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Earthquake Induced Behavior of Submerged Floating Tunnels with Tension Leg Anchorage

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Earthquake Induced Behavior of Submerged Floating Tunnels with Tension Leg Anchorage Earthquake Induced Behavior of Submerged Floating Tunnels with Tension Leg Anchorage Birgir Indridason Civil and Environmental Engineering (2 year) Submission date: June 2013 Supervisor: Ragnar Sigbjørnsson, KT Co-supervisor: Svein N Remseth, KT Norwegian University of Science and Technology Department of Structural Engineering Department of Structural Engineering ACCESSIBILITY Faculty of Engineering Science and Technology NTNU- Norwegian University of Science and Technology OPEN MASTER THESIS 2013 SUBJECT AREA: DATE: 10.06.2013 NO. OF PAGES:130 Structural dynamics (20+58+52) TITLE: Earthquake Induced Behavior of Submerged Floating Tunnels with Tension Leg Anchorage Jordskjelvindusert Oppførsel av Neddykkede Rørbruer med Strekkstagforankring BY: Birgir Indridason SUMMARY: The purpose of this study is to examine the behavior of a submerged floating tunnel (SFT) anchored by tension legs and subjected to seismic excitation. A proposal of a tunnel crossing the Høgsfjord in Norway is used as a case for the finite element model. The tunnel was proposed as 1345m long with a cross section diameter of 11.3 m. Furthermore, the tunnel should lie 25m under the sea surface to enable regular sea traffic. A seismic analysis of the SFT is performed using a pseudo-excitation method (PEM), which is based within the framework of random vibration methods. The coherency between different supports is studied, in particular the incoherence and wave passage effects. A simple constant incoherence model is introduced, for coherency between inter-components of motion. Three cases of the incoherence are then examined: (i) fully coherent, (ii) incoherent and, (iii) non-coherent. The seismic analysis is carried out for different velocities and angles of the propagating earthquake waves. The structure is modeled in Abaqus, by using beam elements for both the tunnel and the tension legs. The fluid/structure interaction is modeled and its effects on the structure are discussed. The SFT is modeled with both vertical and inclined tension legs and the behavior of the models are investigated, with regard to seismic events. The seismic analysis is performed in Matlab, by developing m-scripts based on the system matrices generated in Abaqus. The results from the analysis confirm the importance of accounting for the stochastic nature of seismic waves. Furthermore, the results suggest that submerged floating tunnels with tension leg anchoring are reliable when subjected to earthquake excitation. It is unlikely that earthquake action will be taken as the design load case for Norwegian conditions. RESPONSIBLE TEACHER: Ragnar Sigbjörnsson SUPERVISOR(S): Ragnar Sigbjörnsson, Svein N. Remseth CARRIED OUT AT: Department of Structural Engineering, NTNU Preface This thesis is written as a part of two year Master's program in structural engi- neering at the Norwegian University of Science and Technology (NTNU) in Trond- heim. In the process of completing the thesis many challenges have arisen and many obstacles needed to be overcome. However, with the good guidance and theo- retical preparation from NTNU and University of Iceland, these challenges were eventually overcome. Much gratitude goes to Professor Ragnar Sigbj¨ornssonfor his inspirational support and invaluable contribution to the project. Also, many thanks go to Professors Svein N. Remseth and Bernt J. Leira for their input in the process. During the course of the project I was introduced to new fields of engineering, in which I previously had little experience. These fields included hydrodynamics and earthquake engineering, which proved to be essential part for the project. Working in these fields of engineering has been eye-opening and generated much interest and I am enthusiastic about further opportunities of exploring these fields. Trondheim, June 10, 2013 Birgir Indridason 3 4 Abstract - English The purpose of this study is to examine the behavior of a submerged floating tunnel (SFT) anchored by tension legs and subjected to seismic excitation. A proposal of a tunnel crossing the Høgsfjord in Norway is used as a case for the finite element model. The tunnel was proposed as 1345 m long with a cross section diameter of 11:3 m. Furthermore, the tunnel should lie 25 m under the sea surface to enable regular sea traffic. A seismic analysis of the SFT is performed using a pseudo-excitation method (PEM), which is based within the framework of random vibration methods. The coherency between different supports is studied, in particular the incoherence and wave passage effects. A simple constant incoherence model is introduced, for coherency between inter-components of motion. Three cases of the incoherence are then examined: (i) fully coherent, (ii) incoherent and, (iii) non-coherent. The seismic analysis is carried out for different velocities and angles of the propagating earthquake waves. The structure is modeled in Abaqus, by using beam elements for both the tunnel and the tension legs. The fluid/structure interaction is modeled and its effects on the structure are discussed. The SFT is modeled with both vertical and inclined tension legs and the behavior of the models are investigated, with regard to seismic events. The seismic analysis is performed in Matlab, by developing m-scripts based on the system matrices generated in Abaqus. The results from the analysis confirm the importance of accounting for the stochas- tic nature of seismic waves. Furthermore, the results suggest that submerged float- ing tunnels with tension leg anchoring are reliable when subjected to earthquake excitation. It is unlikely that earthquake action will be taken as the design load case for Norwegian conditions. 5 6 Abstrakt - Norsk Form˚aletmed denne forskningsoppgaven er˚astudere jordskjelvindusert respons av forankrede og neddykkede rørbruer. Forslaget til en rørbru over Høgsfjorden blir modellert og undersøkt. Dette foreslaget inneholder en 1345 m lang rørbru med tversnitts diameter D = 11; 3 m. Dessuten m˚abrua ligge 25 m under havflaten, slik ˚askipstrafikken ikke skal hindres. Responsanalysen bygger p˚ateorien om stokastiske svingninger hvor de seismiske bølgene blir modellert som stokastisk felt. I modelleringen blir det tatt hensyn til bølgeforplantnings-hastigheten samt bølgenes koherensstruktur. En modifisert koherens-modell er introdusert hvor det tas hensyn til kryss-komponent koherens i tillegg til auto-komponent koherensen. Generelt avtar koherensen med økende avstand mellom konstruksjonens støtte- og forankringspunkter samt med økende frekvens. Tre tilfeller er studert nærmere: (i) full koherent bølgefelt, (ii) delvis ko- herent bølgefelt som antas ˚avære den mest eksakte beskrivelse, og (iii) fullstendig random (inkoherent) bølgefelt. Konstruksjonen er modellert i Abaqus ved˚abruke bjelkeelementer b˚adefor rørbrua og forankringssystemet. Det tas hensyn til fluid-struktur interaksjon i modellerin- gen og de effekter som den fører med seg diskuteres. To forskjellig forankringssys- temer blir undersøkt: (i) skr˚aforspente forankringslinjer og (ii) vertikale forspente forankringslinjer. Den stokastiske responsanalyse blir utført i Matlab basert p˚a m-skripter som ble utviklet for denne oppgaven, og er basert p˚asystemmatrisene fra Abaqus. De essensielle resultatene fra denne undersøkelsen understreker nødvendigheten av ˚ata hensyn til jordskjelvsbølgenes stokastiske natur. Videre antyder resultatene at neddykkede rørbruer med vertikale forankringslinjer er seismisk robuste kon- struksjoner. Det vurderes som lite sannsynlig at jordskjelvsindusert respons vil utgjøre et dimensjonsgivende lasttilfelle under Norske forhold. 7 8 Contents 1 Introduction 1 1.1 Submerged floating tunnel concepts . .1 1.2 Literature survey . .2 1.3 Selection of study case - The Høgsfjord tunnel proposal . .4 1.4 Objectives and research questions . .4 1.5 Limitations and organisation of the thesis . .5 2 Modelling of the fluid-structure system 7 2.1 FE model of the submerged tunnel . .7 2.2 Hydrodynamic and hydroelastic action . .7 2.2.1 Morison's equation . .8 2.2.2 Random behavior . 10 2.3 Damping properties . 10 2.4 Solution procedures . 11 2.4.1 Frequency domain solution . 12 2.4.2 Time domain solution . 12 3 Seismic action 15 3.1 Modeling of strong ground motions . 15 3.1.1 Probabilistic modeling . 16 3.1.2 Evolutionary processes . 17 3.2 Description of the spatial variability of ground motion . 19 3.3 Coherency . 21 3.3.1 Wave passage . 21 3.3.2 Site effects . 22 3.4 Structural seismic analysis methods . 22 3.4.1 Equation of motion for multi-support excitation . 23 3.4.2 Power spectral density solution . 26 3.4.3 Response Statistics . 26 4 Case studies 29 4.1 Definition of the case - the Høgsfjord tunnel . 29 4.2 FE modeling of the study structure . 31 4.2.1 Modeling of structural parts . 33 9 4.2.2 Material properties and structural damping . 33 4.2.3 Loads and pretension in tension legs . 34 4.2.4 Solution strategies . 36 4.3 Modelling of earthquake excitation at the site of the structure . 36 4.3.1 Spectral density of the ground acceleration . 36 4.3.2 Coherency Model . 37 4.4 Limitations in the modeling . 40 5 Numerical results and discussion 41 5.1 Response statistics . 41 5.1.1 Peak structural response . 41 5.1.2 Incoherence and wave passage . 44 5.1.3 Inter-component coherency . 46 5.1.4 Seismic wave velocity . 47 5.1.5 Tension leg anchoring and damping . 49 5.2 Further discussion . 51 6 Conclusion 55 7 Further studies 57 A Coherency Models 59 A.1 Hindy-Novak model . 59 A.2 Harichandran-Vanmarcke model . 59 A.3 Loh-Yeh model . 60 A.4 Oliveira-Hao-Penzien
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