Lazy-Wave Steel Rigid Risers for FSO With Spread Mooring Anchoring System

2003 ◽  
Author(s):  
Ana Lu´cia F. Lima Torres ◽  
Enrique Casaprima Gonzalez ◽  
Marcos Donato Auler da S. Ferreira ◽  
Marcos Queija de Siqueira ◽  
Marcio Martins Mourelle ◽  
...  
Keyword(s):  
Fatigue Damage ◽  
Water Depth ◽  
Time Domain ◽  
Structural Integrity ◽  
Linear Time ◽  
Energy Content ◽  
Time Domain Analysis ◽  
Structural Behaviour ◽  
Fatigue Damage Analysis ◽  
Vibration Fatigue

Petrobras developed projects with European companies and Brazilian universities in order to study different configurations of steel risers using flexibilization elements. For the bow turret-moored FPSOs the lazy-wave configuration was considered the most adequate due to its structural behaviour and costs when compared to other configurations. A detailed study was performed by the Petrobras R&D Center to verify the structural integrity of a lazy-wave SCR (SLWR) attached to a turret-moored FPSO at a water depth of 1290 m. The results for the installed riser showed its feasibility. Petrobras continued the studies of the SLWR to verify its behaviour when connected to a FSO with a spread-mooring anchoring. This paper presents the approach and methodology adopted in Petrobras to verify the structural integrity of a SLWR attached to a FSO with spread-mooring anchoring at a water depth of 1800 m. The riser analysis was performed using the Petrobras’s in-house computer codes ANFLEX and POSFAL developed and implemented as part of projects from CENPES with “COPPE/UFRJ - The Engineering Post-Graduating Coordination of the Federal University of Rio de Janeiro”. For VIV (Vortex Induced Vibration) fatigue damage calculation SHEAR7 was used. Maximum stresses were verified through a deterministic non-linear time domain-analysis. The time-domain random nonlinear analysis was considered to be the most appropriate to be used for fatigue damage calculation due to the possibility of representing the existing non-linearities of the model and random characteristic of the environmental loading. For the fatigue damage analysis, a set of load cases that considers the bimodal / bi-directional characteristics of sea-states, probability of occurrence and energy content, was used.

Concrete Modeling for Extreme Wave Slam Events

2017 ◽  
Author(s):  
Kasper Wåsjø ◽  
Terje P. Stavang ◽  
Tore H. Søreide
Keyword(s):  
Time Domain ◽  
Linear Time ◽  
Limit State ◽  
Material Model ◽  
Time Domain Analysis ◽  
Domain Analysis ◽  
Capacity Control ◽  
Extreme Wave ◽  
Conventional Design ◽  
Non Linear

Experience from model tests has initiated a growing attention towards extreme wave slam as a critical load situation for offshore large volume structures. Most of the problem is related to the local slam pressure, which may go up to several MPa’s for 100-year and 10 000-year waves. The paper deals with modeling techniques for marine concrete structures under extreme slam loading from waves where dynamic effects together with material softening play a major role for the response. Different analysis approaches for ultimate limit state (ULS) and accidental limit state (ALS) controls are discussed in view of reliability philosophy as basis for conventional design approach. The present paper is devoted to the local impact scenario and the alternative approaches for response and capacity control involving non-linear time domain analyses. Conventional design schemes as based on linear elastic models for response calculation together with code specified capacity control often come out more conservative than non-linear approach. The paper demonstrates by case studies how softening of the structure in general reduces the response in terms of section forces. A key issue when going from conventional linear approaches into non-linear techniques is to still keep an acceptable reliability level on the capacity control. Load and material factors are normally based on structures with limited non-linearity where linear response modeling is representative. Implementing non-linear material model in time domain analysis has a major challenge in limiting the sensitivity in response and capacity calculation. The paper demonstrates the way material model of concrete affects the section forces to go into local capacity control, and concludes on needed sensitivity analyses. Practical approaches on the concrete slam problem together with resulting utilizations from the control are demonstrated. The full non-linear technique by response and capacity control in one analysis is also handled, using average material parameters and justifying safety factors for the effect of implementing characteristic lower strength of concrete in the capacity. The paper ends up in a recommendation on non-linear time domain analysis procedure for typically slam problems. A discussion is also given on applicable design codes with attention to non-linear analysis.

Analysis of Uncertainties in the Estimation of Fatigue Damage in Maritime Structures by the Bootstrap Technique

2010 ◽  
Author(s):  
Antonio Vasconcelos ◽  
Edison Castro Prates de Lima ◽  
Lui´s Volnei Sudati Sagrilo
Keyword(s):  
Standard Deviation ◽  
Fatigue Damage ◽  
Time Domain ◽  
Structural Damage ◽  
Time Domain Analysis ◽  
Relevant Information ◽  
Time Domain Simulation ◽  
Random Loading ◽  
Bootstrap Technique ◽  
Bootstrap Methodology

This work describes the application of the Bootstrap technique to assess relevant information about the structural damage due to the action of a random loading time domain simulation. The Bootstrap methodology allows the estimation of the standard deviation confident interval calculated over a single time domain analysis. Two numerical applications are presented to exemplify the using of the confident intervals to obtain information on the cumulative damage of a structure subject to these random loadings.

A Frequency Domain Analysis of Learning Control

1994 ◽  
Vol 116 (4) ◽  
pp. 781-786 ◽  
Author(s):  
C. J. Goh
Keyword(s):  
Frequency Domain ◽  
Time Domain ◽  
Linear Time ◽  
Planning Horizon ◽  
Time Domain Analysis ◽  
Learning Control ◽  
Domain Analysis ◽  
Frequency Domain Analysis ◽  
Convergence Criterion ◽  
The Time Domain

The convergence of learning control is traditionally analyzed in the time domain. This is because a finite planning horizon is often assumed and the analysis in time domain can be extended to time-varying and nonlinear systems. For linear time-invariant (LTI) systems with infinite planning horizon, however, we show that simple frequency domain techniques can be used to quickly derive several interesting results not amenable to time-domain analysis, such as predicting the rate of convergence or the design of optimum learning control law. We explain a paradox arising from applying the finite time convergence criterion to the infinite time learning control problem, and propose the use of current error feedback for controlling possibly unstable systems.

Modelling and simulation of a compliant tilting pad air bearing

2015 ◽  
Vol 230 (1) ◽  
pp. 69-87 ◽  
Author(s):  
Frans Duijnhouwer ◽  
Henk Nijmeijer
Keyword(s):  
Dynamic Simulation ◽  
Time Domain ◽  
Linear Time ◽  
Simulation Models ◽  
Time Domain Analysis ◽  
Air Bearing ◽  
Rotor Systems ◽  
Tilting Pad ◽  
Non Linear ◽  
Dynamic Simulation Model

The compliant tilting pad air bearing concept, a tilting pad bearing with the pivot of the pads placed on radial springs, is a promising aerodynamic bearing solution. Nevertheless, its non-linear dynamics make a time domain dynamic simulation model an essential tool for the design of rotor systems with these bearings. Development of these dynamic simulation models is the subject of this paper that provides a detailed description of an extendible model of the compliant tilting pad air bearing concept suitable for non-linear time domain analysis. 2D and 3D time domain simulations implementing the model are discussed in detail and some of their capabilities to model the non-linear behaviour of the bearing concept are demonstrated with examples.

Time Domain Computation of Riser VIV From Vessel Motions

2006 ◽  
Author(s):  
Yongming Cheng ◽  
Kostas F. Lambrakos
Keyword(s):  
Velocity Profile ◽  
Fatigue Damage ◽  
Time Domain ◽  
Relative Velocity ◽  
Structural Characteristics ◽  
Time Domain Analysis ◽  
Computer Time ◽  
Steel Catenary Riser ◽  
Vessel Motion ◽  
Time Invariant

Intermittent riser VIV behavior caused by vessel motions can affect both riser strength and fatigue life. There are frequency domain codes available that are used routinely to calculate riser fatigue damage from VIV due to currents. These codes are often adapted to calculations of the vessel motion VIV and fatigue damage. The adaptations reduce the intermittent VIV to steady state VIV by assuming an appropriate time invariant velocity profile over the length of the riser. However, since vessel motions cause a relative velocity profile over the riser that varies with time, and the VIV response is intermittent, a time domain VIV code is best suited for such an analysis. The paper demonstrates the use of Technip’s time domain riser VIV code ABAVIV to calculate steel catenary riser VIV response and fatigue damage due to vessel motions. Since time domain analysis is computer time intensive, the paper also outlines an efficient methodology to perform these calculations. The analysis example in the paper is based on surge, pitch, and heave motions which are the most important vessel motions for the riser fatigue damage near the touch down region. The ABAVIV code accounts for the nonlinear structural characteristics of the SCR, and the unsteadiness of the VIV phenomenon for the present application.

scholarly journals Electromagnetic fields in linear and nonlinear chiral media: a time-domain analysis

2004 ◽  
Vol 2004 (6) ◽  
pp. 471-486 ◽  
Author(s):  
Ioannis G. Stratis ◽  
Athanasios N. Yannacopoulos
Keyword(s):  
Electromagnetic Fields ◽  
Time Domain ◽  
Linear Time ◽  
Time Domain Analysis ◽  
Local Approximation ◽  
Well Posedness ◽  
Chiral Media ◽  
The Time Domain ◽  
Nonlocal Media ◽  
Nonlocal Medium

We present several recent and novel results on the formulation and the analysis of the equations governing the evolution of electromagnetic fields in chiral media in the time domain. In particular, we present results concerning the well-posedness and the solvability of the problem for linear, time-dependent, and nonlocal media, andresults concerning the validity of the local approximation of the nonlocal medium (optical response approximation). The paper concludes with the study of a class of nonlinear chiral media exhibiting Kerr-like nonlinearities, for which the existence of bright and dark solitary waves is shown.

Frequency and Time Domain Analysis of Vortex Induced Vibrations for Free Span Pipelines

2002 ◽  
Author(s):  
Carl M. Larsen ◽  
Kamran Koushan ◽  
Elizabeth Passano
Keyword(s):  
Time Domain ◽  
Structural Model ◽  
Linear Time ◽  
Time Domain Analysis ◽  
Linear Response Theory ◽  
Domain Model ◽  
Vortex Induced Vibrations ◽  
Non Linear ◽  
New Strategy ◽  
Stress Prediction

The present paper will discuss various models for calculation of vortex induced vibrations (VIV) of free span pipelines, and present a new strategy for such analyses. Applications of traditional models are presented and their limitations discussed. The new approach is based on the combination of an empirical linear frequency domain model, and a non-linear time domain structural model. The first step is to carry out the VIV analysis according to linear response theory, and next introduce the calculated hydrodynamic forces to the non-linear structural model. The benefit from using the non-linear model is to describe stresses at the shoulders more accurately, which is important since fatigue damage in many cases will be largest in this area. The conclusion is that the interaction between pipe and seafloor is crucial for accurate stress prediction, and that a non-linear time domain model will give the most accurate result.

Transient Motions of Floating Bodies at Zero Forward Speed

1987 ◽  
Vol 31 (03) ◽  
pp. 164-176 ◽  
Author(s):  
Robert F. Beck ◽  
Stergios Liapis
Keyword(s):  
Integral Equations ◽  
Impulse Response ◽  
Response Function ◽  
Time Domain ◽  
Linear Time ◽  
Impulse Response Function ◽  
Time Domain Analysis ◽  
The Body ◽  
Floating Body ◽  
Forward Speed

Linear, time-domain analysis is used to solve the radiation problem for the forced motion of a floating body at zero forward speed. The velocity potential due to an impulsive velocity (a step change in displacement) is obtained by the solution of a pair of integral equations. The integral equations are solved numerically for bodies of arbitrary shape using discrete segments on the body surface. One of the equations must be solved by time stepping, but the kernel matrix is identical at each step and need only be inverted once. The Fourier transform of the impulse-response function gives the more conventional added-mass and damping in the frequency domain. The results for arbitrary motions may be found as a convolution of the impulse response function and the time derivatives of the motion. Comparisons are shown between the time-domain computations and published results for a sphere in heave, a sphere in sway, and a right circular cylinder in heave. Theoretical predictions and experimental results for the heave motion of a sphere released from an initial displacement are also given. In all cases the comparisons are excellent.

Non-Linear Time Domain Analysis of Vortex Induced Vibrations for Free Spanning Pipelines

2004 ◽  
Author(s):  
Carl M. Larsen ◽  
Elizabeth Passano ◽  
Gro Sagli Baarholm ◽  
Kamran Koushan
Keyword(s):  
Fatigue Damage ◽  
Time Domain ◽  
Linear Time ◽  
Linear Method ◽  
Empirical Models ◽  
Nonlinear Behaviour ◽  
Hydrodynamic Coefficients ◽  
New Approach ◽  
Vortex Induced Vibrations ◽  
Non Linear

Pipelines from offshore petroleum fields must frequently pass over areas with uneven seafloor. In such cases the pipeline may have free spans when crossing depressions. Hence, if dynamic loads can occur, the free span may oscillate and time varying stresses may give unacceptable fatigue damage. A major source for dynamic stresses in deep water free span pipelines is vortex induced vibrations (VIV) caused by current. Two alternative strategies for calculation of VIV are seen today. Practical engineering is still based on empirical models, while use of computational fluid dynamics (CFD) is considered immature mainly because of the needed computing resources. Most empirical models are based on frequency domain dynamic solutions and linear structural models, cf. Larsen (2000). The reason for this is simply that hydrodynamic coefficients as needed in a VIV analysis are available as functions of frequency, and therefore not directly applicable in a transient time domain simulation. A free span pipeline has, however, important nonlinearities that should be taken into consideration. Both tension variation and pipe-seafloor interaction at the span shoulders will contribute to nonlinear behaviour, which means that most empirical models will have significant limitations when dealing with the free span case. The need for non-linear time domain methods is therefore obvious. This paper describes a new approach for VIV analysis of free span pipelines where both linear frequency and non-linear time domain analyses are employed. The first step is to carry out a conventional VIV analysis that will determine response frequency and hydrodynamic coefficients by use of a linear response model. This result is then used in a time domain model that can handle non-linear boundary conditions at the span shoulders. This approach is valid as long as the response amplitudes at the main part of the span are the same for both analysis methods. The significance of the new method is that displacements, and hence also stresses, in the pipe at the shoulders will be far better described by the non-linear method than what is possible from linear theory. Since fatigue damage in most cases is larger at the shoulder than within the mid section of the span, the new approach represents an important step forward for free span pipeline analysis.

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