QLAY 5.

2
QUICK LAY STRESS EVALUATION - QLAY

THEORETICAL MANUAL

COPYRIGHT NOTICE
Copyright Penspen Limited 1987-2001
This document refers to proprietary computer software which is protected by
copyright. All rights are reserved. Copying or other reproduction of this manual
or the related module is prohibited without prior written consent of Andrew
Palmer and Associates, Penspen Limited, Darpen House, Citadel Place, Tinworth
Street, London SE11 5EF.

Table of Contents

Table of Contents
1.

Introduction...................................................................... 1

2.

Module Overview .............................................................. 2

2.1. Objective ...........................................................................................2
2.2. Operation and Theory .........................................................................3
2.3. Limitations .........................................................................................3

3.

Theoretical Basis............................................................... 4
3.1. Invariant Embedding...........................................................................6
3.2. Calculation of Stinger Contact Point......................................................8
3.3. Calculation of Tension ....................................................................... 10

4.

Calculation Procedure ..................................................... 11

5.

Module Operation ........................................................... 12

6.

Module Output ................................................................ 13

7.

References ...................................................................... 14

Penspen Andrew Palmers

PLUSONE QLAY 5.2

Chapter 1 Introduction

1.

Introduction

The program module QLAY is part of a computerised pipeline design system,

called PLUSONE, developed by Andrew Palmer and Associates. The PLUSONE
system comprises a number of program modules as follows:

PROP
2PHF
LIQF
GASF
HYDR
HEAT
WALL
STAB
STB2
XPAN
SPAN
ANOD
CLAY
LAYS
QLAY
REEL
UPBK
MATS
LAYR
BUCK
GRID

Flow properties
Two phase flow analysis
Liquid flow analysis
Gas flow analysis
Hydrate formation analysis
Heat transfer analysis
Wall thickness sizing
Stability evaluation
Dynamic stability evaluation
Expansion analysis
Dynamic span evaluation
Anode size determination
Catenary evaluation
Lay stress evaluation
Quick lay stress evaluation
Reeling analysis
Upheaval buckling check
Materials selection
Lay rate estimation
Bending buckling
Coordinate conversion

Each program module can be used as a stand alone design module or can be
combined with other modules to form part of an integrated design system. This
manual describes the calculations carried out by the module QLAY.
For operation and validation of the QLAY module the user is directed to the QLAY
validation manual.

Penspen Andrew Palmers

PLUSONE QLAY 5.2

2.

Chapter 2 Module Overview

Module Overview

Submarine pipelines are usually laid in position by welding short sections of pipe
together on a laybarge to make a continuous pipe which passes over a stinger
connected to the barge. As the barge moves forward the pipe is lowered to the
seabed. A tensioning device on the laybarge applies a horizontal force to the
pipe; its purpose is to reduce the curvature of the pipe in the suspended span
between the lift-off point at which it loses contact with the stinger and the
touchdown point at which it reaches the seabed. The horizontal tension is often
large enough for the length of pipe in the suspended span to be several times
greater than the depth of water.
The design of such systems has many associated mechanical problems. If the
pipe is severely bent as it passes over the stinger or in the suspended span, it is
likely to kink or buckle plastically under the combined action of bending moment,
external water pressure, and axial tension. The design of such a system to avoid
the possibility of this kind of buckling requires a means of analysing the
configuration taken up by such a suspended pipe. The configuration profile is
determined by the interaction between the flexural stiffness of the pipe, the pipe
weight, the forces applied to the pipeline by the stinger, tensioner, seabed and by
the sea itself.
2.1. Objective
The module QLAY is intended as a quick design aid, allowing the engineer to
assess the suitability of a particular laybarge and stinger configuration for the
installation of a pipeline whose physical properties are known under static
conditions. The module can analyse a comprehensive range of configurations and
incorporates the theory necessary to calculate stresses and shear forces on the
overbend region due to the effect of stinger geometry and in the sagbend region
along the span. If requested, the module will also calculate the necessary force at
the tensioner to produce an acceptable pipeline configuration. The module also
incorporates the facility to model a sloping seabed. An option exists in the module
to either calculate hoop and equivalent stresses according to the DnV 19802 or BS
80103 pipeline design codes.

Penspen Andrew Palmers

PLUSONE QLAY 5.2

Chapter 2 Module Overview

2.2. Operation and Theory

Laybarge configurations are stored in disk files and can be accessed individually
for evaluation as required. From a given set of data supplied by the input screen
for the module, the pipeline configuration and associated stresses are calculated.
The output from the module includes both graphics and text. The graphical
output displays the pipeline configuration together with associated bending
stresses and shear forces.
The theory is based on small deflection theory for a submarine pipeline and
therefore is ideally suited to large stiff pipes which are laid in shallow to medium
water depths. A semi-analytical approach, based on invariant embedding
techniques, has been used to solve the resulting equations.
To operate this module, the user defines the pipe dimensions and properties, the
environmental conditions, the laybarge stinger configuration and the amount of
tension to be applied to the pipe. (If the tension is not specified the module will
calculate the minimum tension required).
Below is a summary of the module's operations:
-

determination of the configuration of the pipe from the freeboard to the

seabed;

calculation of the forces and moments at each of the nodal points along
the pipe;

calculation of the bending, longitudinal and equivalent stresses induced at

the nodal points and highlighting where the maximum stresses occur;

calculation of the minimum tension required to lay the pipeline

2.3. Limitations

Currently only single fixed ramps or circular arcs can be used to describe the
stinger geometry.
The module is limited by the mathematical model, which is theoretically limited to
small deflections. Therefore the module is generally limited to shallow or medium
depth water. However the module will produce results for other (deep water)
configurations and in such cases the results should be treated with caution.
The module is intended as a quick design tool for use in shallow to medium depth
water only.

Penspen Andrew Palmers

PLUSONE QLAY 5.2

3.

Chapter 3 Theoretical Basis

Theoretical Basis

The nonlinear theory for this model can be found in [1]. In this case, however,
we consider a simplification of the underlying 4th order nonlinear equation. By
restricting the pipeline to small deflections, we need only consider the following
4th order linear differential equation.

F
where F

U
s
w
y

d 4y
d 2y

U
= w
ds 4
ds 2

(3.1)

denotes the flexural rigidity of the pipe

the constant horizontal force in the pipe
the axial coordinate of the pipeline
the submerged weight per unit length of the pipe
the pipe deflection

We now develop a semi-analytical solution for this problem for the following set
of boundary conditions. The solution is semi-analytical since we can express the
pipe deflection, y and its derivatives (which are functions of s) in closed form.
However we cannot express x as a closed form expression in terms of s; x(s) has
to determined by numerical integration.
The boundary conditions for the pipe at the sea bed are

y(0 ) = 0
dy
( 0 ) = sin
ds
d 2y
(0 ) = 0
ds 2

(3.2)

where we assume that the contact point at the seabed occurs at the origin and
that the pipeline is inclined at angle to the horizontal at the seabed. The last
condition requires that there is zero moment at the point of contact with the
seabed.

Penspen Andrew Palmers

PLUSONE QLAY 5.2

Chapter 3 Theoretical Basis

The following conditions apply at the contact point with a circular stinger

y(1) = yH
dy
'
(1) = yH =
ds
d 2y
''
(1) = yH
2
ds

where yH

k
l

dy
dx

dy
1 +
dx

dy
1 +
dx

(3.3)

is the (unknown) height of the contact point with the stinger

is the curvature of the stinger
is the (unknown) span length of the point

The above conditions determine that at the (unknown) point of contact with the
stinger, with height yH, the pipe is tangential to and has the same curvature as
the stinger. In the above dy/dx denotes the derivative of the stinger equation at
the point yH.
In the case of a ramp, the boundary conditions become the following

y(1) = yH
dy
( 1 ) = sin
ds
d 2y
(1) = 0
ds 2
where

(3.4)

is the angle of inclination of the ramp to the horizontal

As equation (3.1) and boundary conditions (3.2), (3.3) and (3.4) are all linear,
the general problem can be solved using linear techniques. It may be observed
that there are six boundary conditions and that the governing differential
equation is only of fourth order. This would suggest that the problem is over
prescribed. However for this problem, the span length of the pipeline is not
known, and this provides one additional condition for the problem. In addition for
a circular arc the height of a point on the arc also uniquely determines the value
of the tangent, which gives the sixth required relationship.

Penspen Andrew Palmers

PLUSONE QLAY 5.2

Chapter 3 Theoretical Basis

3.1. Invariant Embedding

To solve this linear fourth order differential equation we apply a technique

commonly known as invariant embedding or method of sweeps. This technique is
well known for solving both one and multi-dimensional problems associated with
solidification and melting processes. With this technique the governing equation
is replaced by a set of related equations which arise from a linear decomposition
of the fourth order problem. These related problems are all initial value problems
which have to be solved for in a sequentially defined manner.
The version of invariant embedding that we propose to you requires the
derivative functions y(s), y'(s) and y''(s) to be expressed in terms of y'''(s), as
follows

y ( s ) = R1 ( s ) y' ' ' ( s ) + w 1 ( s )

y' ( s ) = R 2 ( s ) y' ' ' ( s ) + w 2 ( s )
y' ' ( s ) = R 3 ( s ) y' ' ' ( s ) + w 3 ( s )

(3.1.1)

where Ri(s) and wi(s) are functions to be determined. By differentiating these

expressions and combining them with (3.1), we can then obtain the solution to
(3.1) by solving the following systems of initial value problems.
The Riccati sweep equations are defined to be

U
R1R3 R1 ( 0 ) = 0
F
U
R 2' = R3 R 2 R3 R 2 ( 0 ) = 0
F
U 2
R 3' = 1 R 3
R3 ( 0 ) = 0
F
R1' = R 2

(3.1.2)

the associated system of linear forward sweep equations

U
w
R1 ( s )w 3 + R1 ( s ) w 1 ( 0 ) = 0
F
F
U
w
w 2' = w 3 R 2 ( s )w 3 + R 2 ( s ) w 2 ( 0 ) = sin
F
F
U
w
w 3' = R3 ( s )w 3 + R3 ( s )
w3( 0 ) = 0
F
F
w 1' = w 2

Penspen Andrew Palmers

(3.1.3)

PLUSONE QLAY 5.2

Chapter 3 Theoretical Basis

and the backward sweep equation

( y' ' ' )'

U
w U
R 3 ( s ) y' ' ' = + w 3 ( s )
F
F F

y'''( 1 )=y H'''

(3.1.4)

where yH''' is the value of the third derivative of y at the contact point with the
stinger.
Each of the equations described in (3.1.2), (3.1.3) and (3.1.4) can be solved in
closed form as functions of the independent variable s.
The Riccati differential equations in (3.1.2) have the following solutions

F F
U
U
tanh
s s sec h
s

U U
F
F
F
U
R 2 ( s ) = 1 sec h
s
U
F
R1 ( s ) =

R3 ( s ) =

(3.1.5)

F
U
tanh
s
U
F

and the associated sweep problems (3.1.3) have the solutions

w1( s ) =

w
U

w2( s ) =

w
U

w3( s ) =

w
U

1 sec h U s s F tanh U s + s + s sin

F
U
F
2

F
U
tanh
s + s + sin

F
U

U
s
1 sec h
F

(3.1.6)

The location of the free boundary (contact point with the stinger) is determined
by satisfying the boundary conditions (3.2) or (3.3) as follows.

Penspen Andrew Palmers

PLUSONE QLAY 5.2

Chapter 3 Theoretical Basis

3.2. Calculation of Stinger Contact Point

When the stinger is a circular arc, only two of the boundary conditions can be
applied. In this case we substitute the first two conditions into the relationships in
(3.1.1)

y H = R1 ( 1 ) y' ' ' ( 1 ) + w 1 ( 1 )

y H ' = R 2 ( 1 ) y' ' ' ( 1 ) + w 2 ( 1 )

(3.2.1)

These two equations are functions of the suspended span, l, and the third
derivative, y'''(l), at the stinger contact point. The third derivative term is
eliminated to yield a single nonlinear equation for the span.
( 1 ) = y H R1 ( 1 )

[y H' w 2 ( 1 ) ] w
R2 ( 1 )

( 1)

(3.2.2)

For a valid stinger height yH the corresponding tangent gradient yH' is evaluated
and the nonlinear equation in (3.2.2) solved using Newton Raphson iteration. The
curvature of the pipe at the end of the span is then evaluated and compared with
the curvature of the stinger arc. An iteration scheme which varies yH over the
vertical projection and extent of the stinger is used to locate the contact point at
which the pipe and stinger curvatures are co-incident.
Similarly for a ramp, the following two equations must be satisfied at the ramp
contact point

y H = R1 ( 1 ) y ' ' ' ( 1 ) + w 1 ( 1 )

sin = R 2 ( 1 ) y' ' ' ( 1 ) + w 2 ( 1 )

(3.2.3)

These two equations must be simultaneously satisfied at the free boundary and
therefore eliminating y''' (l) between these yields the single nonlinear equation
( 1 ) = y H R1 ( 1 )

[sin w 2 ( 1 ) ] w
R2 ( 1 )

(1) = 0

(3.2.4)

The solution to the backward sweep equation (3.1.4) is now obtained and has
been evaluated to yield the closed form solution.

U
U
s
sinh
( s 1)
cosh

F w F
F

y' ' ' ( s ) = y' ' ' ( 1 )

U F U
U
1
1
cosh
cosh
F
F

Penspen Andrew Palmers

(3.2.5)

PLUSONE QLAY 5.2

Chapter 3 Theoretical Basis

Expressions for y(s), y'(s) and y''(s) are obtained using the relationships

y ( s ) = R1 ( s ) y' ' ' ( s ) + w 1 ( s )

y' ( s ) = R 2 ( s ) y' ' ' ( s ) + w 2 ( s )
y' ' ( s ) = R 3 ( s ) y' ' ' ( s ) + w 3 ( s )

(3.2.6)

Therefore we have determined closed form solutions for y(s), y'(s), y''(s) and
y'''(s). In order to obtain the physical pipeline configuration we now derive an
expression for the x spatial coordinate.
By definition x(s) is expressed in derivative form as follows

dx
= cos
ds

(3.2.7)

where is the angle of the pipe to the horizontal at a general point s. The
trigonometric function cos can also be expressed in terms of y'(s), to yield the
differential relationship

dx
dy
= 1

ds
ds

(3.2.8)

and therefore we obtain an integral expression for x(s)

s

x ( s ) = x0 +
0

where x0

dy
1 ds
ds

(3.2.9)

is an offset origin value

Even though y'(s) is known in closed form, the expression in (3.2.9) above
cannot be integrated analytically to yield a closed form solution for x(s).
Instead we carry out integration using numerical techniques. Let us assume that
we have defined a discrete mesh {sk} at which we can evaluate y(sk) and its
corresponding derivatives. Then if we take x(s0) = x0, we can then determine
x(si) at all valid points using the difference relationship derived by applying the
trapezoidal method of integration as in the following expression

x k +1 = x k +

( s k +1 s k )
2

[ 1 y' ( s

Penspen Andrew Palmers

) 2 + 1 y' ( s k +1 ) 2

(3.2.10)

PLUSONE QLAY 5.2

10

Chapter 3 Theoretical Basis

3.3. Calculation of Tension

In the above we have assumed that a horizontal force, and hence tension, has
been defined for the problem. If the user does specify a tension value for a
defined barge geometry then this will be used in the calculation.
Very often, part of the lay stress problem is to obtain a suitable tension value so
that pipe can be safely laid. Therefore if no tension value is input then the QLAY
module will calculate a value based on the pipe departing from the stinger at a
distance of 10% of its length from the stinger end.
To achieve this tension calculation the module will analyse the pipeline for
minimum and maximum tension requirements such that the pipe just makes
contact with the stinger end and just makes contact with the tensioner (which we
assume is located at the freeboard). Assuming that a range of tension values can
be defined, an iteration scheme is set up to determine a tension value such that
the pipe departs from the stinger 90% along its length from the freeboard (10%
from the stinger end). In the case when the actual calculated minimum tension
value yields a contact point that requires the pipe to depart from the stinger a
distance of less than 90%, then this value will be given.

Penspen Andrew Palmers

PLUSONE QLAY 5.2

Chapter 4 Calculation Procedure

4.

11

Calculation Procedure

The following is the calculation procedure that QLAY uses.

1.

Determine whether a straight or curved stinger has been selected.

2.

Calculate tension if required.

3.

Calculate departure angle for curved stinger.

4.

Calculate total scope and excursion.

5.

Calculate configuration.

6.

Calculate bending moment and shear.

7.

Calculate stresses.

8.

Write output file QLAY.OUT and summary file QLAY.SUM.

9.

Return to the P1 environment.

Penspen Andrew Palmers

PLUSONE QLAY 5.2

12

5.

Chapter 5 Module Operation

Module Operation

In order to analyse a pipe/laybarge configuration it is first necessary to define the

laybarge and stinger.
The laybarge is defined by its ramp angle and its free board. Ramp angle being
the angle between the pipe where it leaves the laybarge and the water line. The
free board is the height of the pipe exit point above the water line, which is
tangential to the stinger fixing point.
The stinger can be defined as straight or curved. It is possible to store
laybarge/stinger configurations on disk files. This is done by creating a file in the
following format:

free board
ramp angle
curved/straight
stinger radius
stinger length

(m)
()
stinger 1=curved, 0=straight
(m)
(m)

To select the usage of this file add a "%" to the start or finish of the comment
described as "laybarge name". This comment then becomes a file name. On
initiating a run the data is read into the module and used. It is important to note
that, although the file data will be used in the analysis, the laybarge/stinger data
on the screen will remain unchanged.

Penspen Andrew Palmers

PLUSONE QLAY 5.2

Chapter 6 Module Output

6.

13

Module Output

The available output, includes plots of the pipe configuration, bending stress,
equivalent stress, hoop stress, maximum longitudinal stress, tensile stress,
bending moment, tensile force and shear force.
The text output consists of the following:
-

Echo of the input variables, consistent with other PLUSONE modules.

Table of dry weights of pipe and coatings, buoyancy, and total

submerged weights.

Table containing the pipeline configuration in terms of nodal positions

expressed in s distance along the pipe, x distance along the sea bed, and
y elevation.

Table of nodal bending moments, tensile forces, and shear forces.

Table of nodal bending stress, tensile stress, hoop stress, and equivalent
stress.

Touchdown point in x along the seabed, and s along the pipe.

Table of maximum bending, tensile, longitudinal, hoop, and equivalent

stresses.

Summary output consists of pipe departure information and a table of maximum

stresses.

Penspen Andrew Palmers

PLUSONE QLAY 5.2

14

Chapter 7 References

7.

References
1.

Palmer, A.C., Hutchinson, G. and Ells, J.W. "Configuration of submarine

pipelines during laying operations". ASME, paper no. 73-WA/OCT-4
(1973).

2.

DnV - Rules for Submarine pipeline systems, Det norske Veritas, H vik,
Norway (1981).

3.

BS 8010 - Code of practice for Pipelines. Part 3. Pipelines subsea: design,

construction and installation (1993).

Penspen Andrew Palmers

PLUSONE QLAY 5.2