modal stress resultants

Qri , M rri and M rθi may be calculated after obtaining the angular frequency parameter

λ s and the corresponding eigenvector {A11 , A21 , A31 , B11 , B21 , B31 , A12 , A22 , A32 }T . The

maximum transverse displacement of the plate in vibration is normalized by setting

37
 Vibration Analysis of Stepped Circular Plate

w
w= ; wmax = 1 (3.32 a,b)
R

and the corresponding modal stress-resultants are presented in their non-dimensional

forms as follows:

R
M rri = M rri (3.33)
Do

R
M rθi = M rθi (3.34)
Do

R2
Qri = Qri (3.35)
Do

3.3 RESULTS AND DISCUSSIONS

Now, consider various designs of stepped plates by changing the stepped thickness

ratio α = h2 / h1 and the stepped location b. Their mode shapes and modal stress

resultants distributions are examined and also compared with their reference plate

counterparts. The Poisson ratio ν = 0.3 and the correction factor κ 2 = 5 / 6 are used in

all calculations.

In Tables 3.1a, 3.1b, 3.2a and 3.2b, exact frequency parameters λs are presented

for the first 15 modes of stepped, circular Mindlin plates for stepped thickness ratios

α = 0.5, 1, and 2. Tables 3.1a and 3.1b deal with stepped plates having a step location

b = 1/2 and reference thickness ratios τ 0 = h0 / R = 0.01, 0.1, 0.125 and 0.15 whereas

Tables 3.2a and 3.2b deal with stepped plates having b = 1/3 for the same set of

reference thickness ratios. Note that for α = 1, the plate corresponds to the reference

uniform circular plate. These benchmark frequency values are very useful for checking

the accuracy of numerical results. Interestingly, for a given mode sequence, one can

observe from the tables that the mode shapes may switch with respect to the stepped

38
 Vibration Analysis of Stepped Circular Plate

thickness ratio α . For example, in Table 3.1a, for a mode sequence 8, the mode shape

changes from (5,1) to (0,2) to (6,1) as we change the stepped thickness ratio from

α = 0.5 to α = 1.0 and to α = 2.0 . This means that the mode shapes are sensitive to

the stepped thickness design.

In order to observe more clearly the variation of the frequencies with respect to the

step location b, they are depicted in graphical forms as shown in Figs. 3.2a to 3.2h. In

these figures, the first 8 frequency parameters λs are presented, and use a reference

thickness ratio τ 0 = 0.1 and four stepped thickness ratios α = 0.5, 1, 1.5, and 2. The

results reveal that the parameter frequencies λs of stepped plates could be higher or

lower than their corresponding reference frequency λo (i.e with α = 1 ). These

variations of frequency value may depend on the step location b and mode sequence

(n, s). For example, Design Type II plates (say α = 0.5 ) have frequency values smaller

than that of their reference plate counterparts with modes (n, s) = (2, 1), (0, 1), (1, 1),

(2, 2), (0, 2) in Figs. 3.2a, 3.2b, 3.2d, 3.2g, 3.2h, respectively. On the other hand, these

frequency values become higher when they vibrate at modes (n, s) = (3, 1), (4, 1), (5,

1) as shown in Figs. 3.2c, 3.2e, 3.2f, respectively. Design Type I plates (i.e. α > 1 )

may have frequency parameters reaching maximum or minimum values at certain step

locations for each mode (n, s). The frequency parameters have an interesting

relationship with the mode sequence s for a given number n. It can be seen from Figs.

3.3a to 3.3d that the number of “peak” (or maximum) values of frequency parameters

λs coincides with the number of sequence s for a given n value (n = 2 in this case).

This implies that for a mode (n, s), one should be able to find s locations of peaks

where its frequency values are local maxima.

39
 Vibration Analysis of Stepped Circular Plate

Fig. 3.4a shows the variation of the first 4 frequency parameters λs of modes (n, s)

= (2, 1) , (0, 1), (3, 1), (1, 1) with respect to reference thickness ratio τ o varying from

0.05 to 0.25. A step location b = 0.5 and a stepped thickness ratio α = 0.5 are chosen.

For this range of reference thickness ratios, the frequency parameters λs of stepped

plates decrease with respect to increasing thickness ratio of their corresponding

reference plates. Fig. 3.4b shows the variation of the first four frequency parameters λs

of modes (n, s) = (2, 1), (0, 1), (3, 1), (1, 1) with respect to stepped thickness ratio α

varying from 0.5 to 2.5 for a step location b = 0.5 and a reference thickness ratio

τ o = 0.1 . While the frequency parameter λs of the mode (2, 1) increases, the

frequency parameter λs of mode (3, 1) decreases as the stepped thickness ratio α

varies from 0.5 to 2.5. The frequency parameters λs of modes (0, 1) and (1, 1) increase

initially and then decrease in the considered range of stepped thickness ratios. These

results show that the introduction of stepped thickness will only improve certain

frequency values over its uniform thickness counterpart. Therefore, it is necessary to

know the dominant modes in the hydroelastic analysis if an optimal stepped thickness

is to be selected for the circular VLFS.

The cases that are highlighted by boldfacing values have their mode shapes and

modal stress resultants depicted in Figs. 3.5a to 3.5h. The mode shapes and modal

stress resultants in Figs. 3.5a to 3.5h are plotted along the radial direction where their

peak values are found. The modal displacement fields w and ψ r , and modal stress

resultants Q r and M rr in the circumferential direction vary with cos(nθ), while the

modal displacement ψ θ and modal stress resultant M rθ vary with sin(nθ). Figs. 3.5a to

3.5h also show the differences between mode shapes and modal stress resultants of

Design Type II plates ( α = 2 ), Design Type I plates ( α = 0.5 ) and those of reference

40
 Vibration Analysis of Stepped Circular Plate

constant thickness plates. The first 8 modes of the reference plate with thickness ratio

ho / R = 0.125 are chosen. Both stepped plates have a step location at b = 0.5. Stepped

plates have similar mode shapes and modal stress resultant distributions as those of

their corresponding reference constant thickness plates. Although the step variation

exists in the plates, the transverse displacement w for all cases are smooth at the step

location b = 0.5. However, a kink in the slope variation at the step location is observed

for modal displacement ψ r and ψ θ for all cases except for cases with n = 0 (axis-

symmetric modes) where ψ θ = 0. The kink is caused by the terms in Eqs. 3.1 to 3.3

through hi and λi which are related to the stepped thickness ratio α . Therefore, the

stresses are affected by the stepped plate design as well. In almost cases of modes (n,

s), the mode shapes and modal stress-resultants of Design Type II stepped plate are

much smaller than those of reference plate while those of Design Type I should be

higher or lower depending each mode (n, s). This finding shows that for the same

material volume, one should choose stepped circular plates other than uniform circular

plates for designing circular VLFS because their displacements and final stress-

resultants under action of waves may be reduced. The modal stress-resultants in three

dimension plots are given in Fig. 3.6 for the first 3 modes (2, 1), (0, 1) and (3, 1).

41
Table 3.1a Frequency parameter λs for stepped plates with step location at b = 1/2, reference constant thicknesses τ o = 0.01 and 0.1

Mode τ o = 0.01 τ o = 0.1

Sequence α = 0. 5 α =1 α =2 α = 0. 5 α =1 α =2
1 5.04362(2,1) 5.35452(2,1) 7.14972(2,1) 4.92495(2,1) 5.27822(2,1) 6.93210(2,1)
2 7.78131(0,1) 9.00175(0,1) 10.7670(0,1) 7.66442(0,1) 8.86877(0,1) 10.5758(0,1)
3 13.1987(3,1) 12.4237(3,1) 12.3215(3,1) 12.7058(3,1) 12.0667(3,1) 11.8362(3,1)
4 17.4539(1,1) 20.4613(1,1) 19.0274(4,1) 16.5598(1,1) 19.7165(1,1) 18.1896(4,1)
5 24.1569(4,1) 21.7983(4,1) 19.2338(1,1) 22.7912(4,1) 20.8089(4,1) 18.5547(1,1)
6 28.7181(0,2) 33.4237(5,1) 27.7242(5,1) 27.5878(0.2) 31.2861(5,1) 28.5986(4,1)
7 32.9294(2,2) 35.2140(2,2) 33.7390(2,2) 30.4884(2,2) 33.0500(2,2) 31.6860(2,2)
8 37.6866(5,1) 38.4164(0,2) 38.3989(6,1) 34.7115(5,1) 36.0592(0,2) 36.0023(6,1)
9 49.2354(1,2) 47.2564(6,1) 41.3685(0,2) 46.0646(1,2) 43.2853(6,1) 38.2474(0,2)
10 51.8818(3,2) 52.9040(3,2) 50.9719(7,1) 46.8779(3,2) 48.2623(3,2) 78.8671(0,3)
11 53.6764(6,1) 59.7398(1,2) 52.8634(3,2) 48.1356(6,1) 54.2993(1,2) 47.1030(7,1)
12 72.0814(7,1) 63.2633(7,1) 65.3713(8,1) 62.8187(7,1) 56.6081(7,1) 47.8779(3,2)
13 72.2963(2,3) 73.3521(4,2) 66.5661(1,2) 65.1960(4,2) 64.9534(4,2) 58.8407(1,2)
14 74.0596(0,3) 81.4185(8,1) 71.6324(4,2) 65.3939(2,3) 71.0734(8,1) 59.4138(8,1)
15 74.3952(4,2) 84.2088(2,3) 81.5423(9,1) 67.1498(0,3) 73.9519(2.3) 63.1753(4,2)

Note: The values in brackets (n,s) denote the number of nodal diameters (n) and the mode sequence (s)

42
Table 3.1b Frequency parameter λs for stepped plates with step location at b = 1/2 , reference constant thicknesses τ o = 0.125 and 0.15

Mode τ o = 0 . 125 τ o = 0.15

Sequence α = 0 .5 α =1 α =2 α = 0 .5 α =1 α =2
1 4.87769(2,1) 5.24446(2,1) 6.85254(2,1) 4.82476(2,1) 5.20584(2,1) 6.76752(2,1)
2 7.60084(0,1) 8.79655(0,1) 10.4726(0,1) 7.52571(0,1) 8.71132(0,1) 10.3515(0,1)
3 12.4918(3,1) 11.907 (3,1) 11.6553(3,1) 12.2530(3,1) 11.7271(3,1) 11.4623(3,1)
4 16.2018(1,1) 19.346 (1,1) 17.8559(4,1) 15.8119(1,1) 18.9273(1,1) 17.4951(4,1)
5 22.1974(4,1) 20.3694(4,1) 18.2229(1,1) 21.5521(4,1) 19.8850(4,1) 17.8489(1,1)
6 27.01 (0,2) 30.3583(5,1) 25.6978(5,1) 26.3565(0,2) 29.3621(5,1) 25.0487(5,1)
7 29.5012(2,2) 32.0525(2,2) 30.7451(2,2) 28.4516(2,2) 30.9716(2,2) 29.7298(2,2)
8 33.4578(5,1) 34.931(0,2) 34.9795(6,1) 32.1385(5,1) 33.7076(0,2) 33.8812(6,1)
9 44.5591(1,2) 41.62 (6,1) 36.8216(0,2) 42.7558(3,2) 39.8807(6,1) 35.3173(0,2)
10 44.8505(3,2) 46.2614(3,2) 45.4638(7,1) 42.9279(1,2) 44.1745(3,2) 43.7331(7,1)
11 45.9053(6,1) 51.8997(1,2) 45.8453(3,2) 43.6335(6,1) 49.4103(1,2) 43.7558(3,2)
12 59.2822(7,1) 53.931(7,1) 55.6397(1,2) 55.7903(7,1) 51.2114(7,1) 52.4138(1,2)
13 61.6042(4,2) 61.5587(4,2) 59.9548(4,2) 58.0210(4,2) 58.1397(4,2) 54.3910(8,1)
14 62.4519(2,3) 69.7839(2,3) 70.1209(2,3) 59.4173(2,3)) 63.1697(8,1) 56.7349(4,2)
15 73.3952(8,1) 72.3414(0,3) 73.8172(0,3) 61.0051(0,3) 65.6276(2,3) 65.5697(2,3)

Note: The values in brackets (n,s) denote the number of nodal diameters (n) and the mode sequence (s). The cases with the boldfaced values have
their modes and modal stress resultants presented in Figs. 3.5a-h.

43
Table 3.2a Frequency parameter λs for stepped plates with step location at b = 1/3, reference constant thicknesses τ o = 0.01 and 0.1

Mode τ o = 0.01 τ o = 0.1

Sequence α = 0. 5 α =1 α =2 α = 0. 5 α =1 α =2
1 5.17083(2,1) 5.35452(2,1) 6.07063(2,1) 5.06704(2,1) 5.27822(2,1) 6.07063(2,1)
2 8.08945(0,1) 9.00175(0,1) 9.28275(0,1) 7.97508(0,1) 8.86877(0,1) 9.28275(0,1)
3 12.9218(3,1) 12.4237(3,1) 11.4005(3,1) 12.4993(3,1) 12.0667(3,1) 11.4005(3,1)
4 19.0753(1,1) 20.4613(1,1) 18.2020(1,1) 18.1813(1,1) 19.7165(1,1) 18.2020(1,1)
5 22.9933(4,1) 21.7983(4,1) 19.0224(4,1) 21.8422(4,1) 20.8089(4,1) 19.0224(4,1)
6 34.7076(2,2) 33.4237(5,1) 28.5082(5,1) 32.4754(2,2) 31.2861(5,1) 28.5082(5,1)
7 35.3569(5,1) 35.2140(2,2) 34.5394(2,2) 32.8769(5,1) 33.0500(2,2) 34.5394(2,2)
8 36.6343(0,2) 38.4164(0,2) 38.9908(0,2) 34.7624(0,2) 36.0599(0,2) 38.9908(0,2)
9 50.0179(6,1) 47.2564(6,1) 39.5321(6,1) 45.4202(6,1) 43.2853(6,1) 39.5321(6,1)
10 53.5734(3,2) 52.9040(3,2) 48.0724(3,2) 48.6546(3,2) 48.2623(3,2) 48.0724(3,2)
11 54.4449(1,2) 59.7398(1,2) 51.8752(7,1) 49.8784(1,2) 54.2993(1,2) 51.8752(7,1)
12 66.9659(7,1) 63.2633(7,1) 53.6635(1,2) 59.2803(7,1) 56.6081(7,1) 53.6635(1,2)
13 69.0213(0,3) 73.3521(4,2) 61.9126(4,2) 63.0600(0,3) 64.9534(4,2) 61.9126(4,2)
14 75.9501(4,2) 81.4185(8,1) 65.3670(8,1) 66.6417(4,2) 71.0734(8,1) 65.3670(8,1)
15 78.1126(2,3) 84.2088(2,3) 73.9618(2,3) 68.7871(2,3) 73.9519(2.3) 73.9618(2,3)

Note: The values in brackets (n,s) denote the number of nodal diameters (n) and the mode sequence (s)

44
Table 3.2b Frequency parameter λ s for stepped plates with step location at b = 1/3, reference constant thicknesses τ o = 0.125 and 0.15

Mode τ o = 0 . 125 τ o = 0.15

Sequence α = 0 .5 α =1 α =2 α = 0 .5 α =1 α =2
1 5.0256 (2,1) 5.24446(2,1) 6.00116(2,1) 4.97921(2,1) 5.20584(2,1) 5.92774(2,1)
2 7.91279(0,1) 8.79655(0,1) 9.20176(0,1) 7.83914(0,1) 8.71132(0,1) 9.10629(0,1)
3 12.3142(3,1) 11.907 (3,1) 11.2479(3,1) 12.1070(3,1) 11.7271(3,1) 11.0809(3,1)
4 17.8023(1,1) 19.346 (1,1) 17.8642(1,1) 17.3858(1,1) 18.9273(1,1) 17.4835(1,1)
5 21.3358(4,1) 20.3694(4,1) 18.6723(4,1) 20.7814(4,1) 19.8850(4,1) 18.2857(4,1)
6 31.4687(2,2) 30.3583(5,1) 27.7867(5,1) 30.3827(2,2) 29.3621(5,1) 27.0019(5,1)
7 31.8133(5,1) 32.0525(2,2) 33.3653(2,2) 30.6813(5,1) 30.9716(2,2) 32.1238(2,2)
8 33.8405(0,2) 34.931 (0,2) 37.438 (0,2) 32.8233(0,2) 33.7076(0,2) 35.7900(0,2)
9 43.5239(6,1) 41.62 (6,1) 38.2293(6,1) 41.5642(6,1) 39.8807(6,1) 36.8443(6,1)
10 46.5556(3,2) 46.2614(3,2) 46.0281(3,2) 44.3796(3,2) 44.1745(3,2) 43.9255(3,2)
11 47.9454(1,2) 51.8997(1,2) 49.7568(7,1) 45.9293(1,2) 49.4103(1,2) 47.5595(7,1)
12 56.2537(7,1) 53.931 (7,1) 51.0313(1,2) 53.2157(7,1) 51.2114(7,1) 48.3152(1,2)
13 60.3979(0,3) 61.5587(4,2) 58.8788(4,2) 57.6210(0,3) 58.1397(4,2) 55.8110(4,2)
14 62.9541(4,2) 67.0998(8,1) 62.1838(8,1) 59.2779(4,2) 63.1697(8,1) 58.9626(8,1)
15 65.1928(2,3) 69.7839(2,3) 69.5939(2,3) 61.6002(2,3) 65.6276(2,3) 65.2900(2,3)

Note: The values in brackets (n,s) denote the number of nodal diameters (n) and the mode sequence (s)

45
 λs Mode n = 2, s = 1 λs Mode n = 0, s = 1
8 α =2 14
α = 1.5
α =2
α =1
7 α = 0.5 12 α = 1.5
α =1
α = 0.5
6 10

5 8

4 b 6 b
0.1 0.3 0.5 0.7 0.9 0 0.2 0.4 0.6 0.8 1

(a) (b)

λs Mode n = 3, s = 1 λs Mode n = 1, s = 1
15 26
α =2
α =2
α = 1.5
14 α = 1.5 23
α =1
α =1 α = 0.5
α = 0.5
13 20

12 17

11 b 14 b
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1

(c) (d)

Figure 3.2 Frequency parameter λ s versus step location b for Mindlin plates with reference thickness ratio τ 0 = 0.1, α = 0.5 to 2

46
 λs Mode n = 4, s = 1 λs Mode n = 5, s = 1
25 α =2 37 α =2
α = 1.5 α = 1.5
α =1 α =1
23 34
α = 0.5 α = 0.5

21 31

19 28

17 b 25
b
0 0.2 0.4 0.6 0.8 1
0 0.2 0.4 0.6 0.8 1
(e) (f)

λs Mode n = 2, s = 2 λs Mode n = 0, s = 2
41 α =2 44
α = 1.5
37 α =1 39
α = 0.5
33 34
α =2
α = 1.5
29 29
α =1
α = 0.5
25 b 24 b
0.1 0.3 0.5 0.7 0.9 0 0.2 0.4 0.6 0.8 1

(g) (h)

Figure 3.2 (Contd.) Frequency parameter λ s versus step location b for plates with reference thickness ratio τ 0 = 0.1, α = 0.5 to 2

47
 s=1
s=2
λ
lss 8
λlss 40

7
37

6
34

5
31

4 b
b
0 0.2 0.4 0.6 0.8 1 28 b
b
0 0.2 0.4 0.6 0.8 1
(a)
(b)

s=3 s=4
λlss 85 λlss 140

80 134

75 128

70 122

65 bb 116 b
b
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1

(c) (d)
Figure 3.3 Frequency parameter λ s versus step location b for plates with τ 0 = 0.1, α = 2 and n = 2

48
 α ≤1 α ≥1
λls α =1
λls
23
18

18

13
(1,1) (1,1)
(3,1) (3,1)
13
(0,1) (0,1)
(2,1) (2,1)
8
8

3 ttoo 3 αa
0.05 0.1 0.15 0.2 0.25 0.5 1 1.5 2 2.5

Figure 3.4a Frequency parameter λ s versus reference Figure 3.4b Frequency parameter λ s versus reference
thickness ratios τ 0 for plates with step location b = 0.5 and stepped thickness ratio α for plates with step location b
stepped thickness ratio α = 0.5 = 0.5 and reference thickness ratio τ 0 = 0.1

49
 Design Type I Reference plate with constant thickness Design Type II
( α = 2, b = 0.5) ( α = 1, τ o = 0.125 ) ( α = 0.5, b = 0.5)

λs = 6.85254 λo = 5.24446 λs = 4.87769

Modal tress resultants Modal tress resultants Modal tress resultants

16 4 M rr 2 M rr
M rr
M rθ M rθ
M rθ 1 Qr
Qr
8 Qr 2

0
0.0 0.2 0.4 0.6 0.8 1.0
0 0
0.0 0.2 0.4 0.6 0.8 1.0 -1
0.0 0.2 0.4 0.6 0.8 1.0

-8 -2 -2

Mode shape Mode shape Mode shape

2.0 2 ψr 2 ψr
ψr
ψθ ψθ
ψθ wr
1.0 1 wr 1
wr

0.0 0 0
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
-1.0 -1
-1

-2.0
-2 -2

Figure 3.5a Mode shapes (with n = 2, s = 1) and modal stress resultants for stepped plates and their reference constant thickness plates

50
 Design Type I Reference plate with constant thickness Design Type II
( α = 2, b = 0.5) ( α = 1, τ o = 0.125 ) ( α = 0.5, b = 0.5)

λs = 10.4726 λo = 8.79655 λs =7.60084

Modal tress resultants Modal tress resultants Modal tress resultants

30 20 8 M rr
M rr M rr
M rθ M rθ M rθ
Qr Qr Qr
15 10 4

0 0 0
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0

-4
-15 -10

Mode shape Mode shape Mode shape

2 2 1

0 0 0
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
ψr ψr
-2
ψθ -2 ψr -1 ψθ
wr ψθ wr
-4
wr
-4 -2

Figure 3.5b Mode shapes (with n = 0, s = 1) and modal stress resultants for stepped plates and their reference constant thickness plates

51
 Design Type I Reference plate with constant thickness Design Type II
( α = 2, b = 0.5) ( α = 1, τ o = 0.125 ) ( α = 0.5, b = 0.5)

λs = 11.6553 λo = 11.907 λs =12.4918

Modal tress resultants Modal tress resultants Modal tress resultants

10 3 4
M rr

0 0 2 M rθ
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0 Qr

-10 -3 0
M rr 0.0 0.2 0.4 0.6 0.8 1.0
M rr
M rθ
-20 -6 -2
Qr M rθ
Qr
-30 -9 -4

Mode shape Mode shape Mode shape

3.0 4
3.0 ψr
ψr ψr
ψθ
ψθ ψθ 2
1.5 1.5 wr
wr wr
0
0.0 0.0
0.0 0.2 0.4 0.6 0.8 1.0
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
-2
-1.5 -1.5

-4
-3.0 -3.0

Figure 3.5c Mode shapes (with n = 3, s = 1) and modal stress resultants for stepped plates and their reference constant thickness plates

52
 Design Type I Reference plate with constant thickness Design Type II
( α = 2, b = 0.5) ( α = 1, τ o = 0.125 ) ( α = 0.5, b = 0.5)

λs = 18.2229 λo = 19.346 λs = 16.2018

Modal tress resultants Modal tress resultants Modal tress resultants

40 50 30
M rr

15 M rθ
0 0 Qr
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
0
M rr M rr 0.0 0.2 0.4 0.6 0.8 1.0
-40 -50
M rθ M rθ -15
Qr Qr
-80 -100 -30

Mode shape
Mode shape Mode shape
2 6 6
ψr ψr
0 3 ψθ 3 ψθ
0.0 0.2 0.4 0.6 0.8 1.0 wr wr
-2 0 0
ψr 0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0

-4 ψθ -3 -3
wr
-6 -6 -6

Figure 3.5d Mode shapes (with n = 1, s = 1) and modal stress resultants for stepped plates and their reference constant thickness plates

53
 Design Type I Reference plate with constant thickness Design Type II
( α = 2, b = 0.5) ( α = 1, τ o = 0.125 ) ( α = 0.5, b = 0.5)

λs = 17.8559 λo = 20.3694 λs = 22.1974

Modal tress resultants Modal tress resultants Modal tress resultants

10 5 6

0 0
0
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
0.0 0.2 0.4 0.6 0.8 1.0
-10 -5
-6
M rr M rr M rr
-20 -10
M rθ M rθ M rθ
-12
-30 Qr -15 Qr Qr

-40 -20 -18

Mode shape Mode shape Mode shape

4
4 4 ψr
ψr
ψr ψθ
ψθ 2
2 ψθ 2 wr
wr
wr
0
0 0 0.0 0.2 0.4 0.6 0.8 1.0
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
-2
-2 -2

-4
-4 -4

Figure 3.5e Mode shapes (with n = 4, s = 1) and modal stress resultants for stepped plates and their reference constant thickness plates

54
 Design Type I Reference plate with constant thickness Design Type II
( α = 2, b = 0.5) ( α = 1, τ o = 0.125 ) ( α = 0.5, b = 0.5)

λs = 25.6978 λo = 30.3583 λs = 33.4578

Modal tress resultants Modal tress resultants Modal tress resultants

10 10 10

0 0 0
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
-10 -10 -10
M rr M rr M rr
-20 -20 -20 M rθ
M rθ M rθ
Qr Qr Qr
-30 -30 -30

-40 -40 -40

Mode shape Mode shape Mode shape

4 4 4

ψr ψr
2
2 ψθ 2 ψθ
0 wr wr
0.0 0.2 0.4 0.6 0.8 1.0 0 0
0.0 0.2 0.4 0.6 0.8 1.0
-2 ψr 0.0 0.2 0.4 0.6 0.8 1.0

ψθ -2 -2
-4
wr
-4 -4
-6

Figure 3.5f Mode shapes (with n = 5, s = 1) and modal stress resultants for stepped plates and their reference constant thickness plates

55
 Design Type I Reference plate with constant thickness Design Type II
( α = 2, b = 0.5) ( α = 1, τ o = 0.125 ) ( α = 0.5, b = 0.5)

λs = 30.7451 λo = 32.0525 λs =29.5012

Modal tress resultants Modal tress resultants Modal tress resultants

120 120 40
M rr
M rr
80 M rθ
60
M rθ
Qr 0
40 Qr
0.0 0.2 0.4 0.6 0.8 1.0
0
0 0.0 0.2 0.4 0.6 0.8 1.0 M rr
-40
0.0 0.2 0.4 0.6 0.8 1.0 -60 M rθ
-40 Qr

-80 -120 -80

Mode shape Mode shape Mode shape

8 8 ψr 6
ψr ψθ
ψθ wr 3
4 4
wr
0
0.0 0.2 0.4 0.6 0.8 1.0
0 0 ψr
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0 -3
ψθ
wr
-4 -4 -6

Figure 3.5g Mode shapes (with n = 2, s = 2) and modal stress resultants for stepped plates and their reference constant thickness plates

56
 Design Type I Reference plate with constant Design Type II
( α = 2, b = 0.5) thickness( α = 1, τ o = 0.125 ) ( α = 0.5, b = 0.5)

λs = 36.8216 λo = 34.931 λs = 27.01

Modal tress resultants Modal tress resultants Modal tress resultants

240 120 40

M rr M rr M rr
160 M rθ
M rθ 60 20 M rθ
Qr Qr Qr
80
0 0
0 0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
0.0 0.2 0.4 0.6 0.8 1.0
-60 -20
-80

Mode shape Mode shape

Mode shape
4 2
8
ψr
ψr
2 ψθ
ψθ 0
4 wr
wr 0.0 0.2 0.4 0.6 0.8 1.0
0
0.0 0.2 0.4 0.6 0.8 1.0 ψr
-2
0
-2 ψθ
0.0 0.2 0.4 0.6 0.8 1.0 wr

-4 -4 -4

Figure 3.5h Mode shapes (with n = 0, s = 2) and modal stress resultants for stepped plates and their reference constant thickness plates

57
 n = 2, s = 1 n = 2, s = 1 n = 2, s = 1
Bending Moment Bending Moment Bending Moment

Twisting Moment Twisting Moment Twisting Moment

Shear Force Shear Force Shear Force

Figure 3.6 Three Dimensional Stress-resultant Plots of Uniform and Stepped Circular Plates

58
 n =0, s = 1 n =0, s = 1 n =0, s = 1

Bending Moment Bending Moment Bending Moment

Twisting Moment Twisting Moment Twisting Moment

Figure 3.6 (Contd.) Three Dimensional Stress-resultant Plots of Uniform and Stepped Circular Plates

59
 n =3, s = 1 n =3, s = 1 n =3, s = 1
Bending Moment Bending Moment Bending Moment

Twisting Moment Twisting Moment Twisting Moment

Shear Force Shear Force Shear Force

Figure 3.6 (Contd.) Three Dimensional Stress-resultant Plots of Uniform and Stepped Circular Plates

60
 Vibration Analysis of Stepped Circular Plate

3.4 CONCLUDING REMARKS

Presented in this chapter are exact vibration solutions of circular stepped plates

with free edges. The solutions include the frequency values, the mode shapes and the

modal stress resultants. The natural boundary conditions of stepped circular plate are

also completely satisfied. A comparison study on the vibration solutions of a stepped

plate with constant thickness plates is made with a view to ascertain the optimal usage

of materials for designing stepped circular VLFSs. Thickness ratio and step location is

rather sensitive to mode sequence. However, these results show that the stepped

circular plate always yields smaller stress-resultants than its reference uniform circular

plate. Therefore, the exact vibration solutions of stepped plates, when employed in the

hydroelastic analysis, will yield smaller value of stress-resultants than the uniform

circular VLFS.

61
 Chapter 4

HYDROELASTIC ANALYSIS OF UNIFORM

CIRCULAR VLFS

This chapter presents the solution for hydroelastic problem of

uniform circular VLFS. The analysis is carried out in frequency
domain using modal expansion matching method. The diffraction and
radiation forces are evaluated by using eigen function expansion
matching method. The modal deflection and stress-resultants given
here will serve as accurate solutions for engineers when developing
their numerical methods for analyzing VLFSs.

4.1 BASIC ASSUMPTIONS AND PROBLEM DEFINITION

In a basic hydroelastic analysis of pontoon-type VLFSs, the following assumptions

are made:

• The VLFS is modeled as an isotropic flat plate with free edges.

• The fluid is incompressible, inviscid and its motion is irrotational so that the

velocity potential exists.

• The amplitude of the incident wave and the motions of the VLFS are both small

and only the vertical motion of structure is considered.

• There are no gap between the VLFS and the free surface.

The fluid-structure system and the cylindrical coordinate system are shown in Fig.

4.1. The origin of the coordinate system is on the flat sea-bed and the z- axis is

pointing upwards. The undisturbed free surface is on the plane z = d , and the sea-bed

is assumed to be flat at z = 0 . The floating, flat, circular plate has a radius of R and a

thickness of h . The zero draft is assumed for simplifying the fluid-domain analysis.

62
 Hydroelastic Analysis of Uniform Circular Plate

The incident wave impacts the plate at θ = 0 . The problem at hand is to determine the

deflections and stress-resultants of the uniform circular plate under action of wave

forces. Below, the governing equations and boundary conditions for the hydroelastic

analysis are presented. The hydroelastic analysis is performed in the frequency

domain.

r, χ incident wave
R
q
x

z=d h

Sea bed, z = 0
O

Figure 4.1 Geometry of an Uniform Circular VLFS

4.2 BOUNDARY VALUE PROBLEMS AND GOVERNING EQUATIONS

Considering time-harmonic motion with the complex time dependence e iϖt being

applied to all first-order oscillatory quantities, where i represents the imaginary unit,

ϖ the angular frequency and t the time, the complex velocity potential φ (r ,θ , z ) is

governed by the Laplace’s equation

∇ 2φ ( r , θ , z ) = 0 (4.1)

63
 Hydroelastic Analysis of Uniform Circular Plate

in the fluid domain, and it must satisfy the boundary conditions on the free surface, on

the sea-bed, and on the wetted bottom surface of the floating body

∂φ (r , θ , z ) ϖ 2
= φ (r ,θ , z ) on z = d , r > R (4.2)
∂z g

∂φ (r ,θ , z )
=0 on z = 0 (4.3)
∂z

∂φ (r ,θ , z )
= iϖw(r , θ ) on z = d , r < R (4.4)
∂z

where w(r ,θ ) is the vertical complex displacement of the plate, and g is the

gravitational acceleration.

The radiation condition for the scattering and radiation potential is also applied at

infinity

⎡ ∂ (φ − φ I ) ⎤
lim r ⎢ + ik (φ − φ I )⎥ = 0 as r → ∞ (4.5)
r →∞
⎣ ∂r ⎦

where r is the radial coordinate measured from the centre of the VLFS, k is the wave

number, and φ I the potential representing the undisturbed incident wave

∞
igA cosh kz ikx igAM 01 / 2
φI = e = f 0 ( z )∑ ε n i n J n (kr ) cos nθ (4.6)
ϖ cosh kd ϖ cosh kd n =0

where ε 0 = 1, ε n = 2 (n ≥ 2) ; A the amplitude of the incident wave; J n the Bessel

function of the first kind of order n ; and

k tanh kd = ϖ 2 / g (4.7)

f ( z ) = M −1 / 2 cosh kz (4.8)

1 ⎛ sinh 2kd ⎞
M = ⎜1 + ⎟ (4.9)
2⎝ 2kd ⎠

64
 Hydroelastic Analysis of Uniform Circular Plate

By assuming the circular VLFS to be an elastic, isotropic, shear deformable plate,

the motion of the floating body is governed by the following Mindlin plate equations

∂M r 1 ∂M rθ M r − M θ γh 3
+ + − Qr + ϖ 2 ψr = 0 (4.10)
∂r r ∂θ r 12

∂M rθ 1 ∂M rθ 2M rθ 2 γh
3
+ + − Qθ + ϖ ψθ = 0 (4.11)
∂r r ∂θ r 12

∂Qr 1 ∂Qθ Qr
+ + + ϖ 2 γhw = p (r , θ ) (4.12)
∂r r ∂θ r

where the bending moments M r , M θ , twisting moment M rθ , and the shear forces

Qr , Qθ can be calculated from the following relations

⎧ ∂ψ ν⎛ ∂ψ θ ⎞⎫
M r = D ⎨ r + ⎜ψ r + ⎟⎬ (4.13)
⎩ ∂r r⎝ ∂θ ⎠⎭

⎧ ∂ψ r 1 ⎛ ∂ψ θ ⎞⎫
M θ = D ⎨ν + ⎜ψ r + ⎟⎬ (4.14)
⎩ ∂r r⎝ ∂θ ⎠⎭

⎧ ∂ψ
(1 − ν )⎨ θ + 1 ⎛⎜ ∂ψ r − ψ θ ⎞⎟⎬
D ⎫
M rθ = (4.15)
2 ⎩ ∂r r ⎝ ∂θ ⎠⎭

⎛ ∂w ⎞
Qr = κ 2 Gh⎜ψ r + ⎟ (4.16)
⎝ ∂r ⎠

⎛ 1 ∂w ⎞
Qθ = κ 2 Gh⎜ψ θ + ⎟ (4.17)
⎝ r ∂θ ⎠

in which D is the plate rigidity, γ the mass per unit area of the plate, ν the Poisson’s

ratio, κ 2 the Mindlin shear correction factor, ρg the hydrostatic restoring force factor,

where ρ is the density of the fluid, and p (r ,θ ) the pressure on the bottom surface of

the plate.

The pressure p (r ,θ ) is related to the velocity potential φ (r ,θ , z ) by Newman

(1994)

65
 Hydroelastic Analysis of Uniform Circular Plate

p (r ,θ ) = −iρϖφ (r , θ , d ) − ρgw(r ,θ ) (4.18)

The floating body subjected to no constraint in the vertical direction along its edges

must satisfy the zero bending moment, zero twisting moment and zero shear force

conditions for a free edge

M r = 0, M rθ = 0, Qr = 0 (4.19)

4.3 MODAL EXPANSION OF MOTION

In order to decouple the fluid-structure interaction into the hydrodynamic problem

in terms of the velocity potential and the mechanical problem for the vibration of the

circular plate, the motion of the plate is expanded by the modal functions which

consist of the product of the natural dry modes of circular Mindlin plates with free

edges.

The exact vibration solutions for uniform circular Mindlin plates with free edge are

already presented in Chapter 2. Using the superposition of the natural dry modes and

the two rigid-body motions (heave and pitch), the final solution of the plate deflection

is given by

N M
w(r ,θ ) = ζ 00 w00 + ζ 10 w10 cos θ + ∑∑ ζ ns wns (r ) cos nθ (4.20)
n = 0 s =1

N M
ψ r (r ,θ ) = ∑∑ ζ nsψ r ,ns (r ) cos nθ (4.21)
n = 0 s =1

N M
ψ θ (r ,θ ) = ∑∑ ζ nsψ θ ,ns (r ) sin nθ (4.22)
n = 0 s =1

where wns ,ψ r ,ns ,ψ θ ,ns represent the natural dry modes (mode shape of free vibration)

which are mostly given in chapter 2; n is the number of nodal diameters of the mode

( n = 0,1,..., N ) ; s the sequence for a given n value ( s = 1,2,..., M ); and

66
 Hydroelastic Analysis of Uniform Circular Plate

w00 = 2 , w10 = 2r / R (4.23)

The complex modal amplitudes ζ ns are the unknowns which are to be determined.

4.4 SOLUTIONS FOR RADIATION POTENTIALS

The velocity potential φ is then decomposed into diffraction and radiation potentials

by using the same modal amplitudes as (Newman, 1994)

N N
φ (r ,θ , z ) = ∑ φ Dn (r , z ) cos nθ + iϖ ∑ ∑ζ ns φ ns (r , z ) cos(nθ ) (4.24)
n =0 n = 0 s = 0 ( n = 0 ,1)
s =1( n ≥ 2 )

Then the boundary condition on the free surface and wetted bottom surface of the

floating body, Eqs. (4.2) and (4.4) are modified to

∂φ Dn (r , z )
=0 on z = d , r > R (4.25)
∂z

∂φ ns (r , z )
= wns (r ) on z = d , r < R (4.26)
∂z

The general solutions for radiation potentials may be given by the following

equations (Hamamoto and Tanaka, 1992)

H n( 2 ) (kr ) ∞ K n (k j r )
φ ns( e ) (r , z ) = C ns ,0
H n (kR)
( 2)
f 0 ( z ) + ∑
j =1
C ns , j
K n (k j R)
f j ( z) (4.27)

n
⎛r⎞ ∞ I n (l j r )
φ (r , z ) = Dns ,0 ⎜ ⎟ g 0 ( z ) + ∑ {Dns , j
(i )
ns g j ( z) +
⎝R⎠ j =1 I n (l j R)
(4.28)
2 J n (λ nj r / R) cosh(λ nj z / R) R
Rλ nj J n2+1 (λ nj ) sinh(λ nj d / R ) ∫0
⋅ ⋅ wns (r ) J n (λ nj r / R)rdr}

Here, the supercripts e and i represent the external domain ( r > a) and the internal

domain ( r < a ) , respectively; H n( 2 ) , I n and K n represent Hankel function of the

second-kind, modified Bessel function of the first and second-kind of order n ,

67
 Hydroelastic Analysis of Uniform Circular Plate

respectively; λ nj is the j -th positive root of the equation J n (λ nj ) = 0 ; C ns , j and Dns , j

are the unknown coefficients to be determined; and

f j ( z ) = M −j 1 / 2 cos(k j z ) ( j ≥ 1) (4.29)

1 ⎛ sin( 2k j d ) ⎞
Mj = ⎜1 + ⎟ ( j ≥ 1) (4.30)
2 ⎜⎝ 2kd ⎟⎠

ϖ2
k j tan(k j d ) = (k j > 0; j ≥ 1) (4.31)
g

jπ
g j ( z ) = ε 1j / 2 cos(l j z ) , l j = (4.32 a,b)
d

Note that when j = 0, we have k 0 = ik and Eq. (4.31) reduces to the dispersion relation

given in Eq. (4.7). The above situation where j ≥ 1 implies that we are referring to

evanescent wave. The following orthogonal relationships are satisfied

1 d 1 d
d ∫0
f i ( z ) f j ( z )dz = ∫ g i ( z ) g j ( z )dz = δ ij
d 0
(4.33)

⎧1 (i = j )
where δ ij = ⎨ (4.34)
⎩0 (i ≠ j )

Based on the continuity of the potentials on r = R and the application of

d
1
d ∫0
...g l ( z )dz to the continuity equation, one obtains:

∞
Dns.l = ∑ C ns , j E jl (4.35)
j =0

d
1
d ∫0
E jl = f j ( z ) g l ( z )dz (4.36)

From the continuity of the horizontal velocity on r = R and the application of

d
1
d ∫0
... f p ( z )dz to the continuity equation, one gets

68
 Hydroelastic Analysis of Uniform Circular Plate

kK n' (k p R) ⎫
C ns , 0 (For p = 0) ⎪
K n (k p R) ⎪ n
⎬ = Dns , 0 E p 0
k p H n (k p R)
( 2 )'
⎪ R
C ns , p (For p ≥ 1) ⎪
H n( 2 ) (k p R) ⎭ (4.37)
⎧ l j I n (l j R)
'
2 J n (λ nj )
'
⎫
⎪ Dns , j E pj + 2 2 ⎪
∞
⎪ I n (l j R) a J n +1 (λ nj ) ⎪
+ ∑⎨ d ⎬
j =1 ⎪ 1 cosh(λ nj z / R) a
f ( z )dz.∫ wns (r ) J n (λ nj r / R)rdr ⎪
⎪ d ∫ sinh(λ d / R) p
⋅
⎪
⎩ 0 nj 0 ⎭

By substituting Eqs. (4.35) into Eqs. (4.37) and rearranging the equation, we have

⎧ 2 J n' (λ nj ) 1 d cosh(λ nj z / R) ⎫
⎪ ⋅ ∫
⎪ R J n +1 (λ nj ) d 0 sinh(λ nj d / R)
f p ( z ) dz ⎪
∑ C {H }
∞ ∞ 2 2
~ ~ ⎪
ns , q np δ pq − Gnpq = ∑⎨ ⎬ (4.38)
R
q =0 j =1 ⎪ ⎪
⎪⋅ ∫ wns (r ) J n (λ nj r / R)rdr ⎪
⎩ 0 ⎭

where

⎧ kH n( 2 ) ' (kR)
⎪ ( 2) (for p = 0)
~ ⎪ nH ( kR )
H np =⎨ (4.39)
⎪ k p K n ' (k p R) (for p ≥ 1)
⎪ K (k R)
⎩ n p

~ n ∞ l j I n' (l j R)
Gnpq = E p 0 E q 0 + ∑ E pj E qj (4.40)
R j =1 I n (l j R )

By solving Eq. (4.38) with respect to C ns ,q (where the infinite-sum should be truncated

at some number), and then substituting them in to Eq. (4.35), the unknown coefficients

for the radiation potentials φ ns (r , z ) are obtained.

4.5 SOLUTIONS FOR DIFFRACTION POTENTIALS

The general solution for diffraction potential may be given by the following

equations

69
 Hydroelastic Analysis of Uniform Circular Plate

H n( 2 ) (kr ) ∞ K n (k j r )
φ Dn
(e)
(r , z ) = C n,0
H n (kR)
( 2)
f 0 ( z ) + ∑
j =1
Cn, j
K n (k j R)
f j ( z ) + φ In (r ) f 0 ( z ) (4.41)

n
⎛r⎞ ∞ I n (l j r )
φ Dn
(i )
( r , z ) = Dn , 0 ⎜ ⎟ g 0 ( z ) + ∑ Dn , j g j ( z) (4.42)
⎝R⎠ j =1 I n (l j R)

where

igAM 01 / 2
φ In = ε n i n J n (kr ) (4.43)
ϖ cosh kd

By applying a similar procedure as for the radiation potentials, the following sets of

equations are finally obtained

∞
Dn ,l = ∑ C n , j E jl + φ In ' ( R) E 0l (4.44)
j =0

∑ C {H }
∞
~ ~ ~
n ,q np δ pq − Gnpq = −φ In ' ( R )δ 0 p +φ In ( R)Gnp 0 (4.45)
q =0

By solving Eq. (4.45) with respect to C n ,q , and then substituting them into Eq. (4.44),

all of the unknown coefficients for the diffraction potential φ Dn (r , z ) are determined.

4.6 EQUATION OF MOTION IN MODAL COORDINATES

In order to derive the equations of motion in modal coordinates, we consider the

kinetic energy T , the strain energy U and the energy associated with the pressure V

2⎧ 2
T=
1 2π R
∫ ∫ γh ϖ ⎨ w +
h2 2
ψ r + ψ θ2 ( )⎫⎬rdrdθ (4.46)
2 0 0
⎩ 12 ⎭

2π R
⎛ ∂ψ r ⎞ ν ∂ψ r ⎛ ∂ψ θ
2
1 ⎞
U=
2 ∫ ∫
0 0
{D[⎜
⎝ ∂r ⎠
⎟ +2 ⋅ ⎜
r ∂r ⎝ ∂θ
+ψ r ⎟
⎠
1 ⎛ ∂ψ ⎞ 1 −ν ⎛ ∂ψ θ ∂ψ r ⎞
2 2

+ 2 ⎜ θ + ψ r ⎟ + 2 ⋅ ⎜ψ θ − r − ⎟ ] (4.47)
r ⎝ ∂θ ⎠ 2r ⎝ ∂r ∂θ ⎠
⎛ ∂w ⎛ ∂w
2 2
⎞ 1 ⎞
+ κ Gh[⎜
2
+ψ r ⎟ + 2 ⎜ + rψ θ ⎟ ]}rdrdθ
⎝ ∂r ⎠ r ⎝ ∂θ ⎠

70
 Hydroelastic Analysis of Uniform Circular Plate

2π R
V = −∫ ∫ p (r , θ , d ) wrdrdθ (4.48)
0 0

The Hamilton’s principle can be given as

− δT + δU + δV = 0 (4.49)

By substituting w, ψ r and ψ θ which are represented by Eq. (4.20)-(4.22), and

applying the Galerkin’s method, we obtain

R
(ψ r ,nsψ r ,np + ψ θ ,nsψ θ ,np )}rdr
M
h2
∑ ζ ns [−γhϖ 2 ∫ {wns wnp +
s = 0 ( n = 0 ,1) 12
0
s =1( n ≥ 2

R
∂ψ r ,ns ∂ψ r ,np ν ∂ψ r ,ns
+ ∫ {D[ ⋅ + ⋅ (nψ θ ,np + ψ r ,np )
0
∂r ∂r r ∂r

ν ∂ψ r ,np
+ (nψ θ , ns + ψ r ,ns ) +
1
(nψ θ ,ns + ψ r ,ns ) ⋅ (nψ θ ,np + ψ r ,np )
r ∂r r2 (4.50)
1 −ν ⎛ ∂ψ θ ,ns ⎞ ⎛ ∂ψ θ ,np ⎞
+ ⎜⎜ψ θ ,ns − r + nψ r ,ns ⎟⎟ ⋅ ⎜⎜ψ θ ,np − r + nψ r ,np ⎟⎟]
2r 2 ⎝ ∂r ⎠ ⎝ ∂r ⎠

⎛ ∂w ⎞ ⎛ ∂wnp ⎞
+ κ 2 Gh[⎜ ns + ψ r ,ns ⎟ ⋅ ⎜⎜ + ψ r ,np ⎟⎟
⎝ ∂r ⎠ ⎝ ∂r ⎠
1
+ (− nwns + rψ θ ,ns )(−nwnp + rψ θ ,np )]}dr ]
r2

In view of the fact that the normal modes satisfy Eqs. (4.10)-(4.17) and Eq. (4.19) , Eq.

(4.50) can be simplified as

M R

∑ ζ ns [−ϖ γhR δ ps + ϖ γhR δ ps − ϖ ρ ∫ φ ns (r , d ) wnp rdr

s = 0 ( n = 0 ,1)
2 2 2
ns
2 2

0
s =1( n ≥ 2 )
(4.51)
R R
+ ρg ∫ wns wnp rdr ] = − ρiϖ ∫ φ Dn (r , d ) wnp rdr
0 0

where the normalization of the modal vectors is made such that

R
⎧ τ2 ⎫
∫0 ⎨⎩ ns np 12 (ψ r ,nsψ r ,np + ψ θ ,nsψ θ ,np )⎬⎭rdr = R δ
w w + 2
ps (4.52)

71
 Hydroelastic Analysis of Uniform Circular Plate

and ϖ ns represents the natural frequency, Eq. (4.51) may be represented in a non-

dimensional form by

M
ϖ 2R ⎛ γ ⎞ ϖ 2 R ⎛⎜ 1 1 ⎞
∑ ζ ns [− τ ⎜⎜ ⎟⎟δ ps + λ2ns Sδ ps −
g ⎝ρ⎠ g ⎜⎝ R 0 ∫ φ ns w np χdχ ⎟
⎟
s = 0 ( n = 0 ,1)
s =1( n ≥ 2 )
⎠
(4.53)
iϖ
1 1
+ ∫ wns wnp χdχ ] = −
g ∫0
φ Dn wnp χdχ
0

where χ = r / R , τ = h / R and S = D /( ρgR 4 ) .

It is to be noted that Eq. (4.68) can be solved separately for each n (number of nodal

diameters or Fourier modes).

4.7 NUMERICAL RESULTS

We analyze two uniform circular plates with difference of plate rigidity S as shown

in Table 4.1. The first problem is a circular plate with thickness ratio h / R = 0.1 , radius

R = 50m while the other problem involves a rather thin plate with thickness ratio

h / R = 0.01 , R = 200m . The incident wave length λ = 50m is taken for both

problems. In calculating the plate rigidity D , we assume that the plated structure is

made of steel with Young’s modulus E = 206 GPa and top and bottom plate

thicknesses t = 15 mm (this thickness is not to be confused with the total thickness of

the floating structure denoted by h). Therefore one can find that the plate rigidity

( )
D = 2 Et (h / 2) 2 / 1 − ν 2 . In order to check the convergence of the solutions for

truncation of the infinite sums in the formulations, several truncation numbers are

examined at T = 10,20,40 . Other necessary parameters for analyzing are shown in

Table 4.1.

Table 4.1 Parameters for Analyzed Circular VLFSs

72
 Hydroelastic Analysis of Uniform Circular Plate

Item Problem 1 Problem 2

Radius R 50 200
Thickness h 5 2
Water Depth d 20 20
Density Ratio γ / ρ 0.1 0.25
Non-dimensional Plate Rigidity S 0.7 0.000433
Poinsson’s Ratio ν 0.3 0.3
Shear Correction Factor κ 2 5/6 5/6
Incident Wave Length λ 50 50
Number of Nodal Diameters of Mode N 14 14
Number of Sequence for Each Mode M 5 5
Truncation Number for Infinite Sums T 10, 20, 40 10, 20

Note that the natural dry modes and stress-resultants of uniform circular plates in

Problem 1 and Problem 2 are extracted from examples given in Section 2.3

(corresponding to thickness ratio h / R equals to 0.1 and 0.01, respectively).

FORTRAN Code is employed to develop the program to analyze the hydroelastic

analysis. The deflection, the bending moment, the twisting moment and the shearing

force are plotted along the center-line of the circular plate (along x -axis) in Figs. 4.2

to 4.8.

Figure 4.2 shows that Problem 1 model behaves almost like a rigid plate, although

slight elastic deformation is observed. The convergence of the results in terms of the

truncation of infinite sums is presented in Fig. 4.3 at T = 10, 20 and 40 . It can be seen

that the truncation numbers examined here are good enough for convergence.

In Fig. 4.4, it seems clear that the Problem-2-circular plate has a considerable elastic

deformation. As pointed out by Zilman and Miloh (2000), the hydroelastic effect

becomes important when S ≤ 0.001 . The results presented herein are also consistent

with their arguments. The convergence check for the truncation number T is also

73
 Hydroelastic Analysis of Uniform Circular Plate

observed in Fig. 4.5. The truncation number T = 20 presented here gives a reasonable

result for engineering purposes.

Figures 4.6, 4.7 and 4.8 show the bending moment, the twisting moment and the

shearing force of circular VLFS for Problem 2. As expected, the free-edge boundary

conditions are exactly satisfied because of the ultilization of the Mindlin plate theory

with exact solutions.

0.400

0.200

Real part
w/A

0.000
Imaginary part
-1.0 -0.5 0.0 0.5 1.0

-0.200

-0.400

x/R
Figure 4.2 Deflection for Problem 1, Real part & Imaginary part

0.50

T=10
w/A

0.25 T=20
T=40

0.00
-1.0 -0.5 0.0 0.5 1.0

x/R
Figure 4.3 Deflection Amplitude for Problem 1

Wave direction
0.2

0.1
w/A

0.0
Real part
-1.0 -0.5 0.0 0.5 1.0
Imaginary part
-0.1

-0.2

x/R

Figure 4.4 Deflection for Problem 2, Real part & Imaginary part

74
 Hydroelastic Analysis of Uniform Circular Plate

Wave direction
0.3

0.2
T=10

w/A
T=20
0.1

0.0
-1.0 -0.5 0.0 0.5 1.0

x/R
Figure 4.5 Deflection Amplitude for Problem 2

Wave direction
15

12
MrrR/(DA)

0
-1.0 -0.5 0.0 0.5 1.0

x/R
Figure 4.6 Bending moment amplitude for Problem 2

Wave direction
5

4
MrθR/(DA)

0
-1.0 -0.5 0.0 0.5 1.0

x/R
Figure 4.7 Twisting moment amplitude for Problem 2

Wave direction
125

100
Qr R2/(DA)

75

50

25

0
-1.0 -0.5 0.0 0.5 1.0
x/R

Figure 4.8 Shear force amplitude for Problem 2

75
 Hydroelastic Analysis of Uniform Circular Plate

4.8 CONCLUDING REMARKS

In this Chapter, the hydroelastic problem for a circular VLFS subjected to wave is

analyzed in an exact manner for both plate and fluid parts. The implementations if the

method presented herein is not so complicated for engineers to obtain accurate

solutions for their hydroelastic analysis. Numerical results themselves presented herein

serve as benchmark solutions. Although the formulations are given in explicit formula,

infinite sums are included. Thus, the convergence check is observed. Most

importantly, the theory used here is based on the more refined Mindlin plate theory,

instead of the commonly used classical thin plate theory. With this advanced feature,

we can obtain exact stress resultants that satisfy free-edge boundary conditions. Note

that in an earlier study, Wang et al. (2000) showed that finite element and Ritz

analyses of such plates could not produce stress-resultants that satisfy the natural

boundary conditions. Therefore the presented results should be useful as they serve as

benchmark solutions for verification of numerical programs such as BEM or FEM for

VLFS analysis.

76
 Chapter 5

HYDROELASTIC ANALYSIS OF STEPPED

CIRCULAR VLFS

In this chapter, the hydroelastic analysis of stepped circular VLFS is

carried out in an exact manner for both plate and fluid parts. The
exact modal deflection and stress-resultants are given. A numerical
result is examined and a comparative study between stepped VLFS
and uniform VLFS in terms of modal deflection and stresses is also
investigated.

5.1 PROBLEM DEFINITION

The stepped circular VLFS system is shown in Fig. 5.1. The cylindrical coordinate

system (r , θ , z ) is introduced, where the origin is on the flat sea-bed and the z- axis is

pointing upwards. The undisturbed free surface is on the plane z = d , and the sea-bed

is assumed to be flat at z = 0 . The floating flat stepped circular plate has a radius of R

and step thicknesses h1 for ( R ≥ r ≥ bR ) and h2 for ( bR ≥ r ≥ 0 ) (see Fig. 5.1). The

bottom surface of the stepped plate is assumed to be flat and a zero draft is assumed for

simplifying the fluid-domain analysis. We wish to determine the deflections and stress-

resultants of the stepped circular VLFS under action of wave forces.

5.2 GOVERNING EQUATIONS AND BOUNADRY CONDITIONS

Following the same procedure for hydroelastic analysis of uniform circular VLFS

in Chapter 4, the time-harmonic motion with the complex time dependence e iϖt being

applied to all first-order oscillatory quantities, the complex velocity potential φ (r ,θ , z )

77
 Hydroelastic Analysis of Stepped Circular Plate

is governed by the Laplace’s equation ∇ 2φ = 0 in the fluid domain, and it must also

satisfy the boundary conditions on the free surface, on the sea bed, and on the wetted

bottom surface of the floating body of equations which are the same as Eqs. (4.2), (4.3)

and (4.4), respectively.

r,χ incident wave

R
q
bR x

z
h2 h1
z=d

Sea bed, z = 0
O

Figure 5.1 Geometry of a Stepped Circular VLFS

∂φ (r , θ , z ) ϖ 2
= φ (r ,θ , z ) on z = d , r > R (5.1)
∂z g

∂φ (r ,θ , z )
=0 on z = 0 (5.2)
∂z

∂φ (r ,θ , z )
= iϖw(r , θ ) on z = d , r < R (5.3)
∂z

The radiation condition

⎡ ∂ (φ − φ I ) ⎤
lim r ⎢ + ik (φ − φ I )⎥ = 0 as r → ∞ (5.4)
r →∞
⎣ ∂r ⎦

78
 Hydroelastic Analysis of Stepped Circular Plate

and φ I the potential representing the undisturbed incident wave

igA cosh kz ikx igAM 01 / 2 ∞

φI = e = f 0 ( z )∑ ε n i n J n (kr ) cos nθ (5.5)
ϖ cosh kd ϖ cosh kd n =0

where ε 0 = 1, ε n = 2 (n ≥ 2) ; A the amplitude of the incident wave; J n the Bessel

function of the first kind of order n ; and

k tanh kd = ϖ 2 / g (5.6)

f ( z ) = M −1 / 2 cosh kz (5.7)

1 ⎛ sinh 2kd ⎞
M = ⎜1 + ⎟ (5.8)
2⎝ 2kd ⎠

The governing equations of the floating stepped circular plate is followed the Mindlin

plate equations as

∂M rri 1 ∂M rθi M rri − M θθi γh 3

+ + − Qri + ϖ 2 i ψ ri = 0 (5.9)
∂r r ∂θ r 12

∂M rθi 1 ∂M rθi 2M rθi γh 3

+ + − Qθi + ϖ 2 i ψ θi = 0 (5.10)
∂r r ∂θ r 12

∂Qri 1 ∂Qθi Qri

+ + + ϖ 2 γhi wi = p (r , θ ) (5.11)
∂r r ∂θ r

where the bending moments M rri , M θθi , twisting moment M rθi , the shear forces

Qri , Qθi of sub-plate i (e.g i = 1 representing annular sub-plate and i = 2 representing

core circular sub-plate) can be calculated from the constitutive equations (Mindlin

1951)

⎧ ∂ψ ν⎛ ∂ψ θi ⎞⎫
M rri = Di ⎨ ri + ⎜ψ ri + ⎟⎬ (5.12)
⎩ ∂r r⎝ ∂θ ⎠⎭

⎧ ∂ψ ri 1 ⎛ ∂ψ θi ⎞⎫
M θθi = Di ⎨ν + ⎜ψ ri + ⎟⎬ (5.13)
⎩ ∂r r⎝ ∂θ ⎠⎭

79
 Hydroelastic Analysis of Stepped Circular Plate

(1 − ν )⎨ ∂ψ θi + 1 ⎛⎜ ∂ψ ri − ψ θi ⎞⎟⎬
Di ⎧ ⎫
M rθi = (5.14)
2 ⎩ ∂r r ⎝ ∂θ ⎠⎭

⎛ ∂w ⎞
Qr = κ 2 Gh⎜ψ r + ⎟ (5.15)
⎝ ∂r ⎠

⎛ 1 ∂w ⎞
Qθ = κ 2 Gh⎜ψ θ + ⎟ (5.16)
⎝ r ∂θ ⎠

By assuming the bottom surface of the plate to be flat (see Fig. 5.1), the pressure

p (r ,θ ) underneath the stepped plate is related to the velocity potential by

φ (r ,θ , z ) by p (r ,θ ) = −iρϖφ (r , θ , d ) − ρgw(r ,θ ) . (5.17)

The floating body subjected to no constraint in the vertical direction along its edges

must satisfy the zero bending moment, zero twisting moment and zero shear force

conditions for a free edge of equations

Qr1 = 0, M rr1 = 0, M rθ 1 = 0 . (5.18, 19, 20)

and the matching conditions at the interface of stepped location ( χ = r / R = b )

w1 = w2 , ψ r1 = ψ r 2 , ψ θ 1 = ψ θ 2 (5.21, 22, 23)

M rr1 = M rr 2 , M rθ 1 = M rθ 2 , Qr1 = Qr 2 (5.24, 25, 26)

5.3 EQUATIONS OF MOTION IN MODAL COORDINATES

The modal expansion of the stepped circular VLFS’s motion which consist of the

product of the natural dry modes of stepped circular Mindlin plate with free edge

N M
w(r ,θ ) = ζ 00 w00 + ζ 10 w01 cos θ + ∑∑ ζ ns wns (r ) cos nθ (5.27)
n = 0 s =1

N M
ψ r (r ,θ ) = ∑∑ ζ nsψ r ,ns (r ) cos nθ (5.28)
n = 0 s =1

80
 Hydroelastic Analysis of Stepped Circular Plate

N M
ψ θ (r ,θ ) = ∑∑ ζ nsψ θ ,ns (r ) sin nθ (5.29)
n = 0 s =1

where wns ,ψ r ,ns ,ψ θ ,ns represent the natural dry modes of stepped circular plate; n is

the number of nodal diameters of the mode ( n = 0,1,..., N ) ; s the sequence for a given

n value ( s = 1,2,..., M ); and mode shapes of rigid body modes (heave and pitch) are

given

w00 = 2 , w10 = 2r / a (5.30)

The velocity potential φ is then decomposed into a diffraction potential φ Dn and a

radiation potential φ ns whose solutions are given in Chapter 4, section 4.4 and 4.3,

respectively.

The kinetic energy T , the strain energy U for stepped circular VLFS are

decomposed into two sub-plates as

⎧ 2 h1 2 2 ⎫
1 2π R
T = ∫ ∫ γh1ϖ ⎨w1 +
2 0 bR
2

12
ψ r1 + ψ θ21 ⎬rdrdθ ( )
⎩ ⎭ (5.31)
⎧ 2
⎫
1 2

2 0 0
π bR h
+ ∫ ∫ γh2ϖ 2 ⎨w2 + 2 ψ r22 + ψ θ22 ⎬rdrdθ
2

12
( )
⎩ ⎭
2π R
1 ∂ψ ν ∂ψ r1 ∂ψ θ 1
U = ∫ ∫ {D1[( r1 ) 2 + 2 ⋅ ( + ψ r1 )
2 0 bR ∂r r ∂r ∂θ
1 ∂ψ θ 1 1 −ν ∂ψ θ 1 ∂ψ r1 2
+ ( +ψ r1 ) 2 + 2 (ψ θ 1 − r − ) ]
r 2
∂θ 2r ∂r ∂θ
∂w 1 ∂w
+ κ 2Gh1[( 1 +ψ r1 ) 2 + 2 ( 1 + rψ θ 1 ) 2 ]}rdrdθ
∂r r ∂θ
2π bR
(5.32)
1 ∂ψ ν ∂ψ r 2 ∂ψ θ 2
+ ∫ ∫ {D2 [( r 2 ) 2 + 2 ⋅ ( +ψ r 2 )
2 0 0 ∂r r ∂r ∂θ
1 ∂ψ θ 2 1 −ν ∂ψ θ 2 ∂ψ r 2 2
+ ( +ψ r 2 ) 2 + 2 (ψ θ 2 − r − ) ]
r 2
∂θ 2r ∂r ∂θ
∂w 1 ∂w
+ κ 2Gh2 [( 2 +ψ r 2 ) 2 + 2 ( 2 + rψ θ 2 ) 2 ]}rdrdθ
∂r r ∂θ
and the energy associated with the pressure V

2π R
V = −∫ ∫ p (r , θ , d ) wrdrdθ (5.33)
0 0

81
 Hydroelastic Analysis of Stepped Circular Plate

The Hamilton’s principle can be given as

− δT + δU + δV = 0 (5.34)

By substituting wi , ψ ri and ψ θi which are given by Eq. (5.27) to (5.29) and applying

Galerkin’s method, we obtain

R 2
M
h1
∑ ζ ns [−γh1ϖ 2 ∫ {w1ns w1np +
s = 0 ( n = 0 ,1) 12
(ψ r1,nsψ r1,np + ψ θ 1,nsψ θ 1,np )}rdr
bR
s =1( n ≥ 2
bR 2
h2
− γh2ϖ 2 ∫ {w2 ns w2 np + (ψ r 2,nsψ r 2,np + ψ θ 2,nsψ θ 2,np )}rdr
0
12
R
∂ψ r1,ns ∂ψ r1,np ν ∂ψ r1,ns
+ ∫ {D1 [ ⋅ + ⋅ (nψ θ 1,np + ψ r1,np )
bR
∂r ∂r r ∂r
ν ∂ψ r1,np 1
+ (nψ θ 1,ns + ψ r1,ns ) + 2 (nψ θ 1,ns + ψ r1,ns ) ⋅ (nψ θ 1,np + ψ r1,np )
r ∂r r
1 −ν ∂ψ θ 1,ns ∂ψ θ 1,np
+ 2 (ψ θ 1,ns − r + nψ r1,ns ) ⋅ (ψ θ 1,np − r + nψ r1,np )]
2r ∂r ∂r
∂w ∂w1np
+ κ 2 Gh1 [( 1ns + ψ r1,ns ) ⋅ ( + ψ r1,np ) (5.35)
∂r ∂r
1
+ 2 (− nw1ns + rψ θ 1,ns ).(− nw1np + rψ 1θ ,np )]}dr ]
r
bR
∂ψ r 2,ns ∂ψ r 2,np ν ∂ψ r 2,ns
+ ∫ {D 2 [ ⋅ + ⋅ (nψ θ 2,np + ψ r 2,np )
0
∂r ∂r r ∂r
ν ∂ψ r 2,np 1
+ (nψ θ 2,ns + ψ r 2,ns ) + 2 (nψ θ 2,ns + ψ r 2,ns ) ⋅ (nψ θ 2,np + ψ r 2,np )
r ∂r r
1 −ν ∂ψ θ 2,ns ∂ψ θ 2,np
+ 2 (ψ θ 2,ns − r + nψ r 2,ns ) ⋅ (ψ θ 2,np − r + nψ r 2,np )]
2r ∂r ∂r
∂w ∂w2 np
+ κ 2 Gh2 [( 2 ns + ψ r 2,ns )( + ψ r 2,np )
∂r ∂r
1
+ 2 (− nw2 ns + rψ θ 2,ns ) ⋅ (− nw2 np + rψ 1θ ,np )]}dr ]
r

In view of the fact that the normal modes satisfy Eqs. (5.9) to (5.16) and Eqs. (5.18) to

(5.26), Eq.(5.35) can be simplified as

M

∑
s = 0 ( n = 0 ,1)
ζ ns [−ϖ 2 γR 2 (h1 2 Λ 1 + h2 2 Λ 2 ) + ϖ ns2 γR 2 (h1 2 Λ 1 + h2 2 Λ 2 )
s =1( n ≥ 2 )
(5.36)
R R R
− ϖ 2 ρ ∫ φ ns (r , d ) wnp rdr + ρg ∫ wns wnp rdr ] = − ρiϖ ∫ φ Dn (r , d ) wnp rdr
0 0 0

R
τ 12
where Λ 1 = ∫ {w1ns w1np + (ψ r1,nsψ r1,np + ψ θ 1,nsψ θ 1,np )}rdr (5.37)
bR
12

82
 Hydroelastic Analysis of Stepped Circular Plate

R
τ 22
Λ 2 = ∫ {w2 ns w2 np + (ψ r 2,nsψ r 2,np + ψ θ 2,nsψ θ 2,np )}rdr (5.38)
bR
12

and ϖ ns represents the natural frequency. Equation (5.36) may be represented in a non-

dimensional form by

M
ϖ 2R γ 1
∑ ζ ns [−
s = 0 ( n = 0 ,1) g ρ
( )(τ 1 Λ 1 + τ 2 Λ 2 ) + λ2ns S 0 (τ 1 Λ 1 + τ 2 Λ 2 )
τ0
s =1( n ≥ 2 )
(5.39)
ϖ R 1 2 1 1
iϖ
1

R∫
wnp χdχ ) + ∫ wns wnp χdχ ] = −
g ∫0
− ( φ ns φ Dn wnp χdχ
g 0 0

where χ = r / R , τ 1 = h1 / R , τ 2 = h2 / R , τ 0 = h0 / R , S 0 = D0 /( ρgR 4 ) .

Also, the frequency parameter λ ns and the coressponding mode shapes wns of stepped

cicular plate are extensively given in Chapter 3. The homogeneous sytem of equations

(5.39) can be solved separately with respect to modal amplitudes ζ ns of each mode n.

Then they are back substituted into the Eqs. (5.27) to (5.29) to obtain the total

responses of w(r , θ ) and stress-resultants.

5.4 RESULTS AND DISCUSSIONS

The analysis has been made for two Design Types of stepped circular VLFS and

their reference uniform circular VLFS as shown in Table 5.1. The stepped thickness

ratios are set as α = 2 and α = 0.5 for Design Type 1 plate and Design Type 2 plate,

respectively. The stepped location of both types is at χ = 0.5. Their reference plate

which has the same volume of material with the stepped plates (see Chapter 3 for

defining a reference plate of a stepped plate) is the uniform circular plate with

reference thickness ratio t 0 = h0 / R = 0.125, radius R = 500m . Be noted that the plate

rigidity of reference circular VLFS D = 2 Et (h / 2) 2 / 1 − ν 2 ( ) in which the top and

83
 Hydroelastic Analysis of Stepped Circular Plate

bottom plate thickness t = 20 mm and Young’s modulus E = 206 GPa. And the mode

shapes and modal stress-resultants of these stepped circular plates and their reference

uniform plate are given in Chapter 3. These dry mode solutions should be developed

into hydroelastic analysis by using modal expansion matching method to final results

for these particular cases of stepped VLFS. Other parameters for the hydroelastic

solutions are listed in the followings

Table 5.1 Parameters for Analyzed Stepped Circular VLFSs

Design Reference Design

Item
Type 1 Plate Type 2
Radius R 500 500 500
Stepped Thickness Ratio α 2 1 0.5
Thickness ratio of annular sub-plate h1 0.1 0.125 0.143
Thickness ratio of core circular sub-plate h2 0.2 0.125 0.071
Reference thickness Ratio h0 / R N/A 0.125 N/A
Step Location b 0.5 N/A 0.5
Water Depth d 25 25 25
Density Ratio γ / ρ 0.33 0.33 0.33
Non-dimensional Plate Rigidity S 0 N/A 0.014 N/A
Poinsson’s Ratio ν 0.3 0.3 0.3
Shear Correction Factor κ 2 5/6 5/6 5/6
Incident Wave Length λ 50 50 50
Number of Nodal Diameters of Mode N 14 14 14
Number of Sequence for Each Mode M 5 5 5

The deflection, the bending moment, the twisting moment and the shearing force

are presented in non-dimensional forms M rri R /( D0 A) , M rθi R /( D0 A ) and

Qri R 2 /( D0 A) , respectively.

The displacement amplitudes and bending moment amplitudes are shown in Fig.

5.2. The displacement results reveal that the maximum deflections of the both two

84
 Hydroelastic Analysis of Stepped Circular Plate

Design Type stepped circular VLFS (0.024333 for Design Type I and 0.020004 for

Design Type II) less than that of the reference constant thickness VLFS (0.055656 for

uniform plate). However, the bending moment of Design Type II might be higher and

the bending moment of Design Type I might be lower than that of reference circular

VLFS (see Fig. 5.2). The twisting moment amplitudes of both Design Type I and

Design Type II plates could be lower than that of corresponding reference plate (see

Fig. 5.3). The shear force amplitude of Design Type I plate could be much lower than

that of reference plate while the shear force of Design Type II plate is not much

difference to that of reference plate (see Fig. 5.3).

In order to observe more clearly the distribution of stresses on each sub-plate of

stepped VLFS, we depict them in terms of non-dimensional stresses as can be seen in

Fig. 5.4. The non-dimensional stresses corresponding to bending moment, twisting

moment and shear force are M rri R / τ i2 D0 A , M rθi R / τ i2 D0 A , Qri R 2 / τ i D0 A ,

respectively. The stresses in both core circular and outer annular sub-plates of two type

stepped plates become smaller than those of the reference uniform plate except for the

stresses such as stress M rri R / τ i2 D0 A near the center of core sub-plate of Design Type

II plate and stress M rθi R / τ i2 D0 A near the thinner sub-plate of both two types of

stepped plates or stress Qri R 2 / τ i D0 A near the step location of Design Type II plate.

This finding reveals that when designing stepped position details of VLFS, one may

pay more attention for the stress-concentration at these kinds of location. The stresses

of M rri R / τ i2 D0 A , Qri R 2 / τ i D0 A of Design Type I plate in this certain case decreases

over the whole platform when comparing with that of the reference uniform circular

VLFS. Over all, these results show that stepped circular VLFS designs take more

advantage than their uniform circular VLFS in terms of lowering stresses.

85
 Design Type I Reference plate with constant thickness Design Type II
( α = 2, b = 0.5) ( α = 1, τ o = 0.125 ) ( α = 0.5, b = 0.5)
h1 h2 ho h1 h2

0.03 0.06 0.03

Displacements

0.02 0.04 0.02

w/A
w/A
w/A

0.01 0.02 0.01

0.00 0.00
0.00
-1.0 -0.5 0.0 0.5 1.0 -1.0 -0.5 0.0 0.5 1.0
-1.0 -0.5 0.0 0.5 1.0
x/R x/R
x/R

0.24 1.5 1.5

Bending Moments

A)
rriR/(D0 A)
A)

A)

1.0
rriR/(D0 A)
MrriR/(D0A)

0.16 1.0

MrriR/(D
MrriR/(D
MrriR/(D

0.08 0.5 0.5

M
M

0.0 0.0
0.00
-1.0 -0.5 0.0 0.5 1.0 -1.0 -0.5 0.0 0.5 1.0
-1.0 -0.5 0.0 0.5 1.0
x/R x/R
x/R

Figure 5.2 Displacements and Bending Moments Amplitudes for stepped VLFSs and the reference constant thickness VLFS

86
 Design Type I Reference plate with constant thickness Design Type II
( α = 2, b = 0.5) ( α = 1, τ o = 0.125 ) ( α = 0.5, b = 0.5)
h1 h2 ho h1 h2

0.3 0.3 0.3

Twisting Moments

0 A)
A)

i R/(DA)
A)
i R/(D0A)

R/(D0A)
0.2 0.2 0.2

Mrθq R/(D
Mrθq R/(D

MrqθiR/(D
0.1

M
0.1 0.1

M
M

0.0 0.0
0.0
-1.0 -0.5 0.0 0.5 1.0 -1.0 -0.5 0.0 0.5 1.0
-1.0 -0.5 0.0 0.5 1.0
x/R
x/R x/R

3 6 6
A)
A)

A)
/(D0A)

/(D0A)
/(D0A)
Shear Forces

2 4 4
QQr i R2/(D

Qr i R 2/(D
R2/(D
Qr i R

2 2
1
Q

Q
0
0 0
-1.0 -0.5 0.0 0.5 1.0
-1.0 -0.5 0.0 0.5 1.0 -1.0 -0.5 0.0 0.5 1.0
x/R
x/R x/R

Figure 5.3 Twisting Moments and Shear Forces Amplitudes for stepped VLFSs and the reference constant thickness VLFS

87
 Design Type I ( α = 2, b = 0.5) Reference plate ( α = 1, τ o = 0.125 ) Design Type II ( α = 0.5, b = 0.5)

24 60 240

0 A)
0 A)

DA)

0 A)
i DA)
DA)

16 40 160

i iD
iiD

iD
rr i R/(τ τ

i R/(τ τ
rr i R/(ττ

2
2

MMrriR/(

2
MrrMrriR/(
MMrriR/(

8 20 80

0 0 0
-1.0 -0.5 0.0 0.5 1.0 -1.0 -0.5 0.0 0.5 1.0 -1.0 -0.5 0.0 0.5 1.0

x/R x/R x/R

24 24 60
τi2iDD0A)A)

A)

A)
i D0 A)
D0A)
16 16 40

τii D

q i R/(τ τiD
rq i R/(τ

2
MrMrθiR/(
rq i R/(τ
MrθiR/(

MMrθiR/(
8 8 20
M

0 0
0
-1.0 -0.5 0.0 0.5 1.0 -1.0 -0.5 0.0 0.5 1.0
-1.0 -0.5 0.0 0.5 1.0
x/R x/R
x/R

30 60 60
D A)

A) A)
A)
0 A)

Q /(Rτi/(Dτ0 D
0 A)

QriQR2R/(τ/(iτDD

20 40 40
/(τRi D/(τ

2
Qri RQ

10 20 20

Qri R
2

0 0 0
-1.0 -0.5 0.0 0.5 1.0 -1.0 -0.5 0.0 0.5 1.0 -1.0 -0.5 0.0 0.5 1.0
x/R x/R x/R

Figure 5.4 Stresses M rri R /(τ i2 D0 A) , M rθi R /(τ i2 D0 A) , Qri R 2 /(τ i D0 A) for stepped VLFSs and the reference constant thickness VLFS

88
 Hydroelastic Analysis of Stepped Circular Plate

5.5 CONCLUDING REMARKS

In this chapter, the hydroelastic problem for a stepped circular VLFS subjected to

wave is analyzed in an exact manner for both plate and fluid parts. This new exact

hydroelastic solution of stepped circular VLFS is compared with the results of the

reference uniform circular VLFS (which has the same material volume) in order to

assess the advantages of the stepped circular VLFS over uniform circular VLFS. A

numerical example showed that the deflection and stresses of circular VLFS could be

reduced by having an approximately design stepped plate. The presented exact

deflections and stress-resultants of stepped circular VLFS should be very useful for

engineers who may wish to check the accuracy of FEM or BEM results of stepped

circular VLFS.

89
 Chapter 6

CONCLUSIONS

Conclusions drawn from the studies on the vibration and hydroelastic

analysis of circular VLFS are presented in this chapter. Future
studies in this research area are also suggested.

6.1 CONCLUSIONS

In this thesis, the hydroelastic problem of pontoon-type circular VLFS subjected to

wave is analyzed in an exact method not only for plate but also for the fluid part. The

hydroelastic analysis consists of separating the hydrodynamic analysis from the

dynamic response analysis or free vibration analysis of the VLFS. The deflection of

the plate with free edges is decomposed into vibration modes which can be obtained in

an exact manner. Then the hydrodynamic radiation forces are evaluated for unit

amplitude motions of each mode together with the diffraction forces. The

hydrodynamic forces have been evaluated by the eigenfunction expansion matching

method, by which analytical solutions can be obtained in an exact manner. The

Galerkin’s method, by which the governing equation of the plate is approximately

satisfied, is used to calculate the modal amplitudes, and then the modal responses are

summed up to obtain the total response.

The Mindlin plate theory is employed instead of the commonly used classical thin

plate theory to produce the accurate stress-resultants which are difficult to obtain using

numerical methods (see Fig. 2.2). These accurate vibration solutions when employed

in the hydrodynamic analysis yield highly accurate deflection and stress-resultants of

circular VLFS under action of waves (see Figs. 4.6 to 4.7 and Figs. 5.2 to 5.4).

90
 Conclusions

Moreover, the uniform and stepped circular plates are presented in this research in

order to assess the advantages of the stepped circular VLFS over uniform circular

VLFS. The research findings showed that the deflections and stresses of circular VLFS

could be reduced by using stepped plates (see Fig. 5.2 and Fig. 5.4). Hence, the

stepped circular plate is recommended when designing circular VLFS under action of

waves for more economic use of materials.

The formulations for vibration analysis and hydroelastic analysis are given in

explicit forms. Hence, the implementation of the hydroelastic analysis is more tractable

for engineers to obtain accurate solutions. These accurate results should be useful as

benchmark solutions for engineers and researchers who are developing numerical

techniques for the hydroelastic analysis of circular VLFS.

6.2 RECOMMENDATIONS

Despite much research being done on the hydroelastic analysis of pontoon-type

circular VLFS, there is still much work to be done. Future studies could investigate the

followings

• With the advantage features of stepped plate, multiple stepped circular VLFS

and the optimal design of step locations should be considered.

• The same study may be repeated for hydroelastic analysis of circular VLFS with

a central circular cutout.

• Another possible research work on this area is to develop a simplify methods for

the analysis of circular VLFS.

91
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