Critical Top Tension for Static Equilibrium Configuration of A Steel Catenary Riser

This paper aims to present the critical top tension for static equilibrium configurations of a steel catenary riser（SCR） by using the finite element method. The critical top tension is the minimum top tension that can maintain the equilibrium of the SCR. If the top tension is smaller than the critical value, the equilibrium of the SCR does not exist. If the top tension is larger than the critical value, there are two possible equilibrium configurations. These two configurations exhibit the nonlinear large displacement. The configuration with the smaller displacement is stable, while the one with larger displacement is unstable. The numerical results show that the increases in the riser＇s vertical distances, horizontal offsets, riser＇s weights, internal flow velocities, and current velocities increase the critical top tensions of the SCR. In addition, the parametric studies are also performed in order to investigate the limit states for the analysis and design of the SCR.     

A parametric design study for a semi/SCR system in Northern North Sea

In recent years, offshore reservoirs have been developed in deeper and deeper water environments. Steel catenary risers (SCRs) are being considered in deepwater development such as Northern North Sea. SCRs used in conjunction with a semi-submersible or floating production, storage and offloading (FPSO) in deepwater harsh environments present significant design challenges. The large vertical motions at the semi or FPSO induce severe riser response, which results in difficulty meeting strength and fatigue criteria at the hang off and touch down point locations. To improve the understanding of SCR behaviour and increase the confidence in the design of such systems in deepwater harsh environments, a parametric study on a SCR connected to a semi-submersible was carried out in this paper to deal with the factors that mainly influence the loading condition and fatigue life of the riser. Weight-optimized configurations were applied during the course of riser design. Riflex combined with DeepC was the primary analysis tool used for the long-term response of the nonlinear SCR structure simulations, which requires a large amount of computer time. Hence, the parameters affecting the efficiency and accuracy of the simulations have also been studied during the analysis process.     

驳船横荡运动下海洋立管的动力响应

海洋浮式生产系统下立管的受力情况复杂,国内的研究大多集中于两端固支或简支的情况。本文则以水面驳船的横荡运动作为立管上端的动力边界条件,将Matteo Luca Facchinetti的尾流振子模型与考虑外流涡激振动作用下海洋立管运动微分方程相结合,得到管道与流体的耦合振动方程,用Hermit插值函数将方程进行有限元离散,并用Newmark时程分析法及迭代法求解,得到管道各点的位移时程曲线。结果表明:立管的振动频率主要由上端驳船的运动频率所确定,随着驳船运动频率的增加,立管中点的位移幅值先增加后减小;在有动边界存在的条件下,改变外流流速对立管中点的位移幅值影响不大。     

A flexible-segment-model-based dynamics calculation method for free hanging marine risers in re-entry

In re-entry,the drilling riser hanging to the holding vessel takes on a free hanging state,waiting to be moved from the initial random position to the wellhead.For the re-entry,dynamics calculation is often done to predict the riser motion or evaluate the structural safety.A dynamics calculation method based on Flexible Segment Model(FSM) is proposed for free hanging marine risers.In FSM,a riser is discretized into a series of flexible segments.For each flexible segment,its deflection feature and external forces are analyzed independently.For the whole riser,the nonlinear governing equations are listed according to the moment equilibrium at nodes.For the solution of the nonlinear equations,a linearization iteration scheme is provided in the paper.Owing to its flexibility,each segment can match a long part of the riser body,which enables that good results can be obtained even with a small number of segments.Moreover,the linearization iteration scheme can avoid widely used Newton-Rapson iteration scheme in which the calculation stability is influenced by the initial points.The FSM-based dynamics calculation is timesaving and stable,so suitable for the shape prediction or real-time control of free hanging marine risers.     

Nonlinear Behaviour of Coflexip Risers

A modified Newton-Raphson iterative technique is formulated for obtaining the static configuration of the Lazy "S" flexible marine riser between the floater and mid-arch buoy under its submerged self weight and the applied top tension. The geometrically non-linear problem is solved by finite difference with the above technique. The problem is formulated as a regular boundary value problem with specified moments and deflections at both ends. Usually the bending stiffness of the flexible riser made of Coflexip pipe is very low. By use of the above analysis, several flexible riser configurations are analyzed and their characteristic behaviors are investigated. Also, changes in the riser characteristics due to quasi-static motion of the floater end are estimated for the safety of the riser layout.     

基于神经网络优化算法的海洋动态缓波型立管设计

柔性立管连接海上平台和水下生产系统,缓波型构型可以减轻其受到的顶部张力和疲劳损伤,触地点处系链对于固定水下立管起着重要作用,然而加装系链的缓波型立管系统设计更为复杂。通过缓波型基本理论计算出合理的立管初始状态,之后使用立管分析软件OrcaFlex,在充分考虑环境因素、船体结构、立管材料和线型以及重力块、浮力块、系链等配置参数的情况下,建立缓波型立管系统有限元模型,通过静动态分析验证其满足设定的关于立管构型、张力、弯曲半径,系链张力和FPSO偏移量5个约束条件。结合神经网络优化算法和遗传算法制定出针对文中立管系统的优化算法并通过MATLAB编程将浮力块数量优化至最少,之后基于L-M算法构建神经网络模型,通过迭代训练提升精度,得到最终参数优化结果。通过对比优化前后静动态分析结果可知：优化后浮力块数量大幅减少,立管最大有效张力大幅减小,而悬挂段最低点深度有一定程度的增大,整体构型更趋向于合理的缓波型构型。     

Numerical Simulation of the Vortex-Induced Vibration of A Curved Flexible Riser in Shear Flow

A series of fully three-dimensional(3 D) numerical simulations of flow past a free-to-oscillate curved flexible riser in shear flow were conducted at Reynolds number of 185–1015. The numerical results obtained by the two-way fluid–structure interaction(FSI) simulations are in good agreement with the experimental results reported in the earlier study. It is further found that the frequency transition is out of phase not only in the inline(IL) and crossflow(CF) directions but also along the span direction. The mode competition leads to the non-zero nodes of the rootmean-square(RMS) amplitude and the relatively chaotic trajectories. The fluid–structure interaction is to some extent reflected by the transverse velocity of the ambient fluid, which reaches the maximum value when the riser reaches the equilibrium position. Moreover, the local maximum transverse velocities occur at the peak CF amplitudes, and the values are relatively large when the vibration is in the resonance regions. The 3 D vortex columns are shed nearly parallel to the axis of the curved flexible riser. As the local Reynolds number increases from 0 at the bottom of the riser to the maximum value at the top, the wake undergoes a transition from a two-dimensional structure to a 3 D one. More irregular small-scale vortices appeared at the wake region of the riser, undergoing large amplitude responses.     

Semi-analytical quasi-static formulation for three-dimensional partially grounded mooring system problems

A semi-analytical quasi-static formulation based on the catenary approach capable of solving three-dimensional partially grounded and fully suspended multi-leg mooring-system problems is presented in this paper. The advantage of the present formulation is that only a compact governing vector equation, derived in terms of grounded cable length and anchor tension vector, need to be solved for each mooring cable to determine its grounded and suspended body response, and only a small number of discrete segments are needed to predict its behaviour accurately due to its inherent slope continuity. In addition, it is capable of handling arbitrarily inclined seabed interaction effects, varying cross-sectional and material properties as well as external attachment objects. The generality of the present formulation allows quick parametric analysis of different forms of multi-leg mooring system configurations as well as different types of flexible riser systems to be carried out.     

新型深水钻井隔水管悬挂系统设计

南海海域台风频发,对于深水浮式钻井平台,常规避台模式要求回收所有隔水管,但是在深水、超深水海域,这种应对台风的方案有其局限性。据测算,水深超过1 500 m时,台风准备时间(回收所有隔水管、处理井口的作业时间)超过4天,而目前天气预报的水平只能提前4～5天,因此常规避台难度极大,经常会遭遇到还没有起完隔水管,台风已经逼近平台位置的情况,悬挂隔水管成为一种不得不面对的防台避台方案。硬悬挂和软悬挂是目前悬挂隔水管两种常见的模式,由于软悬挂能够补偿和缓解钻井船升沉施加在悬挂隔水管上的动态载荷,因此业内普遍认为软悬挂模式在提高悬挂隔水管对海洋环境的适应能力方面具有一定的优势,但是常规的软悬挂模式作业程序复杂,而且实施过程中存在伸缩节、张力器液缸等相关设备冲程超标的风险。通过对隔水管悬挂状态下横向和轴向的动力响应进行分析,确定了限制隔水管悬挂安全的主要因素,针对隔水管应力超标和转角过大、干涉等风险,设计了一种具有加装扶正器的锥形悬挂短节;针对悬挂隔水管的轴向压缩风险,研制了一种具有补偿功能的隔水管悬挂装置,降低了悬挂隔水管动态载荷产生轴向压缩和动态应力超标的风险。定量评估表明使用新型隔水管悬挂系统,可以将常规的悬挂窗口由不足10年一遇波流环境条件提高到满足100年一遇的波流环境条件,大大提高了悬挂隔水管的安全性。     

均匀来流下尾翼型抑振装置效果试验研究

基于控制尾流,阻止立管尾流漩涡脱落转换路径的涡激振动抑制机理,设计三角形尾翼、片状尾翼及交错尾翼等三种抑振装置。三种抑振装置分别安装于立管模型表面,立管模型采用外径为18 mm的透明有机玻璃管。通过在均匀流场中进行安装有该抑振装置的立管模型涡激振动试验,研究三种抑振装置对立管涡激振动的抑制效率,并通过与配重裸管的涡激振动数据对比,分析抑振装置对立管动力响应的影响规律。研究结果表明,三种抑振装置均取得了明显的抑振效果,与配重裸管相比,安装片状尾翼及交错尾翼的立管模型抑制效率可达90%以上,安装三角形尾翼后立管模型振动频率略有减小,而安装片状尾翼及交错尾翼的立管模型没有明显的主导频率。     

Coupled dynamic analysis of deep-sea mining support vessel with dynamic positioning

Deep-sea mining (DSM) is an advanced concept. A simulation method of coupled vessel/riser/body system in DSM combined with dynamic positioning (DP) is proposed. Based on the three-dimensional potential flow theory, lumped mass method, and Morison’s equations the dynamic models of the production support vessel, riser and slurry pump are established. A proportion integration differentiation (PID) controller with a nonlinear observer and a thrust allocation unit are used to simulate the DP system. Coupled time domain simulation is implemented with the vessel operated in two DP modes. Results of the vessel and pump motions, riser tension, and thruster forces are obtained. It shows that the pump will be lifted by the riser when the vessel is chasing the next set point. Riser tension is influenced by the wave frequency motions of the vessel in positioning mode and low-frequency motions in tracking mode. The proposed simulation scheme is practical to study the DSM operation.     

钢悬链线立管清管过程触底段位移变化规律试验研究

钢悬链线立管（steel catenary riser, 简称SCR）是一种优质的深水开发设备,近几年广泛用于深海环境下油气资源的开采。在浮式平台的周期性升沉运动和海浪海流的载荷作用下,立管的触底区会产生较为严重的疲劳破坏问题。为保证深海立管的高效与安全运行,清管作业是一项必要的维护手段。目前对于清管载荷作用下钢悬链线立管的位移变化规律研究比较匮乏。基于ABAQUS有限元软件和缩比试验准则,设计并开展有关清管载荷作用下钢悬链线立管的位移变化规律的缩比模型试验研究,从清管载荷的大小和作用位置等角度分别研究立管的X向与Y向的位移变化特征。研究结果表明,清管器在立管的触底段中运行并逐渐靠近触底点的过程中,清管器所在立管处的X向与Y向的位移会产生逐渐减小的趋势;当改变清管载荷的大小时,对于立管的同一位置来说,清管载荷的变化会导致立管的X向位移产生较Y向位移更加显著的变化;在清管器通过立管某一位置的前后过程中,X向位移变化呈现先增大后减小的趋势,而Y向位移仅在清管器通过该处时会有明显的减小。     

海洋立管抑振装置优化布置的实验研究

设计1种梯形截面的三螺旋导板抑振装置,在实验室大型水槽进行海洋立管涡激振动实验.通过改变这种抑振装置的覆盖方式和覆盖范围,研究梯形截面螺旋导板的不同覆盖方式和覆盖范围对抑制海洋立管涡激振动的作用.实验时用动态电阻应变仪采集立管模型横向和顺流向的动态响应数据,并利用雨流计数法对模型进行疲劳分析.实验结果表明:在外流流速相同的条件下,三螺旋导板各种覆盖方案对涡激振动都有抑制作用;随着螺旋导板覆盖率的增加,立管的振动减弱,疲劳寿命增加;覆盖螺旋导板的立管顺流向振动频率明显降低,横向振动频率当覆盖率较高时有所降低,覆盖率较低时基本没有变化.     

Experimental Study on Response Performance of VIV of A Flexible Riser with Helical Strakes

Laboratory tests were conducted on a flexible riser with and without helical strakes. The aim of the present work is to further understand the response performance of the vortex induced vibration (VIV) for a riser with helical strakes. The experiment was accomplished in the towing tank and the relative current was simulated by towing a flexible riser in one direction. Based on the modal analysis method, the displacement responses can be obtained by the measured strain. The strakes with different heights are analyzed here, and the response parameters like strain response and displacement response are studied. The experimental results show that the in-line (IL) response is as important as the cross-flow (CF) response, however, many industrial analysis methods usually ignore the IL response due to VIV. The results also indicate that the response characteristics of a bare riser can be quite distinct from that of a riser with helical strakes, and the response performance depends on the geometry on the helical strakes closely. The fatigue damage is further discussed and the results show that the fatigue damage in the CF direction is of the same order as that in the IL direction for the bare riser. However, for the riser with helical strakes, the fatigue damage in the CF direction is much smaller than that in the IL direction.     

海洋柔性立管弯曲加强器参数敏感性分析

针对海洋立管弯曲加强器所受环境载荷与功能载荷的特点,基于有限元法对某海洋柔性立管弯曲加强器结构进行数值分析。通过有限元分析软件建立了弯曲加强器与柔性立管组合等效模型,重点讨论了弯曲加强器的设计参数对其自身防弯性能的影响,根据弯曲加强器的曲率及柔性立管的应力分布,对弯曲加强器结构进行优化设计,得到结论可供设计参考。     

Experimental Study on Response Performance of VIV of A Flexible Riser with Helical Strakes

Laboratory tests were conducted on a flexible riser with and without helical strakes. The aim of the present work is to further understand the response performance of the vortex induced vibration(VIV) for a riser with helical strakes. The experiment was accomplished in the towing tank and the relative current was simulated by towing a flexible riser in one direction. Based on the modal analysis method, the displacement responses can be obtained by the measured strain. The strakes with different heights are analyzed here, and the response parameters like strain response and displacement response are studied. The experimental results show that the in-line(IL) response is as important as the cross-flow(CF) response, however, many industrial analysis methods usually ignore the IL response due to VIV. The results also indicate that the response characteristics of a bare riser can be quite distinct from that of a riser with helical strakes, and the response performance depends on the geometry on the helical strakes closely. The fatigue damage is further discussed and the results show that the fatigue damage in the CF direction is of the same order as that in the IL direction for the bare riser. However, for the riser with helical strakes, the fatigue damage in the CF direction is much smaller than that in the IL direction.     

A variational formulation for three-dimensional analysis of extensible marine riser transporting fluid

This paper presents a model formulation for static and dynamic analysis of three-dimensional extensible marine riser transporting fluid. A variational model formulation is developed based on the principle of virtual work-energy and the extensible elastica theory. The virtual work-energy functional is composed of the virtual strain energy due to axial stretching, bending, and torsion and the virtual work done by the external and internal fluid. The governing dynamic equilibrium equations are derived in the Cartesian coordinate. The finite element method is used to obtain the numerical solutions. The numerical examples are provided to demonstrate interesting effects of fluid transportation and axial deformation on large displacements and dynamic properties of the three-dimensional extensible marine riser.     

陡波形立管涡激振动疲劳损伤参数敏感性分析

基于柔性杆理论和尾流振子模型计算陡波形立管的涡激振动响应;综合使用S-N曲线法、雨流计数法、Palmgren-Miner线性累积疲劳理论对立管涡激振动导致的疲劳损伤进行计算分析。并以MATLAB为平台编写相应计算程序,将本文计算得到的静力分析结果、固有频率和疲劳损伤分别与专业海工计算软件OrcaFlex和已发表文献进行对比验证。进一步对陡波形立管在涡激振动下的疲劳损伤进行参数敏感性分析,结果表明:浮子段长度、浮力因子、弹性模量、海流速度、波浪高度对陡波形立管疲劳损伤均有较大影响,有望为陡波形立管的实际工程设计提供参考。     

Nonplanar multi-modal vibrations of fluid-conveying risers under shear cross flows

Risers/pipes conveying fluid are a typical kind of slender structures commonly used in marine engineering. It is of great academic significance and application value for us to evaluate and understand the vibration characteristics and nonlinear responses of these risers under the combined action of internal and external fluid flows. In this paper, the nonplanar vibrations and multi-modal responses of pinned-pinned risers in shear cross flow are numerically studied. With this objective in mind, the van der Pol wake oscillators are used to simulate the dynamical behavior of the vortex shedding in the wake. Two nonlinear equations of motion of the riser are proposed to govern the lateral responses of the riser structure. The nonplanar nonlinear equations for the riser and wake are then discretized by employing Galerkin's method and solved by using a fourth-order Runge–Kutta integration algorithm. Theoretical results show that the coupled frequencies for cross-flow (CF) and in-line (IL) motions and the corresponding coupled damping ratio could be influenced by the external and/or internal fluid velocities. Based on extensive calculations, the dynamical behavior of the riser with various internal and external flow velocities are presented in the form of bifurcation diagrams, time traces, phase portraits, oscillation trajectories and response spectrum curves. It is shown that some interesting dynamical phenomena, such as ‘lock-in’ state, ‘figure-of-eight’ trajectory and quasi-periodic oscillation, could occur in such a fluid-structure interaction system. Our results also demonstrate that the shear parameter can significantly affect the dynamic responses of the riser. When the shear parameter of the cross flow is large, multi-modal quasi-periodic responses of the riser can be excited, showing some new features undetected in the system of fluid-conveying risers in uniform cross flow.