simulate the complex system including the spar, the torus and
their coupling effect as well as the mooring system, with both aerodynamics
and hydrodynamics considered, an integrated analysis is
Fig. 5.needed. A nonlinearmodel including the viscousMorison drag and quadratic
damping terms to predict the force and motion responses are included.
In this case, a frequency domain model is not applicable. The
simulations in this paper are based on the hybrid frequency- and
time-domainmodel (Naess andMoan, 2013), performed atmodel scale.