Chaotic motion of a multi-articulated tower immersed in waving fluid: numerical experiment

The offshore structures, such as multi-articulated towers, manipulators working in waving fluid are more and more popular structures. Commonly they are modelled as an inverted pendulum. The motion of such tower immersed in waving fluid is under consideration. It is assumed that the tower is hinged to the seabed by the hinge with friction. The joint of tower elements is the hinge with friction, as well. Motion of tower loaded by regular wave fluid force is considered. The numerical experiment shows that the multi-potential systems may move chaotically for some parameters of the tower and the fluid.