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Hydrodynamic analysis in Sesam

DNV Software Seminar for ATKINS


Fan Joe Zhang, Sesam Business Development Manager September, 2012

About the Seminar


I am ZHANG Fan Joe, DNV Software
- I do SESAM business development, user courses, etc.

Responsibility for Sesam lies with DNV Software in Houston, USA


- DNV Software is a commercial software house in DNV - Serving approximately 150 commercial Sesam customers

Offices in Oslo, London, Houston, Rio de Janeiro, Kuala Lumpur, Kobe, Busan, Beijing, Shanghai, Singapore, Kaohsiung and Hyderabad

Hydrodynamic analysis in Sesam September, 2012 Det Norske Veritas AS. All rights reserved.

Day 1 Presentations
Time
09:00 09:30 10:30 10:45 11:30 12:00 13:00 14:00 15:30 15:45 16:30

Topic
Sesam for floaters an overview Hydrostatic and dynamic analysis The importance of nonlinear analysis Break An overview of coupled analysis, mooring and riser design Q&A Lunch Air gap analysis Traditional frequency-domain prediction vs. time-domain analysis FPSO full ship analysis an overview Break Fatigue assessment of TLP tendons an overview Summary

Hydrodynamic analysis in Sesam September, 2012 Det Norske Veritas AS. All rights reserved.

Day 2 Examples and Demos


Time
09:00 09:15 10:30 10:45 11:30 12:00 13:00 14:00 15:30 15:45 16:30

Topic
Recap of first day HydroD Non-linear analysis of a pipe-laying vessel with Morison model Break HydroD Non-linear analysis of a semi-submersible with anchors Q&A Lunch DeepC Pipe-in-pipe analysis DeepC Riser fatigue analysis Break UmbiliCAD and Helica - Capacity check and detail section fatigue analysis of umbilical Summary

Hydrodynamic analysis in Sesam September, 2012 Det Norske Veritas AS. All rights reserved.

Information on www.dnv.com/software

NEW!

Get more information on Sesam

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Documentation
User Manuals
Most manuals in electronic format (pdf) Part of installation
(C:\Program Files\DNVS)...\SESAM\MANUALS

Available from Brix Explorer Open through Internet or download, see next page

Status Lists provide additional information:


Reasons for update (new version) New features Errors found and corrected Etc.

Look up and search Status Lists:


Part of installation
(C:\Program Files\DNVS)...\SESAM\STATUS\status.html

Updated Status Lists through Internet, see previous page

Hydrodynamic analysis in Sesam September, 2012 Det Norske Veritas AS. All rights reserved. 6

Support
Phone: E-mail:
-

+47 6757 8181 software.support@dnv.com

Support covers:
Guidance in how to use programs to solve problem defined by you Locating and correcting deficiencies (bugs, etc.) Guidance to get around deficiencies, alternatively updated program

To assist you as efficiently as possible we generally need:


Concise information (have it readily available when calling us) Program input to reproduce problem - Compress files to reduce size!

Hydrodynamic analysis in Sesam September, 2012 Det Norske Veritas AS. All rights reserved. 7

Safeguarding life, property and the environment


www.dnv.com

Hydrodynamic analysis in Sesam September, 2012 Det Norske Veritas AS. All rights reserved. 8

SesamTM Continuing 40 years of success


The integrated strength assessment system for floating structures
Joe Zhang, Sesam BD Manager, DNV Software October, 2012

The Sesam Floating Structure Package


Linear structural analysis of unlimited size Hydrostatic analysis including stability code checking Hydrodynamic analysis Buckling code check of plates and beams Fatigue analysis of plates and beams Coupled analysis, mooring and riser design Marine operations

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 2

A typical workflow
From modelling to stochastic fatigue
- Concept modelling of floaters
- Structure analysis model - Hydrodynamic model

Hydrostatic analysis Hydrodynamic analysis in frequency domain Hydrodynamic analysis in time domain Statistical post-processing of hydrodynamic results Design wave or direct load approach Transfer of all loads to analysis Structural finite element analysis Post-processing and code-checking Global and refined fatigue

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 3

Sesam a fully integrated analysis system


1. Stability and wave load analysis 2. Pressure loads and accelerations

Wave scatter diagram

Load transfer

Local FE analysis

5. Local stress and deflection & fatigue

FE analysis

4. Global stress and deflection & fatigue screening


The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 4

3. Structural model loads


(internal + external pressure)

Main tools floating structures package


GeniE for modelling and structural analysis
- Supported by
- Patran-Pre, Presel - Sestra - Xtract, Cutres, Submod, Stofat

HydroD for hydrostatics and hydrodynamics


- Supported by
- Wadam, Waveship, Wasim - Postresp, Xtract

DeepC for installation, mooring and riser analysis


- Supported by
- Mimosa, Simo, Riflex - Xtract

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 5

Model building

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 6

Model building in GeniE


Purpose
- Panel and Morison model for use in hydrostatics and hydrodynamics - Structure model to define compartments and masses for use in hydrostatics and hydrodynamics - Finite element models (FE) for use in structural analysis - The discretization (mesh size) may be different for panel and FE models
Hydro models

FE model

Concept model

Structural

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 7

Model building in GeniE


Various analysis models can easily be created from same concept model

Local analysis model e.g. refined mesh size 0.5 m and global mesh size 3 m

Global analysis model e.g. mesh size 3 m

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 8

Design load based versus direct analysis


Design load (aka rule) based analysis
- The loads are defined manually including those from hydrostatic or hydrodynamic analysis - Acceleration effects are modelled with centripetal accelerations or loads - The loads are often described in class notifications or codes of practices - Limited number of loadcases

F = Static loads + mass x acc

Direct analysis
- The loads include hydrodynamic pressure loads - The loads include acceleration loads hydrodynamic acceleration applied on structural mass, equipment masses and compartment masses - Many loadcases, but more reliable

For both analyses the same concept model is used


- Significant savings in modelling time
The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 9

F = Compartment x acc + mass x acc + hydro-pressure

What you can do with HydroD


Model environment and prepare input data for hydrostatic and hydrodynamic analysis

Perform hydrostatics and stability computations (including free surface)


Calculate still water forces and bending moments Perform hydrodynamic computations on fixed and floating rigid bodies, with and without forward speed (hydrodynamic coefficients, forces, displacement, accelerations etc) Transfer hydrostatic and hydrodynamic loads to structural analysis
HydroD D1.3-04 Date: 31 May 2005 15:01:34

GZ-Curve

GZ [ m] -2 -1 0 1 2
0

50 100 Heel Angle [deg]

150

GLview Plugin not installed. Press here to install plugin


The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 10

Hydrostatic analysis

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 11

Hydrostatic analysis
Typical tasks
- Define cross sections - Define loading conditions
- Draft, trim, heel - Mass & compartment contents - Auto balancing tools - Balance 3 or more filling fractions - Balance three tanks, keep the others full or empty, minimizing GM

- Flood openings
- Weather tight options

- Create and execute stability analysis


- Multiple analysis - Wind moment calculations

- Run code checks


- Including intact and damaged conditions

- Run allowable vertical centre analysis

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 12

Hydrostatic analysis typical results


GZ Curve Moment of force Openings (envelope) Cross section data Hydrostatic data from analysis

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 13

Hydrostatic analysis - results


Create a range of cross sections
- Still water force and moment distribution - Mass and buoyancy separate

Split moment ?
- X moment of a longitudinal cross section

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 14

Hydrostatic analysis - results


Calculations
Metacentre height (dry and wet) Free surface corrections COG (dry/wet) COB

Compartments
Volume Mass COG Free surface centre

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 15

Code check
Supported offshore code checks, intact and damaged conditions
NMD IMO MODU ABS MODU User defined

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 16

AVCG/KG analysis
Allowable Vertical Centre of Gravity (KG)
- Uses stability criteria of the selected rule to find allowable VCG (vertical centre of gravity) - The maximum VCG value that satisfies each criteria is calculated. The minimum of these values is the VCG that satisfies all criteria, this is reported as the AVCG min curve.

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 17

Hydrodynamic analysis

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 18

Hydrodynamic analysis
Zero speed
- Linear analysis: Wadam - Non-linear analysis: Wasim

Forward speed/current
- Linear / non-linear: Wasim

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 19

Hydrodynamic analysis
Hydrodynamic results can be displayed and animated by Xtract Each frequency/heading combination or time series is animated separately Very useful for checking of results Data which can be displayed:
Wave elevation Pressure on structural model Rigid body motion In addition stresses, beam forces and displacements from finite element analysis

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 20

Frequency domain analysis


The Frequency domain analysis is used to calculate the transfer functions (RAOs)

Input is a Frequency domain condition


- Direction set - Frequency set - Amplitude (default value 0.1)

Typical tasks (built on hydrostatic model)


- Morison sections - Pressure area elements - Off-body points (wave pressure, wave particle velocities) - Define Wadam run - Global response variables - Load transfer

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 21

Time domain analysis


Use time domain analysis to simulate a physical sea state

Can create snapshots of loads


The sea state can be defined by
- Irregular time condition
- Wind sea (direction, wave spectrum, spreading function) - Swell

- Regular wave set (period, height, phase, direction) - Calm sea

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 22

Time domain non-linear analysis


Effects included in the non-linear analysis
- Hydrostatic and Froude-Krylov pressure on exact wetted surface - Exact treatment of inertia and gravity - Quadratic terms in Bernoulli equation - Quadratic roll damping

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 23

Time domain non-linear analysis


Morison models important also for floaters with frame structures (e.g. SemiSubs), truss-Spar, pipelaying vessel

Nonlinear Morison drag force considered in time domain. Better representation of damping.
Using incoming wave kinematics, force integrated up to the exact in-coming wave free surface.

GLview Plugin not installed. Press here to install plugin

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 24

Time domain non-linear analysis


The importance of Morison models
- Calm sea run with 5 degree heel angle. No additional roll damping assigned. - With Morison model, the roll motion is damped out.

-5 -4 -3 -2 -1 0 1 2 3 4 5
0

Motion amplitude

20

40

60

80

100

120 Time

Roll - CalmSeaRun_noMorison Roll - CalmSeaRun_Morison

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 25

Time domain non-linear analysis


The importance of roll damping
- Roll motion in Oblique wave 5th order stokes wave (period 12s, wave height 20m), No additional roll damping assigned. - With Morison model, larger response in the beginning stage, but more stabilized due to damping from stinger.
10

8.161

Motion amplitude

-10 -8

-6

-4

-2

1.8471

10

20

30

40

50

60

70

80

90

100

110

120

130

140

150

160

170

180

190

200

Time

Roll - Stokes5_Morison

Roll - Stokes5_noMorison

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Post processing and load transfer

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 27

Statistical post processing


Postresp is used to perform statistical post processing
Plotting of response variables RAO (HW())2 Combinations of response variables Calculating short-term response Calculating long-term statistics

Heave response
The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved.

Pitch moment

Split moment

28

Short-term response
Wave spectra for a range of Tz - SW()
Pierson-Moskowitz ISSC Jonswap Torsethaugen Ochi-Hubble General Gamma

PIERSON-MOSKOWITZ

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 29

Short-term response
Response spectra for given wave spectra
- Sr() = SW() x (HW())2

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 30

Short-term response
Significant response
- Long-crested sea - Short crested sea including wave spreading

Wave spreading
The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 31

Statistical computations
Short term statistics
- For a given duration of a sea state
- Compute most probable largest response - Compute probability of exceedance - No. of zero up-crossings

- For a given response level


- Compute probability of exceedance

- For a given probability of exceedance


- Compute corresponding response level

Long term statistics


Assign probability to each direction Select scatter diagram Select spreading function Create long-term response

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 32

Design load based versus direct analysis


Direct analysis, improved focus on
Ultimate strength (catastrophes) Fatigue (pollution) Different environmental conditions Vessel lifetime

Rule loads do not always give the truth


- Direct calculations may give different loads - Examples
Vertical Bending Moment - With fwd speed Vertical Shear Force for VLCC Fulload and VLCC Ballast
2000000

150000
Rule wave Hogging 100000

- Ultimate strength loads - VBM and VSF - Fatigue loads - External pressure

1500000
[kNm]

JTP Positive VSF (1.5*UR S11)

1000000 500000 0 0 0.2 0.4 0.6 0.8 1 rel dist from AP VBM (linear) x/L [-]

[kN]

Rule wave Sagging Wasim - Fulload 50000

JTP Negative VSF (1.5*UR S11) Wadam - Fulload Wadam - Ballast

0 0 0.2 0.4 0.6 0.8 1 rel VSF dist from AP (linear) x/L [-]

Rule Direct

Pressure

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 33

Design load based versus direct analysis


Design load based
- Make concept model
- Beams, plates, equipment, compartment content

Direct analysis
- Make concept model
- Beams, plates, equipment, compartment content

- Create structural model


- Compartment loads

- Create panel model


- Compartment masses

- Run analysis
- Explicit loads

- Result assessment
- Stress evaluation, code checking and rule based fatigue (simplified fatigue)

- Hydrostatic analysis - Hydrodynamic analysis - Structural analysis


- Hydro pressure/accelerations

- Refined analysis
- Make local details part of global model and re-run

- Result assessment
- Stress evaluation, code checking, stochastic fatigue

- Refined analysis
- Make local model and re-run using sub-modelling techniques - Stress evaluation, code checking, stochastic fatigue

- Mooring and riser analysis

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 34

Load transfer to structural analysis


Accelerations Pressures Rigid body motions AddedMass (compartments)
- Additional mass from compartment filling in HydroD

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 35

Structural analysis

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 36

Structural analysis
Linear structural analysis General post-processing Code checking of beams and plates Global fatigue screening

Refined analysis
- Sub-modelling techniques

Refined fatigue analysis

Stresses

Fatigue life
The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 37

Advanced Methods for Ultimate and Fatigue Strength

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 38

Safeguarding life, property and the environment


www.dnv.com

The integrated strength assessment system for floating structures October, 2012 Det Norske Veritas AS. All rights reserved. 39

SesamTM Continuing 40 years of success


Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis
Fan (Joe) Zhang, Sesam BD Manager, DNV Software October, 2012

What can you do with HydroD?


Model environment and prepare input data for hydrostatic and hydrodynamic analysis

Perform hydrostatics and stability computations (including free surface)


Calculate still water forces and bending moments Perform hydrodynamic computations on fixed and floating rigid bodies, with and without forward speed (hydrodynamic coefficients, forces, displacement, accelerations etc.) Transfer hydrostatic and hydrodynamic loads to structural analysis
HydroD D1.3-04 Date: 31 May 2005 15:01:34

GZ-Curve

GZ [ m] -2 -1 0 1 2
0

50 100 Heel Angle [deg]

150

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 2

Why HydroD?
Hydrostatics, hydrodynamics in frequency-domain and time-domain Same model for all the analysis, easy comparison of results from frequency/time-domain Wizard Step-by-step guide for the new users Zero speed to high speed vessels with mono- or multi-hull First-order, mean second-order and QTF for frequency-domain wave force analysis Linear or non-linear time-domain wave force analysis Automatically composite load transfer to single structure model Same statistical post-processing tool for hydrodynamic performance evaluation

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 3

Why HydroD?
Anchor and TLP elements simulation Multi-body analysis hydrodynamic, stiffness and damping coupling are included Compartments modeling automatically balancing calculation! Automatically composite load transfer to structure model Nonlinear time-domain analysis More accurate analysis when regular analysis is not fit for purpose
- Wave kinematics instead of wave diffraction - Nonlinear Morison drag force considered in time domain - 5th order Stokes wave in particular important in shallow water - Load transfer to instantaneous water surface

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 4

The On-line documentation


On-line help: Help | Help Topics

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 5

Wizard Hydrostatics & Stability, Wadam and Wasim


Step-by-step guide! Make is much easier for the new users!!

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 6

Online Help getting useful information on time!


Light bulbs give detailed information about each input field or button

Book-icons give general information about the dialogue

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 7

General environment inputs for all kinds of analysis

Air
- Wind profiles (hydrostatic analysis)

Locations, (one ore more objects)


- Depth, density, gravity - Referring to frequencies, directions, spectrum etc., defined in Directions and Water

Directions
- Direction set, directions (hydrodynamic analysis)

Water
- Frequency set, spectrum, current, wave spreading etc. (hydrodynamic analysis)

Easy to reuse in different analysis!

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 8

Hydro model same model in different analysis


The assembly of all the models to be used in an analysis, including their properties Definition of models in a multi-body analysis
- Reuse existing hydro models Stability Wasim

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 9

Panel model generated by conceptual modeling tool

The default panel model is a Sesam model (T*.FEM) Note that a panel model on Wamit (GDF) format can also be used Symmetry is not valid for hydrostatic/stability analysis

Translation in x or y direction is only valid for models without use of symmetry, i.e. the complete model must be created in the preprocessor
Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 10

Section model directly define the section curves

The section model (pln-file) describes the vessel geometry by a set of curves

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 11

Mass model 4 different approaches


Data may be given in different coordinate systems

Mass & CoG (x, y) may be calculated from the panel model. Other data must be given manually Directly using structure model as mass model is possible.

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 12

New mass calculation for Wadam much faster!!


HydroD is now used to calculate the mass matrices for Wadam For large models with compartments the execution time will be significantly improved The new mass calculation is more accurate the elements are now split exactly on the cross sections, not using a point mass cloud. There are small deviations in the mass calculation compared to the previous method, especially for the sectional mass matrices.

Global response insignificant deviations


Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 13

Sectional loads minor deviations

Sectional loads single or multiple sections


Calculating of cross sectional forces and moments Wadam has a maximum of 25 and Wasim 100 sections Stability has no limitation on number of sections Used to valid the load transfer quality

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 14

Compartment properties
Define use of Compartments in the wizard

Define properties from the browser/tool bar

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 15

Automatically balancing with two approaches

Adjust the tank filling to match the loading condition Select three or more filling fractions and click Auto Balance.

Will try to have tanks full or empty Will try to maximize GM Need to tune three tanks at the end Required filling fractions are automatically created as properties Combinations are tried in intelligent order All combinations may need a long time to finish

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 16

Hydrostatic Report Various data


GZ curve Moment of Force Openings Cross Section Data Information Moment of Force
Righting moment Heeling moment

Moment of Force
Righting moment Heeling moment

Cross Section Data


Sectional forces Sectional moments Split into contributions from mass and buoyancy Info: Detailed print, also available on file

Information
Mass & Buoyancy Centre of flotation Trim moment Detailed print of tank data Similar information from the browser

Zero crossings are calculated Integrals can be calculated Openings


Distance to waterline Zero crossings

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 17

Hydrostatic Report Animation


An animation is created for each hydrostatic analysis, showing the heeling motion of the structure The animation is displayed by opening the eye in the browser The animation can be controlled by Modeling draw style

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 18

Hydrostatic Report Wind heeling moment


The computed wind surface may be displayed at a certain heeling angle
- The colours are given by drag coefficients

The display may be controlled from Modelling Draw Style and ColorPalettes
Triangles are split against free surfaces/cross-sections to give exact results.

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 19

On file Report Available on both HTML and XML formats

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 20

Rule check
Choose between stability codes for ships and for mobile offshore structures Column stabilized unit is calculated automatically (changed in HydroD 4.0) The rule check report is found under Information The user defined rule check can be used to check
Stability angles Righting/heeling ratio MaxGZ GZArea GZ with/out deck

Stability angles must be defined to create the integration/search ranges


Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 21

AVCG analysis
Allowable VCG
- Uses stability criteria of the selected rule to find allowable VCG (vertical centre of gravity) - The maximum VCG value that satisfies each criteria is calculated. The minimum of these values is the VCG that satisfies all criteria, this is reported as the AVCG min curve.

Allowable KG
- VCG is reported in the input system - When the keel is at Z=0, AVCG is identical to Allowable KG - Otherwise the keel z coordinate must be subtracted from the AVCG values to get allowable KG.

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 22

Hydrodynamic analysis in Sesam


Zero speed
- Linear analysis: Wadam - Non-linear analysis: Wasim

Forward speed/current
- Linear / non-linear: Wasim

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 23

Hydrodynamic analysis
Frequency domain
- Wave directions - Frequency set - (Amplitude)

Time domain
- Irregular waves
- Main direction - Wave spectrum - Spreading function

- Regular wave set

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 24

Frequency domain analysis


The Frequency domain analysis is used to calculate the transfer functions (RAOs)

Input is a Frequency domain condition


- Direction set - Frequency set - Amplitude (default value 0.1)

Typical tasks (built on hydrostatic model)


- Morison sections - Pressure area elements - Off-body points (wave pressure, wave particle velocities) - Define Wadam run - Global response variables - Load transfer

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 25

Time domain analysis


Use time domain analysis to simulate a physical sea state

Can create snapshots of loads


The sea state can be defined by
- Irregular time condition
- Wind sea (direction, wave spectrum, spreading function) - Swell

- Regular wave set (period, height, phase, direction) - Calm sea

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 26

Time domain non-linear analysis


Effects included in the non-linear analysis
- Hydrostatic and Froude-Krylov pressure on exact wetted surface - Exact treatment of inertia and gravity - Quadratic terms in Bernoulli equation - Quadratic roll damping

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 27

Post processing and load transfer

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 28

Statistical post processing


Postresp is used to perform statistical post processing
Plotting of response variables RAO (HW())2 Combinations of response variables Calculating short-term response Calculating long-term statistics

Heave response
Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved.

Pitch moment

Split moment

29

Short-term response
Wave spectra for a range of Tz - SW()
Pierson-Moskowitz ISSC Jonswap Torsethaugen Ochi-Hubble General Gamma

PIERSON-MOSKOWITZ

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 30

Short-term response
Response spectra for given wave spectra
- Sr() = SW() x (HW())2

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 31

Short-term response
Significant response
- Long-crested sea - Short crested sea including wave spreading

Wave spreading
Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 32

Statistical computations
Short term statistics
- For a given duration of a sea state
- Compute most probable largest response - Compute probability of exceedance - No. of zero up-crossings

- For a given response level


- Compute probability of exceedance

- For a given probability of exceedance


- Compute corresponding response level

Long term statistics


Assign probability to each direction Select scatter diagram Select spreading function Create long-term response

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 33

Combinations of response variables


Built-in combinations
- Displacement, velocity or acceleration in specified points (absolute value in any of the x, y or z-directions) - Relative vertical motion (relative to incoming wave) CREATE RESPONSE-VARIABLE COMBINED-MOTION - First and second derivatives CREATE RESPONSE-VARIABLE FIRST-DERIVATED CREATE RESPONSE-VARIABLE SECOND-DERIVATED

General combinations
- Specified by user CREATE RESPONSE-VARIABLE GENERAL-COMBINATION

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 34

Air-gap calculation
Define an off-body point in HydroD on the surface, ELEV1 Define a point in Postresp with the same X and Y, and Z below deck, PT1 Create combined motion for this point, CM1 Create a general combination CM1-ELEV1 This is relative air-gap Absolute air-gap = Original airgap - relative

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 35

Hydrodynamic analysis
Hydrodynamic results can be displayed and animated by Xtract Each frequency/heading combination or time series is animated separately Very useful for checking of results Data which can be displayed:
Wave elevation Pressure on structural model Rigid body motion In addition stresses, beam forces and displacements from finite element analysis

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 36

Comparison of hydrodynamic analysis modules


Wadam Ships Offshore structures Morison model Forward speed Global response Local loads Non-linear option CPU consumption Waveship Wasim

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 37

Wasim main features


3D solver Rankine panel method Time domain with optional transformation to frequency domain No limitations in vessel speed or wave frequency and direction Global and local responses Automatic load transfer to FEM solver Sestra Non-linear extension:
- Hydrostatic and Froude-Krylov pressure on exact wetted surface - Exact treatment of inertia and gravity - Quadratic terms in Bernoulli equation - Quadratic roll damping

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 38

Comparison of different methods

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 39

Quadratic roll damping for Wadam


Select Use stochastic linearization and Use global quadratic coefficient in the Roll damping section in Wadam. The global quadratic coefficient is defined by a Roll damping coefficient in the loading condition (defined the same way as for Wasim)

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 40

Example of quadratic roll damping


Global response was calculated for three cases
- No roll damping - Linear roll damping - Quadratic roll damping (the damping coefficient is comparable to the linear case)

Roll response:

90 degree wave direction

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 41

Morison models in Wasim


Anchor and TLP elements
- Linear and non-linear analysis - Same model as in Wadam

Morison 2D-elements and pressure area elements


- Non-linear only - Exact handling of viscous drag term
- Relative velocity

- Unlimited number of sub-elements

Same procedure as Wadam for load transfer to Morison model


- Structural model can be a single superelement

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 42

Morison model in Wasim


Extend Wasims capability for floaters with frame structures, truss-Spar, pipelaying vessel

Nonlinear Morison drag force considered in time domain. Better representation of damping.
Using incoming wave kinematics, force integrated up to the exact in-coming wave free surface. Verified by comparing with Wajac and Wadam

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Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 43

Morison model in Wasim


-5 -4 -3 -2 -1 0 1 2 3 4 5
0

Motion amplitude

20

40

60

80

100

120 Time

Roll - CalmSeaRun_noMorison Roll - CalmSeaRun_Morison


Calm sea run with 5 degree heel angle. No additional roll damping assigned.

With Morison model, the roll motion is damped out.

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 44

Morison model in Wasim


10 6 8
8.161

Motion amplitude

-10 -8

-6

-4

-2

1.8471

10

20

30

40

50

60

70

80

90

100

110

120

130

140

150

160

170

180

190

200

Time

Roll - Stokes5_Morison

Roll - Stokes5_noMorison

Roll motion in Oblique wave 5th order stokes wave (period 12s, wave height 20m), No additional roll damping assigned. With Morison model, larger response in the beginning stage, but more stabilized due to damping from stinger.
Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 45

Verification of TLP element implementation


TLP Hull Draft Displacement 31.394 51231.3 m m^3

Diameter
Column Span Width Pontoon Height COG above sea surface Total Weight Tendon Number Length Top tension Axis stiffness 12 1798.72 1.104E+07 1.52E+07 Drill. Riser 1 1867.1 6.71E+06 4.77E+06

19.507
60.96 9.754 8.534 4.359 34580 Prod. Riser 11 1867.1 3.35E+06 1.07E+07

m
m m m m Ton

m N N/m

No motion control is taken in current study. The horizontal restoring is from the TLP elements only.

The frequency domain analysis is compared with WADAM, a decay run in calm sea is done to verify the stability of the system.
Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 46

WADAM vs WASIM

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 47

The motion given initial surge displacement (dis0=0.1, dt=0.15)

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 48

The motion given initial heave/pitch velocity (vel0=0.02, dt=0.15)

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 49

Tentative conclusion of TLP element testing


The agreement on Heave/Surge/Sway motion is very good; Differences are found at low frequency side in Pitch/Roll/Yaw motion RAOs.

The eigenvalue taken from Wadam list file agree well with the data taken from time series of Wasim calculation.
The Surge/Sway/yaw motion eigenvalues are around 180/180/153 The heave/pitch/roll motion eigenvalues are around 2.9/3.35/3.35 Given small enough time step, the motions in all DOF are decaying. The most important force contribution from the Morison model is the anchor element and the damping force due to the relative velocity.

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 50

Adjustment of the model as for anchor element testing


Remove all TLP elements, add 12 anchor elements to the previous nodes of tendon elements. The angle_x are 45, 135, 225, 315 for the middle anchor elements attaching at the bottom of each column. (+/-) 30 leads to angle_x of the side anchor elements. The parameters of the anchor section and the overall setting-ups are shown in the figures. Mass model is adjusted accordingly. COG is at (0,0,5) in the global coordinate system.

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 51

WADAM vs WASIM

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 52

The motion given initial surge displacement (dis0=0.1, dt=0.15)

The results with _1 are those without damping from 2D Morison elements.

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 53

The motion given initial surge displacement (dis0=0.1, dt=0.15)

The results with _1 are those without damping from 2D Morison elements.

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 54

Stokes 5th order wave moving into more shallow water


Only implemented for single harmonic component => Design wave
Case I d = 10m H = 2.94m T = 5.30 s Case II d = 10m H = 3.06m T = 8.69 s

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 55

Airy vs. Stokes wave


H=10m, T=17.27s, d=50m (left)/30m (right), 180, U=12.5m/s
HydroD D4.4-03 Date: 25 May 2010 17:21:05 HydroD D4.4-03 Date: 25 May 2010 17:10:30

WasimAnalysis
6 7

WasimAnalysis

Mot ion amplit ude

Mot ion amplit ude


205 210 215 220 225 230 235 240 245 250

-1

-5

200

-5
200

-4 -3 -2 -1

-4

-3

-2

205

210

215

220

225

230

235

240

245

250

Incoming wave - WasimActivity_h10 Incoming wave - WasimActivity_h10_stokes

Time

Incoming wave - WasimActivity_h10_d30 Incoming wave - WasimActivity_h10_stokes_d30

Time

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 56

Airy vs. Stokes wave Heave


H=10m, T=17.27s, d=50m (left)/30m (right), 180, U=12.5m/s
HydroD D4.4-03 Date: 25 May 2010 17:19:36 HydroD D4.4-03 Date: 25 May 2010 17:16:38

WasimAnalysis
5

WasimAnalysis

Mot ion amplit ude

Mot ion amplit ude


205 210 215 220 225 230 235 240 245 250

-1

-2

-3

-4

-5

200

-4
200

-3

-2

-1

205

210

215

220

225

230

235

240

245

250

Time Heave - WasimActivity_h10_stokes Heave - WasimActivity_h10

Heave - WasimActivity_h10_d30 Heave - WasimActivity_h10_stokes_d30

Time

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 57

Airy vs. Stokes wave Vertical Bending Moment


H=10m, T=17.27s, d=50m (left)/30m (right), 180, U=12.5m/s
HydroD D4.4-03 Date: 25 May 2010 17:31:32 HydroD D4.4-03 Date: 25 May 2010 17:30:37

WasimAnalysis
3e+009 3e+009

WasimAnalysis

Sect ional load amplit ude

2e+009

Sect ional load amplit ude


205 210 215 220 225 230 235 240 245 250

1e+009

-1e+009

200

-1e+009
200

1e+009

2e+009

205

210

215

220

225

230

235

240

245

250

LoadCrossection_X_P3 My - WasimActivity_h10 LoadCrossection_X_P3 My - WasimActivity_h10_stokes

Time

LoadCrossection_X_P3 My - WasimActivity_h10_d30 LoadCrossection_X_P3 My - WasimActivity_h10_stokes_d30

Time

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 58

Pressure reduction on parts of vessel


It is expected that there should be pressure scaling only between the user specified pressure reduction zone in Case III.

wl_pres=1

am=5

wl_pres=1 am=5 [-50m, 50m]

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 59

HydroMesh - surface meshing for section models


Improved meshing control good for models like semi-submersibles The user can control the splitting of the free surface Stand-alone application, integrated in HydroD

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User controlled surface meshing

Mesh size

Define corner points for the patch

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Resulting mesh
The mesh is exported as ssg, geo and fem file can be used for both Wasim and Wadam FEM file can be used as offbody points for Wadam. (xy plane of Panel models coordinate should be on free surface. No translation shall be assigned.) FEM file can be also used as 2nd order free surface model. User defined mesh with hydro pressure arrows

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Offbody points for Wadam


Model must be translated to water level at origin

The input file is T7374.FEM symmetric and in the global coordinate system

Visualization in Xtract showing displacements

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Free surface model for Wadam


The input file is T7373.FEM no symmetry parts

Can be used as free surface model for Wadam Second-order analysis or Wave Drift Damping

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Starting Sestra from HydroD


Sestra can be started
- from BRIX Explorer for Sesam - directly from HydroD (new)
- Only standard quasi-static analysis

- Load case number listing available (consistent to Xtract loading case numbering)

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 65

Side by side configuration convergence study


Analysis by Moss Maritime, Oslo, Norway Meshes:
Coarse - 2000 elements in total Medium - 6300 elements in total Medium/fine - 11000 elements in total Fine - 14000 elements in total

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RAOs

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Single body vs. two bodies at 180

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Excitation forces

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Added mass

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Damping

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Mean drift force

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Buoy with moonpool

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Free surface generated by HydroMesh

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RAOs comparison between Wasim and Wadam

Heave
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Pitch

Effects of internal free surface on motion (head sea)

Heave

Pitch

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Animation of donut forced heave motion

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Multi-body additional damping


For multi-body analysis in frequency domain it is possible to run up to 15 different bodies. We have made such analysis even more powerful by allowing the user to specify an additional coupled damping matrix for the bodies.

Additional damping matrix. This layout shows a 12x12 matrix for 2 bodies

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 78

Improved compartment load retrieval


Compartment load retrieval independent of sub-model
- The definition of acceleration and zero pressure reference points allows that a submodel may be independent of a compartment - In other words, a sub-model may contain partial compartments also for load transfer - Flexibility in modelling compartment model and sub-models

Compartments global model

Sub-model at node

Load retrieval from compartments to submodel

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User defined pressure reduction region


Apply a user defined pressure reduction region on a selected part of the vessel
- The the method is only recommended on the part of the vessel which is wall-sided and should thus be controlled by the user - Benefit: User defined in addition to supporting the DNV rules - This option is available for both frequency and time domain analysis

User defined wall-sided part

Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 80

User defined reference point

User defined reference point for calculation of results


More flexibility as the reference point can be used for calculation of hydrodynamic results like e.g. motions, forces and RAOs Applicable for results from both frequency and time domain analysis
Amplitude

Surge
1.4 1.2 1 0.8 0.6 0.4 0.2 0

10

12

14

16

18

20

22

24

26

28

30
30

Period

Sway
1.4 1.2

Amplitude

1 0.8 0.6 0.4 0.2 0

Two different reference points

10

12

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18

20

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24

26

28

Period
Hydrostatic and hydrodynamic analysis - The importance of nonlinear analysis October, 2012 Det Norske Veritas AS. All rights reserved. 81

32

32

Optimum panel definitions


Automatic proposal for the number of panels needed for an optimum analysis
- When creating a panel model from a section model - Based on the model dimensions and mesh criteria

Different panels proposed for different model dimensions


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Safeguarding life, property and the environment


www.dnv.com

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SesamTM Continuing 40 years of success


Sesam DeepC for deepwater coupled analysis, mooring and riser design
Fan (Joe) Zhang, Sesam BD Manager, DNV Software October, 2012

Contents
DeepC overview DeepC.Riser DeepC for riser design Traditional method vs. coupled analysis approach
Floater/Mooring/Riser Coupling Effects Coupled Analysis Strategies Fatigue and code check riser analysis three approaches Examples of FPSO, SPAR, TLP and multi-body analysis

New release and on-going development Demo SEMI with drilling riser

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 2

Global Response & Coupled Analysis

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Global Response: Floater Motions

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Coupled Analysis
Influence on floater mean position and dynamic response due to slender structure restoring, damping and inertia forces Main purpose to compute more accurate line/riser response and vessel motion Covering the range from simple to complex field layouts

Two independent vessels

Three connected vessels

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 5

Challenges in the riser design


Traditional way De-coupled methodologies. For deep waters the coupling effects of lines relative to platform motions, can be especially significant. It is expected a reduction of the amplification of platform motions compared to decoupled analysis results. The coupled analysis considers the interaction between
- the hydrodynamic behavior of the hull, - the structural behavior of mooring lines. - and risers subjected to environmental loads.

For the deep and ultra-deep water scenarios, a steel catenary riser design adopting prescribed displacements from coupled analyses will provide more realistic and optimum results as compared to a more traditional de-coupled analysis.

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 6

WF- and LF floater motion characteristics


Surge motion

Riser/mooring/floater systems comprise an integrated dynamic system

Mean +LF+WF motion components

time

Complex response to wind, waves and current:


Wave frequency (WF) response due to wave loading on the floater. Normally not influenced by the slender structures Low frequency response (LF) due to dynamic excitation from wind- and 2nd order wave forces. Horizontal LF is motion governed by resonance dynamics of the riser/mooring/floater system. Damping is essential for prediction of LF motions. Mean offset governed by mean environmental loading and restoring characteristics of the riser/mooring/floater system.

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 7

Floater/Mooring/Riser Coupling Effects


Influence on floater mean position and dynamic response from slender structure restoring-, damping - and inertia forces.
1) Static restoring from station keeping system as function of floater offset 2) Current loading and its effects on restoring force of mooring and riser system 3) Seafloor friction (if slender structures have sea-bottom contact)
Restoring

4) Damping from mooring and riser system due to dynamics, current etc
Damping

5) Hull/riser contact (friction) 6) Additional inertia forces due to mooring and riser system
Inertia

De-coupled:

1)
2), 4), 6) 3), 5)

accurately accounted for


may be approximated generally cannot be accounted for

Coupled:

Consistent treatment of all these (6) effects!

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Coupled analysis: Solution Method


Non-linear finite element method (large displacements and rotations, small strains) Vessel modelled as a rigid body (6 DOFs) All other structural parts modelled with finite elements Floater, moorings and risers solved simultaneously with dynamic equilibrium at each time step.

i Ci (t ) x i K i ( x, t ) xi Fi (t ), i 1, n M i (t ) x
Coupled

i 1,6 i 7, n

Rigid body vessel DOFs Finite element DOFs

de-coupled

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 9

Un-coupled floater motion analysis


Floater load model: Floater mass and hydrostatic restoring Hull damping model 1st and 2nd order wave loading Wind and current loading
Slender structure model: Static restoring characteristics No external loading on slender structures

Un-coupled response model:

Solution scheme: TD solution of floater motion (6 dof) Restoring force from slender structures applied as non-linear external static force (springs)

Separated assessment of other floater/slender structure coupling effects required, e.g. : - Damping due to slender structure dynamics System and excitation dependent - Current loading on slender structures effects, case by case evaluation - Inertia forces due to slender structures
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Coupled floater motion analysis

Coupled floater slender structure response model

Floater force model is included in detailed FE models of the complete slender structure system (moorings and risers). Floater, moorings and risers are solved simultaneously in time domain with dynamic equilibrium at each time step. All floater/slender structure coupling effects are automatically accounted for. A rather coarse slender structure model still catching the main coupling effects may be applied to gain computational efficiency Most accurate response model for global performance analysis of moored offshore structures

All Coupling effects automatically accounted for, e.g. - Non- linear restoring force - Damping due to slender structure dynamics - Current loading on slender structures - Inertia forces due to slender structures
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Coupled Analysis Strategies


Advanced vessel model Simplified slender structure model Vessel Motion Analysis

Separated floater motion/slender structure analysis


The purpose of coupled analysis is prediction of floater motions A rather coarse slender structure model is applied still catching the main coupling effects (damping/restoring, current loads)
(a)

LF & WF vessel motions

(b)

Select vessel motion representation

Detailed slender structure response is found by subsequent FE analysis considering forced floater motions

Establish representative offset (mean & LF)

WF &LF vessel motions

Flexible/efficient approach
Often used in riser design with detailed fatigue analysis

Vessel WF motion RAO

Advanced slender structure model of each riser & mooring

Combined floater motion/ slender structure analysis


Include detailed model of selected slender structures of interest in coupled response model. Simple all in one approach

Slender structure analysis

Slender structure analysis

WF slender structure responses

WF & LF slender structure responses

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 12

Benefits from coupled analysis


FPSO, SPAR, TLP, SEMI, etc.

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 13

Global Response Summary: Significance of Low and High Frequency coupling


Low Frequency (LF) coupling effects for moored floaters
WATER DEPTH SYSTEM Shallow FPSO TLP SPAR Small ------Intermediate Moderate Small ---Deep High Moderate Moderate Ultra Deep High Moderate* Moderate-high*

High Frequency (HF) coupling effects for TLPs only


SYSTEM FPSO WATER DEPTH Shallow ---Intermediate ---Deep ---Ultra Deep ----

TLP
SPAR

-------

Moderate
----

High
----

High*
----

*Limited information available


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Example coupled analysis of turret moored FPSO


Experience/examples Typical coupling effects System effects

Norne

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DeepC Coupled FPSO Model

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The importance of coupling effects for turret moored FPSO


Surge damping ratio as function of water depth

Mean/dynamic floater offset as function of water depth Dynamic

Mean (static)

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Coupled FPSO analysis experience


Significant coupling effects identified Current loading on slender structures (up to 40 % of total) LF surge damping 20-30% of critical WF response not influenced by coupling effects Coupled analysis experiences Stable numerical performance Simplified slender structure model can be applied Computation time = real time Applicable in design analyses Modelling is straight forward for experienced users

Coupling effects are strongly system dependent


No. of risers and mooring lines
- More damping and inertia force

Water depth

Coupling effects are excitation dependent Waves and current Needs to be estimated for actual environmental condition

Coupled approach contributes significantly to increased confidence of FPSO motion analyses

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 18

Benefits: FPSOs
Low Frequency (LF) response highly dependent on mooring/riser damping
- Mooring and risers may contribute up to 40% of critical damping in extreme sea depending on water depth automatically included by coupled analysis

Provides consistent design input for mooring lines (intact, damaged, extreme, fatigue) risers (extreme, fatigue) and turret.
Norne

Ideal for complex systems involving FPSO, offloading systems and tankers considering both hydrodynamic and mechanical interaction.
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Example Coupled Analysis of Spar Platforms


Experience/examples Typical coupling effects System effects

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SPAR Platforms
State of the Art
Function: Installed since 1996: Spars under contract: Water depth: Topside weight : No of TTRs: Presence: DTU and WTU 10 4 1,710 m (Devils Tower) 26,000 t (Holstein) 20 (Genesis) GOM and SEA

Challenges
- Offshore deck floatover - Worldwide application - Hull VIV

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Spar concepts

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Important responses from coupled SPAR analysis


Wave-frequency (WF) surge/sway, heave and roll/pitch Low-frequency (LF) surge/sway, heave and roll/pitch Mooring tensions Riser responses Push-up/pull-down for air-can supported riser systems Tensioner stroke for SSVR (Spar supported vertical risers) systems

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Spar WF-LF Motion Characteristics

The fairlead position : LF rotation centre

WF rotation centre

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Keel surge motion Coupled/uncoupled

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Surge motion at SWL- Coupled/uncoupled

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Hull/slender structure coupling effects


Coupling effects : Size matters !

Hoover/Diana (1460m) over downtown Houston

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DeepC Coupled classic spar model

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DeepC Coupled Truss Spar Model


Truss Spar Hull

Mooring Lines (16)

Steel Catenary Risers (2)

Top Tensioned Risers (15)

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SPAR Spectra of surge motion, 3000 ft water depth


De-coupled analysis without any damping 200 contribution from moorings/risers
Spectral density

Coupled Uncoupled Modified

150

De-coupled analysis with best estimate of damping coefficients

100

50

Fully coupled analysis damping automatically incl.

0.05

0.1 0.15 0.2 Angular frequency [rad/s]

0.25

Hurricane condition (HS = 11.9 m, Tp = 15.2 s) with risers and current


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SPAR - Mathieu instability

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SPAR - Outfloating and upending of Genesis

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SPAR upending analysis

DeepC D2.2-04 Date: 02 Mar 2004 20:45:06

SPAR hull bending moment envelope during upending


3e+006 Moment - Myy [kN*m] 0 1e+006 2e+006

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Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 33

Coupled Spar analysis experience


Coupling effects, general Complex WF/LF motion pattern Heave Coupling effects Coupled analysis essential, in particular for SSVR

Difficult to calibrate de-coupled analysis model


Significant coupling effects identified Sensitive to water depth and environmental conditions

Standard deviation reduced by a factor of 2 compared to uncoupled analyses


Stick/slip riser/hull contact model essential Significant contribution from mooring system damping, in particular for conventional chain/wire systems

Coupling effects identified WF heave response (in particular SSVR systems. Otherwise no coupling effects for WF response
Reduction in LF standard deviation
Surge - Waterline Surge - Keel Pitch 10-20 % 10-35 % 15-30 %

Coupled analysis experience Stable numerical performance Simplified slender structure model can be applied Computation time = real time

Coupled approach essential for deep water Spar analysis

Modelling is complex but straight forward for experienced users

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 34

Benefits - SPAR
Heel motions are of importance for both topside, hull structure and moorings and risers
- Coupled analyses tend to reduce maximum pitch angle, which is beneficial

Heave damping sources:


Hydrodynamic potential damping Viscous hull damping (strakes, trusses etc.) Viscous damping from moorings/risers Friction damping forces (hull/riser & tensioner)
Neptun e

A coupled analysis can treat all damping contributions consistently!


Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 35

Example Coupled TLP analysis


Experience/examples Typical coupling effects System effects

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 36

Tensioned Leg Platforms


State of the Art
Function: TLPs installed: Water depth: Topside weight: No of TTRs: Presence: DTU 17 1,433 m (Magnolia) 85,000 t (Heidrun) 42 (Snorre) GOM, North Sea & Asia

Challenges Tether design in wd > 1500 m


- Stepped tethers - Pressurized tethers

Riser clashing
- More severe for TLPs - Deepwater req. larger riser spacings

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Coupled Response Model of Mini-TLP

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TLP - Measured & computed tension spectra

measured mean std-tot std-LF std-WF std-HF 24.7 0.93 0.16 0.82 0.36

coupled 26.0 1.0 0.19 0.99 0.29

Fully coupled analysis HF damping automatically included

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 39

Benefits - Tensioned Leg Platform


Coupling effects important for Low Frequency (LF) and High Frequency (HF) TLP motions

Coupled analyses predict high damping in LF surge and HF pitch compared to de-coupled analyses
Coupled analyses increase HF tendon tension for fatigue waves Coupled analyses decrease HF tendon tension for extreme waves

Coupled analysis can treat all response ranges LF, WF, and HF consistently.
Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 40

SEMI Submersibles
State of the Art
Function: Water depth: Topside weight: No of flexibles: No of SCRs: Presence: Wet Trees 2,133 m (Atlantis) 42,000 t (Aasgard B) 79 (P-51) Several (one Semi, Brazil) Worldwide

P 52 Roncador

Challenges
Hull VIV motions in high current regions
- Serious challenges for SCRs

Shallow draft semis as DTUs

Deck installation for large draft DTUs


Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 41

Extendable Draft Platform, DTU

Benefits: Semi-submersibles
For large production semis:
- Significant Low Frequency (LF) roll/pitch motions of the same level as WF motions

Attractive for design of Steel Catenary Risers (SCR) because:


- LF and WF response are treated consistently and available early in the design process

Gust wind induced LF motion/response is easily included

Improved confidence in global response important for SCR design


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SEMI in Brazilian waters

Modelled/analysed by DNV Rio


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Coupled analyses summary


Coupled analysis is a well established methodology Verified by calibration to model tests and full scale measurements (several publications available) Vital importance for qualification of deep water moored structures Adds confidence to results as compared to traditional de-coupled analyses

Numerical performance (stability/computation time) allows for application in design analyses


Modelling is complex but straight forward for experienced users

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 44

Deepwater Model Basin Limitations


Limit: 10 m basin Scale: 1:100 1000 m wd Scale: 1:60 600 m wd

Suitability of using a pit?

10 m

20 m

Limit: 30 m pit Scale: 1:100 3000 m wd Scale: 1:60 1800 m wd


Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 45

Coupled floater motion analyses

Uncoupled floater motions Separate floater motions and mooring/riser response Coupled floater motions Floater and mooring/riser constitutes an integrated dynamic system

RAO

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DeepC Overview
What is DeepC?

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What is DeepC
The tool in Sesam for riser analysis, mooring analysis and coupled analysis
Modelling of all slender structures Set-up and execution of time domain analysis with
- Riflex and Simo for coupled analysis - Riflex for conventional riser analysis

Statistical post-processing Fatigue analysis of risers

Combined Loading Code Checking of metallic risers

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Why DeepC
Main purpose to compute more accurate line/riser response and vessel motion
- Code checking and fatigue of lines

Covering the range from simple to complex field layouts All Coupling effects automatically accounted for, e.g.
Non-linear restoring force Damping due to slender structure dynamics Current loading on slender structures Inertia forces due to slender structures

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 49

Riser & mooring analysis modules in Sesam


GeniE HydroD DeepC Hull modelling Wave-body interaction. Radiation/diffraction and Morison theory Coupled analysis & riser analysis. Non-linear time domain

- Simo Floater forces generation (also used for simulation of marine operations and uncoupled analysis) - Riflex Finite element program for slender structure analysis and solver for equation of motions

Xtract

Animation of results

Mimosa
October, 2012 Det Norske Veritas AS. All rights reserved.

Frequency domain de-coupled mooring analysis.

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DeepC The coupled analysis tool


DeepC is a package consisting of

DeepC Concept Modeller

DeepC Analysis Engine SIMO

Fully integrated large body (vessel) interface to the FE solver for coupled analysis Fully integrated special purpose FE solver (beams/trusses) for coupled analysis or single riser/mooring analysis. Special purpose post-processing: computation of spectra, envelopes and key statistics from time series results

DeepC Analysis Engine RIFLEX


DeepC Post-processing Engine

SIMO and RIFLEX are owned and maintained by


Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 51

How to use DeepC


HydroD
Vessel characteristics:
- Force, added mass & damping transfer functions

DeepC
Modelling & Analysis:
- Mooring/risers - Environment - Vessel modification (wind & current coefficients, mass etc) - Analysis control

Time series post processing:


- Statistics of forces and motions. - Filtering (LF, WF) - Response envelopes - Code Checking - Fatigue assessment
DeepC D2.0-05 Date: 10 Apr 2003 10:51:36

Power Spectrum of Oil Offloading Line Tension

Energy Densit y Spect rum

50000

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0.65

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0.95

1.05

1.1

1.15

1.2

Circular Frequency [rad/s]

S0: 41204.1, S1: 23002.7, S2: 14502, S3: 10137.2, S4: 7653.19, Tz: 8.92615, Cut off: 1, Smoothing: 7

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Results from DeepC


XY-plots for presentation of time series, response spectra, envelopes etc. with export to MS Excel. Graphical presentation and statistical reporting of fatigue life. Animation of typical motions and riser/mooring forces. Full unit support in modeling and results presentation. Built-in post-processing of time series responses such as forces and displacements:
High-pass/Low-pass filtering Response spectra Envelopes Computation of key statistical parameters Code checking of metallic risers

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 53

Fatigue
Purpose: Calculate fatigue life and damage of risers or mooring lines. Combines a number of environment conditions, based on discretizations of the scatter diagram
- This often requires a high number of analysis to be executed

Rain flow counting

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DeepC applications
FPSOs
- Low Frequency (LF) excitation damping. - Slow drift surge/sway motions.

Semi-submersibles
- Improved accuracy of steel catenary riser response. - Prediction of LF fatigue contribution.

Spars
- Improved modeling of slow drift roll, pitch and heave motions. - Fatigue of tensioned riser systems. - Heave response of classic and truss spars.

TLPs
- Incorporate non-linear tether forces and tether dynamics in wave frequency (WF) responses. - Improved accuracy of LF surge and High Frequency (HF) pitch damping predictions.

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 55

DeepC handles both single- and multi-floater coupled systems


Large volume floaters

Wind

Wave

Current Slender structures

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Coupled analysis Multi-body systems


Complex multi-body systems FPSO with spread mooring Buoy loading systems Typical coupling effects

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Coupled Analyses of Two-body system

Independent Verification of Motion and Slender Structure Responses Dec. 2002 using DeepC DNV Houston
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Line breakage Oil offloading buoy


Line break simulation Mooring line breaks

DeepC V2.1-01 Date: 02 Sep 2003 14:18:50

Mooring Line 6 Top tension


800 1000 1200 1400 Force [ kN] -200 0 200 400 600

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Time [s] Intact


59

Release

Line breakage Oil offloading buoy


Line break simulation

Mooring line breaks

DeepC V2.1-01 Date: 02 Sep 2003 14:18:50

Mooring Line 6 Top tension


800 1000 1200 1400 Force [ kN] -200 0 200 400 600

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Time [s] Release


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Intact

A Two-Floater system

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DeepC solves simultaneously for all responses

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Some other examples SEMI and TLP

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DeepC for Riser Design


How DeepC helps on riser design?
(Separate presentation in day 2)

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 64

The DeepC for riser design configuration


Subset of DeepC
- Customized user interface

Single riser (or mooring line) analysis


- Modeling of one (or several) lines and environment in DeepC GUI

Line independent vessel motion:


- Transfer functions read from file - Time series read from an existing coupled analysis - Time series read from file (measurement, model test, etc.)

Time domain analysis


- Riflex

Regular waves
- In addition to irregular sea

Main benefit
Computational speed Fatigue analysis Code checking What-if-scenarios (efficient design iteration)

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 65

Riser analysis characteristics


Slender marine structures
- Risers, mooring lines, TLP tendons

Environment
- Regular and irregular waves - Arbitrary current profiles

Load models
External/Internal hydrostatic pressure effects Morisons equation Loading caused by vessel motion Seafloor contact

Modelling
- Nonlinear finite element formulation - Connector elements (ball, joints, hinges) - Non-linear material properties

Results processing
- Deformations, stress, code check, fatigue

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 66

Riser configuration Steel Catenary Riser (SCR)


Pros: Floater motions absorbed by change in configuration geometry Cons Subjected to fatigue loads, particularly in the touchdown zone, due to
- platform movements - Vortex Induced Vibrations (VIV) - sea currents.

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 67

Riser configuration Top-tensioned Riser (TTR)


Pros: Vertical risers supported by top tension. Heave compensators allowing for relative riser/floater heave motion. Avoid buckling and excessive bending stress due to platform motion and VIV Cons: Complicated completions

Heavy workover requirements


Requires a platform with good motion response characteristics
- Tension Leg Platform (TLP)
- Negligible heave (0 to 1 feet) z

Reduce drilling and completion costs

- Spar Platform
- Small heave (0.5 to 12 feet)

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 68

Riser configuration Free-standing Riser


Pros Decouple the response of the riser tower from that of its associated floater, as well as from the effect of wind-driven seas and swell. Overriding requirement is to provide a credible, long-term assessment of the buoyancy force that stabilizes the tower. Cons The towers also experience motions induced by current. Hence, the requirement arises to track the structural response of the towers over their lifetime.

Example fields: Totals Girassol, Exxon Mobils Kizomba A and Kizomba B, BPs Greater Plutonio Block 18 offshore Angola, plus Petrobras P-52 offshore Brazil and its five free-standing risers at Cascade Chinook in the Gulf of Mexico.
Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 69

Fatigue and code check riser analysis Three Approaches

Coupled analysis
Most accurate results Regular and irregular waves Most time consuming approach

An efficient option
1. Do the coupled analysis on a global but coarse model (including all slender structures), 2. Remove all lines except the riser to analyze, 3. Refine the model (make many local but detailed models), 4. Rerun with time series from the coupled analysis for each local model to perform postprocessing.

Uncoupled irregular wave analysis


Most common approach used, but results may be sensitive to water depth Vessel motion based on RAO's Less time consuming

Uncoupled regular:
Very fast approach and often used for early design purpose Similar to the irregular case during modelling

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 70

Fatigue Analysis
Fatigue analysis of tubular lines
Based on a coupled or uncoupled analysis Nonlinear Time Domain Rainflow counting Regular or Irregular waves

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Fatigue with multiple scatter discretizations


Make it much easier to handle direction dependent scatter diagrams!!

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Single Riser/Mooring Line Analysis


Modelling of one (or several) lines and environment in DeepC GUI

Line independent vessel motion:


- Transfer functions read from file (coupled or de-coupled) - Time series read from file (typically decoupled analysis) - Time series read from an existing coupled analysis

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 73

DeepC Code checking of risers


Based on fully coupled analysis or single riser analysis Capacity checking according to
- DNV OS F201 - Von Mises Stress (API RP) - ISO 13628-7

Axial stress and bending moments scaled with factors according to


- LRFD or WSD - ULS, SLS, ALS

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Pipe-in-pipe analysis

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DeepC for SURF


How DeepC helps on SURF design? (Separate presentation in day 2)

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Subsea Umbilicals Risers Flowlines - SURF


Umbilicals Multi-purpose service lines

Flexible riser

Flowlines & pipelines

Subsea installation

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New modules in the DeepC package


UmbiliCAD Helica Vivana
Vibration amplitude A/D

FatFree

CROSS-FLOW

IN-LINE
0.0 2.0 4.0 6.0 8.0 10.0
R

U/f0D
12.0 14.0 16.0

Reduced Velocity V

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Summary
Why DeepC?

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SESAM Deep water technical analysis capabilities

MANAGING RISK
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A customer statement
DeepC Coupled Analysis concluding remarks For deep water installations, the riser and mooring systems greatly influence the motions of the floater In deep water floating system design, coupled analysis will be an important and practical tool in combination with de-coupled analysis and model test Coupled analysis approach improves riser and mooring design DeepC treats Coupling Effects in a consistent way and increase the confidence level of vessel motion prediction and riser and mooring design and analysis Quote by Qi Ling, MODEC Houston
Heave RAO, All SCR, 180 Degree Heading
Uncoupled +2/3 Lump Mass 2.0 1.8 1.6 1.4
Heave RAO (ft/ft)

Regular Wave Test RAOs White Noise Hs=10.0 ft White Noise Hs=17.0 ft Frequency Domain Coupled Analysis 100-yr Hurr. Wave Hs=43.5 ft

750 675 600 525 450 375 300 225 150 75 0

1.2 1.0 0.8 0.6 0.4 0.2 0.0 0 5 10 15 Period (sec) 20 25 30

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Wave Energy Spectrum (ft^2-sec/rad)

Concluding remarks Why DeepC?


Coupled analyses essential for some systems Modelling flexibility, easy access to system modification
- E.g. Pipe in pipe and flexible joints

Efficient statistical post-processing Code check on metallic risers Fatigue analysis with regular/Irregular coupled/decoupled analysis Unsurpassed at solution speed Easy to compare different approaches for doing riser analyses

Less documentation of assumptions in coupled analysis


Efficient for design iterations Scripting facilitate easy reuse and modification

Extensively validated numerous papers exist

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 82

As the oil and gas fields get deeper, the installations of deepwater platforms become more challenging. The coupling effects

between a floater and its moorings become more pronounced


and more important. Sesam is an excellent tool for analysing the interaction between hull, moorings and risers.
Andy Kyriakides, Project Manager, Modec International LLC.

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Demo for drilling riser


Visualization of pipe-in-pipe motion in Xtract Scatter diagrams/discretizations etc. for regular waves Possibility to apply multiple scatter discretizations (e.g. direction dependent) in Fatigue analyses. Parallel execution of analyses

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Safeguarding life, property and the environment


www.dnv.com

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DeepC - Improved confidence in deep water concepts


A comparison of frequency- and time-domain air gap analysis
Joe Zhang, Sesam Product Management Mayl, 2012

Air gap introduction


Air gap analysis is crucial during both the conceptual global performance analysis and detail structure design stages.

For existing structures a more precise air gap analysis may be of importance for requalifications when environmental criteria change.
Traditional frequency-domain method and statistic extreme values prediction are based on a Rayleigh distribution assumption and linear solution of potential theory.
- However, this method generally does not effectively reproduce measurement from model test.

DeepC - Improved confidence in deep water concepts Mayl, 2012 Det Norske Veritas AS. All rights reserved. 2

Importance of time-domain air gap analysis


Compared to an air gap approach by Wadam/Postresp, the DeepC method will also include the contributions from static offset and LF motion in the vertical modes.

Effect of diffracted/radiated waves may be taken into account when doing air gap calculation in DeepC.
- Including diffraction/radiation effects is optional. To include, diffraction/radiation free surface elevation must be available on SIF file.

For the vessel in static equilibrium position, i.e. horizontal offset and yaw motion, surface elevation time series is pre-calculated by Simo in the air gap point.
At each time step, the actual vertical position of the air gap point on the vessel is evaluated. In cases where the moorings have an important effect on the WF motion, anchor/TLP elements should be used, or stiffness matrix should be modified directly.

DeepC - Improved confidence in deep water concepts Mayl, 2012 Det Norske Veritas AS. All rights reserved. 3

Analysis semi-submersible model

DeepC - Improved confidence in deep water concepts Mayl, 2012 Det Norske Veritas AS. All rights reserved. 4

Air-gap definition and notation

= 0 [ ] = 3 + 4() 5() 0 = 12.5


DeepC - Improved confidence in deep water concepts Mayl, 2012 Det Norske Veritas AS. All rights reserved. 5

Traditional frequency domain analysis using HydroD and Postresp


Input HydroD Panel model (Generated from GeniE) Location Direction and wave period set Off-body points Postresp Specified checking points Wave spectrum Duration (10800s) Output HydroD Added mass and potential damping coefficients Motion RAOs

Wave elevation
Postresp Response spectrum
- Standard deviation

Short term statistics


- Most probable largest value

DeepC - Improved confidence in deep water concepts Mayl, 2012 Det Norske Veritas AS. All rights reserved. 6

Air Gap Extremes (Hs = 12.0m, Tp = 13.8s, = 3.3, Dir = 45)


8.521

() = () () ()

= ()

2 0

Most probable largest value

= 2 ln

= .
DeepC - Improved confidence in deep water concepts Mayl, 2012 Det Norske Veritas AS. All rights reserved. 7

Basic Inputs and Outputs for DeepC


Inputs Hydrodynamic coefficients (G1.SIF)
- Added mass and potential damping coefficients - Wave force transfer functions - Water surface elevation transfer functions at specified positions (if disturbed wave needed to be considered)

Outputs Vertical position of vessel air gap point Surface elevation at air gap point Air gap at specified checking point

Wind and current forces coefficients Time domain environment conditions Mooring and riser configurations Specified checking points

DeepC - Improved confidence in deep water concepts Mayl, 2012 Det Norske Veritas AS. All rights reserved. 8

Air gap analysis in DeepC (with wave, current and wind)

WIND

CURRENT

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Output from DeepC


Checking point elevation vs. wave elevation

Air gap time series

DeepC - Improved confidence in deep water concepts Mayl, 2012 Det Norske Veritas AS. All rights reserved. 10

Air gap time series at Point 78

= .

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Evaluation

Frequency domain analysis can not capture the low frequency part as expected. By including the mean position, the frequency domain analysis could give more accurate statistics.

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Conclusion
Using DeepC time domain air gap analysis, more accurate extremes could be obtained.

In some environment conditions (with wave period close to heave natural period), traditional frequency prediction may lead to a under-estimated air gap result.
Compare to frequency domain analysis, average displacements (static offset and LF motion) from coupled analysis have strong effects on the air gap analysis.
- Heave, Roll and pitch

It could be an acceptable solution to combine statistically predicted extreme air-gap values and static configuration from coupled analysis.

DeepC - Improved confidence in deep water concepts Mayl, 2012 Det Norske Veritas AS. All rights reserved. 13

Considerations
The air gap point in the vessel frame of reference has radiation/diffraction surface elevation transfer function calculated for a number of wave headings.

If the main wave heading is not coincident with any of the transfer function wave headings, DeepC/Simo will perform an interpolation in between values for the two adjacent transfer function wave headings.
- Note that static offset in the vertical modes is neglected when pre-calculating the surface elevation.

The air gap is obtained as the vertical distance between the air gap point on the vessel and the pre-calculated free surface elevation.
- Note that this do not account for any dynamic horizontal motion of the vessel.

Using pre-generated wave kinematics will give statistical results which are practically equal to results based on actual position at each time step.

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Safeguarding life, property and the environment


www.dnv.com

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FPSO Full Ship Analysis


Integrated Strength and Hydrodynamic Analysis using Sesam
Fan (Joe) Zhang, Sesam BD Manager, DNV Software October 15, 2012

Topics
Strength assessment of FPSOs and related software from DNV Global modelling Hydrodynamic analysis Ultimate strength analysis Submodelling Fatigue analysis

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 2

FPSO Package for design and analysis


Risk Analysis Safeti Hydrodynamics Seakeeping Wave loads HydroD Topside GeniE

3D Hull modelling GeniE

Main scantlings Nauticus Hull

Turret Local analysis GeniE

Fatigue Simplified, Spectral Nauticus Hull Stofat

Risers DeepC

Mooring Mimosa

Proven solutions in use by major companies around the world


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SESAM strength assessment analysis system and interfaces


Workflow manager
Modelling, structural analysis and code check
GeniE

Stability and wave load analysis


HydroD

Mooring and riser analysis


DeepC

Model Loads

Model Results

Global analysis 1 Global analysis 2 Global analysis n

Wave load 1 Wave load 2 Wave load n

Stability 1 Stability 2 Stability n

Analysis 1 Analysis 2 Analysis n

Local analysis

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 4

Sesam a fully integrated analysis system


1. Stability and wave load analysis 2. Pressure loads and accelerations

Wave scatter diagram

Load transfer

Local FE analysis

5. Local stress and deflection & fatigue

FE analysis

4. Global stress and deflection & fatigue screening


FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 5

3. Structural model loads


(internal + external pressure)

Sesam Workflow Manager

Key features
- Model and file management

Benefits
- Automatic re-run of analysis hierarchy to re-produce analysis after model updates - Facilitate alternate engineers to re-run analysis - Documentation/description of models and analysis can be linked into the explorer - Supports best engineering practice and workflow

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 6

GeniE
Key features
- Modeller for all hydrodynamic and structural applications within the Sesam system - User interface for FE analysis, post-processing and code checks for both hull, topside and jacket

Benefits
- One common model for strength and hydrodynamics - Efficient modelling and code checks within one user environment - Easy to implement updates and changes to geometry and properties - Different level of detailing of FE model derived from one global model by adjusting mesh densities - Mesh automatically adapts to changes in the model

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 7

HydroD
Key features
- Hydrostatics and stability calculations - Linear and non linear hydrodynamics

Benefits
- Handling of multiple loading conditions and models through one user interface and database - Sharing models with structural analysis - Direct transfer of static and dynamic loads to structural model

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 8

Analysis Overview
Task Global modelling Purpose Make global model for hydrodynamic and strength analysis Calculate loads for fatigue and ultimate strength Calculate hull girder strength Fatigue screening on nominal stress Local fatigue analysis Calculate long term stress based on spectral method Input Ship drawings Loading manual Global FE model Wave data Global FE model Snap shot load files from HydroD Global FE model Frequency domain load files from HydroD Global FE model Frequency domain load files from HydroD Output Global FE model

Hydrodynamic analysis ULS analysis

Load files for structural analysis Ultimate strength results Calculated fatigue lives Long term stress

Spectral fatigue analysis Spectral ULS analysis

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 9

Analysis Overview
Task Global modelling Purpose Make global model for hydrodynamic and strength analysis Calculate loads for fatigue and ultimate strength Calculate hull girder strength Fatigue screening on nominal stress Local fatigue analysis Calculate long term stress based on spectral method Input Ship drawings Loading manual Global FE model Wave data Global FE model Snap shot load files from HydroD Global FE model Frequency domain load files from HydroD Global FE model Frequency domain load files from HydroD Output Global FE model

Hydrodynamic analysis ULS analysis

Load files for structural analysis Ultimate strength results Calculated fatigue lives Long term stress

Spectral fatigue analysis Spectral ULS analysis

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 10

Creating the Global Model


Model requirements The global model is used to calculate loads and strength and must represent the actual properties of the ship For direct strength calculations essential properties are
- Buoyancy and weight distribution - Compartment loads - Structural stiffness and strength

Challenges Modelling of hull form Creating compartment and loads Mass tuning

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 11

Global Modelling with GeniE

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 12

Benefits of GeniE for Global Modelling


One common model for hydrodynamic and structural analysis

Geometry modelling
Advanced surface modelling functions Re-use data from CAD Parametric modelling using JavaScript Use of units

Compartment and loads


- Compartments are created automatically - GeniE calculates tank volumes and COG - Loads are generated from compartment fillings and automatically applied to tank boundaries

Mass tuning
- Scaling mass density to target mass

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 13

Analysis Overview
Task Global modelling Purpose Make global model for hydrodynamic and strength analysis Calculate loads for fatigue and ultimate strength Calculate hull girder strength Fatigue screening on nominal stress Local fatigue analysis Calculate long term stress based on spectral method Input Ship drawings Loading manual Global FE model Wave data Global FE model Snap shot load files from HydroD Global FE model Frequency domain load files from HydroD Global FE model Frequency domain load files from HydroD Output Global FE model

Hydrodynamic analysis ULS analysis

Load files for structural analysis Ultimate strength results Calculated fatigue lives Long term stress

Spectral fatigue analysis Spectral ULS analysis

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 14

Hydrodynamic Analysis
Model requirements
Hull shape as real ship Correct draft and trim

Challenges
Obtain correct weight and mass distribution Balance of loading conditions

Weight and buoyancy distribution according to loading manual


Mass and buoyancy in balance

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 15

HydroD

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 17

Benefits of HydroD
One common program and model for
Stability calculations Linear hydrodynamic analysis Non-linear hydrodynamic analysis With or without forward speed

Supports composite panel & Morrison models Support both standalone and integrated analysis
- Models can made in HydoD or based on structural models

Loading conditions
- Multiple loading conditions by changing compartment contents

Balancing the model


- Auto balance of loading conditions by draft and trim or compartment fillings

Built in roll damping module


- Stochastic linearization - Quadratic damping

Strong postprocessing and graphical results presentation Load transfer to FE analysis


- Snap shot or frequency domain - With splash zone correction for fatigue

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 18

Analysis Overview
Task Global modelling Purpose Make global model for hydrodynamic and strength analysis Calculate loads for fatigue and ultimate strength Calculate hull girder strength Fatigue screening on nominal stress Local fatigue analysis Calculate long term stress based on spectral method Input Ship drawings Loading manual Global FE model Wave data Global FE model Snap shot load files from HydroD Global FE model Frequency domain load files from HydroD Global FE model Frequency domain load files from HydroD Output Global FE model

Hydrodynamic analysis ULS analysis

Load files for structural analysis Ultimate strength results Calculated fatigue lives Long term stress

Spectral fatigue analysis Spectral ULS analysis

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 19

Ultimate Strength Analysis


Global structural analysis with load transfer from hydrodynamic analysis

Snap shot load transfer of non linear loads for selected design conditions
Yield and buckling check with PULS

Benefits of global analysis with direct load transfer


- Eliminate effect of boundary conditions - Loads applied as a simultaneous set of sea and tank pressures according to the calculated design wave No need for conservative and/or uncertain assumptions - Integrated buckling check

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 20

Design Wave Determination Example


1. Calculate long term response (100 years return period for FPSO)
100 years wave bending moment: 2.184E9 Nm

2. Find peak value, phase and corresponding peak period in transfer function
Peak value: 2.33E8 Nm Phase angle: resp= 128 deg (relative to incoming wave) Period: 12 s

3. The design wave is then


Amplitude Period Phase: 100 year response/peak value 2.184E9/2.33E8*2=18.75 m 12 s
wave = 360 - resp = 360 128 = 232 deg.

Resulting values:

232 deg hogging 52 deg sagging


Which is sagging and hogging must be evaluated separately

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 21

Verify the applied loads


Reaction forces Sestra.lis
- Reacting forces close to zero compared to the global excitation forces (<~1%) - E.g. stillwater load case
Max Fz < mass*g/100

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 22

Verification of applied loads


Visual check using Xtract
- Pressure mapping - external and internal pressures - Deflections - Nominal stress level

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 23

Verification of applied loads


Global sectional loads Cutres
- Cutres calculates and integrates the force distribution of cross sections and is ideal to evaluate the hull girder shear forces and bending moments - Large deviations Improper load balance
- Small deviations will occur since HydroD only consider vertical loads (mass) from internal tank pressures

- NB! Check position of neutral axis in HydroD sections and Cutres results Vertical shear force distribution Vertical bending moment distribution
0
Vertical bending moment

50

100

150

200

250

300

350

Vertical shear force

50

100

150

200

250

300

350

WASIM CUTRES

WASIM CUTRES

Distance from AP

Distance from AP

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 24

Cutres main features


Relevant for long and narrow structures that may be viewed as beams, e.g. ships Two basic features:
- Presentation of stress resultant diagrams for user defined sections through the FE model

Integration of stress resultants over sections and presentation of force and moment graphs along ship axis

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 26

Sections created in Cutres

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 27

Display section diagram

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 28

Still water bending moment

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 29

Vertical shear force and bending moment

Postresp: 2.33E8 * 9.375 = 2.18E9 Cutres: 2.207E9

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 30

Cross sections positions adjust

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 31

PULS Advanced Buckling & Panel Ultimate Limit State

PULS is a code for buckling and ULS assessments of stiffened and unstiffened panels

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 32

Benefits of PULS
Characteristics
- Higher accuracy than traditional rule formulations and classic buckling theory - Quick and easy-to-use design tool for calculation of ULS capacity - Valuable information about failure mode and buckling pattern - Effective to evaluate
Py

Px

Benefits
t 12 (MPa)

250
Abaqus PULS DNV Rules GL Rules

- Design optimization with increased control of safety margins

200

150

100

50

0 0 20 40 60 80 100 120 140

s 2 (MPa)

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 33

PULS - Element library

Un-stiffened plate element

Stiffened plate element (S3)

Corrugated plate element (K3)

Stiffened plate element (T1)


FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 34

PULS Code Check in GeniE


Buckling capacity panels are automatically generated from the plate and beam concepts Colour code presentation of Utilization Factors (UF) Support for multi-core parallel buckling calculations Numeric and colour code presentation of result Worst case - colour code presentation of the maximum UF from all load cases Buckling panels can be exported to PULS Advanced Viewer and PULS Excel for further postprocessing
FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 35

Combination of still water and wave loads results


Design wave load transfer from Wadam results in separate result cases for static and hydrodynamic loads
- RC1 still water load - RC2 wave loads

Create result combination in GeniE


- Alternative: Combine results in Prepost

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 36

Code check
Code check according to DNV-RP-C201 Pt 2 (PULS) by CSR Tank Note: Default parameters are according to CSR Tank and must be modified according to the RP

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 37

Modified CSR Tank PULS code check


FPSO ULS 3 hold or global model
- Design wave approach with direct load transfer from HydroD or Maximum hogging and Maximum sagging condition (according to DNV-RP-C102, App D). - Check only longitudinal structure - Method 1 (Ultimate Capacity), according to DNV-RP-C201 Pt 2 (PULS) - Stiffened panel type - Allowable usage factor = 0.8 (loadcase design condition must be harbour or seagoing) - Meshing rules: Gross scantlings, (dont use co-centric stiffeners).

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 38

Code check result

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 39

Analysis Overview
Task Global modelling Purpose Make global model for hydrodynamic and strength analysis Calculate loads for fatigue and ultimate strength Calculate hull girder strength Fatigue screening on nominal stress Local fatigue analysis Calculate long term stress based on spectral method Input Ship drawings Loading manual Global FE model Wave data Global FE model Snap shot load files from HydroD Global FE model Frequency domain load files from HydroD Global FE model Frequency domain load files from HydroD Output Global FE model

Hydrodynamic analysis ULS analysis

Load files for structural analysis Ultimate strength results Calculated fatigue lives Long term stress

Spectral fatigue analysis Spectral ULS analysis

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 40

Simplified vs. spectral fatigue


Simplified
Environment Long term rule Weibull distribution

Spectral fatigue
Actual wave scatter diagram and energy spectrum

Wave loads

Rule formulations for accelerations, pressure and moments on 10-4 probability level

Direct calculated loads - 3D potential theory

Stress calculations:

Rule formulations for stresses. Rule correlations.

Load transfer to FE model. Complete stress transfer function. Hotspot stress models for SCF

Fatigue damage calculation:


FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved.

Based on expected largest stress among 10^4 cycles of a rule long term Weibull distribution

Based on summation of part damage from each Rayleigh distributed sea state in scatter diagram.

41

Stochastic Fatigue Analysis


Wave Load Analysis
- Input: Global model, wave headings and frequencies - Output: Load transfer functions (RAOs)
Direct Load Transfer

Stress Response Analysis


- Input: FE models and load file from wave load analysis - Output: FE results file with load cases describing complex (real and imaginary) stress transfer functions (RAOs)

Fatigue Damage Calculation


- Input: Stress transfer functions (FE results file), wave data - Output: Calculated fatigue life

Stress Transfer Functions

S-N Fatigue Curves Wave scatter diagram

Fatigue Life

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 42

Typical workflow
Hydrodynamic model

Hydrodynamic analysis

RAOs External pressure Rel. wave elevation Accelerations Full load / intermediate/ ballast ->800 complex lc

Global FE-model
RAOs External pressure Internal pressure Accelerations Adjusted pressure for intermittent wetted areas

Load transfer
Global + local FEmodel

Global stress/deflection

Global structural analysis

RAOs Global stress/deflections Entire global model

Local model boundary conditions

Deflection transfer to local model

Global deflections as boundary conditions on local model

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 43

Typical workflow
Stress distribution for each load case RAOs Local stress/deflections

Local stress/deflections

Local structural analysis

Local stress transfer functions


Notch stress Stress Geometric stress at hot spot (Hot spot stress) Geometric stress Nominal stress Hot spot

Principal hotspot stress

Stress extrapolation

Input Hot spot location Result RAO Principal hot spot stress

Scatter diagram

Fatigue calculations

Input Wave scatter diagram Wave spectrum SN-curve Stress RAO => Fatigue damage

SN data

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 44

Global Frequency Domain Analysis


Loads from HydroD Static load case
- For verification of load balance and static shear and bending compared to loading manual - Enables automatic calculation of mean stress effect in fatigue calculartions - Enables possibility for to calculate long term extreme loads including static stress

Dynamic load cases


- Number of complex dynamic load cases = number of wave headings x number of wave periods (e.g. 12 x 25 = 300)

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 45

Pressure reduction zone

Postresp Long Term Prediction

CN 30.7

Zwl

= *5.626E04/(1025*9.81) = 4.196

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 46

Load Transfer to Global Model

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 48

Fatigue Calculation Program - Stofat


Performs stochastic (spectral) fatigue calculation with loads from a hydrodynamic analysis using a frequency domain approach
RESULTS INTERFACE FILE POSTPROCESSING
STRUCTURAL RESULTS INTERFACE FILE

Deterministic fatigue under development Structures modelled by 3D shell and solid elements Assess whether structure is likely to suffer failure due to the action of repeated loading Assessment made by SN-curve based fatigue approach Accumulates partial damages weighed over sea states and wave directions

Stofat
Shell/plate fatigue

Stofat database

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 49

Global Screening Analysis


Fatigue calculations based on nominal stress from global analysis and stress concentration factors Typical use
- Identify fatigue sensitive areas - Determine critical stress concentration factors for deck attachment and topside supports - Determine location of local models and fine mesh areas - Decide extent of reinforcements based on SCF from local analysis

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 51

Fatigue Screening Analyses


Fatigue Damage in Lower Hopper Knuckles
- Global screening scaled by results from local analysis
Lower Hopper Knuckle
Screening Result TBHD Pos. Local Model Result 1.250

1.000

Fatigue Damage [-]

0.750

0.500

0.250

0.000 100425

120425

140425

160425

180425

200425

220425

Distance from AP [mm]

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved.

Global Screening

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 53

Local Fatigue Analysis


Local fine mesh model created from global GeniE model by changing the mesh density in the location of the crack Hot spot stress RAOs at the location of the crack established by spectral FE calculation Submodelling techniques is used to transfer the results from the global FE analysis to the boarders of the local model Fatigue damage/life calculated using Stofat
Concept model with mesh densities Calculated fatigue life
FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 54

Local fine mesh model

Submodelling

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 55

Fatigue Strengthening and Screening of Extent


Soft bracket added in the local model of the stringer at crack location Re-run sub-model analysis and fatigue calculation to check effect of strengthening proposal Necessary extent of repair evaluated by fatigue screening of global Stress concentration factor used in global screening calculated by the ratio of long term stress from local and global analysis
Local model with new bracket Fatigue results

Results from fatigue screening of global model to evaluate extent of repair


FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 57

Analysis Overview
Task Global modelling Purpose Make global model for hydrodynamic and strength analysis Calculate loads for fatigue and ultimate strength Calculate hull girder strength Fatigue screening on nominal stress Local fatigue analysis Calculate long term stress based on spectral method Input Ship drawings Loading manual Global FE model Wave data Global FE model Snap shot load files from HydroD Global FE model Frequency domain load files from HydroD Global FE model Frequency domain load files from HydroD Output Global FE model

Hydrodynamic analysis ULS analysis

Load files for structural analysis Ultimate strength results Calculated fatigue lives Long term stress

Spectral fatigue analysis Spectral ULS analysis

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 58

Stochastic ULS Analysis


Challenge: Determine ULS design wave for areas subjected to a combination of different load effects (e.g. turret area) Typical way: Selection of one or several design waves Uncertainties New solution with Stofat: Spectral stress analysis to determine long term stress distribution directly

Wave Load Analysis


- Input: Global model, wave headings and frequencies - Output: Load transfer functions (RAOs)

Stress Response Analysis


- Input: FE models and load file from wave load analysis - Output: FE results file with load cases describing complex (real and imaginary) stress transfer functions (RAOs)

Direct Load Transfer

Long Term ULS Load Calculation


- Input: Stress transfer functions (FE results file), wave data - Output: Calculated long term stress

Stress Transfer Functions

Wave scatter diagram

Long term stress


FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 59

Stofat Features and Benefits


Features
- Stochastic fatigue calculations based on wave statistics
- Supports all common wave models - Predefined and user defined S-N curves - Option for implicit mean stress correction (by static load case)

- Statistical stress response calculations


- Calculation of long term stress and extreme response including static loads

- Graphical presentation of fatigue results and long term stress directly on FE model

Calculated fatigue damage by nominal stress and user defined SCF for an LNG carrier

Benefits
- Unique functionality for spectral fatigue and stochastic long term stress and extreme response calculations - Flexible support all your needs - Transparent all calculation steps can be documented
Calculated long term stress amplitude (left) and fatigue damage (right) for the hopper knuckle in an oil tanker
FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 60

Local fatigue check result

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 61

Benefits of Sesam for Advanced Analysis


Complete system Proven Solution
- Cover your needs for strength assessment of ship and offshore structures - 40 years of DNV experience and research put into software tools

Concept modelling
- Minimize modelling effort by re-use of models for various analysis
- Same concept model can be used for global & local strength analysis, stability, linear and non-linear hydrodynamic hydrodynamic analysis

Same system for offshore and maritime structures


- Minimizes the learning period and maximizes the utilisation of your staff

Process, file and analysis management by Sesam Explorer

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 62

Safeguarding life, property and the environment


www.dnv.com

FPSO Full Ship Analysis October 15, 2012 Det Norske Veritas AS. All rights reserved. 63

SesamTM Conitnuing 40 years success


Nonlinear analysis of a pipe-laying vessel with Morison model
Fan (Joe) Zhang, Sesam BD Manager, DNV Software October 16, 2012

Contents
Pipe-laying vessel parameters Time domain analysis settings
Wasim Morison Model Motion Control springs Mass activity Setup activity

Morison model in time-domain analysis Comparison of different wave theories

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved.

Main parameters
Pipe-laying vessel parameters Characteristic length 162.4 m

Gravity
General Density of sea water Water line Z coordinate

9.8
1025.0 0.0

m/s^2
Kg/m^3 m

Period
Incoming wave parameters Height Direction

12
20 135

s
m deg

Mass
X-COG

5.1e7
4.3 0

kg
m m

Mass data
Y-COG

Z-COG
RX Radius of gyration RY

0
14.01 46.5

m
m m
GLview Plugin not installed. Press here to install plugin

RZ

45.51

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved.

Wasim Wizard
Set up the steps of the wizard, other features may be added later, if necessary
Time domain Morison Model Motion Control springs Mass activity Setup activity

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved.

Define Morsion Crossection

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved.

Define Section Model

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved.

Section model mesh

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved.

Mesh on the free surface

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved.

Morison model in Wasim (Calm Sea, Original Roll=5 deg)

Calm sea run with 5 degree heel angle. No additional roll damping assigned. With Morison model, the roll motion is damped out.

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved.

Morison model in Wasim

T=12 s, H=20 m, Dir=135 deg No additional roll damping assigned.

With Morison model, larger response in the beginning stage, but more stabilized due to damping from stinger.

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved.

Airy vs. Stokes wave Wave

Depth = 50 m

Depth = 30 m

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved.

Airy vs. Stokes wave Heave

Depth = 50 m

Depth = 30 m

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved.

Airy vs. Stokes wave Roll

Depth = 50 m

Depth = 30 m

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved.

Airy vs. Stokes wave Roll moment

Depth = 50 m

Depth = 30 m

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved.

Safeguarding life, property and the environment


www.dnv.com

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 15

SesamTM Conitnuing 40 years success


Comparison of linear and nonlinear analysis of a Semi-submersible with anchors
Fan (Joe) Zhang, Sesam BD Manager, DNV Software October 16, 2012

Contents
Semi-submersible parameters Frequency domain analysis
Using Wadam Section Model Stochastic drag Anchor elements

Time domain analysis


Using Wasim Wave spectrum Mass activity Setup activity

Comparison
- Frequency vs. time domain - Linear vs. nonlinear method

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 2

Main parameters
Semi-submersible Main Parameters
Characteristic Length Gravity General Density of water Water line Z coordinate Water depth Significant wave height Hs Wave spectrum Peak period Tp Mass X Mass data Y Z RX Radius of gyration RY RZ Pre-tension Vertical stiffness Anchor sections Horizontal stiffness Angle sea surface
Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 3

80.46 9.8 1025 31.394 Infinite 12 16 5.11e7 0 0 31.76 35.66 35.66 42.80 1.79e6 1e4 1.5e4 40

m m/s^2 kg/m^3 m

m s kg m m m m m m N N/m N/m deg


GLview Plugin not installed. Press here to install plugin

Wadam Wizard
Set up the steps of the wizard, other features may be added later, if necessary
Frequency domain Section Model Stochastic drag Anchor elements

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 4

Define Morsion Crossection

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 5

Define Section Model

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 6

Section model mesh

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 7

Motions RAOs from frequency domain analysis

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 8

Wasim Wizard
Following features are selected
Time domain Wave spectrum Mass activity Setup activity

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 9

Wave surface mesh created by Automatic surface meshing

Free surface mesh generated by WasimMesh does not give satisfactory results.
Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 10

Create free surface mesh by HydroMesh

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 11

Refine the free surface mesh


The way to improve the mesh is to split the free surface into patches of as regular shape as possible.

This is done by creating split lines.

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 12

Refine the free surface mesh

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 13

Comparison of Wadam and Wasim (linear and nonlinear)

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 14

Comparison of linear and nonlinear analysis in Wasim

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 15

Comparison of linear and nonlinear analysis in Wasim

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 16

Safeguarding life, property and the environment


www.dnv.com

Nonlinear analysis of a pipe-laying vessel with morison model October 16, 2012 Det Norske Veritas AS. All rights reserved. 17

SesamTM Continuing 40 years of success


DeepC for pipe-in-pipe analysis
Fan (Joe) Zhang, Sesam BD Manager, DNV Software October, 2012

Industry example Subsea TTRD operations on the sgard Field


The sgard field : 16 templates, 56 wells.

sgard A production started May 1999


Well P-4H
- started production 2001. - Closed 2005

Subsea TTRD operations 2010


Whipstock was set at 3900 m MD Sidetrack drilled to approx 5700 m MD Total length of sidetrack 1800 m Source: Drilling Contractor Magazine

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 2

Example: DeepC riser analysis TTRD


TTRD: Through Tubing Rotary Drilling
- Drilling and workover mode
Diverter Flex joint

Water depth: 310m Workover mode:


Hs: 2m, 4m, 6m Tp: 8s, 10s, 12s, 14s Seven vessel offsets Calculation of load utilization

Low pressure riser

Telescopic joint inner barrel Telescopic joint outer barrel

SBOP

UTSJ

High pressure riser

Merlin Riser

LTSJ

EDP LRP XT

Sesam DeepC for deepwater coupled analysis, mooring and riser design October, 2012 Det Norske Veritas AS. All rights reserved. 3

DeepC model of the TTRD system


Tension frame Coiled tubing stack Telescopic joint Riser tensioners

Drill Floor Elevation (RKB)

HP Workover riser
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DeepC model of the TTRD system


Tension frame legs Coiled tubing stack Slick joint Diverter and Flex joint Telescopic Joint Extension pipe (inside telescopic joint)

Surface flow tree Drill floor (RKB)

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Structural utilization. Statistical post-processing.


Post-processing to establish utilization
- Module : Combined Loading Analysis

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Final result of analysis: Operating Limitations


Example : Coiled tubing mode. 10ksi internal pressure

Significant wave height, Hs

Vessel offset
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Demo for drilling riser simplified workshop


Visualization of pipe-in-pipe motion in Xtract Scatter diagrams/discretizations etc. for regular waves Possibility to apply multiple scatter discretizations (e.g. direction dependent) in Fatigue analyses. Parallel execution of analyses

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Single Drilling Riser Analysis


Simulate a single drilling riser with pipe-in-pipe contact applied in a Semisubmersible platform and conduct time-domain analysis and evaluate the results with animation;
- In this demo the analysis will be de-coupled, in which the motion of SEMI are calculated based on RAO functions from HydroD/Wadam analysis. - Pipe-in-pile contact is simulated by stiffness between inner and outer risers. - Results will be checked both in DeepC GUI and animation in Xtract.

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Fatigue analysis
For the present riser configuration, fatigue is not a problem of great concern. The shortest fatigue lives are found in the splash zone, and therefore only the upper part of the outer riser is included in the Fatigue Analyses.
- In order to have more interesting fatigue results for this demo, we have modified the fatigue properties, by introducing thinner walls and higher Stress Concentration Factors to reduce Fatigue life.

In DeepC version V4.5-04 or higher, regular scatter is available. This alternative uses regular waves (wave height and period) which are quicker to compute.

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Code check
The Code Check which is set up in the workshop is based upon vonMises stress formulation.

The analyses are set up to get some resemblance with the code API 16Q.
In this code the yield is set to 358 MPa, corresponding to 52.000 psi. API 16Q has two modes: Drilling mode and non-drilling mode.
- In drilling mode the allowed utilization factor is 40%. - in non-drilling mode the allowed utilization factor is 67%.
- We have used 0.4 (40%) in this workspace.

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Define the environment

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Cross sections parameters

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Slender structure modeling


Totally the outer riser consists of 24 segments

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Pipe-in-pipe contacts

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Responses under irregular waves

DeepC V4.6-08 Date: 15 Oct 2012 21:18:10

Force [ N]

1.75e+006

1.8e+006

L41_DrillRiser_Outer_DRO_18_Element_1_Te

10

20

30

40

50

60

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170

180

190

200 Time [s]

L41_DrillRiser_Outer_DRO_18_Element_1_Te - Mean: 1772816.785, Std: 2875.731054, Min: 1743157, Max: 1804148.75, Start: 0, End: 199.5, Step: 0.5
DeepC V4.6-08 Date: 15 Oct 2012 21:18:26

L41_DrillRiser_Outer_DRO_18_Element_1_Mx

Moment Of Force [ N*m]

10

-20

-10

-5.863

10

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200 Time [s]

L41_DrillRiser_Outer_DRO_18_Element_1_Mx - Mean: -4.728001134, Std: 6.075714194, Min: -22.63249969, Max: 9.369879723, Start: 0, End: 199.5, Step: 0.5

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Define properties for fatigue analysis

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Environment condition for fatigue analysis

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Fatigue analysis result

DeepC V4.6-08 Date: 15 Oct 2012 22:25:38

Fatigue Life
1e+010 Fat igue Lif e [ Years] 100000
230

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320

330

Line Coordinate[m] FatigueIrr1-L41_DrillRiser_Outer FatigueReg1-L41_DrillRiser_Outer

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Properties for code check analysis

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Combined loading code check result

DeepC V4.6-08 Date: 15 Oct 2012 22:56:59

CombinedLoading Results
1 1.1 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
230

Ut ilizat ion f act or

240

250

260

270

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CL_AnaReg_T17x5_dir0-L41_DrillRiser_Outer-Sample CL_AnaReg_T10x5_dir0-L41_DrillRiser_Outer-Sample

CL_AnaReg_T17x5_dir45-L41_DrillRiser_Outer-Sample CL_AnaReg_T10x5_dir45-L41_DrillRiser_Outer-Sample

Line Coordinate[m]

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Safeguarding life, property and the environment


www.dnv.com

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Umbilical Design Using UmbiliCAD and Helica

Fan Joe Zhang, Business Development Manager, Americas 03 August, 2012

Introduction to UmbiliCAD
UmbiliCAD by UltraDeep
A cross-section design, drawing and modeling tool Drawing contains all material properties Calculates mass, weights, axial, bending and torsion stiffness Stress capacity calculation Analythical methodolgy for stiffness and stress capacity calculation Tube sizing according to DNV-OS-F101 and ISO 13628-5 Module for reel capacity calculation Module for bill of material DXF export to other CAD tools Module for Helica calculations Plugin capability

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UmbiliCAD
Power cable/umbilical Steel tube umbilical Control umbilical

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Why UmbiliCAD?
No need to be an advanced draftsman Early cross section analysis first results within hours in stead of days
- Linear analysis with no stick/slip

1200 1100 1000 900 800

Capacity Curve
100% Utilisation 80% Utilisation

Tension [kN]

700 600 500 400 300 200 100 0.0 0.0 0.04 0.08 0.12 0.16 0.2 0.24 Curvature [1/m] 0.28

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Introduction to Helica
Helica by DNV
A cross-section stress analysis tool Short-term fatigue analysis Long-term fatigue analysis a tailor-made software for cross-sectional analysis of flexible pipes and umbilicals Load-sharing between elements considering axis-symmetric analysis Calculation of cross-sectional stiffness properties (axial, torsion and bending stiffness) Helix element bending performance analysis to describe stresses in helix elements during bending considering stick/slip behaviour due to interlayer frictional forces.

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Helica
Cross-sectional load sharing analysis
- Load-sharing between elements considering axis-symmetric analysis - Calculation of cross-sectional stiffness properties (axial, torsional and bending stiffness) - Helix element bending performance analysis to describe stresses in helix elements during bending considering stick/slip behaviour due to interlayer frictional forces

Short-term fatigue analysis


- To assess the fatigue damage in a stationary short-term environmental condition considering fatigue loading in terms of time-series of simultaneous bi-axial curvature and effective tension produced by global dynamic response analysis - Helica uses results from DeepC as the response database for time domain global dynamic analysis as loading

Long-term fatigue analysis


- To assess the long-term fatigue damage by accumulation of all short-term conditions
vr

vx

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Helica
Cross-sectional bending characteristics
Relative motion between layers/components Friction, stick/slip behaviour (Tension dependent) Moment/curvature hysteresis Non-linear amplitude dependent Above effects automatically accounted for

Moment

Curvature
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UmbiliCAD and Helica Bundle


UmbiliCAD and Helica is a bundeled software UmbiliCAD exports cross section geometry and material properties to Helica, set up load cases, and build the model for analysis. Helica can be run from mbiliCAD and results and plots can be presented in UmbiliCAD The Helica model can also be exported and run manually in Helica for batch processing.

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Demo Case Umbilical Component and Crosssection Design

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Cross-section

Parameter Outer Diameter Mass Empty Mass Filled Mass Filled And Flooded Submerged Weight Empty Submerged Weight Filled Submerged Weight Filled And Flooded Specific Weight Ratio Subm. Weight. Dia. Ratio Axial Stiffness Bending Stiffness Bending Stiffness (friction free) Torsion Stiffness Tension/Torsion Factor

Value 143.1 30.8 32.6 35.2 14.3 16.1 18.7 2.1 130.8 431.5 24.9 15.0 148.6 -0.02

Unit [mm] [kg/m] [kg/m] [kg/m] [kgf/m] [kgf/m] [kgf/m] [-] [kgf/m^2] [MN] [kNm^2] [kNm^2] [kNm^2] [deg/m/kN]

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The Dynamic Umbilical Design Process

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CLIENT Function.list

Functional Requirements Standards and Codes (ISO 13628-5)

Component Design
(UmbiliCAD)

Cross-section drawing

Cross-section Design
(UmbiliCAD & Helica)

Mechanical Properties Capacity Curves

Local Analysis
(Helica)

Global Design and Analysis


(DeepC Riflex)

Global Analysis Report

Global Extreme Analysis


(e.g. 100 year hurricane DeepC Riflex)

Global Fatigue Analysis


(Full scatter diagram DeepC Riflex)

Global Fatigue Analysis Report

Local Fatigue Analysis


(e.g. in BS, sag, hog etc. Helica)

Local Fatigue Analysis Report

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Component and Cross-section Design


Using UmbiliCAD and Helica

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Local Analysis
Using Helica
- Compute cross sectional properties

Parameter Outer Diameter Mass Empty Mass Filled Mass Filled And Flooded Submerged Weight Empty Submerged Weight Filled Submerged Weight Filled And Flooded Specific Weight Ratio Subm. Weight. Dia. Ratio Axial Stiffness Bending Stiffness Bending Stiffness (friction free) Torsion Stiffness Tension/Torsion Factor

Value 133.2 35.9 39.4 42.4 21.6 25.1 28.1 3.0 210.8 677.3 21.3 16.7 27.5 0.00

Unit [mm] [kg/m] [kg/m] [kg/m] [kgf/m] [kgf/m] [kgf/m] [-] [kgf/m^2] [MN] [kNm^2] [kNm^2] [kNm^2] [deg/m/kN]

Helix position : 270.0000 600 500

500 450 400 350

Capacity Curve
100% Utilisation 80% Utilisation

Total helix stress

Tension [kN]
0 0.0001 0.0002 0.0003 0.0004 Curvature

400 300 200 100 0 -0.0004 -0.0003 -0.0002 -0.0001

300 250 200 150 100 50 0.0 0.0 0.04 0.08 0.12 0.16 0.2 0.24 0.28 Curvature [1/m] 0.32

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Global Design and Analysis


Using DeepC Riflex
- Coupled or de-coupled analysis
Wave loading Forced floater motions

Non-linear load model

Non-linear structure

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Global Analysis
Using Helica to get capacity curve
- The capacity curve presents all load combinations that result in the specified maximum allowable equivalent stress due to:
Tension Pressure Bending Torsion

- All cross-section members are considered


Bend stiffener region

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Local Fatigue Analysis


Using Helica Load sharing analysis
- Axi-symmetrical analysis to establish tension in each element - Bending analysis including the hysteretic, friction induced stick/slip behavior of the helix elements

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Local Fatigue Analysis Short-term fatigue analysis


Purpose of the analysis is assessment of fatigue damage in a stationary shortterm environmental condition Specification of:
Helix element Longitudinal locations Helix positions/hot-spots SN-curve

Helix stresses calculated:


- Stick/slip friction due to bending - Bending about local axis - Stresses due to tension (from axisymmetrical analysis)
t - Fatigue stress time series

Fatigue stress

Time

Rainflow cycle counting Fatigue damage calculation

Stress range

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Local Fatigue Analysis Long-term fatigue analysis


Purpose of the analysis is to assess the long-term fatigue damage by accumulation of all short-term conditions Required input:
- Fatigue results for all short-term conditions - Probability of each short-term condition

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Size of problem numerical performance


270 TD simulations with 1 hour duration (20.000 time steps)

Rectangular tensile armours, 4 hot-spots


12 helix locations Fatigue damage calculated at 76 locations along riser (including bend stiffener area) Total of 985.000 1 hour stress time series generated by cross-sectional analysis
y

yl xl

Computation time standard single core lap-top


Model Tube, no friction Helix, no friction Helix with friction Total 0.38 hours 3.8 hours 5.8 hours Per case 5 seconds 50 seconds 77 seconds

Global TD analyses not included in computation time

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Example

Local Fatigue Analysis

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Analysis process
Calculate cross section parameters
- Mass/weight in UmbiliCAD - Axial, bending and torsion stiffness from Helica

Global analysis using DeepC


- Riflex - Inpmod
- Riser definition Cross section parameters from first step - Environment definition wave heights, current etc. with corresponding direction

- Riflex Stamod
- Static analysis

- Riflex Dynmod
- Dynamic analysis

Short-term fatigue analysis using Helica Long-term fatigue analysis using Helica Design of umbilicals is also based on ULS this is part of UmiliCAD/Helica analysis, but not covered in this presentation
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Lay-out of the riser

27 Environment conditions

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Step 1 Create cross-sections and calculate mass properties


UmbiliCAD will do both
Parameter Outer Diameter Mass Empty Mass Filled Mass Filled And Flooded Submerged Weight Empty Submerged Weight Filled Submerged Weight Filled And Flooded Specific Weight Ratio Subm. Weight. Dia. Ratio Axial Stiffness Bending Stiffness Bending Stiffness (friction free) Torsion Stiffness Tension/Torsion Factor Value 117.0 23.0 26.5 28.7 12.0 15.5 17.7 2.6 151.1 476.3 29.0 23.7 43.5 0.00 Unit [mm] [kg/m] [kg/m] [kg/m] [kgf/m] [kgf/m] [kgf/m] [-] [kgf/m^2] [MN] [kNm^2] [kNm^2] [kNm^2] [deg/m/kN]

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Step 2 Calculate stiffness using Helica

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Step 3 Run global response analysis using Riflex


For a fatigue analysis, responses under multiple environment conditions (wave scatter) may be analyzed. Batch executions are normally used. (run-riflex.bat) Motion RAOs of the vessel will also be used. (trafile.tra) In this example, the analysis setup contains 27 weather directions.

Inpmod.inp Stamod.inp Dymod.inp

run-riflex.bat

executing

Trafile.tra

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Capacity curve vs. time-domain time series


Responses should be within the 80% or 100% capacity curves

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Step 4 Run fatigue analysis using Helica


Calculate short term fatigue for critical area for each of the bins.
- In this example the critical areas are the BS area of SDTube2 and SDTube4 (inner layer of crosssection).

When all bins are completed, fatigue is accumulated and long term fatigue is calculated by Helica. Following input files are normally needed:
- Helica Fatigue analysis input file (BSSDTube2_fat_ana.inp) - Helica Cross Section (helica.inp, could be generated by Helica) - Fatigue setup, (where to calculate fatigue etc (BSSDTube2_fat_geo.inp) - Fatigue probabilities (fat_conditions.inp) - SN curves (SN-lib.inp)

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Helica fatigue analysis input file


Defining the parameters used in Helica fatigue analysis, e.g.
Analysis time window Helix element positions If friction will be considered Etc.

Here 2 means friction will be considered using updated contact force.

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Long term fatigue histograms

Case19_layer3_compone nt1_location11_hotspot5

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Summary Why UmbiliCAD and Helica?


To facilitate the deepwater challenge 1) :
- Increased importance of higher order cross-sectional effects
- Tension/radial displacement coupling - Internal friction

- These effects may considerably affect dynamic umbilical performance in deep waters

Main benefits
- No need for specialist competence in a CAD system drawings, cross sectional properties and early design capacity curves made in hours instead of days - Outstanding numerical performance gives answer in days instead of weeks
- Extreme design capacity curves for entire cross-section in compliance with applicable design codes - Fatigue stress analysis of helix elements considering stick-slip behaviour in bending - Calculation of consistent fatigue stresses by direct application of global response time series from DeepC as external loading - Short-term fatigue life calculation capabilities including Rain-flow cycle counting - Long-term fatigue life calculation capabilities including assessment of long-term stress cycle distribution

1)

Ref.: OTC 17986:2006: Predicting, Measuring and Implementing Friction- and Bending Stresses in Dynamic Umbilical Design, Ekeberg et.al.)
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Safeguarding life, property and the environment


www.dnv.com

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