URC 10-m VIV Test Marintek Report

MARINTEK REPORT
TITLE
VIV Suppression Tests on High L/D Flexible Cylinders
Main Report

DRAFT
AUTHOR(S)
Erik Lehn
CLIENT(S)
Norwegian Marine Technology
Research Institute

Postal address:
P.O.Box 4125 Valentinlyst
NO-7450 Trondheim, NORWAY

Location:
Marine Technology Centre
Otto Nielsens veg 10

Phone: +47 7359 5500
Fax: +47 7359 5776

http://www.marintek.sintef.no

Enterprise No.: NO 937 357 370 MVA

ExxonMobil Upstream Research Company
FILE CODE CLASSIFICATION CLIENTS REF.
MT51 F03-167 Declassified, Mar. 2008 Michael A. Tognarelli
CLASS. THIS PAGE ISBN PROJECT NO. NO. OF PAGES/APPENDICES
512382
REFERENCE NO. PROJECT MANAGER (NAME, SIGN.) VERIFIED BY (NAME, SIGN.)
512382 P Halvor Lie
REPORT NO. DATE APPROVED BY (NAME, POSITION, SIGN.)
512382.00.01 draft 2003-07-15 Terje Nedrelid, Division Manager
ABSTRACT

This report presents the work and results related to the vortex induced vibration (VIV) model tests with
a high length-to-diameter ratio (L/D) riser for ExxonMobil Upstream Research Company (URC. The
towed instrumented riser model was tested with and without suppression devices in a uniform and a
linearly varying sheared current profile with different towing speds. This was obtained by towing the
riser vertically and in inclined positions in a rotation rig that was located in the model test tank.
KEYWORDS ENGLISH NORWEGIAN
GROUP 1 Hydrodynamics Hydrodynamikk
GROUP 2 Model tests Modellforsk
SELECTED BY AUTHOR Flexible cylinders Fleksible rr

Vortex induced vibrations (VIV) Virvelinduserte vibrasjoner (VIV)

2

TABLE OF CONTENTS

1. INTRODUCTION...............................................................................................................................4
2. OBJECTIVES .....................................................................................................................................4
3. RISER MODEL ..................................................................................................................................5
3.1 Dimensions and Mass Ratio .........................................................................................................5
3.2 VIV Suppression: Fairings............................................................................................................6
3.3 VIV Suppression: Strakes.............................................................................................................7
3.4 Free Surface Penetration...............................................................................................................7
3.5 Bending Stiffness..........................................................................................................................8
3.6 Wake Calculation..........................................................................................................................9
4. TEST ARRANGEMENT.................................................................................................................10
4.1 Test Facility ................................................................................................................................10
4.2 Description of Test Rig...............................................................................................................10
4.3 Model-Rig Interaction.................................................................................................................11
5. INSTRUMENTATION AND MEASUREMENTS........................................................................12
5.1 Co-ordinate Systems ...................................................................................................................12
5.2 Instrumentation Plan...................................................................................................................12
5.3 Calibration of Transducers..........................................................................................................13
5.4 Accuracy ....................................................................................................................................13
5.5 Instrumentation/DAS Verification and Experimental Modal Test .............................................13
5.6 Data Acquisition .........................................................................................................................14
5.7 Visual Recordings.......................................................................................................................14
6. TEST PROGRAM AND TEST PROCEDURES...........................................................................15
6.1 Instrumentation Verification and Experimental Modal Testing .................................................15
6.1.1 Component Level Instrumentation Verification Tess.........................................................15
6.1.2 In-air DAS Verification and Experimental Modal Tests ....................................................16
6.1.3 In-water DAS Verification and Experimental Modal Tests ...............................................16
6.2 VIV-Tests in Rotating Rig..........................................................................................................16
7. ANALYSIS AND PRESENTATION OF RESULTS.....................................................................18
7.1 Data Reduction ...........................................................................................................................18
7.2 Post-processing of Data ..............................................................................................................19
7.3 Component Level Instrumentation Verification .........................................................................19
7.4 In-air DAS Verification and Experimental Modal Tests ............................................................20
7.4.1 Static DAS Verification Tests ............................................................................................20
7.4.2 Dynamic/Experimental Modal Tests ..................................................................................20
7.5 In-water DAS Verification and Experimental Modal Tests........................................................21
7.6 Uncertainty Budgets ...................................................................................................................21
7.7 Validation of Software................................................................................................................22
7.8 Video and Photo..........................................................................................................................23
7.9 Scaling ....................................................................................................................................23
8. COMMENTS ....................................................................................................................................24
8.1 Riser End Transducers ................................................................................................................24
8.2 Set-Down ....................................................................................................................................24
8.3 Moment Transducers ..................................................................................................................25
8.4 Spikes ....................................................................................................................................25
Figures ....................................................................................................................................26
Tables ....................................................................................................................................42

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APPENDIX 1 URC Specification for Instrumentation Verification and Experimental Modal Testing
....................................................................................................................................65
I. Component Level Instrumentation Verification .........................................................................66
1.1 A/D Converter ....................................................................................................................66
1.2 DC Amplifiers ....................................................................................................................67
1.3 Analog Filters .....................................................................................................................67
1.4 Accelerometers, Load Cell, and Bridge Completions ........................................................67
II. In-Air : Data Acquisition System Verification and Experimental Modal Test...........................68
III. In-Water : Data Acquisition System Verification and Experimental Modal Test ......................69
APPENDIX 2 Component Level Instrumentation Verification............................................................70
Component Level Instrumentation Verification .................................................................................71
A/D converter .............................................................................................................................72
DC amplifiers..............................................................................................................................75
Analog filters ..............................................................................................................................80
Accelerometers, load cell and bridge completion. ......................................................................84
APPENDIX 3 Dynamic/Experimental Modal Tests...............................................................................87
APPENDIX 4 Uncertainty Budgets .........................................................................................................89
1. Curvature sensors error budget ...................................................................................... 90
2. Accelerometers error budget .................................................................................................107

APPENDIX 5 Validation of Software....................................................................................................121
Spectral- and Statistical Routines in Express and Timsas...................................................................121
1. INTRODUCTION ..................................................................................................................123
2. ACTUAL PROGRAMS .........................................................................................................123
3. ACCEPTANCE CRITERIA..................................................................................................123
4. DESCRIPTION OF METHOD.............................................................................................124
4.1 Generation of Time Series...................................................................................................124
4.2 Calculation...........................................................................................................................125
4.3 Theoretical Values...............................................................................................................125
5. PRESENTATION OF RESULTS .........................................................................................127
5.1 Spectral Plots .......................................................................................................................127
5.2 Spectral Moments................................................................................................................127
5.3 Main Statistical Parameters .................................................................................................128
APPENDIX 6 Spectral Analysis.............................................................................................................129
APPENDIX 7 Statistical Analysis...........................................................................................................134

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1. INTRODUCTION
ExxonMobil Upstream Research Company (URC) wanted to undertake a high length-to-diameter
ratio (L/D) riser hydrodynamic testing program to meet the specifications outlined in the "Request
for Proposal for VIV Suppression Tests on High L/D Flexible Cylinders" from URC, dated 28
January 2003.

The instrumented riser model, with or without suppression devices, was tested both vertically and
in inclined positions in a rotating rig in order to obtain uniform and linearly varying sheared
current. The rig was located in the model test tank. While the vertical riser was excited by one
vortex shedding frequency, the inclined riser experienced more than one vortex shedding
frequency to the linearly varying sheared flow.

The model tests were carried out in Marinteks Ocean Basin laboratory in June 2003.

The documentation from the tests comprises:

Report

512382.00.01

Main Report
Report 512382.00.02
Data Report

Including:
- Video and photos from selected test sequences
- VHS copies of video recordings
- DVD-ROM with all time series in Matlab-format

2. OBJECTIVES
The main purpose of the model test program was to acquire high quality data on the behaviour of
high L/D risers subjected to vortex induced vibrations (VIV) in uniform and sheared flow. The
primary focus of the tests was to compare the multi-mode VIV response of risers without
suppression devices to that of risers with varying lengths of suppression coverage.

The objective of the present report is to give a detailed documentation of the riser model,
instrumentation, test arrangement, test program and data analysis.

According to the scope of work, the majoryty of the data reduction should be carried out by URC,
and is thus not included in this report.
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3. RISER MODEL
3.1 Dimensions and Mass Ratio
The riser model was made of a brass pipe with an outer diameter of 20 mm and a wall thickness of
0.45 mm. Since the strain gauges and accelerometers were glued to the outside of the brass pipe
surface, the riser diameter was locally increased at the instrumented sections (bumps). See Figure
3.1 for details.

The dimensions of the riser model were determined by the total number of transducers, the
diameter of the instrument cables, fatigue data on the riser material and the highest
eigenfrequency of the riser model. The riser model was designed to be excited up to 8th vibration
mode, bounded by fatigue. Detailed physical properties of the riser model are given in Table 3.1.

The mass and the length of the riser model refer to the length between the centres of the universal
joints at the ends (pin to pin). The effective length of the riser model was:

L
Riser
= 9.63 m

After completion of the tests, a detailed weighing of the riser model in air was performed. A
summary of the mass data of the riser model is given in the table below.

Mass
Parameter
kg kg/m
Mass of riser model in air, without internal water 5.644 0.586
Mass of internal water 1.087 0.113
Total mass in air, incl. internal water

6.731 0.699
Mass of displaced volume (D=20 mm) 3.024 0.314

The table below shows a comparison between the mass determined from weighing before, during
and after the tests.

Total mass of bare riser in air, incl. internal water kg kg/m
Before tests, weighing in air 6.799 0.706
During test period, weighing in water (corrected for buoyancy) 6.664 0.692
After tests, weighing in air 6.731 0.699

From the table above, it is seen that the difference between the maximum - and minimum mass
determined from the different measurements is 2 %, only.

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Based on the mass from weighing after the tests, the mass ratio of the bare riser, defined as the
total mass in air divided by the displaced mass, was 0.699/0.314 = 2.23.

During the test period, the weight of the riser model was measured prior to each of the
configuration changes, and the results are presented in Table 3.2

3.2 VIV Suppression: Fairings

The fairing design was provided by the client and was a pivoted streamlined fairing with a length
to thickness ratio of 2.33 and with a dive-break flap. The fairings were made from a plastic
material and fitted to the riser model in lengths of 88.2 mm. The gap between each element was 2
mm. The fairings were neutrally buoyant and were free to rotate on the riser. The fairings were
constrained in axial direction. This was obtained by use of a pair of plastic sleeves clamped to the
riser pipe inside some of the fairings (see also Figure 3.1). The distance between each axial
constraint was approximately 1 m. There was enough space inside the fairings for the
instrumentation.

Details of the fairing are given in Figure 3.1, in Table 3.3, in the Photo Section and in the table
below.

Parameter Dimension
Length 84 mm
Maximum thickness 36 mm
Length to thickness ratio 2.33
Height of dive-break flap 10 mm
Centre of pivot from LE 16 mm
Weight in air (one element) 1.050 N
Weight in water (one element) 0.000 N

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3.3 VIV Suppression: Strakes
The triple start helical strakes were cast with correct geometry from silicone material and glued to
the riser model with the specified pitch-to-diameter ratio of 16. The strakes had a triangular shape
with a hight of 5 mm and a width of 5 mm. The strakes were neutrally buoyant.

Details of the strakes are given in Figure 3.1, in the Photo Section and in the table below.

Parameter Dimension
Height 0.005 m
Width 0.005 m
Unit weight in air 0.245 N/m
Unit weight in water 0.000 N/m
Pitch/D
1)
16

1)
D is nominal diameter of riser model.

3.4 Free Surface Penetration
The upper end of the riser was connected to the rig via a vertical beam that penetrated the free
surface. The beam was streamlined to limit disturbance of the flow.

For all tests, the riser model was completely submerged.

The top end transducer was submerged for all tests in sheared current, while in uniform current
the top end transducer became submerged only for the highest speeds, approximately at a current
speed of 1.7 m/s.
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3.5 Bending Stiffness
Ideally, the bending of the riser model should be tension-dominated.

The natural frequency of combined tension and bending stiffness can be expressed as:

2 2 2
nEI nT n
+ =
where

n
: Angular frequency of riser model

nT
: Angular frequency due to tension

nEI
: Angular frequency due to bending stiffness

It can be shown that the natural frequency of the riser is dominated by tension (80%) if the
following criterion is satisfied:

2
2 2
4
L
EI
n T
where
T : tension
n : mode
EI : bending stiffness
L : riser length.

Table 3.4 presents theoretical eigenfrequencies of the bare brass riser in air, at a tension of 817 N.
As can be seen from this table, the eigenfrequencies due to tension are larger than the
eigenfrequencies due to bending stiffness for about the 8 lowest modes. Table 3.5 shows a
comparison between the theoretical eigenfreqencies and the natural frequencies obtained from the
simplified decay tests in air (see Section 6.1.2).

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3.6 Wake Calculation
After one rotation of the rotating rig, the cylinder catches up with its own wake. Schlichting
1
has
solved the equations of motions in a wake by use of different mixing theories from L. Prandtl. The
problem is also dealt with by Huse
2
.

Both for laminar and turbulent two-dimensional wake, the centre-line velocity 'depression'
decreases with (x/D)
-1/2
.

According to Huse, the following expressions describing the wake are given:

2
1
0
|
|
|
|
.
|
\
|
=
D
x
C
U
u
S
D

where

D
S
C
D
x x
4
+ =

Here x is the longitudinal distance between the centre of the riser and the point to be calculated.
The term 4D/C
D
represents the distance to a so-called virtual source.

Using the radius of the rotating rig of 4.65 m, a diameter of the riser model of 0.02 m and a drag
coefficient of C
D
= 2.0, we get:

x/D = 1460
u/U
0
= 0.037

According to these calculations, about 3.7 % of the velocity "remains" in the wake when the riser
model catches up with its own wake after one rotation of the test rig. For C
D
= 3.0 the
corresponding value is about 4.5 %.

1
Schlichting, H.; "Boundary layer Theory"; McGraw-Hill, Inc.; 1968.
2
Huse, E.; "Interaction in Deep-Sea Riser Arrays."; OTC 1993, Paper No. OTC 7237.
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4. TEST ARRANGEMENT

4.1 Test Facility
The tests were performed in Towing Tank No. III at Marintek, which has a length of 80 m a
breadth of 10.5 m and a depth of 10 m.

The tank is equipped with a double-flap, hydraulic operated wave maker, denoted BM1, capable
of generating long-crested, irregular as well as regular waves. The maximum height that can be
generated is 0.9 m. The tank has a wave absorption beach at the downwave end. Figure 4.1 shows
the principal dimensions of the Towing Tank No. III.

The towing carriage of the tank was positioned close to the test site. The URC engineers could
observe the tests at the test site. The project team had immediate access to raw and processed data
from computers on the towing carriage. The URC personnel had access to "raw" data that had
been checked by the project team on their own PC's at the test site via an ethernet cable interface,
in order to control that the actual test and measured data had sufficuient quality.

Data was also available from marintek's web-hotel (eRoom). (eRoom is a secure Web-based
workspace, that can be quickly tailored for the actual project. More information can be found at
http://www.documentum.com/products/collateral/collaboration/ds_eroom_dw.pdf.)

4.2 Description of Test Rig
The tests were performed with a rotating test rig mounted in Tank III. Figures 4.2-4.3 shows a
sketch of the test rig. It consists of a 13 m long vertical cylinder A with a diameter of 0.485 m. At
the top of the cylinder there are two horizontal arms B in opposite directions, and at the bottom
there is one horizontal arm C. About 0.15 m above the water surface, a sloping beam D is attached
to the cylinder. A hinged arm E, which can be placed in different positions, is attached to this
beam. The top end of the riser is fastened to the outer point of this arm and a spring system holds
the arm. The spring system resembles a heave compensator system with low heave damping,
resulting in nearly constant tension within each test. It comprised of 6 springs, with a total
vertical stiffness of:
k
heavecomp
= 1593 N/m.

The maximum current speed that was modelled at the top of the riser was about 2.3 m/s.

Pictures of the upper part of the riser model, force transducer and the heave compensator are
shown in the Photo Section.

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The riser ends were fixed to the test rig via pinned, universal joints, and exposed to constant
tension. The upper end point F was located at two different positions, in order to model the effect
of sheared current.

4.3 Model-Rig Interaction

During the tests period, accelerations of the test rig and the riser model were measured. Reference
is made to Section 7.5.

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5. INSTRUMENTATION AND MEASUREMENTS
5.1 Co-ordinate Systems
Two co-ordinate systems are referred to in this report:
- A global co-ordinate system
- A local coordinate suystem

The global co-ordinate system is a right-handed Cartesian co-ordinate system fixed to the rotating
rig, with the origin at the centre of the rig at the water surface. The z-axis is pointing upward and
negative y-axis is pointing toward the riser model.

The local co-ordinate system is a right-handed Cartesian co-ordinate system fixed to the riser
model, with the origin at the centre of the riser at the riser top end. The z-axis is pointing upward
and positive x-axis is pointing toward the incoming current.

The two co-ordinate systems are shown in Figure 5.1.

5.2 Instrumentation Plan
Altogether 68 transducers were fitted to the riser model, according to the following table.

Signal In-line (IL) Cross-flow (CR)
Bending moments 35 17
Accelerations 8 8

The instrumented sections were distributed equidistant on the riser model, at a distance of about 0.270
m. The CF moment transducers were located at every second IL moment transducer, and the
accelerometer pairs (x- and y-accelerometers) were distributed at every fourth IL moment transducer.
The exact positions of the different transducers on the riser model are given in Figure 5.2.

In addition to the transducers on the riser model, the following instrumentation was included:

Signal Direction Transducer
Accelerations of test rig upper end x, y and z Linear accelerometers
Accelerations of test rig lower end x, y and z Linear accelerometers
Riser force upper end x, y and z Strain gauge transducer
Riser force lower end x, y and z Strain gauge transducer
Riser top set-down z Linear spring-transducer system
Rotational speed test rig Angular Potentiometer

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All instrument cables were shielded.

The complete channel list is presented in Table 5.1 and a sketch of the instrumentation plan is
shown in Figure 5.3.

5.3 Calibration of Transducers
The instruments were calibrated before the tests.

The transducers were calibrated and the instrumentation was checked according to Marintek's
procedures for instrumentation.

Before completing instrumentation installation on the riser model and prior to waterproofing, the
following calibration tasks were performed:

The instrumented riser model was rotated in order to check the calibration and to document
the directional alignment of the accelerometers.

Each strain gage was shunt-calibrated for curvature at the strain gage, with the full length of
cabling used in the tests. (See comments in Section 8.3.)

5.4 Accuracy
The approximate measuring accuracy was:

- Force transducers
1)
+/- 2%
- Accelerometers
2)
+/- 2.9 %
- Moment transducers
2)
+/- 2.4 %

1)
Percentage of measured value for significant response level.
2)
Ref. Section 7.6

5.5 Instrumentation/DAS Verification and Experimental Modal Test
Component level and system wide verification tests were performed on the instrumentation and
data acquisition prior to the start of the testing. For details of the verification exercises, reference
is made to Appendix 1. In addition to instrumentation verification, an in-air experimental modal
test was conducted on the riser model and rotating rig.

Repeated runs of earlier tests with the same riser configuration were built into the test matrix to
verify instrument performance throughout the test program.

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5.6 Data Acquisition
Filter type, cut-off frequency and data sampling frequency were chosen with respect to the
maximum response frequency in order to prevent aliasing, i.e. folding of high frequency response
(noise) onto the low frequency response.

Based on estimation of the maximum response frequency for the riser model and data and
observations from previous VIV-tests, a sampling frequency of 1000 Hz was chosen.

Before data sampling, the data was filtered by analog anti-aliasing Butterworth filters of order 8,
with a cut-off frequency of 250 Hz.

5.7 Visual Recordings
Video recordings for a selected number of tests were done by three cameras. One camera was
positioned at the tank side, viewing the total set-up. The two other cameras were mounted on the
rotating rig under water, viewing the riser from downstream and the side. The cameras were
positioned in such a way that they did not interfere with the inflow conditions to the riser.

Still photos of the test set up were also taken and presented.

The recording system was in BETACAM while the delivered videotapes were in VHS format in
NTSC.

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6. TEST PROGRAM AND TEST PROCEDURES
The tests performed can be divided in the following two groups:

1. Instrumentation verification and experimental modal testing.
2. VIV-tests in rotating rig

A brief description of the test program is given in the following subsections.

6.1 Instrumentation Verification and Experimental Modal Testing
The instrumentation verification and experimental modal testing consist of the following tests:

Component Level Instrumentation Verification Tests
In-Air Tests
In-Water Tests

The test procedures for the tests are described in detail in Appendix 1. A brief description is given
in the following sub-sections.

6.1.1 Component Level Instrumentation Verification Tess
Verification tests were performed on subsets of all components that were used in the data
acquisition system for the tests. The components that were used in the instrument/data acquisition
system are listed in the following table.

Component Manufacturer Model Number
DC amplifier
Hottinger Baldwin
Messtechnik
KWS and MGC+
Analog Filters GEPA
MOM-MKT (8-pole
Butterworth)
A/D Converter Data Translation DT3003 - 12 bit
Strain Gages
Vishay -
MicroMeasurements
EA-13-250PD-120
Accelerometers Measurement Specialties ICSensors - 3031 (+/- 100g)
Load Cells Marintek N/A

The verification tests required for each component type are described in Appendix 1 as well as the
number of components to be tested. The data were recorded via the data acquisition system for all
verification tests.

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6.1.2 In-air DAS Verification and Experimental Modal Tests
Prior to the start of VIV testing, the functionality of the data acquisition system (DAS) was
verified with both static and dynamic tests in-air. The objectives of these tests were to confirm the
polarity and calibrations for all sensors and quantify noise and drift in the DAS.

An experimental modal test was also performed on the riser model to measure natural frequencies
and damping of the riser model experimentally. For these tests, the rotating rig structure was fully
assembled and laid out horizontally with the support arms that hold the riser model oriented
parallel to the floor. The central column was supported so that it did not translate or rotate when a
force was applied to the riser model during these tests. The fully instrumented riser model was
installed in the rotating rig structure and tensioned to the mean pre-tension expected during the
VIV tests.

The following type of tests were performed in air:

Static DAS verification tests
Dynamic/experimental modal tests

Full descrition of the tests are given in Appendix 1.

The dynamic/experimental modal tests were subcontracted to Campus Marine, while the static
DAS verification tests were performed by Marintek.

In addition to the modal tests, simplified decay tests in air were performed in order to document
natural frequencies up to 3rd order. The tests were performed by exciting the riser model
manually.

6.1.3 In-water DAS Verification and Experimental Modal Tests
After installation of the rotating rig and riser model in the towing basin, verification tests were
performed to evaluate the DAS functionality. In addition, a simplified experimental modal test
(pluck test) was conducted on the rig.

The purpose of these tests was to determine the natural frequencies of riser model (if possible) and
of the rotating rig. Details of the tests are described in Appendix 1

6.2 VIV-Tests in Rotating Rig
For the uniform current profile, the riser model was suspended vertically in the rotating rig, with
both end points of the riser model mounted approximately 4.63 m from the centre of rotation of
the rig. For the sheared current profile, the upper end point of the riser model was attached closer
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to the centre of the rotating rig. The positions of the riser end points are given in Table 6.2. For
details of the test rig, reference is made to Section 5.1.

The test program consisted of about 250 runs, varying the current speed and the current shear for
the bare riser and for the riser with various fairing- and strake configurations.

Approximately 20 current speeds were run for each configuration. Uniform current and one
sheared current condition were modelled.

The following riser configurations were tested:

% coverage Current condition
Riser config. Suppression type
25 50 75 100 Uniform Sheared
Bare riser - - - - - x x
Straked riser Trippel start helical strakes x x x x x x
Faired riser Streamlined pivoted fairings x x - x

Before testing in each configuration, the weight of the riser in water was measured before
attaching it to the lower load cell.

The following index code was used for identifying the tests. Each test was given a unique four-
digit identification number.

The first digit refers to the actual riser configuration, i.e.

1 = Naked riser
2 = Faired riser, Faired length 100 %: Faired 100
3 = Faired riser, Faired length 50 %: Faired 50
4 = Straked riser, Strake length 100 % : Straked 100
5 = Straked riser, Strake length 75 %: Straked 75

The second digit refers to the actual current profile, i.e.

1 = Uniform flow, (U)
2 = Shear, (S)

The two last digits refer to the actual test, where mainly the speed was varied.

The complete test program is presented in Table 6.1.
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7. ANALYSIS AND PRESENTATION OF RESULTS

7.1 Data Reduction
According to the scope of work, the majority of the data reduction should be carried out by URC.

Marintek performed the following data analysis for each individual test:

Immediately after each test, main statistical data as maximum, minimum, mean and
standard deviation of all channels were calculated.

During the post-processing of the data, standard spectral- and statistical analyses were
performed for all channels.

The spectral tables present:

m0-, m1-, m2-, m3- and m4 spectral moments
T1- and T2 periods
spectral peak period
significant value

The statistical tables present:

mean-, maximum- and minimum value, standard deviation
number of local maxima and local minima
significant local peak-to-peak maximum- and minimum value
skewness
excess of kurtosis

The transient part of the time series at the start and the end of the tests has been excluded in the
analyses. A short description of methods and definition of parameters is given in the Appendix 6
"Spectral Analysis" and in Appendix 7 "Statistical Analysis".

The results from the spectral and statistical analyses, and all time series from the VIV-tests are
presented in the Data Report.

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7.2 Post-processing of Data
During the data recording analogue low-pass (LP) filters of 250 Hz were used for all measuring
channels.

Generally, no extra filtering has been performed on the data. However, due to spikes and
irregularities in some signals, the time series have been corrected during the post-processing of
the data. The corrections that have been performed on the signals are described in Table 7.1.

The spikes have been removed by a routine based on the derivative of the signal. An example of
the time series of a typical spike that have been removed is shown in Figure 7.1. See also
comments in Section 8.4.

Due to possible unstability of the z-component of the riser top transducer, the static values applied
for the force channels are defined in Table 7.2. See also comments in Section 8.1.

7.3 Component Level Instrumentation Verification
The complete results from the component level instrumentation verification are presented in
Appendix 1.

In this report, only a summary of the analysis with respect to time delays between measuring
channels are presented.

Time Delay Between Measuring Channels
Due to serial sampling of data, there is a certain time delay between signals at different spatial
locations. The time delay is generally dependent on the sampling frequency and the number of
channels on the actual A/D converter. Prior to the tests, the time delay was determined for the two
A/D converters applied in the tests.

For the actual tests, A/D converter no. 1 had 40 channels, with a time delay of 25.0 microseconds
between two neighbouring channels. A/D converter no. 2 had 45 channels, with a time delay of
22.2 microseconds between two neighbouring channels. A sketch of the instrumentation plan is
shown in Figure 4.2.

There was also a time delay between the two A/D converters. Based on 20 tests, the time delay
between channel no. 1 on A/D converter no. 1 and channel no. 1 on A/D converter no. 2 was
found to vary between 5.8 and 14.9 microseconds. For the purpose of beeing able to correct for
this random time delay between the two A/D converters, a sinusiodal signal with a frequency of
10 Hz was input on channel no. 1 on both A/D converters in all tests.

During the tests it was discovered that the sampling frequency of the two A/D converters were
slightly different. By use of the sinusoidal wave function, the sampling frequency of A/D
MT51 F03-167 / 512382.00.01 draft / 2003-07-15

20

converter no. 1 was found to be 1000 Hz, and the sampling frequency of A/D converter no. 2 was
found to be 1001 Hz. This difference was most probably due to a combination of a slightly
difference of the frequency of the crystal clock and the aggregation rate of the two A/D
converters.

The time delays and the difference in sampling frequency for the two A/D converters, as
described above, are not corrected for in the Data Report.

A complete presentaton of the results is given in Appendix 2 " Component Level Instrumentation
Verification". Summary results are presented in the table below.

Time delay
(microseconds)
A/D converter no.
Between channels
Between ch 1 on
A/D converters
"Effective"
sampling frequency
(Hz)
1 25.0 1000
2 22.2
5.8-14.9
1001

7.4 In-air DAS Verification and Experimental Modal Tests

7.4.1 Static DAS Verification Tests
The noise level and signal drift have been documented in all sensor channels by collecting 60
seconds of data with all sensors powered and amplifiers set to operating gain levels. The riser
model was laid out horizontally on a table, supported by V-framed structures every half metre.

The bit resolution on the A/D converter was 5 mV and the maximum signal was +/- 10 V.

With the gain factor set at 0.1, it was found that the noise level was within 2-3 bit resolutions. A
maximum signal drift of approximately 8 bits could be observed.

7.4.2 Dynamic/Experimental Modal Tests
The dynamic/experimental modal tests were subcontracted to Campus Marine. The results are
presented in Appendix 3 "Dynamic/Experimental Modal Tests".

The results from the simplified decay tests in air are summarized in Table 3.5. The resonance
frequencies from the simplified decay tests are about 6-8 % than theoretical. This may be due to
the suspension of the riser model and the heave-compensator and the riser sag, which is not taken
care of in the theoretical model.
MT51 F03-167 / 512382.00.01 draft / 2003-07-15

21

7.5 In-water DAS Verification and Experimental Modal Tests
Some typical results from the simplified impact tests on the rotating rig for evaluation of possible
interactions betwen the riser model and the rig, are presented in Figures 7.2-7.8.

The channels "Acc_x_top", "Acc_y_top" and "Acc_z_top" are accelerometers on top of the test
rig, close to the riser top point. Figures 7.2-7.3 presents the acceleration spectra for the test rig
alone, without the riser model attached. As seen from figures, dominant resonant vibrations of the
test rig seem to be in the frequency ranges 20-40 Hz and 40 -60 Hz. Figures 7.4-7.8 present details
of the acceleration spectra of "Acc_x_top" and various accelerometers along the riser from test
1104, with the riser model connected. From Figure 7.4 no influence from the test rig can be
observed. The spectrum tops at about 5 and 6.2 Hz for "Acc_x_top" is due to excitation from the
riser. The frequency top at 5 Hz has been isolated by filtering, and the time series of the
acceleration signals are shown in Figure 7.5. While the riser oscillates with typical amplitude of 2
mm, the amplitude of the test rig is typically 0.18 mm. From the other figures, no influence from
the test rig can be observed.

7.6 Uncertainty Budgets
As a part of the documentation of the instrumentation and data reduction system, an uncertainty
budget was performed for two types of measurements: curvature sensors and acceleration sensors.

In calculating the uncertainty budget estimate, input from data sheets from the manufacturer, data
from calibrations performed by Marintek and estimated values have been used. A summary is
given in the table below.

Sensor Value
Rel. expanded
uncertainty
%
Coverage
factor
Coverage
%
Curvature 149.7 E-06 m/m +/- 2.4 2.0 95
Acceleration 9.89 ms
-2
+/- 2.9 2.0 95

The results from the uncertainty analysis are presented in Appendix 4, "Uncertainty Budgets".

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

22

7.7 Validation of Software
Six different time series were used in the validation of the software used in the main analyses: 3
regular wave signals and 3 irregular wave signals. The time series were generated numerical by an
in-house program (Express). Except for one irregular time series, all generated time series had
analytical solutions. The table below defines the time series applied in the verification.

Channel
No.
Name Description
1 F_vary The frequency increases lineraly from f=1/40 to f=1/19.927 Hz.
2 Reg_1600
A regular wave with an amplitude 1.0 and period 16 s with first sample
equal to zero.
3 Reg_2048
A regular wave with an amplitude 1.0 and period 20.48 s with first sample
equal to zero.
4 Reg_sum Sum of channel 2 and 3.
5 Bpass_1
Time series based on flat raw spectrum equal to 5000 m
2
Hz from
frequency f=(20-1)/(4096 * 0.5) Hz to f=(150-1)/(4096 * 0.5). The
spectrum is dropping linearly to zero to next sample outside this range.
6 Bpass_2
Time series based on a raw spectrum linearly increasing from 4000 m
2
Hz
at frequency f=(20-1)/(4096 * 0.5) Hz to 9000 m
2
Hz at frequency f=(150-
1)/(4096 * 0.5) Hz. The spectrum is dropping linearly to zero to next
sample outside this range.

The time series were subject to spectral- and statistical analyses with the programs that should be
validated, and the output from the analysis programs were compared to the analytical solutions
and output from programs as e.g. Matlab.

The following parameters were selected for the validation:

Spectral routines : spectral plots and spectral moments up to 4th order.
Statistical routines : standard deviation, skewness and kurtosis.

The results from the validation are presented in Appendix 5 "Validation of Software".

The results of the analyses and calculations based on the actual programs and the selected
parameters showed that the results based on the programs were in accordance with the analytical
results.

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

23

7.8 Video and Photo
The video recordings from the testst are presented in VHS format in NTSC.

Still photos of the test set up are presented in the Photo Section and on CD-ROM.

7.9 Scaling
All results are given in model-scale dimensions.

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

24

8. COMMENTS

8.1 Riser End Transducers
The z-component (Fz) of the riser bottom transducer showed irregularities in form of spikes and
jumps in tests 1212-1225. The transducer was replaced after test 1225. Before and after these
tests, the transducer was stable.

In the post-processing of the data, "drift" was discovered in the signals of Fz of the riser top
transducer in tests 5110-5118. The transducer has been replaced two times, but without
eliminating the "drift". (See also comments in Section 8.2.)

Due to the irregularities with the riser top transducer, the value Fz of the top transducer at the start
of the test was set to the mean value of the Fz of the riser bottom transducer pluss the submerged
weight of the riser model for all tests, and Fy of the top transducer was set to minus Fy of the
bottom transducer.

8.2 Set-Down
During the test program, it was observed that the measured set-down at the end of the test did not
correspond to the set-down at the start of the test. In test 1120, for instance, the difference was
about 0.05 m, corresponding to a tension of about 80 N. In this test a difference in Fz of about 75
N was found for the top transducer. However, no difference was found in Fz for the bottom
transducer, which should be espected if the "drift" could be explained by hysteresis in the heave-
compensator system.

The set-down transducer has been replaced by another transducer, but the same phenomenon was
observed. The set-down transducer has also been checked by pulling the transducer manually a
predefined distance and registrating the set-down, but the measured set-down was in accordance
with the predefined value.

By starting a new registration about seven minutes after completion of a test, but without taking a
new zero, the measurements showed that the set-down value was back to zero again.

The position of the riser top has also been inspected visually before and after the test in several
tests, without revealing any explanation of the behaviour.

We have until now not found any explanation of this behaviour of the system

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

25

8.3 Moment Transducers
Since the moment transducers were calibrated by shunt-calibration, the calibration factor is
depending on the position of the gauge on the pipe.

At each measuring section, a total of four gauges were used. Two and two gauges was glued
diametrically to the outside of the brass pipe on each side. With a distance between the centrelines
of the two gauges on the same side of the pipe of 3.2 mm, a diameter of the brass pipe of 20 mm,
the distance between the gauge pairs became 1.3 % less than the diameter of the pipe. Thus, the
calibration factor will be increased by 1.3 %. This is, however, not corrected for in the presented
data.

8.4 Spikes
For actual channels, generally one spike occured during the whole test. The spikes are of very
short duration and do not affect the spectral values. However, since the spikes affects the extreme
values, they have been removed by a routine based on the derivative of the signals (see Figure
7.1).

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

26

Figures

Figure 3.1 Details of the fairing and strakes

Figure 4.1 Towing Tanks

Figure 4.2 Sketch of test rig

Figure 4.3 Details of test rig

Figure 5.1 Co-ordinate systems

Figure 5.2 Positions of transducers on riser model

Figure 5.3 Instrumentation plan

Figures 7.1 Example of typical spike

Figure 7.2 Model-rig interactions. Results from pluck tests.


Figure 7.4 Model-rig interactions. Results from test 1104.


Figure 7.6 Model-rig interaction. Results from test 1104.



MT51 F03-167 / 512382.00.01 draft / 2003-07-15

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Figure 4.1 The Towing Tank

11
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Model store
Drawing office
Reception
Tank II
Ship model manufacturing
shop
Trimming tank
NC milling machine for
model production
Instrumentation workshop
Carpenter workshop
Propeller model
manufacturing shop
Cavitation laboratory
Dock gate
Wave absorber, Tank I + III
Wavemaker, Tank III
and Tank I+III
Wave absorber, Tank III
12 15
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
TANK I TANK III 14

Tank 1 TankII TankIII Tank I + III*
Length 175.0 m 25.0 m 85.0 m 260.0 m
Width 10.5 m 2.8 m 10.5 m 10.5 m
Depth 5.6 m 1.0 m 10.0 m 5.6/10.0 m

* Tank I and III can be used simultaneously and also as one long tank
(Tank I +III) by removing the gate (12) and wave absorber (15).

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

29

Figure 4.2 Sketch of test rig

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

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Figure 4.3 Details of test rig

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

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Figure 5.1 Co-ordinate systems

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/
Figures 7.1 Example of typical spike

MT51 F03-167 512382.00.01 draft / 2003-07-15

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/

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/

MT51 F03-167 512382.00.01 draft / 2003-07-15

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MT51 F03-167 / 512382.00.01 draft / 2003-07-15

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MT51 F03-167 / 512382.00.01 draft / 2003-07-15

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/

MT51 F03-167 512382.00.01 draft / 2003-07-15

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/

MT51 F03-167 512382.00.01 draft / 2003-07-15

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Tables

Table 3.1 Physical properties of riser model

Table 3.2 Weight in water of different riser model configurations

Table 3.3 Riser fairing geometry

Table 3.4 Riser eigen frequencies and Strouhal frequencies

Table 3.5 Eigen frequencies of horizontal riser, heave compensator and test rig in air

Table 5.1 Channel list

Table 6.1 Test program for VIV-tests in rotating rig

Table 6.2 Co-ordinates of riser end points

Table 7.1 Corrections performed during post-processing of data

Table 7.2 Static values of force channels

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

43

Table 3.1 Physical properties of riser model

Parameter Dimension
Total length between pinned ends 9.63 m
Outer diameter 20 mm
Wall thickness of pipe 0.45 mm
Bending stiffness, EI
1)
135.4 Nm
2
Young modulus for brass, E
1)
1.025 10
11
N/m
2

Axial stiffness, EA
1)
2.83 10
6
N
Weigt in air (filled with water) 6.857 N/m

1)
EI determined from bending test with brass pipe. E and EA determined from EI and measured
pipe dimensions.
MT51 F03-167 / 512382.00.01 draft / 2003-07-15

44

Table 3.2 Weight in water of different riser model configurations

Riser
configuration

Weight in water
(N)

Naked 40.52
Faired50 40.26
1)
Faired100 39.99
Straked100 41.68
Straked75 41.16
Straked50 41.40
Straked25 41.08

1)
Calculated by use of the weights for "Faired100" and "Naked"

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

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Table 3.3 Riser fairing geometry

Position
X
(mm)
Y
(mm)
1 0 0
2 18.00 18.00
3 24.26 17.61
4 30.52 16.72
5 36.78 15.46
6 43.04 13.96
7 49.30 12.33
8 55.57 10.67
9 61.83 8.92
10 68.09 7.07
11 74.35 5.26
12 80.61 3.35
13 82.80 2.70
14 83.97 4.73

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47

Table 3.5 Eigen frequencies of horizontal riser, heave compensator and test rig in air

Mode Test Measured
(Hz)

Calculated
1)

(Hz)
Deviation
(%)
1. Mode CF 9766 1.90 1.79 6.1
2. Mode CF 9768 3.90 3.67 6.3
3. Mode CF 9770 6.10 5.73 6.5
1. Mode IL 9762 2.06 1.79 15.1
2. Mode IL 9763 3.95 3.67 7.6
3. Mode IL 9765 6.16 5.73 7.5

1)
Referring Table 3.4 Riser eigen frequencies and Strouhal frequencies

Comments:
- IL is in vertical riser plane.
- Pretension: 817 N
- Mass of riser: 0.699 kg/m
MT51 F03-167 / 512382.00.01 draft / 2003-07-15

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M
T
5
1

F
0
3
-
1
6
7

/
t

/

5
1
2
3
8
2
.
0
0
.
0
1

d
r
a
f
2
0
0
3
-
0
7
-
1
5

49

Table 5.1 Channel List: Measured channels

Chann
el no.:
Channel name: Physical description: Unit:
Coordinate
System
Positive
direction:
Sensor type etc.:
23 Strain_IL15 Strain in in-line dir. section 15 E-06 Local Neg. x-dir. Strain gauge transducer
41 Sinus_2_2 Control signal AD converter no 2 V
MT51 F03-167 / t / 512382.00.01 draf 2003-07-15

50

MT51 F03-167 / t /
Table 5.1 List:

Chann
el no.:
Coordinate
System
Positive
direction:
Sensor type etc.:
512382.00.01 draf 2003-07-15
Channel Measured channels
45 Strain_CF02 Strain in cross-flow dir. section 2 E-06 Local Neg. y-dir. Strain gauge transducer
62 Acc_IL04 Accelerations in in-line dir. section 4 m/s
s
Local Pos. x-dir. Accelerometer
s
s
s
s

51

Table 5.1 Channel List: Measured channels

Chann
no.: el

Coordinate
System

Positive
direction:
Sensor type etc.:
67 Acc_IL24 Ac 4 celerations in in-line dir. section 2 E-06 Local Pos. x-dir. Strain gauge transducer
68 Acc_IL28 Ac 8 celerations in in-line dir. section 2 E-06 Local Pos. x-dir. Strain gauge transducer
69 Acc_IL32 Ac celerations in in-line dir. section 32 E-06 Local Pos. x-dir. Strain gauge transducer
70 Acc_CF04 Ac n 4 celerations in cross-flow dir. sectio E-06 Local Pos. y-dir. Strain gauge transducer
78 Speed_bot Velocity at lower riser end m/s Global Pos. x-dir. Tachometer
79 Fx_bot Riser force lower end in x-dir. N Global Pos. x-dir. Strain gauge transducer
80 Fy_bot Riser force lower end in y-dir. N Global Pos. y-dir. Strain gauge transducer
81 Fz_bot Riser force lower end in z-dir. N Global Pos. z-dir. Strain gauge transducer
82 Acc_X_bot Ac ir. celerations of test rig lower end in x d m/s
s
Global Pos. x-dir. Accelerometer
83 Acc_Y_bot Ac ir. celerations of test rig lower end in y d m/s
s
Global Pos. y-dir. Accelerometer
84 Acc_Z_bot Ac . celerations of test rig lower end in z dir m/s
s
Global Pos. z-dir. Accelerometer
85 Weight_riser Weight of riser in water N Strain gauge

MT51 F03-167 / t / 512382.00.01 draf 2003-07-15

52

MT51 F03-167 / t /
Table 5.1 el List: De

Chann
el no.:
Coordinate
System
Positive
direction:
Sensor type etc.:
512382.00.01 draf 2003-07-15
Chann rived channels
86 Ftot_top Total force at upper riser end E-06 Derived from ch 6-8 Global
87 Pos_IL04 Displacem . ent in in-line dir. section 04 m Local Pos. x-dir Derived from accelerations
89 Pos_IL12 Displacement in in-line dir. section 12 . ions m Local Pos. x-dir Derived from accelerat
92 Pos_IL24 Displacement in in-line dir. section 24 m Local . ions Pos. x-dir Derived from accelerat
95 Pos_CF04 Displacement in cross-flow dir. section 04 . ions m Local Pos. y-dir Derived from accelerat
100 w dir. section 24 . m accelerations Pos_CF24 Displacement in cross-flo m Local Pos. y-dir Derived fro
101 28 ir. section 28 . ions Pos_CF Displacement in cross-flow d m Local Pos. y-dir Derived from accelerat
102 32 ir. section 32 . ions Pos_CF Displacement in cross-flow d m Local Pos. y-dir Derived from accelerat
103 t Ftot_bo Total force at lower riser end N Global Derived from ch 79-81

88 Pos_IL08 Displacement in in-line dir. section 08 m Local Pos. x-dir. Derived from accelerations

54

MT51 F03-167 / 512382.00.01 draft / 2003-07-15
Table 6.1 Test program for VIV-tests in rotating rig
Test
no.

File head text

Comments

1103 Naked_riser Uniform V0.20
1110 Naked_riser Uniform V1.12 Overflow Fx_bot
1123 Naked_riser Uniform V1.96 rep
1127 Naked_riser Uniform V0.28 rep

1201 Naked_riser Shear V0.20
1208 Naked_riser Shear V0.35 rep
1212 Naked_riser Shear V1.12 Fz_bot not good
1216 Naked_riser Shear V1.54 Overflow Fx_bot and Fy_bot

55

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

Table 6.1 (cont.) Test program
Test
no.

File head text

Comments
1221 Naked_riser Shear V1.68 rep Fz_bot not good

2202 Faired100_riser Shear V0.56
2210 Faired100_riser Shear V0.94 Fishtailing
2211 Faired100_riser Shear V1.0-0.7 Fishtailing
2212 Faired100_riser Shear V0.94 No fishtailing
2213 Faired100_riser Shear V1.12 Fishtailing. Stopped quit soon.

3215 Faired50_riser Shear V0.80 No fishtailing
3219 Faired50_riser Shear V0.5-0.8-0.5
3220 Faired50_riser Shear V0.8-0.5

4101 Straked100_riser Uniform V0.20

56

Table 6.1 (cont.) Test program
Test
no.

File head text

Comments
4111 Straked100_riser Uniform V0.84 rep
4121 Straked100_riser Uniform V2.38 verflow Fx_top O

4201 Straked100_riser Shear V0.20
4212 Straked100_riser Shear V0.84 rep


5101 Straked75_riser Uniform V0.20 rift on ch 27 D
5102 Straked75_riser Uniform V0.24 rift on ch 27 D
5103 Straked75_riser Uniform V0.28 Drift on ch 27

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

57

MT51 F03-167 /
able 6.1 (cont.) Test program
512382.00.01 draft / 2003-07-15
Test
no.

File head text

Comments
5110 Straked75_riser Uniform V0.98 Drift on c8
5111 Straked75_riser Uniform V0.98 rep Drift on c8
S D
5115 Straked75_riser Uniform V1.54 rift on c8 D

S
S

T

5114 traked75_riser Uniform V1.40 rift on c8
5204 traked75_riser Shear V1.68

58

MT51 F03-167 /

able 6.1 (cont.) Test program
File head text

Comments
512382.00.01 draft / 2003-07-15
T
Test
no.
6111 Straked50_riser Uniform V0.98 Overflow AccCF04
S

6213 Straked50_riser Shear V1.26 Overflow Strain_IL35
S

6121 traked50_riser Uniform V2.10

59

MT51 F03-167 /
Tabl con
Test
xt

Comments
512382.00.01 draft / 2003-07-15
e 6.1 ( t.) Test program
no. File head te
7104
7118 Straked25_riser Uniform V1.82 Overflow AccXtop
S
7123 Straked25_riser Uniform V2.38 verflow Fy_bot O

S
Straked25_riser Uniform V0.35
7120 traked25_riser Uniform V1.96
7220 traked25_riser Shear V1.82 rep

60

MT51 F03-167 /

able 6.2 Coordinates of riser ends
Riser end point Flow x [m] y

[m] r

[m] z [m]
512382.00.01 draft / 2003-07-15
T

Sheared 0.370 -0.529 0.646 -0.95
Top
Uniform 0.370 -4.67 4.685 -0.03 0
Bottom -4.630 4.645 -9.66 0.374
oordin s given in global coordinate syste
(x
2
+ y

All c ate m.

r =
2
)

61

MT51 F03-167 /
Tabl processing of data.

ts - channels,
512382.00.01 draft / 2003-07-15
e 7.1 Corrections made during post-
Spikes removed from the following tes

T1103 12, 24, 62
T110 0
T110 2,
T111 , 5
T111 , 2
T111 , 9
T111 6,
T111 7,
T111 7,
T112 9,
T112 2,
T112 8
T112 1,
T112 9,

T120 3
T120 9,
T121 9,
T121 8
T121 7,
T121 5, 53, 54 57, 64, 65, 73, 81
T121 8, 53, 56 58, 81, 83
T121 , 8
T121 1,
T121 , 4
T122 2, 55, 57 59, 62, 67, 68, 71, 74, 75, 77, 81
T1222 - ch 25, 29, 38, 40, 42, 43, 46, 48, 54, 81
T122 6,

T220 3,
T220 3,
T220 6
T220 1
T221 8, 72
T221 7
T221 , 1 4, 44, 48, 8, 68, 79

T321 5,
T321 0,
T321 3
T322 , 1 7, 50, 51, 2, 60, 70, 80, 84

T410 0
T411 9,
T411 1,
T411 9
T411 7,
T411 8,
T411 9,
T411 , 6
T4120 - ch 73, 75
- ch
4 - ch 4
7 - ch 2 24, 53
0 - ch 3
2 - ch 7 7, 28, 30
3 - ch 4 , 55, 71, 76, 77
5 - ch 4 52, 53
7 - ch 3 38, 45
9 - ch 5 59
0 - ch 3 55, 58, 66, 73
1 - ch 1
2 - ch 4
17, 33, 50, 56, 62, 64, 70, 72, 74
4 - ch 3 40, 52
5 - ch 1 20, 26, 29, 30, 32, 34, 35, 45, 54
7 - ch 5
9 - ch 6 70, 73, 77
0 - ch 1 39, 40, 42, 54, 56, 57, 58, 62, 63, 67
1 - ch 6
2 - ch 3
3 - ch 2
59, 66, 79, 81
27, 28, 29, 35, 36, 39, 40, 42, 44, 47, ,
4 - ch 1 20, 21, 22, 23, 26, 30, 31, 34, 50, 52, ,
6 - ch 5 1, 84
8 - ch 1 24, 38, 40, 42, 43, 81
9 - ch 3 , 13, 33, 37, 72, 81
0 - ch 1 14, 17, 19, 32, 35, 36, 39, 45, 49, 51, ,
4 - ch 7 81
5 - ch 7 75
6 - ch 2 25
7 - ch 7
9 - ch 6
0 - ch 1 35, 36, 37, 43, 47, 57, 59, 69, 71,
1 - ch 7
3 - ch 9 3, 15, 16, 17, 23, 25, 30, 31, 33, 3 5
6 - ch 4 65, 73
8 - ch 2 22, 27, 31, 34, 36, 37, 39, 42, 73
9 - ch 4
0 - ch 7 8, 19, 21, 23, 24, 25, 35, 44, 46, 4 5
6 - ch 2
0 - ch 5 73
1 - ch 7 75
3 - ch 6
5 - ch 6 76
6 - ch 6 77
7 - ch 5 70, 71
9 - ch 5 5, 83

62

MT51 F03-167 /
T412 3

4223 - ch 74
4224 - ch 75
5105 - ch 9, 21
0, 3
5108 - ch 54, 79
5109 - ch 61
T5111 - ch 44
T5113 , 71
T5114 - ch 4, 20
T5115 - ch 7
T511
5117 - ch 34, 63, 75
5120 - ch 45, 66
4
5122 - ch 20, 55, 67, 72
5204 - ch 4, 74, 75
5205 - ch 71, 83
5207 - ch 72
T5210 - ch 58, 76, 79
T5217 - ch 84
T5223 - ch 5, 71, 74

T6108 - ch 9
T6110 - ch 10, 39, 68, 77
T6112 - ch 82, 84
T6119 - ch 70, 71, 74
T6120 - ch 28, 38
T6121 - ch 20
T6122 - ch 19, 22, 31, 45, 54
T6123 - ch 34
T6124 - ch 13, 18, 57

T6204 - ch 42
T6208 - ch 25
T6215 - ch 47, 57
T6216 - ch 51, 52, 53, 60
T6218 - ch 53
T6219 - ch 12, 72, 73, 74, 75
T6220 - ch 49, 59, 60, 66, 70, 71, 77
T6221 - ch 11, 33

T7106 - ch 28
T7109 - ch 9, 10, 34, 37, 43, 63, 67, 68, 69
T7110 - ch 45, 54
T7111 - ch 62
T7115 - ch 39, 82
T7116 - ch 28, 46
T7117 - ch 51, 52
512382.00.01 draft / 2003-07-15
1 - ch 8
T
T

T
T5106 - ch 1 4, 40, 44
T
T
T5110 - ch 9, 18
- ch 70
6 - ch 74
T
T5118 - ch 65
T5119 - ch 59
T
T5121 - ch 38, 8
T

T
T
T

63

MT51 F03-167 /
3
7119 - ch 9, 19, 44, 54, 57, 60
7121 - ch 16, 18, 31, 32, 48, 55, 61, 71, 75, 76, 79
12, 21, 24, 29
5
51, 59, 70, 76
57, 63, 68, 74
40, 43, 72, 76
5, 54, 65
52, 53, 60, 67
ges
512382.00.01 draft / 2003-07-15
T7118 - ch 8
T
T7120 - ch 17, 56
T
T7122 - ch 62
T7123 - ch 11,
T7124 - ch 23

T7207 - ch 37
T7210 - ch 47, 52, 53, 60, 73, 7
T7211 - ch 46, 48, 50,
T7213 - ch 62, 67, 69
T7216 - ch 55, 56,
T7217 - ch 58, 61
T7218 - ch 45, 75
66, 71, 84 T7219 - ch 28,
T7220 - ch 27, 29, 34,
T7221 - ch 5, 64, 70, 73
7222 - ch 59, 77 T
T7223 - ch 4, 2
T7224 - ch 38, 41, 46, 51,

Additional chan
Timeseries cut at 90 sec.
t at 190 sec.
ading text, V2.10.
se.
0.24.
5121 Timeseries cut at 45 sec.
Changed sign for ch 6.
Changed gain for ch 36 from 0.5 to 1.0.
.
6119 Changed gain for ch 62 from 0.5 to 0.2
Changed filename from T5301

Changed heading text, Removed Pretension

T1116 Changed heading text, V1.82.
T1213,T1214,T1216 Ch 81 has been HP filtered to remove drift.
T2211
T3205 Timeseries cu
T4117 Changed he
T4201-T4212 Changed gain for ch 59. from 0.1 to 1.0 and LP filtered to remove noi
T4202 Changed heading text, V
T5104
T
T5122
T5201-T5204
T5210
T5217
T5218 Changed heading text, V0.98
Timeseries cut at 230 sec. T6103
T6112 Changed gain for ch 70-77 from 0.1 to 0.2
T
T6201
T6224 Timeseries cut at 50 sec.
T7101-T7103

64

MT51 F03-167 /
tic values of force channels
Tests
512382.00.01 draft / 2003-07-15
Table 7.2 Sta

Channel
1100 1200 2200 3200 4100 4200 5100 5200 6100 6200 7100 7200
Fy_top -287 -261 -273 -268 -263 -263 -263
Fz_top -694 -622 -586 -609 -701 -601 -700 -590 -634 -592 -630 -591
Fy_bot 287 261 273 268 263 263 263
Fz_bot 654 582 546 569 661 561 660 550 594 552 589 550

Tests
Channel
824,9826 9832-9835 9854-9856 9912-9914 9823,9
Fy_top -287 -261
Fz_top -694 -622 -586 -630
Fy_bot 287 261
Fz_bot 654 582 546 589

65

MT51 F03-167 /

APPENDIX 1

Specification for Instrumentation
xperimental Modal Testing
512382.00.01 draft / 2003-07-15
URC
Verification and E

66

MT51 F03-167 /
rification
erification tests will be performed on subsets of all components to be used in the data acquisition
ystem for the ExxonMobil VIV tests. The results of the verification tests will be compared to the
alibration and specification data provided by the m cturers of the different components. If
n v t t fi l n
e required for all components of that type. Based on communications between URC and
Marintek, the com ts use in t rum nt/data acquisition system are listed in
Table 1.

Com
512382.00.01 draft / 2003-07-15
I. Component Level Instrumentation Ve

V
s
c anufa
any tested compo ents fail its specific erifica ion tes s, veri cation testing or reca ibratio will
b
ponen that will be d he inst e
DC amplifie ger Bal M dwin KWS and GC+
ponent Manufacturer Model Number
r Hottin
Analog Filters GEPA MOM-MKT (8-pole
A/D Converter Data Translation DT3003 - 12 bit
Strain Gages Vishay - EA-13-250PD-120
Accelerometers Measurement Specialties ICSensors - 3031 (+/- 100g)
Load Cells Marintek N/A
Table 1. Data Acquisition System Co ts for ExxonMobil VIV Tests
The verification tests required for each component type are described below as well as the number
o nents to be tested. Testing of the components should be carried out in the order in which
t iscussed. Data will be recorded via the data acquisition system for all ve

1.1 A/D Converter
he following verification tests will be performed on the DT3003 A/D converters.

1. Input a constant amplitude sinusoid into the A/D converter and use the recorded time series to
calculate the spectra of the input. Using the measured spectra, calculate the signal to noise
ratio (ratio of signal peak (dB) and noise peak (dB) in spectra) and the effective number of bits
(defined below).

Theoretical Signal to Noise Ratio : SNR = 6.02N + 1.76dB, where N = number of bits

Effective number of bits :
mponen

f compo
hey are d rification tests.

T
02 . 6
76 . 1 dB SNR
ENOB
ACTUAL
=

2. Input a constant amplitude sinusoid into six A/D converter channels and determine the time
delays between channels (confirm 3 us value).
3. Compare results of the verification tests to the manufacturers specifications for the A/D
converter.

67

MT51 F03-167 /
1.2 DC Amplifiers

Verification tests will be performed on two KWS odel amplifiers. The built-in
filter in the MGC+ amplifiers will not be used du ng tests, and therefore not used during
verification tests. The following verification tests ill be performed on the DC amplifier units.

1. Apply a constant bridge unbalance using a Hottinger Baldwin calibration units as input to the
amplifier to verify the static performance of the unit (unbalance = 2mV/V for G = 1, 2, 5, 10).
2. A 10V amplitude sinusoid sign attenuated to 10mV using a
voltage divider and used as inp signals of different frequencies
to the amplifier to verify the dynamic perform nce of the unit (signal input = sin(2f
i
t) ; where
f
i
= 2, 20, f
c
, and 1.5f
c
). Record the raw input signal on channel 1 and the amplified signal on
channel 2. Since f
c
=200Hz, and the time delay between neighbouring signals will never exeed
0.3 degrees, which makes phase corrections due to AD converting unnecessary.

3. Com unit.

Verification of DC gain and corner frequency will be performed on four GEPA, MOM_MKT
filter channels to be used in the tests. The following verification tests will be performed on the
analog filter channels.

1. Apply +10VDC and -10VDC signals to the filters and record the raw and filtered signals to
determine the filter gain. Apply sinusoid signals (at frequencies that must include the
following three frequencies: 0.5f
c
, f
c
, 1.5f
c
) to the filters and record the raw and filtered
signals. Vary the frequency until the phase difference is 360 degrees to determine the corner
frequency (Butteworth filter) Since f
c
=200Hz, and the time delay between neighbouring AD
channels is only 3us, the phase difference between the raw and the amplified signals will
never exeed 0.3 degrees, which make phase corrections due to AD converting unnecessary.

2. Verify corner frequencies are correct and compare the performance of the unit tested to the
manufacturer's calibration sheet for the unit.

1.4 Accelerometers, Load Cell, and Bridge Completions

The following verification tests will be performed on two of the Measurement Specialties,
ICSensors 3031 accelerometers and one of the load cells used to measure riser end force.

1. Apply known static loads (500 N, 1000 N) to the load cell to verify the calibration factors.
Load cell orientation should be adjusted so that all three axes of the load cell are verified.
512382.00.01 draft / 2003-07-15
and two MGC+ m
ri
w
a
pare performance of the units tested to the manufacturer's calibration sheets for each

1.3 Analog Filters
al from frequency generator is
ut to the DC amplifiers. Apply

68

MT51 F03-167 /
Mo known mass. Oscillate the weight at
different frequencies using a spring-mass oscillator (frequencies 2, 20, 50 Hz; amplitudes =
s
.
II. In-Air : Data Acquisition S tion and Exp Test

Prior to the sting, the fun ty of the data acq ) will be
verified w d dynam e objectives e to confirm
the polarit s fo noi
experimenta ill also be p iser model and r rig structure to
measure na
pplied to the riser model during these tests. The fully instrumented riser model will be installed
and tensioned to the mean pre-tension expected during the VIV tests.
he tasks to verify the data acquisition system and perform the experimental modal test are

The
inst
1. Null al
2. With the model support arms horizontal (parallel to the floor), zero all "cross-flow"
acceler arity of all "in-line" accelerometer channels using gravity
load, and "zero" all "in-line" channels to read 1 g output.
3. Docum sensor channels by collecting 30 seconds of data
ured signal, and inspect the time series for
4. irect curvature calibration of the strain gage sensors by varying the riser sag
(different pre-tensions with a free hanging riser). Compare these direct calibration results with
the indirect shunt calibration results.
512382.00.01 draft / 2003-07-15
2. unt the accelerometer to be tested on a weight with a
1 large, 1 small). Measure the force using the load cell and calculate the calibration factor
(magnitude and phase) for the accelerometer.
3. Compare results of the verification test to the manufacturer's calibration for the accelerometer
and load cell tested. Use of a DC amplifier to boost the signal level is acceptable for this test
The DC amplifier verification tests must be completed prior to their use in the
accelerometer/load cell verification.

ystem Verifica erimental Modal
start of VIV te ctionali uisition system (DAS
it n h both static a of these tests will b
r all sensors and quantify se and drift in the DAS. An
erformed on the r otating

To perform these system checks and modal test, the rotating rig structure will be fully assembled
and laid out horizontally with the support arms that hold the riser model oriented parallel to the
floor. The central column should be supported so that it will not translate or rotate when a force is
a
T
described in the following paragraphs.

l strain gage channels.
ent noise levels and signal drift in all
with all sensors powered and amplifiers set to operating gain levels. Calculate statistics
(mean, max, min, rms) and spectra for the meas
visible signal drift.
Perform a d
ic tests in-air. Th
y and calibration
l modal test w
tural frequencies and damping of the model experimentally.
in the rotating rig structure
Static DAS Verification Tests
following static verification tests will be performed on the data acquisition system and
rumentation.
ometer channels, check pol

69

MT51 F03-167 /
esults to document noise levels and signal drift over time.
es
f the model riser, and evaluate possible interactions between the model and the rotating rig.
1.
oss-
2.
ween the
model and rotating rig.
accelerations to find the natural frequencies and damping for each mode of the riser model.
these calculations is 1% on natural frequency and 10% on
damping coefficient.
.

Aft ll
aga .
The .
1.
. Document noise levels and signal drift in all sensor channels by collecting 30 seconds of data
ured signal, and inspect the time series for
visible signal drift.
o determine the natural frequencies of the riser model when it is fully submerged, a simplified
easured
sing the embedded accelerometers and the natural frequencies for the first ten in-line and cross-

512382.00.01 draft / 2003-07-15
5. Repeat 3 and compare r

o

Attach an electromagnetic shaker to the riser model using the appropriate push rod or
"stinger". The point of attachment should be chosen to excite the first ten "in-line" and "cr
flow" modes of the model riser (shaker not located at a node of any of these modes).
Using the shaker, excite the model across the frequency band of interest (first ten natural
frequencies) and measure the force input by the shaker and the response from the
accelerometers and strain gages. During this task, data should also be collected from all other
measurement channels for DAS verification and evaluation of the interaction bet
3. Calculate the frequency response functions for the structure using the measured forces and
4. Verify that all channels of the DAS are functioning properly under dynamic loading.
5. Evaluate the interaction that occurs between the riser model and the rotating rig structure.

2
with all sensors powered and amplifiers set to operating gain levels. Calculate statistics
(mean, max, min, rms) and spectra for the meas
T
impact tests will be performed. The riser model will be impacted with an appropriate tool
(metallic rod or hammer) to provide an impulse load. The response of the model will be m
u
Dynamic / Experimental Modal Tests

The following procedure will be used to dynamically test the DAS, calculate the modal properti
The target accuracy for
III In-Water : Data Acquisition System Verification and Experimental Modal Test
er installation of the rotating rig and riser model in the towing basin, verification tests wi
in be perform to evaluate the DAS functionality and a simplified modal test will be conducted
following performance checks will be conducted on the DAS prior to the start of VIV testing

Null all strain gage channels and zero all accelerometer channels.

flow natural modes will be extracted from the spectra of the acceleration response.

70

MT51 F03-167 /

APPENDIX 2

Verification
512382.00.01 draft / 2003-07-15

Component Level Instrumentation

71

MT51 F03-167 /
ctivity: Title: Reference:
512382.00.01 draft / 2003-07-15

A
ELe
Description:

APPENDIX D in the Project Offer T03-51.030 (PO App. D):
C Specification for Instrumentation Verification and Experimental Modal Testing. UR

8.1
8.1
8.1
8.1

The activity is divided into the following three sub-activities:
: Component level instrumentation verification
.1: A/D converter
.2: DC amplifiers
8.1.3: Analog filters
.4: Accelerometers, load cell and bridge completions
Comments:

PO App. D
Responsible: 8.1 Component Level Instrumentation Verification

Each sub-activity is described in detail on separate sheets.

72

MT51 F03-167 /
Activity: Title: Reference:
512382.00.01 draft / 2003-07-15
PO App. D
Ch. I.1.1
Responsible:
8.1.1 A/D converter
JJe
Description:

The following verification tests will be performe

1. Input a constant amplitude sin e
series to calculate the spectra of the input. Using the measured spectra, calculate the
signal to noise ratio (ratio of signal peak (dB) and noise peak (dB) in spectra) and the
effective number of bits (defined below).

T er
o

Effective number of bits
d on the DT3003 A/D converters.
usoid into the A/D converter and use the recorded tim
heoretical Signal to Noise Ratio : SNR = 6.02N + 1.76dB, where N = numb
f bits
:
76 . 1 dB SNR
ENOB
ACTUAL
=
02 . 6

2. Input a constant amplitude sinusoid into six A/D converter channels and determine the
time delays between channels (confirm 3 us value).
3. Compare results of the verification tests to the manufacturers specifications for the A/D
converter.

Comments:

1. Effective number of bits (ENOB)
i) Tests performed 2003-05-21
Measurements on AD converter number 2 were performed as specified for signal frequencies
12.5Hz, 25.0Hz, 50.0Hz and 100.0Hz. The amplitude was 9.5V. A Hanning window was applied
to the time series prior to calculation the spectra. The ENOB was found to vary from 10.9 to 11.1
bits.

ii) Tests performed 2003-06-09
Measurements were performed on both AD converter number 1 and AD converter number 2. The
signal frequency was 50Hz, and the signal amplitude was 9.5V. A Hanning window was applied
to the time series prior to calculation the spectra. The ENOB was found to be 12.6 bits for AD
converter number 1, and 12.7 bits for AD converter number 2. (The S/N ratio for the two AD
converters was 77.1dB and 78.3dB.)

73

MT51 F03-167 /
iscussion
pe aller ENOB than the tests perfo -06-09.
The reason for this is that the AD converter picked up some noise in the first te e was
absent in the last te

ormed 2003-06-09 resulted in ENOBs larger than the number of bits of the AD
onverters. This is obviously erroneous. The reason for this may be due to the procedure used to
. Time delay between channels (2003-05-20):
512382.00.01 draft / 2003-07-15
D
The tests rformed 2003-05-21 showed a sm rmed 2003
sts. This nois
sts.
The tests perf
c
calculate the ENOB.

2
T

T
S
T
N N
2 1

where

1
N
N : Number of channels sampled by the A/D converter
the sampling frequency is 1000Hz, and were sampling 40 channels, the time delay between
neighbouring channels is 25s, while the delay between channel 1 and channel 40 is 975s.

ii) AD converter no. 2
The time delays between channels on AD converter no. 2 are identical to the delays for AD
converter no. 1.

iii) Time delay between AD converter no. 1 and AD converter no. 2
The logging program starts each of the two AD converter boards with a separate command. The
time delay between the two boards therefore varies between tests. Logging 20 tests with the same
sinusoid signal on channel 1 on board 1 and channel 1 on board 2 resulted in time delays between
5.8ms and 14.9ms. The figure below shows the test results.

he time delay between two channels were found to be:
i) AD converter no. 1
( )
N
N N
1 2

2
N
T

1
N
2
N : The time delay between channels and
: Sampling period
S
T
If

74

Time delay between AD board 1 channel 1 and AD board 2 channel 1
8
12
14
T
d
e

2
4
6
i
m
e

10
l
a
y

[
m
s
]
16
0
9315 9320 9325 9330 9335
Test number
/

3. Comparison with manufacturers specifications

The manufacturer specifies ENOB to be 11.5 bits, corresponding to a S/N ratio of 71dB. We
found S/N ratios better than this. The time delays between channels are as specified by the
manufacturer.

MT51 F03-167 512382.00.01 draft / 2003-07-15

75

MT51 F03-167 /
Title: Reference:
512382.00.01 draft / 2003-07-15

Activity:
PO App. D
Ch. I.1.2
8.1.2 DC amplifiers
JJe
Description:

Verification tests will be performed on two KWS and two MGC+ model amplifiers. The
uilt-in filter in the MGC+ amplifiers will not be used during tests, and therefore not used
n tests will be performed on the DC
. Apply a constant bridge unbalance using a Hottinger Baldwin calibration units as input
to the amplifier to verify the static performance of the unit (unbalance = 2mV/V for G
= 1, 2, 5, 10).
. A 10V amplitude sinusoid signal from frequency generator is attenuated to 10mV using
ltage divider and used as input to the DC amplifiers. Apply signals of different
frequencies to the amplifier to verify the dynamic performance of the unit (signal input
= sin(2f
i
t wher e pu signal on channel 1
and the amplified signal on channel 2. Since f
c
=200Hz, and the time delay between
neighbouring signals will never exeed 0.3 degrees, which makes phase corrections due
to AD on rting
b
during verification tests. The following verificatio
amplifier units.

1
2
a vo
) ; e f
i
= 2, 20, f
c
, and 1.5f
c
). Record th raw in t
c ve unnecessary.

3. Compare performance of the units tested to the manufacturer's calibration sheets for
each unit.

1
A constant DC voltage was applied to two KWS and two MGC+ am
was measured for different gain settings. The results are shown in the tables below. The tables
also show the difference between the measured values and a fitted straight line.

KWS 57351
Responsible:
Comments:

. Static performance
plifiers. The output voltage
Amplification
[V/V]
Measured:
U
ut
[V]
Regression:
U
ut
[V]
Difference [V] Error [%]
19800 9.024 9.027 0.002 0.03
9900 4.078 4.073 -0.005 -0.12
3960 1.101 1.100 -0.001 -0.09
1980 0.108 0.110 0.002 1.6
990 -0.388 -0.386 0.002 -0.49

76

KWS 74489
Amplification
[V/V]
Measured:
U
ut
[V]
Regression:
U
ut
[V]
19800 9.001 9.004 0.004 0.04
9900 4.071 4.063 -0.008 -0.21
3960 1.097 1.097 0.000 0.01
1980 0.107 0.109 0.002 2.01
990 -0.387 -0.385 0.002 -0.59

MGC+ nr. 01
Amplification
[V/V]
Measured:
U
ut
[V]
Regression:
U
ut
[V]
10000 -9.884 -9.886 -0.002 0.02
5000 -4.952 -4.948 0.004 -0.08
2000 -1.986 -1.985 0.000 -0.01
1000 -0.996 -0.998 -0.002 0.17
500 -0.503 -0.504 -0.001 0.13

MGC+ nr. 02
Amplification
[V/V]
Measured:
U
ut
[V]
Regression:
U
ut
[V]
10000 -9.922 -9.924 -0.002 0.02
5000 -4.971 -4.967 0.004 -0.08
2000 -1.994 -1.993 0.001 -0.04
1000 -1.000 -1.001 -0.001 0.14
500 -0.504 -0.506 -0.001 0.25

2. Dynamic performance
We have tested the dynamic performance of two KWS and two MGC amplifiers. The figures
elow show the results. The phase delay results are corrected for the delays in the AD converter.
ote: For the KWS 74489 amplifier the results for 400Hz input signal are missing.

The difference in the amplitude results for the KWS and MGC amplifiers are due to different gain
settings.

b

N
MT51 F03-167 / 512382.00.01 draft / 2003-07-15

77
/

DC amplifiers - amplitude characteristics

0.2
0.8
1
100 200 300 400 500
0
0
0.4
0.6
U
_
i
n

/

U
_
o
u
t
1.2
Frequency [Hz]
KWS 57351
KWS 74489
MGC 1073
MGC 1075
-20
-10
P
h
a
s
e

[
]
KWS 57351
KWS 74489
MGC 1073
MGC 1075
DC amplifiers - phase
-25
-15
-5
0
0 100 200 300 400 500
Frequency [Hz]
MT51 F03-167 512382.00.01 draft / 2003-07-15

78

MT51 F03-167 /
512382.00.01 draft / 2003-07-15

i) Static performance
KWS
The KWS da et specifies: Switching tolera .25%. In a we have ev d the
effect of non ity and tem re drift (ref. the error budgets f ature sensors
accelerometers) from the data o give an of 0.002V. T c verificatio
howed results in accordance with these specifications (0.25% error or 0.002V).

M
ta she nce < 0 ddition
peratu or curv and
sheet t he stati n tests
s
GC+
amplifi lass 0.03, m that th be 0.0 nge (
tests sh V as m ference e mea
and th e for bo em just
The ession g ard err tercept of 0.002V, which, when
Dyn perfo amic nce
plitude
in ou
/U
WS 74 ier amplitud onse deviates betw
the lue.

The sinusoid signal from th
calibrator unit of class 0.5, resulting in an 0.5% uncertainty in the true input to the amplifier. T
amplification of the calibrator is therefore G
Cal
= 0.001V/V 0.5%.
The amplification, G
BA
, of the DC amplifier was set to 1000 by using the same Hott
c

G
BA

aluate
-linear
fset of

The MGC+ ers are of c eaning e error can 3% of full ra 10V),
i.e. 0.003V. erification owed 0.004 aximum dif between th sured
output signal e fitted lin th amplifiers, which places th outside the
specifications. linear regr ave a stand or of the in
ken into account, can place the amplifiers just inside the specifications.

ii) rma
KWS
The v
ta

The KWS 57351 amplifier am response (U
t
) deviates between -0.2% and 3.1% from
the nominal v while the K 489 amplif e resp een 0.3%
and 0.6% from nominal va
e function generator was first divided by 1000 with a Hottinger
he
inger
alibrator unit:
=U
BAset
/(U
Emset
*S
set
)
where

U
BAset
is the voltage output from the bridge amplifier when setting the amplifier gain =
10V 0.05V. This is an evaluation of how accurate the operator can adjust the
output voltage by monitoring an analogue needle indicator.
U
Emset
is the bridge voltage during bridge amplifier gain setting = 5.0V 0.1%. This
voltage is supplied by the DC amplifier, which is of class 0.1 (0.1% error).
S
set
is the calibrator unit unbalance during bridge amplifier gain setting = 2mV/V
0.5%. The calibrator unit is of class 0.5 (0.5% error).

The above values results in G
BA
= 1000V/V 1.1%.

alue,

79

MT51 F03-167 /
The total amplification, G
Tot
= G
Cal
* G
BA
, was therefore G
Tot
= 1V/V 1.6%. The results for the
KWS 74489 amplifier are within these limits, and are therefore within specifications. The results
for KWS 57351, however, shows an amplitude response 3.1% above the nominal value, and the
amplifier performance does therefore not comply with the specifications.

The phase lags for KWS 57351 was 67.7s at 20Hz to 35.5s at 400Hz. For KWS the lags were
29.5s at 20Hz to 21.0s at 250Hz. The KWS data sheet says: Phase lag time: < 12s. Since
these phase lags were measured between the signal input to the voltage divider (the Hottinger
calibrator) and the DC amplifier output, it is difficult to say how much of the lag can be ascribed
to the DC amplifier alone. But assuming that the voltage divider impedance is pure resistive, we
can conclude that the DC amplifiers does not comply with the specifications.

MGC+
512382.00.01 draft / 2003-07-15

The MGC+ amplifier amplitude response (U
in
/U
out
) deviates between 0.4% and 0.7% from the
nominal value. The MGC+ amplifiers are of class 0.03, meaning that the error can be 0.03% of
full range (10V), i.e. 0.003V. The voltage divider (a Hottinger calibration unit) was of class 0.5,
resulting in an 0.5% uncertainty in the true input to the amplifier. For MGC+ amplifier output
.0V this means an uncertainty of 0.04%. The total error between voltage divider input and DC
mplifier output will therefore be 0.5%. The results from the verification tests puts MGC+ 1075
ithin these limits (0.4% to 0.5%), while the results for MGC+ 1073 falls without these limits
.6% to 0.7%). The latter amplifier therefore seems to not comply with specifications.
oth the input and output signals to MGC+ amplifiers can be filtered. The output filter has been
disabled, while we cant disable the input filter. For input filter we chose Butterworth low-pass,
with 10kHz cut-off frequency. The results for the phase response for the MGC+ amplifiers shows
a linear phase response, and can be attributed to the filter.

7
a
w

B
(0

80

MT51 F03-167 /
tle: Reference:
512382.00.01 draft / 2003-07-15

Activity: Ti
Ch. I.1.3
Responsible:
8.1.3 Analog filters
JJe
Description:

Verification of DC gain and corner frequency will be performed on four GEPA,
must include the
following three frequencies: 0.5f
c
, f
c
, 1.5f
c
) to the filters and record the raw and filtered
ency until the phase difference is 360 degrees to determine the
ner frequency (Butteworth filter) Since f
c
=200Hz, and the time delay between
MOM_MKT filter channels to be used in the tests. The following verification tests will be
performed on the analog filter channels.

1. Apply +10VDC and -10VDC signals to the filters and record the raw and filtered signals
to determine the filter gain. Apply sinusoid signals (at frequencies that
cor
neighbouring AD channels is only 3us, the phase difference between the raw and the
amplified signals will never exeed 0.3 degrees, which make phase corrections due to AD
converting unnecessary.

2. Verify corner frequencies are correct and compare the performance of the unit tested to
the manufacturer's calibration sheet for the unit.

Comments:

1
i) Static r pon es se
+
MOM a
fi
PO App. D
signals. Vary the frequ
. Filter response
9.5VDC and 9.5VDC signals were applied to filter channels 1, 21, 42, and 64 on the GEPA
nalog filter. The input and output signals were sampled at 1000Hz for 10 seconds. The
gure below shows the results.

81
/
he phase
gs are corrected for the delay in the AD converter. The figures below show the responses.

he phase
gs are corrected for the delay in the AD converter. The figures below show the responses.

ii) Dynamic response
We have measured the dynamic amplitude and phase response for four filter channels. T hase response for four filter channels. T
la la
GEPA MOM filter - Amplitude
0
GEPA MOM filter - static test
1.003
0.996
0.997
0.998
0.999
1.000
1.001
A
m
p
l
i
f
i
c
a
t
i
o
n
G
E
P
A

M
O
M

c
h
a
n
n
G
E
P
A

M
O
M

c
h
a
n
n
G
E
P
A

M
O
M

c
h
a
n
n
G
E
P
A

M
O
M

c
h
a
n
n
-9.50V
+9.50V
0.995
1.002
e
l

1
e
l

2
1
e
l

4
2
e
l

6
4
-60
-50
-40
-30
-20
-10
10 100 1000
Frequency [Hs]
A
m
p
l
i
f
i
c
a
t
i
o
n

[
d
B
]
Channel 1
Channel 21
Channel 42
Channel 64
Theoretical
MT51 F03-167 512382.00.01 draft / 2003-07-15

GEPA MOM filter - phase
-400
-200
-100
10 100
Channel 21
82
/

2. C cturers specifications omparison with manufa
i)
The manufacturers specifies the error voltage to be 2mVDC at output (typical). The meas
lts are within these limits.

ii
T
s

Channel no.
1 248.2
21 249.6
42 248.1
64 249.2

-600
-500
Frequency [H ]
-300
P
h
a
s
e

[
]
0
1000
z
Channel 1
Channel 42
Channel 64
Theoretical

Static performance
ured
resu
) Distribution of cut-off frequencies at f
c
= 250Hz
he actual cut-off frequencies for the four filter channels were found by fitting the measured
at the nominal cut-off frequency to an ideal Butterworth response. The results are
ummed up in the table below.
attenuation
Actual cut-off [Hz]
All four cut-off frequencies fall within 2% of the nominal value, as specified by the
manufacturer.

iii) Distribution of cut-off frequencies at fc = 1000Hz
The filter manufacturer has measured the filter attenuation for all the 96 filter channels at a
nominal cut-off frequency of 1000Hz. These results are provided as curves. In addition, the
attenuation at input frequency 1000Hz is given as numbers. By fitting an ideal 8 pole Butterworth
low-pass filter to this data set we get the distribution of the actual cut-off frequencies for the
filters. The figure below shows this distribution. The red line shows the average value, while the
MT51 F03-167 512382.00.01 draft / 2003-07-15

83

dashed yellow lines marks one and two standard deviations. All cut-off frequencies fall within
2% of the nominal value, as specified by the manufacturer.
dashed yellow lines marks one and two standard deviations. All cut-off frequencies fall within
2% of the nominal value, as specified by the manufacturer.
GEPA MOM filter - distribution of cut-off frequencies
5
10
15
20
25
30
N
u
m
b
e
r
0
980 985 990 995 1000 1005 1010
Frequency [Hz]

MT51 F03-167 /
The curves shown above show that the amplitudes are more attenuated than the ideal Butterworth
filter response from frequencies of approximately 100Hz up the cut-off frequency (250Hz), while
it is less attenuated above the cut-off. The phase delay follows the ideal curve up to approximately
200Hz. The phase delay becomes less than the ideal response above this frequency.

The curves shown above show that the amplitudes are more attenuated than the ideal Butterworth
filter response from frequencies of approximately 100Hz up the cut-off frequency (250Hz), while
it is less attenuated above the cut-off. The phase delay follows the ideal curve up to approximately
200Hz. The phase delay becomes less than the ideal response above this frequency.

512382.00.01 draft / 2003-07-15 2003-07-15

84

MT51 F03-167 /

Activity: Title: Reference:
512382.00.01 draft / 2003-07-15
PO App. D
Ch. I.1.4
Responsible:
8.1.4 Accelerometers, load cell and bridge completion.
JJe
Description:

The following verification tests will be performed on two of the Measurement Specialties,
ICSensors 3031 accelerometers and one of the load cells used to measure riser end force.

1. Apply known static loads (500 N, 1000 N) to the load cell to verify the calibration
factors. Load cell orientation should be adjusted so that all three axes of the load cell
are verified.
2. Mount the accelerometer to be tested on a weight with a known mass. Oscillate the
weight at different frequencies using a spring-mass oscillator (frequencies 2, 20, 50
Hz; amplitudes = 1 large, 1 small). Measure the force using the load cell and calculate
the calibration factor (magnitude and phase) for the accelerometer.
. Compare results of the verification test to the manufacturer's calibration for the
mplifier to boost the signal level is
test. The DC amplifier verification tests must be completed prior to
3
acceptable for this
their use in the accelerometer/load cell verification.

Comments:

1. Load cell
Static loads of 0kg, 40kg, and 100kg were applied to each axis of the load cell. The measured
oltages were scaled with the previously obtained calibration matrix. The table below shows the
res

v
red force [N]
981.0 980.52 -0.48
0.0 -0.11 -0.11
0.0 0.98 0.98
392.4 393.90 1.50
981.0 982.20 1.20
0.0 0.40 0.40
accelerometers and load cell tested. Use of a DC a
ults.
Nominal force [N] Measu Difference [N]
0.0 -0.14 -0.14
392.4 392.23 -0.17
981.0 980.96 -0.04
0.0 0.63 0.63
0.0 -0.02 -0.02
392.4 392.28 -0.12
2. Accelerometer

85

MT51 F03-167 /
ge
512382.00.01 draft / 2003-07-15

Note: This section will be updated in the final version, with excitation tests in the frequency ran
0-100 Hz.

The accelerometer tests were performed by the Campus Marine AS representative who also
performed the modal test on the riser. He mounted the accelerometers on a Brel & Kjr 4094
calibrator, which was most recently calibrated 2002-09-23. The calibrator excited the
accelerometers with 10m/s
2
at 1000 rads/s (159.2Hz). The signals were amplified and filtered with
Marinteks amplifiers and filters and digitized in Campus Marines Pulse system for analysis.
From the autospectrum he calculated the accelerometers calibration factors. Note that the
calibration factors were only tested at one frequency (159.2Hz), and at one amplitude.

Calibration factor: 10[m/s
2
] / 406[mV] = 24.63 [(m/s2)/V]

86

Cal

3. C

ibration factor: 10[m/s
2
] / 300[mV] = 33.33 [(m/s2)/V]
omparison with manufacturers specifications
i) Load cell
he measured deviations from the true values varies from 0.05% to +0.15% of the full range of
e measurements (981N).
ecified by the manufacturer, see the table below. The values specified by the
anufacturer are for 100Hz excitation.

T
th

ii) Accelerometers
The calibration factors measured by Campus Marine were both slightly larger (4.0%) than the
values sp
m
23.69
Calibration factor [(m/s )/V]
2
Accelerometer S/N
Campus Marine Manufacturer
Deviation [%]
9428-009 24.63 3.97
9428-010 33.33 32.05 3.99

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

87

MT51 F03-167 /

Dynamic/Experimental Modal Tests

512382.00.01 draft / 2003-07-15

APPENDIX 3

88

MT51 F03-167 /
There are 2 Excel files:

1. Modalpar_a.xls
512382.00.01 draft / 2003-07-15
contains the resonance frequencies and damping percentages from the
modal analysis suite ME'scope

2. ShapeTable_a.xls contains the mode shapes also derived using ME'scope for measurement
X3 onwards.

The damping values varied by +/- 20% dependent on the frequency interval used for the curve
fitting - this is particularly so when the damping is below 1%. The "final" fit on both the
magnitude and phase of the responses has been checked. The H2 transfer function has been used
throughout as the basis for the calculations.

The mode shapes appear to be sensible apart from the first mode for tests X3, X4, X6 and Y1.
Marintek's calibration factors have been used to calculate the final magnitudes. The Mode shapes
above about no: 6 do not fully represent the shape due to the number of accelerometers under
sampling the pipe shape.

89

MT51 F03-167 /
APPENDIX 4
Uncertainty Budgets
Curvature sensors error budget
Accelerometers error budget
512382.00.01 draft / 2003-07-15

90

MT51 F03-167 /
s error budget
1.1 D
The
Butterworth low pass filter, and finally it is digitized by an AD-converter. The measured strain, ,
an then be described by the formula:
512382.00.01 draft / 2003-07-15
1. Curvature sensor

I EAL MEASUREMENT
sig r is first amplified by a bridge amplifier, then it is filtered by a nal from the senso
c

= K * S * U
Em
* G
BA
* G
f
* G
AD

here
Em
l bridge energizing voltage during measurement
G
BA
is the bridge amplifier gain
G
f
is the filter gain
G
AD
is the analog to digital converter gain

1.2 ERRORS IN AMPLIFIERS
When taking offset errors of the amplifiers into account we can rewrite the above formula as:

= K * ((( S * U
Em
* G
BA
+ U
BA
) * G
f
+ U
f
) * G
AD
+ U
AD
)

where

U
BA
is the bridge amplifier output offset
U
f
is the filter output offset
U
AD
is the analog to digital converter output offset

In addition to the offset errors, the gain factors now also have accosiated errors.

K is the calibration coefficient from shunt calibration.
S is the curvature sensor bridge unbalance during measurement
U is the actua
w

91

MT51 F03-167 /
1.3 ERROR IN CALIBRATION COEFFICIENT
The calibration coefficient, K, was calculated from shunt calibration using the formula:

K = ( 1 - R
s
/ ( R + R
s
) ) / ( 4 * k
c
* U
s
) K = ( 1 - R
s
/ ( R + R
s
) ) / ( 4 * k
c
* U
s
* ( G
BACal
/
G
BAnom
) )

where

R
s
is the shunt resistan
R is the strain gage resistance
k
c
is the gage factor during calibratio
U
s
is the average of four separate measurements from the calibration
G
BAcal
is the bridge amplifier gain during calibration
G
BAnom
is the (if there were no errors)

The factor ( G
BAcal
/ G
BAnom
) accounts for uncertainty in setting the bridge amplifier's
amplification during calibration, see the discussion of bridge amplifier gain errors below.

The gage factor, k
c,
is the average of the factors f m the gages from two batches:

k
c
= ( k
01
+ k
02
) / 2

where

k
01
is the gage factor for gages from batch 1
k
02
is the gage factor for gages from batch 2

The average measured voltage from the calibration is calculated by:

U
s
= ( U
s1
+ U
s2
+ U
s3
+ U
s4
) / 4

where

U
s1
is the voltage measured during calibration 1
U
s2
U
s3
U
s4

512382.00.01 draft / 2003-07-15
ce
n
nominal amplification of the bridge amplifier
ro

92

MT51 F03-167 /
RESISTOR
f a null balance resistor is used to balance the bridge, the unbalance of the bridge due to
curvature, S
c,
will be:
) - 1 ) /
here

k
m
is the gage factor during measurement (see formula below)
is the radius of the riser bend
r is the diameter of the riser
r ( G
z
= 1 / R
z
)

When a the bridge will start to be sensitive to axial strain. The
unbalance of the bridge due to axial strain, S
a,
will be:

S
a
= ( -k
m
*
a
+ ( 1 + 1 / ( R * G
z
) ) / ( 1 + 1 / ( R * G
z
* ( 1 + k
m
*
L
) ) ) - 1 ) / 4

a
is the axial strain

he measured strain should now be written:
= K * ( ( ( ( S
c
+ S
a
) * U
Em
* G
BA
+ U
BA
) * G
f
+ U
f
) * G
AD
+ U
AD
)

1.5 ERRORS DUE TO THERMAL EFFECTS IN THE STRAIN GAGES
uring measurements the gage factor can vary due to temperature variations:
k
m
= ( k
01
+ k
02
) * ( 1 + c
T
* T ) / 2
here
k
01
is the gage factor for strain gages from batch 1
k
02
is the gage factor for strain gages from batch 2
c
T
is the gage factor temperature coefficient
T is the temperature range
512382.00.01 draft / 2003-07-15
1.4 ERRORS DUE TO NULL BALANCE
I

S
c
= ( 3 * k
m
* r / r + ( 1 + 1 / ( R * G
z
) ) / ( 1 + 1 / ( R * G
z
* ( 1 + k
m
* r / r ) )
4

w
r
G
z
is the nominal conductance of the null balance resisto
R is the strain gage resistance
n l balance resistor is introduced, ul
where

T

D

w

93

MT51 F03-167 /
OF THE CABLE RESISTANCE

mplifier. The bridge amplifier input resistance is high, so the resistance variations in the bridge
amplifi
oltage from the bridge amplifier to the bridge can't be neglected, however. The bridge
nergizing voltage during measurement, U
Em,
can be found from the formula:
U
Em
= R
B
* U
E0
/ ( R
C1
+ R
C2
+ R
B
)

where

plifier
resis
R
C2
is the resistance of cable 2
where
4pz
is the resistance of strain gage 4 in parallel with the null balance resistor (see formula
elow)

The res ll balance resistor is:

512382.00.01 draft / 2003-07-15
1.6 ERRORS DUE TO THERMAL VARIATIONS
If temperature varies, so will the resistance of the cables between the sensor to the bridge
a
er input cables can be neglected. esistance variations in the cables providing bridge
en ing v
R
ergiz
e

R is the bridge diagonal resistance (see formula below)
B
U the bridge energizing voltage output from the am
E0
is
R he tance of cable 1

The bridge diagonal resistance is:

R
B
= 2 * R * ( R + R
4pz
) / ( 3 * R + R
4pz
)

R
b
is nce of strain gage 4 in parallel with the nu ta

R
4pz
= R * R
z
/ ( R + R
z
)

C1
is t

94

MT51 F03-167 /

ing calibration, G
BAcal,
is:
here
U
BAsetCal
is the full range of the amplifier needle indicator as set by the operator for
calibra
512382.00.01 draft / 2003-07-15
1.7 ERRORS IN THE BRIDGE AMPLIFIER GAIN

G
BAcal
= U
BAsetCal
/ ( U
EmsetCal
* S
setCal
)

w

tio n
setC
e from the amplifier during calibration
al
is the bridge unbalance as set on the calibration unit during calibration

Similar he asurement, G
BA,
is:
here

BAsetMeas
ment
U
EmsetMeas
is the bridge energizer voltage from the amplifier during measurement
nbalance as set on the calibration unit during measurement
AUGES
If the s riser bending will become
ystematically lower than the correct signal (a cosine factor). The sensor will also start to be
sensitive to axial strain. We estimate the skewness of the strain gauges to be maximum 1. Using
t the measured
ese numbers are
o small that we have not included this effect in the budget.

MMENT
his error budget only takes random errors into account. Systematic errors are not included in this
discuss hat the strain gauge pairs are not
separat train gauges on each side of the riser
are sep nce is slightly less than a diameter, one will
make a iameter of 20mm, and a separation between the centers of
e strain gauges on one side of the riser of 3.2mm, one will get a systematic error of +1.3% for
e calculated radius of the curvature.
U
Em al
is the bridge energizer voltag
S
setC
ly, t resulting gain used during me

G
BA
= U
BAsetMeas
/ ( U
EmsetMeas
* S
setMeas
)

U is the full range of the amplifier needle indicator as set by the operator for
measure
S is the bridge u
setMeas

1.8 ERRORS DUE TO SKEW STRAIN G
train gauges are not parallel with the riser axis, the signal due to
s
a typical pre-tension of 800N, and with other values as in this budget, we find tha
systematic strain offset is 0.01uS, with an expanded uncertainty of 0.004uS. Th
s
1.9 CO
T
io . If, for example, one does not take into account t
ed y exactly one riser diameter, but, since the two s b
ar ted by a few millimeters, the effective dista a
systematic error. For a riser d
th
th
The bridge amplifier gain is set using a calibration unit and adjusting offset and gain. The
resulting gain used dur
w
n

95

1.10 Model Equation:
MT51 F03-167 /
1)
Em
=R
B
*U
E0
/(R
C1
+R
C2
+R
B
);
R
B
=2*R
4pz
=R*R
z z
);
=U
BAsetCal
/(U
EmsetCal
*S
setCal
);
setMeas
/(U
EmsetMeas
*S
setMeas
);
1.11 L
512382.00.01 draft / 2003-07-15
=K*((((S
c
+S
a
)*U
Em
*G
BA
+U
BA
)*G
f
+U
f
)*G
AD
+U
AD
);
K=(1-R
s
/(R+R
s
))/(4*k
c
*U
s
*(G
BACal
/G
BAnom
));
k
c
=(k
01
+k
02
)/2;
U
s
=(U
s1
+U
s2
+U
s3
+U
s4
)/4;
S
c
=(3*k
m
*r/r+(1+1/(R*G
z
))/(1+1/(R*G
z
*(1+k
m
*r/r)))-1)/4;
S
a
=(-k
m
*
a
+(1+1/(R*G
z
))/(1+1/(R*G
z
*(1+k
m
*
L
)))- /4;
k
m
=(k
01
+k
02
)*(1+c
T
*T)/2;
U
*(R+R
4pz
)/(3

*R+R
4pz
);
/(R+R R
G
BACal
G
BA
=U
BA

ist of Quantities:
Qua t nti y Unit Definition
m/m Indicated strain from the curvature sensor
K m/m/V Calibration coefficient from shunt calibration
S
c
V/V The curvature sensor bridge unbalance due to curvature during
e m asurement
S
a
V/V The curvature sensor bridge unbalance due to axial strain during
measurement
U
Em
V Actual bridge energizing voltage during measurement
G
BA
V/V Bridge amplifier gain
U V Bridge amplifier offset
BA

G
f
V/V Filter gain
utput offset U
f
V Filter o
G V/V Analog to digital converter gain
AD
U
D
V Analog to digital converter output offset
A
R Shunt resistance
s
R Strain gage resistance
k

Gage factor during calibration
c

U V Average measured voltage during shunt calibration
s
G
BACal
V/V Bridge amplifier gain during calibration
G
BAnom
V/V Nominal bridge amplifier gain (no errors)
k

Nominal gage factor batch 1
01
k

Nominal gage factor batch 2
02
U V Measured voltage during shunt calibration 1
s1

96

Quantity Unit Definition
U
s2
V Measured voltage during shunt calibration 2
U
s3
V Measured voltage during shunt calibration 3
U V asure tag ring shunt calibration 4
s4
Me d vol e du
k
m

Gage factor during measurement
r m Riser radius
r m Radius of the riser bend
G
z
1/ Null resistance conductance
a
m/m Strain due axial strain during measurement
c
T
1/C Gage factor temperature coeffisient
T C Temperature range
R ance during measurement
B
Bridge diagonal resist
U V Bridge voltage from the amplifier during measurement
E0
R
C1
Cable resistance 1 during measurement
R
C2
R
4pz
The resistance of strain gage 4 parallel with the null balance
resistor during measurement
R
z
Null balance resistance
U
BAsetCal
V The voltage output from the bridge amplifier when setting the
amplifier gain for calibration
U
EmsetCal
V Bridge voltage during bridge amplifier gain setting for calibration
S
setCal
V/V The calibrator unit unbalance during bridge amplifier gain setting
for calibration
U
BAsetMeas
amplifier gain for measurement
U
EmsetMeas
V Bridge voltage during bridge amplifier gain setting for
measurement
S
setMeas
for measurement

:
Result

K:
Interim Result

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

97

MT51 F03-167
t specifies the output offset voltage t
/
Interim Result
U :
on
Value: 0.000 V
Halfwidth of Limits: 0.002 V

This is evaluati e manufacturer's data sheet.

G
f
:
Type B rectangular distributi
Value: 1.000 V/V
Halfwidth of Limits: 0.01 V/

The manufacturer's data shee

U
f
:
Value: 0.000 V

The manufacturer's data shee o be 2mV

G
AD
:
Value: 1.000 V/V
Halfwidth of Limits: 0.01 V/V

The manufacturer's data shee ter has 12 digits and
a +/-10V range

U
A
Value: 0.000 V
Halfwidth of Limits: 0.0025

The manufacturer's data sheet does not specify this, so this a guessed number.
512382.00.01 draft / 2003-07-15

an on of the ffect of non-linearity and temperature drift from the
on
V
t specifies <1%
on

on
t specifies the nonlinearity as +/-1.0LSB. The AD conver
D
:
on
V
S
c
:

S
a
:
Interim Result

U
Em
:
Interim Result

G
BA
:
Interim lt Resu

BA

98

MT51 F03-167 /

R
s
:
Type B rectangular distribution
Value: 40000
Halfwidth of Limits:

The shunt resistance was mea which for the 40k range has a
specified accuracy of (0.2

R:
Value: 120

The manufacturer's data shee 120 +/-0.2%.

k
c
:
Interi ult

There train gage m t e here we've used the average of
the two nominal gage tors certainty of the two nominal
values into account.

U
s
:
Interim sult

Av unting our
incorporates the variances of ell as the uncertainty in these
me due to erta ge,
the u ertainty in th tim

G
BACal
:
In

G
BAnom
:
Co
Value: 1000.0 V/V

k
01
:
alue: 2.045
lfwidth of Limits: 0.010
he data sheet specifies 2.045 +/- 0.5% at 24C

512382.00.01 draft / 2003-07-15
90
sured with a Fluke digital voltmeter,
+/- %+10).
on
t specifies the value as
m Res
are s s fro wo batches mounted on the riser. For the valu
fac . The uncertainty is found from taking the un
Re
erage of sh all f strain gages in the full bridge. The uncertainty of this average value
the individual measurements, as w
asurements unc inties in the bridge amplifier gain setting, the bridge amplifier offset volta
nc e mul eter indicated value, and the multimeter offset.
terim Result
nstant
on
V
Ha

T

99

MT51 F03-167 /
ular distribution
alue: 2.055
width of Limits: 0.010
he data sheet specifies 2.045 +/- 0.5% at 24C
ype B rectangular distribution
2.48 V
mits: 0.021 V
inty is due to uncertainty in the bridge amplifier gain setting, the bridge amplifier offset voltage,
indicated value, and the multimeter offset. (Ref. "Estimation of
e bridge amplifier gain setting.smu")
:
alue: 2.513 V
width of Limits: 0.021 V
to uncertainty in the bridge amplifier gain setting, the bridge amplifier offset voltage,
r indicated value, and the multimeter offset. (Ref. "Estimation of
ncertainty in the bridge amplifier gain setting.smu")
:
B rectangular distribution
its: 0.021 V
ncertainty is due to uncertainty in the bridge amplifier gain setting, the bridge amplifier offset voltage,
Ref. "Estimation of
ncertainty in the bridge amplifier gain setting.smu")
distribution
alfwidth of Limits: 0.021 V
e to uncertainty in the bridge amplifier gain setting, the bridge amplifier offset voltage,
e uncertainty in the multimeter indicated value, and the multimeter offset. (Ref. "Estimation of
inty in the bridge amplifier gain setting.smu")
e we've used the average of
512382.00.01 draft / 2003-07-15
k
02
:
Type B rectang
V
Half

T

U
s1
:
T
Value:
Halfwidth of Li

Uncerta
the uncertainty in the multimeter
uncertainty in th

U
s2
V
Half

Uncertainty is due
the uncertainty in the multimete
u

U
s3
Type
Value: 2.536 V
Halfwidth of Lim

U
the uncertainty in the multimeter indicated value, and the multimeter offset. (
u

U
s4
:
Type B rectangular
Value: 2.453 V
H

Uncertainty is du
th
uncerta

k
m
:
Interim Result

There are strain gages from two batches mounted on the riser. For the value her

100

MT51 F03-167 /
e two nominal gage factors. The uncertainty is found from taking the uncertainty of the two nominal
es into account, and also taking a +/-5C temperature variation into account.
tion
alue: 0.020
ased on 71 measurements on the riser.
e: 0.00001 1/
mits: 0.00001 1/
can
null balance resistor -> infinite resistance) and 0.00002 (50k).
ular distribution
alue: 0.0 m/m

ular distribution
alue: 0.00013 1/C
of Limits: 0.00002 1/C
ture coefficient of gage factor = +1.3 +/- 0.2% / 100C
B
:
terim Result
512382.00.01 draft / 2003-07-15
th
valu

r:
Type B rectangular distribu
V

B

r:
Constant
Value: 100 m

G
z
:
Valu
Halfwidth of Li

A typical null balance resistor can vary from 50k to 1M, i.e. a conductance from 0.000001S to
0.00002S. Here we model this as a conductance with a nominal value of 0.00001S (100k), and which
vary between 0.0S (no

a
:
Type B rectang
V
Halfwidth of Limits: 0.001 m/m

To see the effect of pure axial strain when a null resistor is introduced, we let
L
have a nominal value of 0,
and let it vary between -1000uS and +1000uS.

c
T
:
Type B rectang
V
Halfwidth

Data sheet: Tempera

T:
Value: 0.001 C
Halfwidth of Limits: 5.0 C

A +/- 5C temperature range.

R
In

101

MT51 F03-167 /
gular distribution
he manufacturer's data sheet specifies error as +/-0.1%.
ular distribution
alfwidth of Limits: 1.20
4pz
:
m Result
alue: 35000
BAsetCal
:
B rectangular distribution
its: 0.05 V
his is an evaluation of how accurate the operator can adjust the output voltage by monitoring an analogue
e: 5.000 V
mits: 0.005 V
512382.00.01 draft / 2003-07-15
U
E0
:
Type B rectan
Value: 5.000 V
H

T

R
C1
:
Type B rectang
Value: 60.0
H

The temperature coefficient of resistance of copper is approximately 0.4% per C. A +/-5C temperature
range is assumed.

R
C2
:
Value: 60.0

The temperature coefficient of resistance of copper is approximately 0.4% per C. A +/-5C temperature
range is assumed.

R
Interi

R
z
:
Constant
V

Typical value for a null balance resistor.

U
Type
Value: 10.000 V
Halfwidth of Lim

T
needle indicator.

U
EmsetCal
:
T
Valu
Halfwidth of Li

The manufacturer's data sheet specifies error as +/-0.1%.

102

MT51 F03-167 /
e: 0.002 V/V
V
specifies max error as 0.5%.
lue: 10.000 V
of Limits: 0.05 V
his is an evaluation of how accurate the operator can adjust the output voltage by monitoring an analogue
le indicator.
alue: 5.000 V
eas
:

512382.00.01 draft / 2003-07-15

S
setCal
:
T
Valu
Halfwidth of Limits: 0.00001 V/

The manufacturer's data sheet

U
BAsetMeas
:
T
Va
Halfwidth

T
need

U
EmsetMeas
:
V

The manufacturer's data sheet specifies error as +/-0.1%.

S
setM
Value: 0.002 V/V

The manufacturer's data sheet specifies max error as 0.5%.

103

MT51 F03-167 /
Uncertainty Budget:
512382.00.01 draft / 2003-07-15
1.12
Quantity Value Standard
Uncertainty
Sensitivity
Coefficient
Uncertainty
Contribution
Index
K 146.16710
-6

m/m/V
85010
-9

m/m/V

S
c
409.87710
V/V
95910 V/V

-6 -9
S 0.0 V/V
a
35510
-9
V/V

U
Em
2.4989 V 0.0107 V

G
BA
1000.00 V/V 4.12 V/V

U
BA
0.0 V 1.1510
-3
V 15010
-6
17010
-9
m/m 0.9 %
G
f
1.00000 V/V 5.7710
-3
V/V 15010
-6
86010
-9
m/m 23.2 %
U
f
0.0 V 1.1510
-3
V 15010
-6
17010
-9
m/m 0.9 %
G
AD
1.00000 V/V 5.7710
-3
V/V 15010
-6
86010
-9
m/m 23.2 %
U
AD
0.0 V 1.4410
-3
V 15010
-6
21010
-9
m/m 1.4 %
R
s
40000.0 52.0 -3.710 -19010 m/m 1.2 %
-9 -9
R 120.000 0.277 1.910
-6
52010
-9
m/m 8.3 %
k
c
2.05000 4.0810
-3

U
s
2.49550 V 6.0610
-3
V

G
BAnom
1000.0 V/V

k
01
2.04500 5.7710
-3
-4.510
-12
-2610
-15
m/m 0.0 %
k
02
2.05500 5.7710
-3
-4.510
-12
-2610
-15
m/m 0.0 %
U
s1
2.4800 V 0.0121 V -1510
-6
-18010
-9
m/m 1.0 %
U 2.5130 V 0.0121 V -1510
-6
-18010
-9
m/m 1.0 %
s2
U
s3
2.5360 V 0.0121 V -1510
-6
-18010
-9
m/m 1.0 %
U
s4
2.4530 V 0.0121 V -1510
-6
-18010
-9
m/m 1.0 %
k
m
2.05000 4.1510
-3

r 0.0200000 m 23.110
-6
m 7.510
-3
17010
-9
m/m 0.9 %
r 100.0 m

G
z
10.0010
-6
1/ 5.7710
-6
1/ -4.510
-3
-2610
-9
m/m 0.0 %
a
0.0 m/m 57710
-6
m/m -22010
-6
-13010
-9
m/m 0.5 %
c
T
130.010
-6
1/C 11.510
-6
1/C 15010
-9
1.710
-12
m/m 0.0 %

104

Quantity Value Standard Se
Uncertainty
nsitivity
Coefficient
Uncertainty
Contribution
Index
T 0.0 C 2.89 C 1910
-9
5610
-9
m/m 0.0 %
R
B
119.897 0.277

U
E0
5.00000 V 2.8910
-3
V 3010
-6
8610
-9
m/m 0.2 %
R
C1
60.000 0.693 -62010
-9
-43010
-9
m/m 5.8 %
R
C2
60.000 0.693 -62010
-9
-43010
-9
m/m 5.8 %
R
4pz
119.590 0.275

R
z
35000.0

U
BAsetCal
10.0000 V 0.0289 V -1510
-6
-43010
-9
m/m 5.8 %
U
EmsetCal
5.00000 V 2.8910
-3
V 3010
-6
8610
-9
m/m 0.2 %
S
setCal
2.0000010
-3

V/V
5.7710
-6
V/V 0.075 43010
-9
m/m 5.8 %
U
BAsetMeas
10.0000 V 0.0289 V 1510
-6
43010
-9
m/m 5.8 %
U
EmsetMeas
5.00000 V 2.8910
-3
V -3010
-6
-8610
-9
m/m 0.2 %
S
setMeas
2.0000010
-3
5.7710
-6
V/V -0.075 -43010
-9
m/m 5.8 %
V/V
149.7110
-6
1.8010
-6
m/m
m/m

Result:
Quantity:
Expanded Uncertainty: 3.610
-6
m/m
Relative Expanded Uncertainty: 2.4 %
Coverage Factor: 2.00
Coverage: 95% (t-table 95.45%)

Value: 149.710
-6
m/m
MT51 F03-167 / 512382.00.01 draft / 2003-07-15

105

MT51 F03-167 /
.13 Curvature sensor expanded uncertainty

To see how the different parameters contribute to the uncertainty at different accelerations, we
provide the graph elow, which shows the major contributors.
.13 Curvature sensor expanded uncertainty

provide the graph elow, which shows the major contributors.
512382.00.01 draft / 2003-07-15 2003-07-15
11

To see how the expanded unc To see how the expanded uncertainty varies with the strain signal from the sensor, we provide the
graph below. In this ll the va budget above have been held constant, except
the bending radius.
ertainty varies with the strain signal from the sensor, we provide the
graph below. In this ll the va budget above have been held constant, except
the bending radius.
Curvature sensor error
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
E
x
p
a
n
d
e
d

u
n
c
e
r
t
a
i
n
t
y

[
u
m
/
m
]
0.00
1.00
2.00
3.00
4.00
5.00
6.00
7.00
8.00
E
x
p
a
n
d
e
d

u
n
c
e
r
t
a
i
n
t
y

[
%
]
Expanded uncertainty [um/m]
Ex d unce
graph a graph a lues from the lues from the
pande rtainty [%]
0.0 500.0 1000.0 1500.0
Strain [um/m]

106

Curvature sensor err tors
0.0
5.0
20.0
35.0
E
r
r
o
r

c
o
n
t
r
i
b
u
t
i
o
n

[
%
]
G_f
dU_f
AD
dU_AD
R
epsilon_L
R_C1
Baset
et
or contribu
10.0
15.0
25.0
30.0
0.00 500.00 10
/m]
00.00 1500.00
Strain [um
dU_BA
G_
R_C2
U_
S_s
/

MT51 F03-167 512382.00.01 draft / 2003-07-15

107

2. Accelerometers error budget

MT51 F03-167 /
2.1 IDEAL MEASUREMENT
The signal from the accelerometer is first amplified by a bridge amplifier, then it is filtered by a
Butterworth low pass filter, and finally it is digitized by an AD-converter. The measured
acceleration, a, can then be described by the formula:

a = K * U
s
* G
BA
* G
f
* G
AD

where

K is the calibration coefficient from the calibration.
U
s
signal from the accelerometer
G
BA
is the bridge amplifier gain
G
f
is the filter gain
G
AD
is the analog to digital converter gain

2.2 ERRORS IN AMPLIFIERS
When taking offset errors of the amplifiers into account we can rewrite the above formula as:

a = K * ( ( ( U
s
* G
BA
+ U
BA
) * G
f
+ U
f
) * G
AD
+ U
AD
)
U
BA
is the bridge amplifier output offset
U
f
is the filter output offset
U
AD
is the analog to digital converter output offset

In addition to the offset errors, the gain factors now also have accosiated errors.

512382.00.01 draft / 2003-07-15

where

108

MT51 F03-167 /

2.3 ERROR IN CALIBRATION COEFFICIENT
The accelerometers were calibrated by rotating the riser and registering the amplified, filtered, and
digitized signal. The voltage difference between the max and min voltages represent a difference
in acceleration of 2g (acceleration of gravity). The calibration coefficient, K, was then calculated
using the formula:

K = g / ( ( U
max
- U
min
) * ( G
BAcal
/ G
BAnom
) / 2 )

where

g is the acceleration of gravity
U
max
is the maximum registered voltage
U
min
is the minimum registered voltage
G
BAcal
is the bridge amplifier gain during calibration
G
BAnom
is the nominal amplification of the bridge amplifier (if there were no errors)

The factor ( G
BAcal
/ G
BAnom
) accounts for uncertainty in setting the bridge amplifier's
mplification during calibration, see the discussion of bridge amplifier gain errors below.

2.4 ERRORS IN THE ACCELEROMETER SIGNAL
The signal from the accelerometer, U
s,
can be written as:

U
s
= U
p
+ U
t
+ U
N

where

U
p
is the signal from acceleration parallel to the accelerometer axis
U
t
is the signal from acceleration transverse to the accelerometer axis
U
N
is random noise from the accelerometer

The signal due to acceleration parallel to the accelerometer axis is:

U
p
= S
p
* U
Em
* a
p

where

S
p
is the accelerometer sensitivity to accelerations parallel to the axis, normalized to
bridge energizing voltage 1.0V
U
Em
is the actual bridge voltage during measurement
a
p
is the acceleration parallel to the accelerometer axis

512382.00.01 draft / 2003-07-15
a

109

The parallel sensitivity, S
p,
is:

MT51 F03-167 /
S
p
= ( F * ( 1 + C
T
+ C
NL
) / g ) / U
E0n

T
n er r coefficient
U
E0n
is the nominal bridge energizing voltage
The signal due to acceleration transverse to the accelerometer axis is:

S
t
512382.00.01 draft / 2003-07-15

where

F is the sensitivity in V/g, as given on the data sheet
C is the temperature error coefficient
C
NL
is the no -linearity ro

U
t
= * U
Em
* a
t

where

erations transverse to the axis
a
t
is the acceleration transverse to the accelerometer axis

S
t
= S
n
* C
t

here
C
t
is the transverse error coefficient

2.5 ER R HE CABLE RESISTANCE
f temperature varies, so will the resistance of the cables between the sensor to the bridge
amplifier. The bridge amplifier input resistance is high, so the resistance variations in the bridge
mplifier input cables can be neglected. Resistance variations in the cables providing bridge
nergizing voltage from the bridge amplifier to the bridge can't be neglected, however. The bridge
nergizing voltage during measurement, U
Em,
can be found from the formula:
U
Em
= R
B
* U
E0
/ ( R
C1
+ R
C2
+ R
B
)
here
R
B
is the bridge diagonal resistance (see formula below)
U
E0
is the bridge energizing voltage output from the amplifier
R
C1
R
C2

S
t
is the accelerometer sensitivity to accel

S can be written:
t

w

RO S DUE TO THERMAL VARIATIONS OF T
I
a
e
e

w

110

MT51 F03-167 /
.6 ERRORS IN THE BRIDGE AMPLIFIER GAIN
The bridge amplifier gain is set using a calibration unit and adjusting offset and gain. The
resulting gain used during calibration, G is:

dle indicator as set by the operator for
alibration
EmsetCal
is the bridge energizer voltage from the amplifier during calibration
S
Cal
is the bridge unbalance as set on the calibration unit during calibration

Similar ent, G
BA,
is:

where
or for
measurement
U is the bridge energizer voltage from the amplifier during measurement
setMeas
on the calibration unit during

.7 COMMENTS
we should get a = a
p.
In this budget we don't get this answer: a
p
= 10.0m/s
2
and a =
9.89m/s
2.
The reason for this is that we evaluate the signal from the accelerometer using the
sensitiv s s ion using the
measured calibration coefficient:

F = 0.405 mV/g
Calibration Enominal Eactual BA

( ( 9.807 / 24.6220 ) * ( 5.0 / 4.86333 ) ) / 1000.0
= 0.409 mV/g
For this budget we must therefore not interpret this discrepancy as an error. Only the stated
uncerta mu
512382.00.01 draft / 2003-07-15
2
BAcal,

G
BAcal
= U
BAsetCal
/ ( U
EmsetCal
* S
setCal
)

where
U
BAsetCal
is the full range of the amplifier nee
c
U
set
ly, the resulting gain used during measurem
G
BA
= U
BAsetMeas
/ ( U
EmsetMeas
* S
setMeas
)

U
BAsetMeas
is the full range of the amplifier needle indicator as set by the operat
EmsetMeas
S is the bridge unbalance as set
measurement
2
Ideally,
ity a tated on the data sheet, while we evaluate the measured accelerat
DataSheet
F = ( ( g / K ) * ( U / U ) ) / G
=

inty st be used as an evaluation of the error for a measurand of 10.0m/s
2.

111

2.8 Model Equation:
MT51 F03-167 /
a=K*(((U
s
*G
BA
+U
BA
)*G
f
+U
f
)*G
AD
+U
AD
);
K=g/((U
s
=U
p
+U
t
+U
N
;
Em
*a
p
;
*a
t
;
p
=(F*(1+C
T
+C
NL
)/g)/U
E0n
;
S
t
=S
p
*C
t
U
Em
=R
B
R
C1
G
BAcal
=U
l
/(
G
BA
=U
BAsetMeas
/(U
EmsetMeas
*S
setMeas
);

.9 List of Quantities:
512382.00.01 draft / 2003-07-15
max
-U
min
)*(G
BAcal
/G
BAnom
)/2);
U
U
p
=S
p
*U
U
t
=S
t
*U
Em
S
;
*U
E0
/( +R
C2
+R
B
);
BAsetCa
U
EmsetCal
*S
setCal
);
2
a m/s
2
Measured acceleration
K (m/s
2
)/V Calibration coefficient from shunt calibration
U
s
V Signal voltage from accelerometer
G
BA
V/V Bridge amplifier gain
U
BA
V Bridge amplifier offset
G
f
V/V Filter gain
U
f
V Filter output offset
G
AD
V/V Analog to digital converter gain
U
AD
V Analog to digital converter output offset
g
2
y m/s Acceleration of gravit
U
max
V Max voltage when rotating the riser
U
min
V Min voltage when rotating the riser
G
BAcal
V/V Bridge amplifier gain during calibration
G
BAnom
V/V Nominal bridge amplifier gain (no errors)
U
p
V Signal from parallel acceleration
U
t
V Signal from transverse acceleration
U
N
V Noise from accelerometer
S eter sensivity, normalized to U
E
= 1.0V
p
1/(m/s
2
) Parallel accelerom
U
Em
V Actual bridge energizing voltage during measurement
a
p
m/s
2
Parallel acceleration experienced by the accelerometer
S alized to U
E
= 1.0V
t

2
1/(m/s
2
) Transverse accelerometer sensivity, norm
a
t
m/s Transversal acceleration experienced by the accelerometer
F ecified on manufacturer's data sheet V/g Sensitivity as sp

112

C
T

Temperature coefficient sensitivity
C
NL

Non-linearity coefficient sensitivity
U V minal bridge energizing voltage specified for accelerometer
E0n
No
C
t

Transverse sensitivity coefficient
R
B
Bridge diagonal resistance during measurement
U V
E0
Bridge voltage from the amplifier during measurement
R
C1
R
C2
U
BAsetCal
amplifier gain for calibration
U
Em a
V idge vo dur bridge amplifier gain setting for calibration
setC l
Br ltage ing
S
setCal
for calibration
U
BAsetMeas
gain for measurement amplifier
U
Ems
V
m
etMeas
Bridge voltage during bridge amplifier gain setting for
easurement
S
setMeas
for measurement

a:
U
s
:
Interim

G
BA
:
Interim Result

alue: 0.000 V
his is an evaluation of the effect of non-linearity and temperature drift from the manufacturer's
ata sheet.

Result

K:
Interim Result

Result
U
BA
:
V
H

T
d
MT51 F03-167 / 512382.00.01 draft / 2003-07-15

113

MT51 F03-167 /
G
f
:
Limits: 0.01 V/V
sheet specifies <1%

f
n
alue: 0.000 V
2 V
Th es the output offset voltage to be 2mV

G
AD
:
Type ectangu u
Value: 1.000 V/V
Halfwidth of Limi 1 V

The cturer's a sh arity as +/-1.0LSB. The AD converter has 12
digits and a +/-10V range

U
AD
:
Type r tangula ibu
Value: 0.000 V

The nufacturer's data sh ssed number.

g:
Constant
Value: 9.807 m/s
2

Acceleration of gravity

U
max
:
Value: 0.7935 V

The h width is e ed from the
accelerometer w in

U
min
:
Type B ectangula tribu
Value .003104
512382.00.01 draft / 2003-07-15
Value: 1.000 V/V
Halfwidth of

The manufacturer's data
U
yp rect ular d ribu
:
T e B ang ist tio
V

e manufacturer's data sheet specifi
B r lar distrib tion
ts: 0.0 /V
manufa dat eet specifies the nonline
B ec r distr tion
ma eet does not specify this, so this a gue

alf stimat from the curve used to determine max and min voltages
hen rotat g the riser.
r
: -0
r dis
V
tion

114

MT51 F03-167 /
Halfwidth of Limi 01 V

The halfwidth is estimated from the curve used to determine max and min voltages from the
accel eter when rotating the riser.

G
BAcal
:
Interim esult

G
BAno
:
Cons
Value: 1000.0 V/V

U
p
:
Int m Result

U
t
:
Int lt

U
N
:
Type B rectangular distribu
Value: 0.000 V

Data sheet: Typical 1.0uV
512382.00.01 draft / 2003-07-15
ts: 0.0
erom
R
m
tant

eri
erim Resu
tion
001 V
pp

S
p
:
Interim Result

:
Result
Value: 10.0 m/s
2

an acceleration parallel to the accelerometer axis.

Value: 10.0 m/s
2

n example of an acceleration transversal to the accelerometer axis.
U
Em
Interim

a
p
:
Constant

An example of
S
t
:
Interim Result
a
t
:
Constant

A

F:
Constant

115

MT51 F03-167 /
Value: 0.000405 V/g
distribution
Info from manufacturer: Less than 2% for 25C +/- 5C for uncomensated circuits. We're using
1% here, since we don't expect more than half of this temperature range.
alue: 0.0

sheet: Typical +/- 0.5%
alue: 5.00 V
oltage used by the manufacturer when specifying the accelerometer
sensitivity F.
lar distribution
ata sheet: Typical 1%
alue: 4270

23.9 for +/- 5C
E0
alue: 5.000 V
The manufacturer's data sheet specifies the error as +/- 0.1%.
512382.00.01 draft / 2003-07-15

C
T
:
Type B rectangular
Value: 0.0
H

C
NL
:
U
E0n
:
V

Nominal bridge exitation v

C
t
:
Type B rectangu
Value: 0.0
H

D

R
B
:
Data sheet: 22.4%/100C => +/-
V
Data

Constant
V

U :
V

116

MT51 F03-167 /
n
alue: 60.0
The temperature coefficient of resistance of copper is approximately 0.4% per C. A +/- 2.5C
ature range is assumed.
R
C2
:
rectangular distribution
Value: 60.0
: 0.60
e coefficient of resistance of copper is approximately 0.4% per C. A +/- 2.5C
temperature range is assumed.
e: 10.000 V
ate the operator can adjust the output voltage by monitoring an
analogue needle indicator.

U
EmsetCal
:
e B rectangular distribution

er's data sheet specifies the error as +/- 0.1%.
ctang ar distribution

manufacturer's data sheet specifies max error as 0.5%.
U
BAsetMeas
:
e B rectangular distribution
.000 V
its: 0.05 V
t voltage by monitoring an
nalogue needle indicator.
512382.00.01 draft / 2003-07-15
R
C1
:
Type B rectangular distributio
V
mp
ype
Halfwidth of Limits
The temperatur

U
BAsetCal
:
V lu a

This is an evaluation of how accur

te er

T B

Typ
Value: 5.000 V

The manufactur

S
setCal
:
Type B re ul
Value: 0.002 V/V
The

Typ
Value: 10
Halfwidth of Lim

This is an evaluation of how accurate the operator can adjust the outpu
a

117

MT51 F03-167 /
stribution
Value: 5.000 V
width of Limits: 0.005 V
cturer's data sheet specifies the error as +/- 0.1%.
setMeas
:
ecifies max error as 0.5%.
.10 Uncertainty Budget:
512382.00.01 draft / 2003-07-15
U
EmsetMeas
:
Type B rectangular di
H lf a

The manufa

S
Value: 0.002 V/V

The manufacturer's data sheet sp

2
U
G
AD

U
min
-3.10410 V
-3
57710
-6
V 12 7.210
-3
m/s
2
0.3 %
G
BAcal
1000.00 V/V 4.12 V/V

G
BAnom
1000.0 V/V
p
-6
N

S
p
8.259410 53.310
-9

1/(m/s
2
)

-6
1/(m/s
2
)
Uncertainty
Sensitivity
Coefficient
Uncertainty
Contribution
Index
K 24.622 (m/s
2
)/V 0.105 (m/s
2
)/V

s
401.6810
-6
V 3.5310
-6
V

G
BA
1000.00 V/V 4.12 V/V

U
BA
0.0 V 1.1510
-3
V 25 0.028 m/s
2
4.0 %
G
f
1.00000 V/V 5.7710
-3
V/V 9.9 0.057 m/s
2
16.0 %
U 0.0 V 1.1510
-3
V 25 0.028 m/s
2
4.0 %
f
1.00000 V/V 5.7710
-3
V/V 9.9 0.057 m/s
2
16.0 %
U
AD
0.0 V 1.4410
-3
V 25 0.036 m/s
2
6.2 %
g 9.807 m/s
2

U
max
0.793500 V 57710
-6
V -12 -7.210
-3
m/s
2
0.3 %

U 401.6810
-6
V 2.6010
-6
V

U
t
0.0 V 2.3210 V

U 0.0 V 57710
-9
V 25000 0.014 m/s
2
1.0 %
U
Em
4.86333 V 2.8910
-3
V

a
p
10.0 m/s
2

118

Uncertainty
Sensitivity
Coefficient
Uncertainty
Contribution
Index
S 0.0 1/(m/s
2
)
t
47.710
-9

1/(m/s
2
)

a 10.0 m/s
2
t

F 405.010
-6
V/g

C
T
0.0
U
E0n
5.0 V

C
t
U
E0
5.00000 V 2.8910
-3
V 2.0 5.710
-3
m/s
2
0.2 %
R
C1
60.000 0.346 -2.310
-3
-78010
-6
m/s
2
0.0 %
R
C2
60.000 0.346 -2.310
-3
-78010
-6
m/s
2
0.0 %
U
BAsetCal
10.0000 V 0.0289 V -0.99 -0.029 m/s
2
4.0 %
U
EmsetCal
5.00000 V
U
EmsetMeas
5.00000 V 2.8910
-3
V -2.0 -5.710
-3
m/s
2
0.2 %
S
setMeas

2 R .11 esult:
xpanded Uncertainty: 0.29m/s
Coverage Factor: 2.00
: 95% (t-table 95.45%)
Quantity: a
2
Value: 9.89 m/s
2
E
Relative Expanded Uncertainty: 2.9 %
overag

5.7710
-3
9.9 0.057 m/s
2
16.0 %
C
NL
0.0 2.8910
-3
9.9 0.029 m/s
2
4.0 %
0.0 5.7710
-3
9.9 0.057 m/s
2
16.0 %
R
B
4270.0 13.8 6310
-6
87010
-6
m/s
2
0.0 %
2.8910
-3
V 2.0 5.710
-3
m/s
2
0.2 %
S 2.0000010
-3
5.7710
-6
V/V 4900 0.029 m/s
2
4.0 %
setCal
V/V
U
BAsetMeas
10.0000 V 0.0289 V 0.99 0.029 m/s
2
4.0 %
2.0000010
-3
5.7710
-6
V/V -4900 -0.029 m/s
2
4.0 %
V/V
a 9.890 m/s
2
0.143 m/s
2

C e
MT51 F03-167 / 512382.00.01 draft / 2003-07-15

119

MT51 F03-167 /
2.12 Accelerometer expanded uncertainty
is

provide the graph below, which shows the major contributors.
2.12 Accelerometer expanded uncertainty
is

provide the graph below, which shows the major contributors.
512382.00.01 draft / 2003-07-15 2003-07-15
To see how the expanded uncert To see how the expanded uncert
graph all the val graph all the val
parallel to the accelerometer se parallel to the accelerometer se
Accelerometer error
0.5
1
1.5
E
x
p
a
n
d
e
d

u
n
c
e
r
t
a
i
n
t
y

[
m
/
s
^
2
]

2.5
0 20 40 60 80 100
Acceleration [m/s^2]
3
Expanded un
[um/m]
ainty varies with acceleration, we provide the graph below. In th
ues from the budget above have been held constant, except the acceleration
nsitive axis.
ainty varies with acceleration, we provide the graph below. In th
ues from the budget above have been held constant, except the acceleration
nsitive axis.
0
3
0
6
9
12
15
18
E
x
p
a
n
d
e
d

u
n
c
e
r
t
a
i
n
t
y

[
%
]
certainty
Expanded uncertainty [%]
2

120

Acc rro rs
0
50
60
0 60 80
E
r
r
o
r

c
o
n
t
r
i
b
u
t
i
o
n

[
%
]
dU_BA
G_f
dU_f
AD
_AD
T
C_NL
C_t
Aset
set
elerometer e r contributo
30
40
G_
dU
C_
20
10 U_B
S_
20 40 100
-10
cceleratio 2] A n [m/s^
/

MT51 F03-167 512382.00.01 draft / 2003-07-15

121

MT51 F03-167 /

APPENDIX 5

Validation of Software

Spectral- and Statistical Routines in Express and Timsas
512382.00.01 draft / 2003-07-15

122

MT51 F03-167 /

TABLE OF CONTENTS

1. INTRODUCTION ............................................................................................................. 123
2. ACTUAL PROGRAMS .................................................................................................... 123
3. ACCEPTANCE CRITERIA............................................................................................. 123
4. DESCRIPTION OF METHOD........................................................................................ 124
4.1 Generation of Time Series............................................................................................ 124
4.2 Calculation ................................................................................................................... 125
4.3 Theoretical Values........................................................................................................ 125
5. PRESENTATION OF RESULTS .................................................................................... 127
5.1 Spectral Plots................................................................................................................ 127
5.2 Spectral Moments......................................................................................................... 127
5.3 Main Statistical Parameters.......................................................................................... 128

512382.00.01 draft / 2003-07-15

123

MT51 F03-167 /
1. INTRODUCTION

When validating software code, the practical way paring calculated
and theoretical values of a selected number of significant parameters. In doing so, one must bring
in mind if the code is written in single or double precision, the number of significant digits on the
datafiles that are input to the programs and the number of significant digits on the printed tables.

In this context, we will use a practical approach to the validation. We will simply use the results
from the standard output of the ac ocess. This means that the
parameters are represented with th tandard tables from the
programs.

2. ACTUAL PROG

Program name: Express (single precision program)
Timsas, version 7.23 (single precision program)

Routines: Spectral- and statistical.

3. ACCEPTANCE CRITERIA

The acceptance criterion is based on the target value itself, and not what it is going to be used to.

Criterion: The program routine is said to be correct if a calculated value deviates from the target
value by less than 0.1 %.

For a target value equal to zero, a representative value, for instance the standard
deviation, will be applied.

The criterion above implies that an error () will affect the 4th digit of a number.

Notice that a computer code that is written in single precision, gives an error in the 6th digit and a
force measurement in an experiment normally is given with an accuracy of 2%.

512382.00.01 draft / 2003-07-15
to do the validation is by com
tual programs involved in the pr
e number of digits given in the s
RAMS

124

MT51 F03-167 /
DESCRIPTION OF METHOD
1 Generation of Time Series
x different time series were used in the validation: 3 regular wave signals and 3 irregular wave
generated by Express and consisted of 4096 samples, with a time step
f 0.5 s.
Channel
512382.00.01 draft / 2003-07-15
4.

4.

Si
signals. All time series were

The time series are defined in the following table.

No.
Name Description
o
1 F_vary The frequency increases lineraly from f=1/40 to f=1/19.927 Hz.
2
A regular wave with an amplitude 1.0 and period 16 s with first sample
Reg_1600
equal to zero.
3 Reg_2048
ple A regular wave with an amplitude 1.0 and period 20.48 s with first sam
equal to zero.
4 Reg_sum Sum of channel 2 and 3.
5
spectrum is dropping linearly to zero to next sample outside this range.
Time series based on flat raw spectrum equal to 5000 m
2
Hz from
Bpass_1 frequency f=(20-1)/(4096 * 0.5) Hz to f=(150-1)/(4096 * 0.5). The
6 Bpass_2
Time series based on a raw spectrum linearly increasing from 4000 m
2
Hz
at frequency f=(20-1)/(4096 * 0.5) Hz to 9000 m
2
Hz at frequency f=(150-
1)/(4096 * 0.5) Hz. The spectrum is dropping linearly to zero to next
sample outside this range.

The rectangular and trapeziodal spectra are defined in the table below.

Rectangular Trapezoidal
f
S S
0.0087890625 0.0 0.0
0.0092773438 5000.0 4000.0
0.0727539063 5000.0 9000.0
0.0732421875 0.0 0.0

125

4.2 Calculation

MT51 F03-167 /

.3 Theoretical Values

512382.00.01 draft / 2003-07-15
The six time series defined in Section 4.1 were subject to spectral- and statistical analyses with the
programs that should be validated.

The following parameters were selected for the validation:

Spectral routines: Spectral plots and spectral moments up to 4th order.
Statistical routines: Standard deviation, skewness and kurtosis.

4
Spectral Moments

For a sine wave with amplitude a and a frequency f, the spectral moments are defined by:

n
n
f a m
2
2
1
=
For a contineous spectrum, the spectral moments are defined by:

or a spectrum varying linearly between f
1
and f
2
, the spectral moments are then given by:

df f f S
f
f
n
n
=
2
1
) ( m

F

1
) (
2
1
) (
1
2
1
2
2 1
1
1
1
2 0
+ + + +
+
+
+
=
n n n n
n
f f a
n
f f a
n
m

where:

upper frequenzy
1
spectrum ordinate at f
1
2
spectrum ordinate at f
2

f
1
lower frequency
f
2
a
0
constant defining the spectrum = S
1
- a
1
f
1

a
1
constant defining the spectrum = (S
2
- S
1
)/(f
2
- f
1
)
S
S

126

MT51 F03-167 /
ts of the time series used in the validation are
resented in Table 4.1.

tatistical Parameters
512382.00.01 draft / 2003-07-15
The theoretical values of the spectral momen
p

S

The standard deviation for sine wave signals is given by:

0
. m dev St =
here m
0
is the area of the spectrum.
Since skewness and kurtosis are parameters related to the normal distribution, these parameters
have no m r a

For egu e a sum of sine waves, the theoretical values of skewness and
kurtosis are:

w

eaning fo pure sine wave.
irr lar time seri s consisting of
0 = Skewness

0 . 3 = Kurtosis

Notice that the theoreti
len . Sin lida l
differ from the theoreti
he theoretical values of the statistical parameters of the time series used in the validation are
resented in Table 4.2.

cal values for skewness and kurtosis yields for time series of infinite
tion is performed with time series of final length, these parameters wil
cal values.
gth ce the va

T
p

127

MT51 F03-167 /
N OF RESULTS

as are shown in Figures 5.1-5.12.

5.7-5.12 show the
he smoothing bandwidth is 0.

5.2 Spectral Moments
able 5.1 shows the main spectral results from the analyses with Express and Table 5.2 shows the
The tables below summarize the comparison of spectral moments for the rectangular- and
trapeziodal spectrum time series.
512382.00.01 draft / 2003-07-15
5. PRESENTATIO

5.1 Spectral Plots
The spectral plots from the analyses with Express and Tims
Figures 5.1-5.6 show the results from the analyses with Express and Figures
results from the analyses with Timsas.

T

T
main spectral results from the analyses with Timsas.

Rectangular spectrum

Express Timsas Spectral
moment
Theoretical
Value % dev. Value % dev.
0 319.82 319.82 0.000 319.82 0.000
1 13.118 13.118 0.000 13.118 0.000
2 0.64709 0.64707 -0.003 0.64710 0.002
3 0.035486 0.035485 -0.003 0.035490 0.011
4 0.0020728 0.0020727 -0.005 0.0020730 0.010

Trapezoidal spectrum
Express Timsas Spectral
T
moment V lue
heoretical
% dev. Value % dev. a
0 415.77 415.77 0 0 . 00 415.77 0.000
1 18.7 1 7 18.771 0.000 18.771 0.000
2 0.98213 0.98211 -0.002 0.98210 -0.003
3 0.055856 0.055854 -0.004 0.055850 -0.011
4 0.0033417 0.0033415 -0.006 0.0033420 0.009

128

5.3 Main Statistical Parameters

MT51 F03-167 /
able 5.3 shows the main statistical results calculated with Express and Table 5.4 shows the main
statistical results calculated with Timsas.
For some parameters, theoretical values do not exist due to time series of finite length. In such
to be compared with each other.
The tables below summarize the comparison of spectral moments for the rectangular- and
trapeziodal spectrum time series.
ectangular spectrum
512382.00.01 draft / 2003-07-15
T

cases, the values calculated with Express and Timsas have

R
Express Timsas Matlab

Parameter Theoretical
Std. dev. 17.884
1)
17.886 17.886 17.8858
Skewness 0
2)
0.2844 0.28450

Kurtosis

3.0
3)
3.490 3.49020

1)
From spectral analysis (=m
0
0.5
)
2)
Depending on length of time series. Equal to zero for infinite time series.
3)
Depending on length of time series. Equal to 3.0 for infinite time series.

rapezoidal spectrum T
tical Express Timsas Matlab

Parameter Theore
Std. dev. 20.390
1)
20.393 20.393 20.393
Skewness

0
2)
0.2657 0.26580

Kurtosis

3.0
3)
3.409 3.40880

1)
From spectral analysis (=m
0
0.5
)
2)
Depending on length of time series. Equal to zero for infinite time series.
3)
Depending on length of time series. Equal to 3.0 for infinite time series.

129

MT51 F03-167 /

PENDIX 6

Spectral Analysis
512382.00.01 draft / 2003-07-15

AP

130

SPECTRAL ANALYSIS

MT51 F03-167 /
Power Spectra
a
by a
aussian-shaped frequency window with a standard deviation
1
The power spectra are estimated from Fast Fourier Transform (FFT) of the data. To obtain
consistent estimate, the raw spectrum, based on the full length of the time series, is smoothed
. The smoothing bandwidth 2 G is
normally 0.02 H
z
(model scale), but it depends on the length of the time series.

2 Estimates Based on the Power Spectra
pectrum is defined by
The physical si of so nts ar

= are resp r area under spectrum or variance
The n'th moment of the s

=
o
n
n
f S f m ( df )
gnificance me mome e:
mean squ onse o
o
m ( )
2

onse

rom the moments the following parameters are estimated:

lue =
2
m = mean square velocity of resp
4
m = mean square acceleration of response
F
o
m 4 Estimated significant va

512382.00.01 draft / 2003-07-15
Energy average period:
=
o
m
f
m
1
1
, T
1

Average zero cr riod: ossing pe
2
m
|
|
.
|
\
|
=
o
m m
1

2
m
T
o
=

For wave analys is also calculated is, the spectral peakedness Q
p
=
o o
p
S f
m
Q
2
2
df f ) (
2

In addition the period corresponding to peak value of the spectrum is presented (the spectral peak
period).

131

MT51 F03-167 /
3 Transfer Functions
Linear transfer functions or R.A.O curves and relative phases when required are estimated from
cross-spectral analysis, (see the next section) accor ing to the formula:

d
) (
) (
) (
f S
f S
f H
xx
xy
=

where H(f) is the complex transfer function, such that:

RAO = modulus of H
Phase = Phase angle

Here S
xy
is the cross spectrum between the response y and the reference x, and is the reference
spectrum (alternatively, the RAO may be defined as the square root of the ratio between the power
spectrum of the response divided by the power spectrum of the reference wave).

The R.A.O. curves will be with

of H
xx
S
the following unit:
meter
response of unit basic

The function is normally plotted in the range where the coherence (see the next section) is larger than
40 %, and where reference spectrum is larger than 1% of its peak value. In seakeeping tests the
reference wave is normally corrected to the actual frequency of encounter.

The reference wave used in the calculation of the transfer functions is normally the wave at the
location of the model (middle of the Ocean Basin) without the model present.

The results from the spectral analysis are normally presented as shown in Fig. 1. The most important
spectral parameters are also presented in tables.

512382.00.01 draft / 2003-07-15

132

MT51 F03-167 /
Coherence Functions and Cross-spectra
e coherence function between 2 signals x(t) (reference) and y(t) (response) is described as follows:
4
Th

) ( f S
| | ) (
) (
)
) (
f j
xy
xy
xy
xy
exkp f f
= =
( ) (
y x
f S f S

where

> < = ) ( ) (
1
) (
*
f Y f X f S
T T xy
cross-spectrum between x and y
T

where

) (
*
) ( ) ( ) ( ) (
x y
j
e f Y f X f Y f X

=
T T T T

> < =
2
) (
1
) ( f X
T
f S
T x
= autospectrum of x

=
2 1
) ( X
T
f
y
> < ) ( f S
T
= autospectrum of y

= ( ) (
T T T
f
=
) 2 ( ) (
exp ) ( )
ft j f j
t dtx e f X X
x

= Four
ier transform of a sample record of length T of x(t)

) ( *
) ( ) (
f j
T T
x
e f X f

= X

= =
) 2 (
) (
exp ) ( ) ( ) (
ft j
T
f j
T T
t dty e f Y f
y
Y = Fourier transform of a sample record of length T of y(t)

or 1 ) ( ), ( ) ( ) ( = f f X f H f Y
xy T T
F

)

= complex conjugate
j = imaginar unit

(linear relation between x and y
*

) ( f
x
= phase of reference

512382.00.01 draft /
) ( f
xy
= relative phase
| | means 'absolute value'

< > means 'statistical expectation value'

) ( f
y
= phase of response

2003-07-15

133

Fig. 1 Example of results from spectral analysis.
MT51 F03-167 /

512382.00.01 draft / 2003-07-15

134

MT51 F03-167

/

APPENDIX 7

cal Analysis

Statisti
512382.00.01 draft / 2003-07-15

135

MT51 F03-167 /
STATISTICAL ANALYSIS

1 Main Statistics of Time Series

For each test run the responses are collected and listed immediately after each run giving the
following parameters:

- Mean value of record:
=
=
N
i
i
X
N
x
1
1

- Maximum value: (crest to zero)

- Minimum value: (trough to zero)

- Standard deviation:

+
max
X

min
X
( )
=
N
i
i
x X
N
1
2
1
1

where N is the total number of samples.

X
i
is a discrete sample of the parent time series.

2 Peak Value Statistics

MARINTEK's standard statistical program is a computer program which is finding the local, or
global peaks (maxima and minima). From one maximum to the following minimum the double
amplitudes are also calculated. The values are used to calculate the peak value statistics as specified
below. The program can also calculate the cumulative distribution and the statistical density function.

To avoid that very small peaks as for instance signal noise are taken as maxima or minima, some
limitations to define the maxima or minima are specified. The standard values are:

- The time step from one extreme value to the next shall be longer than the sample interval.

- wing (previous) minimum shall be more
than 2% of the standard deviation .

ocal peaks: May also include e.g. maxima lower than the mean value.
lobal peaks: Defined by mean-crossing.
In our standard post-processing analysis the following parameters are derived:
The difference between one maximum and the follo
L

G
512382.00.01 draft / 2003-07-15

136

MT51 F03-167 /
Skewness:
3
3
1
m
= (expected 0 for a Gaussian process)
Kurtosis:
-
3
4
4
2
=
m
- (also called excess of kurtosis, expected 0 for a Gaussian process)
Mean value: X -
- Standard deviation:
Number of maximum values: N
+

Number of minimum values: N
-

mber of mean value upcrossings: N
(u)
- Maximum value:
- Minimum value:
- Significant double amplitude (2X)
1/3
i.e. the mean of the one-third highest peak to peak (crest to
trough) values (local or global)
- Largest double amplitude (2X)
max

- Significant maxima; X
1/3
+
i. t to zero values (local or
global)
- Significant minima; X
1/3
-
i.e. the mean of the one-third highest trough to zero values (local or
global)

For Gaussian single-peaked records, (2X)
1/3
is normally around 95 - 98 % of 4 .

The test results are normally presented in tables.

3 Probability Analysis of Peak Values - Weibull Scale Axis

The cumulative distribution of a randomly selected peak value A
K
is written as P[A
K
< A], or simply
as P[A]. Thus 1-P[A] is the exceedance probability at the given level A. Diagram examples are
shown in Fig. D.1. The analysis indicates whether large extreme values are simply results of
statistical uncertainties, or results from more systematic trends. Weibull scaled axes are used in the
diagrams in order to have the tail of the distributions emphasized. This is achieved by logarithmic
axis for A, and the P[A] - axis plotted as 1n [ - ln (1-P(A))].

The Weibull distribution.

-
-
- Nu

+
max
X

max
X
e. the mean of the one-third highest cres
| |
|
|
.
|
\
|
=
G
X A
G
A P
1
exp 1

will then appear as a straight line in the plot.

512382.00.01 draft / 2003-07-15

137

In the above distribution

1 X = mean value of record [ X
i
]
= standard deviation of X
i

or G = 2, one has the commonly used Rayleigh model for statistical distribution of peak values,
normally assumed valid for linear responses in irregular waves. G = 1 gives the exponential
gh curve is i icated with a fully drawn line in the diagrams (based on the
ctual mean value
G = shape parameter describing the slope of the Weibull curve

F
distribution. The Raylei nd
1 X and standard deviation of the measured record). Examples of sample
pectively, are shown in Fig. 1.
a
distributions with G close to 1 and 2, res

Fig. 2 Example of cumulative probability distributions.

MT51 F03-167 / 512382.00.01 draft / 2003-07-15

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ier transform of a sample record of length T of x(t)

Y = Fourier transform of a sample record of length T of y(t)

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