deeplines training (1) - overview

OIL & GAS, GREEN ENERGY, NUCLEAR INCLUDING MARINE ACTIVITIES

DeepLines Training Course

DeepLines Training Course - Main No.2

Objectives Discover DeepLines capabilities

Acquire fundamental bases required to run the program

Short practice session with the GUI

Identify possible applications for your projects

Discuss on your present/future engineering needs


Introduction


Introduction to DeepLines A software used to design offshore risers systems, flow-lines and mooring lines

DeepLines combines FE solver & user friendly GUI

Solution based on non-linear finite elements method

Types of analysis include : static, quasi-static, modal, time-domain and frequency domain dynamic analyses

Jointly developed by Principia and IFP Energies Nouvelles


Jumper

CVAR

Catenary, Free Hanging

Drillin

g Riser Mooring

lines Risers Arrays

FPSO,

Barge ...

Catenary, Lazy-wave

Flexible, Steep-S

Tanker TLP

Applications


Flexible risers, umbilical and hose configurations

Rigid production and drilling risers

Hybrid riser concepts

Mooring lines and multi-components offshore systems

Pipeline and flow-line laying and on-bottom stability

Subsea equipment installation

Applications


Types of analyses

Static and quasi-static analyses

Preliminary design of drilling risers to API RP 16Q

Time-domain & frequency domain dynamic analyses

Modal analyses

VIV prediction models

Coupled analyses of vessels, risers and moorings


Graphical User Interface

Allows to define complex models

Uses simple components (lines, vessels, waves, offsets…) and customized components (drilling riser,…)

Analyses setup (load cases matrices)

Runs the solver either in interactive mode or batch mode

Post-processes all your results including fatigue & clearance between lines



Intuitive and user-friendly GUI used to define models and post-process results

Project-oriented model files gathering multiple analyses

Results export facilities to Excel

Batch commands can be used to run post-processing instructions

On-line help system


Main technical features FE method including bending/torsion coupling effects

Wide range of boundary conditions

Anisotropic seabed contact with friction

Interference between lines : wake effect, clashing

Modeling of sliding devices : J-tubes, keel joints…

Contact with user-defined surfaces and modeling of sliding devices : J-tubes, keel joints…


Main technical features

Specific elements to model synthetic ropes

Multi-linear stiffness laws and non-linear bending stiffness for unbounded flexible pipes

Fully coupled multi-components analyses with vessels, risers, moorings...

Interference between lines, wake effect, clashing


Validation and references

Certified by Bureau Veritas Comparison with general theoretical analytical solutions for beams & cables behavior

Comparison with in-situ measurement and full scale model test (flexible)

Continuously validated against In - situ Measurements (Girassol CALM buoy 6 d.o.f motions)

Model tests trough projects or JIPs (STRIDE JIP for VIV, High Compliant Riser JIP (Bechtel), CALM buoy JIP)


DeepLines users include (>80 licenses) TECHNIP group worldwide

SAIPEM

SUBSEA7

DORIS Engineering (Paris & Rio)

TOTAL (Paris)

FMC SOFEC (Houston)

ABB Global Lummus (Houston)

BLUEWATER (NetherLand)

Bureau Veritas

TRELLEBORG

Single Buoy Mooring (Monaco)

Several technical articles presenting validation and comparisons are available on request (DOT 2003, OMAE 2003, OTC 2002…)

Validation and references


Technical support is generally provided by email at [email protected] or by phone

On-line help is provided with the GUI

Hotline support provided by a team of experienced engineers aware of projects needs

Development team include engineers from Principia, researchers from IFP and computer scientists from Open Cascade (subsidiary of Principia)

Hotline and development team


Development milestones

1980: FLEXAN – In house program developed by IFP (cable element - regular waves)

1985 : FLEXAN - Beam development at CISI Pétrole service (FLOSYS - CISI - FLEXAN -F /IFP)

1991 : FLEXAN-F – 1st Certification by Bureau Veritas beam element - irregular waves

1995 : FLEXAN-G - Tested in Coflexip Stena Offshore new beam element and new dynamic algorithm (E.C.P)


Development milestones

1998 : DeepLines v1r1 - Based on ISYMOST GUI

2000 : DeepLines v2r2 – Certified by Bureau Veritas

2002 : DeepLines v3r1 - New GUI & New features (rigid line,contact, fatigue module, VIV module…)

2003 : DeepLines v3r2 - Minor release (wave sets…)

2004 : DeepLines v4r1 - Fatigue fully integrated to the GUI, drilling risers, non-linear bending laws, floating hoses, on-line help redesign...


Riser systems applications



Flexible risers system



Flexible & steel risers system



Riser tower



Riser tower & spools



Drilling risers



Loading hoses



Loading terminal


Mooring systems applications



Spread moored FPSO



Conventional buoy mooring system



CALM buoy system


Pipelines & installation applications



Lateral buckling & pipe walking


FLET ITA1 ITA2 ITA3 ITA4 ITA5 ITA6 ITA7 ITA8 ITA9 ITA10



Pressure and temperature cycles > cumulative displacement of Tees and FLET


0

10

20

30

40

50

60

70

80

0 100 200 300 400 500

Time

Fo

rce (

kN

)

0

20

40

60

80

100

120

140

160

180

0 100 200 300 400 500

Time

Te

mp

era

ture

(C

)





Pipeline S-lay



PLEM dynamic laying and landing



Dynamic bundle towing



Jacket U-pending analysis



Floatover operation



Rigid pipe spooling



Pipeline pull from shore


Towed systems applications


Wind turbines applications


Renewable energy

Fixed wind turbine


Renewable energy

Floating wind turbine

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Modeling capabilities


Types of analyses

Static and quasi-static : Newton-Raphson algorithm

Time domain : implicit Newmark integration scheme with adaptative time step

Modal analysis including floater’s inertia contribution

Fatigue analysis : Spectral and RFC for moorings and steel risers

VIV fatigue using a modal superposition approach

Frequency domain analysis including coupling with vessels (available in v4r2)

VIV in time domain using Van der Pol oscillator theory (available in v4r2)


Model components

Lines

Vessels (FPSO, Semi, Spar, CALM buoy…)

Subsea arches and buoys

Bend stiffeners and tapered sections

Flexible joints - multi-linear or non-linear

Drilling riser model including pressure in auxiliary lines

Simple definition of tensioning systems for TTRs

Floating hoses

Effect of initial curvature and torsion along lines

Effect of internal fluid (slugs…)

Advanced pipe-soil interaction including suction effects


Line models

Spring : multi-linear stiffness for translation or rotation

Bars : multi-linear stiffness straight elastic truss (3dofs par node)

Beams : 6dofs per node Linear (2-nodes) or Quadratic (3-nodes)

Large displacement formulation

Rayleigh material damping or damping by mechanism

Accurate FE formulation for low bending/high torsion stiffness

Multi-Linear axial/bending/torsion stiffness

Variable Shear Coefficient (from Mindlin to Bernouilli theory)

Non linear hysteresis laws for curvature/bending moment

Thermal expansion


Boundary conditions In global or local axis for the 6 d.o.f. at each node

Definition of built-in angles at connection

Riser foundation (P-Y, T-Z curve) features for drilling risers

Can be changed during the simulation (QCDC disconnect)

Other technical features Any combination of objects is possible

Easy to use automatic cable interface for beams

With unlimited size of the model (hardware limitations only)

Generic floater shape easy definition (Buoy, semi, FPSO, SPAR, ..)

Line models


Environmental loads

Current profiles with time varying speed and heading

Multi-directional regular and irregular waves features are available

Regular waves theories : Airy, Stokes 5th order…

Wave spectra : JONSWAP, Pierson-Moskowitz, Ochi-Huble, Gaussian, user defined wave spectrum

Analytical wind spectra for floating bodies (Harris, Davenport, API ..), wind loads history


Other loads

Concentrated loads : incremental and time evolution, concentrated mass, drag, lift, added mass…

Imposed displacement : motion RAO, time series, nodal disconnection, LF motions…

Weight, buoyancy, Morison’s drag and inertia forces

Wake effect between risers (Huse’s formulation for static)

Temperature and internal pressure loads (ex pipe walking phenomena)


Other Technical Features


Automatic adjustment for pretension Automatic modification of top length with match target top tension or top angle

Riser/Mooring line axial stiffness Automatic generation of overall system stiffness matrices

Synthetic lines Specific static, quasi-static and dynamic axial stiffness

Default values calibrated on MBL tensile tests

Mooring analysis of multiple bodies

Mooring lines


Coupled analyses

Fully coupled multi-components analyses with vessels, risers, moorings...

Wind, current and wave loads act on the floating body

Low-frequency motions based on Newman’s equation

Wave frequency coupled analysis with regular and irregular waves

Hydrodynamic properties defined through a simple ASCII file


Coupled analyses

Multi-body Low Frequency Analyses With dynamic restoring force of mooring & risers

Super-impose WF motions through RAO

Multi-body Wave Frequency Analyses With dynamic restoring force of mooring & risers

Constant radiation loads or convolution

LF motion for attached vessels

Takes into account LF damping


Low Frequency Coupled Analysis Split motions: low frequency (coupled) + wave frequency (uncoupled)

At low frequency

B: additional LF damping (drag on line, drift motion, friction…) Fdrag+Fwind: viscous efforts due to wind / water relative velocity Ma(0) asymptotic added mass for large periods

Wave frequency motion superimposed (non coupled – from RAO)

Typically for system with large natural Period (>>100s)

LF loads using Newman assumption

)(),(),(),()()()()()0( )2( tFXtFXtFXtFtFtXKtXBtXMM DragcurwindLF

MooringLFLFhydLFLFa

Coupled analyses


Wave Frequency Fully Coupled Analysis Radiation loads depend on wave period (retardation function)

Hydrodynamic damping is non-linear

FWave deduced from exciting loads (Froude-Krilov+diffraction)

asymptotic for T=0s

Fdrag+Fwind+Fcur: viscous efforts due to wind / water relative velocity

Fmooring restoring mooring/risers forces

2nd LF incident wave loads

Linear hydrostatic stiffness

)2()1(

0

),(),(),(),(),(

)(),()()()()(

veIncidentWaMooringWaveDragcurwind

HFhyd

t

HFa

FXtFXtFXtFXtFXtF

tXXtKdXtRtXMM

)(aM

)(aM

Coupled analyses


Example 1 : Hydrodynamic database with interpolated RAOs only

[SOFT] DIODORE If DIODORE is mentioned, phases are automatically adjusted

[VERSION] VERSION 3 - REV 2 Optional. Quality Assurance (QA) requirements

[Date] 17:45:53 Wed Oct 23 2002 Optional (QA)

[INPUT_FILE] Fpso.inp Optional (QA)

[Locally_At] E:\path\ Optional (QA)

[UNIT] SI units except headings in degrees and RAOs in degrees/m. No other system defined so far.

[FORWARD_SPEED] 0.00 Optional. Not used so far

[HYDRO_PARA] N Hydrodynamic parameters not available in this file (see coupled analysis…)

[RAO] Y Interpolated RAOs available in this file

[DRIFT_FORCE] N Drift forces not available (see coupled analysis…)

[QTF] N See coupled analysis (not used so far)

[PERIODS_NUMBER] 0 number of periods for hydro. parameters for coupled analysis

[INTER_PERIODS_NB] 4 number of periods for interpolated RAOs

[HEADINGS_NUMBER] 3 number of periods for RAOs and/or hydro. parameters

[STRUCTURES_NUMBER] 1 number of floaters defined in this file

[LOWEST_HEADING] 0.00 Optional

[HIGHEST_HEADING] 45.00 Optional

[List_calculated_headings]

0.000

22.500

45.000

[STRUCTURE_01] FPSO identification name of the floating Unit

[INTER_RAO]

[INCIDENCE_INTER_RAO_MOD_001] 0.000

6.00 2.3446683E-02 4.1485784E-08 7.0650107E-04 4.2799027E-08 3.7976492E-06 5.4014021E-10

9.00 9.8472126E-02 3.4292123E-06 1.6578026E-02 2.4377860E-06 1.8771103E-04 2.1949557E-08

12.06 1.9645120E-01 6.8046727E-05 2.0746502E-01 4.8832171E-05 2.9451540E-03 2.0829373E-07

30.00 1.0545828E+00 2.6692358E-05 9.2455292E-01 3.0501360E-05 4.0863189E-03 4.2626729E-07

Coupled analyses

Hydrodynamic database file


Spectral approach based on stress RAO

Fatigue analysis


Fatigue analysis

Rain-Flow counting approach


Floating hoses

Simulation of tandem offloading operations


0

0,1

0,2

0,3

0,4

0,5

0,6

0,7

0,8

0,9

1

0 20 40 60 80 100

Pitch (deg)

Mo

men

t/w

eig

ht

in w

ate

r

Diodore DeepLines_20elts_3ptns DeepLines_20elts_10pnt

-5,0E+02

0,0E+00

5,0E+02

1,0E+03

1,5E+03

2,0E+03

2,5E+03

0 20 40 60 80 100

Pitch (deg)

Mo

men

t (N

/m)

H/R=0.5 H/R=0.707 H/R=1 H/R=2

Stability criteria :

2

1

R

H

Floating hoses


Floating hoses


Non-linear bending laws

Modeling of unbounded flexible pipes

Non linear relationship between bending and curvature

Elasto-plastic behavior with nonlinear hardening rule

Fit of the parameters with respect to experimental data


.



Test 2 : Non-linear hardening

-200000

-150000

-100000

-50000

0

50000

100000

150000

200000

-0,06 -0,04 -0,02 0 0,02 0,04 0,06

Curvature (1/m)

Be

nd

ing

mo

me

nt

(Nm

)

Abscissa 0.21

abscissa 0.72m

c


Validation tests


Equation of motion writes :

Assuming nodes position at time t is

Static equilibrium

Imposed motions

FxMxBKx

Nbfreq

i

tj

if

Nimp

imp

impiimpstat eixxaXtX

1 1

Re)(

0impstatxK

statstatstat FxK

Frequency domain analysis


)()(2

FXMMBBjK aa

v v v vrel rel rel rel

( )

A38

22


Dynamic part should satisfy

Drag force linearization

Regular wave (Vrel norm)

Irregular wave (Vrel Std Dev)


0.0

0.5

1.0

1.5

2.0

0 2 4 6 8 10 12 14 16 18 20

Period (s)

RA

Os (

m/m

)

dyn reg H=1m freq reg H=1m dyn irreg H=2m freq irreg H=2m

0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

0 2 4 6 8 10 12 14 16 18 20

Period (s)

RA

Os (

m/m

)


0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

0 5 10 15 20

Period (s)

RA

Os (

deg/m

)


Surge Heave

Pitch


Calculation example with OOL, moorings & CALM buoy


~7000m

~6200m

~4500m

~1200m

~150m

~600m

100m

97m

0m

12m

15m

Throughbore 15K Wellhead

Sea Level

(datum)

Pre-Installed 30” Conductor

Mudline

7” (-> 6 3/8”-> 5 1/2”)

Lower Deck

Tensioning System

Template

22”

Supplemental Hangers

18 3/8 ”

16” Contingency

13 3/8”

10 3/4” (-> 9 7/8” )

11 3/4” contingency

~7000m

~6200m

~4500m

~1200m

~150m

~600m

100m

97m

0m

12m

15m

Throughbore 15K Wellhead

Sea Level

(datum)

Pre-Installed 30” Conductor

Mudline

7” (-> 6 3/8”-> 5 1/2”)

Lower Deck

Tensioning System

Template

22”

Supplemental Hangers

18 3/8 ”

16” Contingency

13 3/8”

10 3/4” (-> 9 7/8” )

11 3/4” contingency

Drilling risers

Marine riser, surface stack riser

References : Total, Shell, Pride, Sedco, IFP, Technip


Tensioner

Auxiliary lines

Drilling risers


Analysis o hydrodynamic loads on a surface BOP Drillship and SBOP panel mesh

Drilling risers


Analysis of hydrodynamic loads on a surface BOP Impact on dynamic riser design

DeepLines model

Casing joint

Tensionner

system

SBOP

Upper

Transition joint

Water level

Drilling risers


Drilling risers

Analysis of hydrodynamic loads on a surface BOP


Drilling risers

Coupled analysis of drilling riser and mooring lines


Drilling risers

Analysis of drilling riser in disconnected mode


Connection

riser/hang-off

with a spring

Imposed

rotation

at top

Imposed

moment

at bottom

Soil with py curve

Connection

riser/hang-off

with a spring

Imposed

rotation

at top

Imposed

moment

at bottom

Soil with py curve

Drilling risers

Analysis of drilling riser and casing Water depth : 4000ft

WOB : 2000, 5000, and 10,000lbs

RPM : between 20 to 60rpm,

Bit torque : 10,000 ft.lbs.

Offset : 200ft


Drilling risers

Configuration with 28” casing


Bending modes with & w/O contact

Drilling risers


Winch models


Crane

Cable

Vessel

Head sea and current

X-mas Tree

Winch models


SHR’ewd, Saipem

-0,8

-0,6

-0,4

-0,2

0

0,2

0,4

0 100 200 300 400

Time(s)

Y-d

isp

lace

men

t (m

)

Effect of slugs

deeplines training (1) - overview

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