Theoretical,experimental and numerical investigations into nonlinear motion of a tethered-buoy system

In this paper, we discuss nonlinear motion of a buoy connected vertically to the seabed via a tensioned tether (tethered-buoy). A series of scaled model tests has been conducted and a significant nonlinear behavior of the buoy motion, sub-harmonic motion in particular, is observed. Taking account of the influence of time-varying tether tension on the buoy motion, theoretical explanation is made for the sub-harmonic response. The stability of the tethered-buoy system is focused based on Mathieu instability theory. A strongly coupled numerical model between the buoy motion and the tether behavior is established to clarify the mechanism of the nonlinear motion of the tethered-buoy system. A comparison between the experiment data and simulation results is presented not only for the linear but also for the sub-harmonic components. Influential factors for the sub-harmonic motion are discussed in detail. It turned out that the sub-harmonic motion is dominated by the nonlinear coupling effect of time-varying tension in the tether with the buoy motion. Finally, the influential factors to the sub-harmonic motion are indicated throughout the comparison between two different buoy models.