The influence of nonlinear hysteretic seabed interaction on slug-induced stress oscillations in steel catenary risers

Steel catenary risers (SCRs) are usually cost-effective solutions in the development of offshore fields and the transferring of the hydrocarbons from the seabed to the floating facilities. These elements are subjected to the fatigue loads particularly in the touchdown zone (TDZ), where the oscillating SCR is exposed to cyclic contact with the seabed. The slug-induced oscillation is a significant contributor to the fatigue loads in the TDZ. The cyclic seabed soil softening under the wave-induced riser oscillations and the gradual penetration of the SCR into the seabed are widely accepted to have a significant influence on SCR fatigue performance. However, this has never been investigated for slug-induced oscillations due to the lack of integrated access to comprehensive numerical models enabling the simulation of the riser slugging and nonlinear hysteretic riser-seabed interaction at the same time. In this paper, an advanced interface was developed and verified using the multi-point moving tie constraint in order to examine the influence of cyclic seabed soil softening on slug-induced oscillations of SCR. The interface was integrated with a pre-developed user subroutine for modeling of the nonlinear hysteretic riser-seabed interaction and incorporated into a global SCR model in ABAQUS. A comprehensive parametric study was conducted to investigate the influence of slug characteristics and nonlinear seabed soil model on slug-induced, wave-induced, and combined wave/slug induced oscillations of SCR in the TDZ. It was observed that the nonlinear seabed model could significantly affect the embedment of the SCR into the seabed under the slug-induced oscillations and consequently improve the fatigue life. The developed user interface was found to be a strong framework for modeling riser slugging.     

非线性管土耦合作用下钢悬链式立管触地区敏感性分析

浮体运动和海床土刚度是引起钢悬链式立管(steel catenary riser,简称SCR)管土相互作用的关键因素,将导致SCR触地区的疲劳损伤。以工作水深为1500 m的浮式平台上生产立管SCR为研究对象,基于法向抗力模型和侧向阻力模型建立管土作用模型,在环境载荷和浮体运动作用下,开展SCR与浮式平台的整体分析,研究海床土参数对SCR触地区动态响应和疲劳寿命的敏感性。通过改变海床土的不排水抗剪强度Su0、强度梯度ρ、吸力因子f_suc、吸力衰减参数λ_suc以及再贯入系数λ_rep等,得到不同参数对触地区动力响应、疲劳寿命的影响规律。研究结果表明:①基于软黏土海床,随着不排水抗剪强度Su0的增加,触地区立管疲劳寿命减幅达到33.23%,敏感性最高;②吸力因子f_suc越大,立管疲劳寿命越小且减幅达23.77%,其敏感性较高;③随着再贯入系数λ_rep增大,触地区立管疲劳寿命增幅达到15.48%;④海床抗剪强度梯度ρ和吸力衰减参数λ_suc对立管疲劳寿命影响较小。研究结论能为SCR设计分析及安全服役提供重要参考。     

考虑非线性管-土接触模型的钢悬链线立管触地区动态曲率分析

钢悬链线立管(SCR)具有特殊的结构型式,循环载荷作用下,由于海床模型的不确定性易导致触地区产生较高的弯曲应力,引发疲劳损伤。基于非线性P-y曲线管-土接触模型,运用大挠度曲线梁模型来模拟SCR与海床土的相互作用,研究SCR在浮体二维运动和海床作用下,触地区的动态曲率变化情况。由计算结果可知:1)由于在立管的有效张力中考虑局部曲率的影响,导致立管触地区的有效张力显著增加,并产生较高的弯矩; 2)动态分析中,分别运用线弹性海床和非线性海床模型,研究立管触地区的相对曲率随相对时间的变化曲线,表明非线性海床将使触地区的相对曲率具有明显的非线性,且有多个峰值,变化幅度较大,并出现反向曲率; 3)垂荡运动比纵荡对曲率的影响大,且运动幅值越大,影响越明显。     

钢悬链式立管管土耦合作用的吸力效应研究

钢悬链式立管（steel catenary riser,简称SCR）的流线段敷设在海床上,在浮体运动和环境荷载作用下管线作拔出海床的上升运动时,软质海床的黏性性质将阻碍管线的拔出而表现出吸力效应。吸力的大小与管线的拔出速度和管土循环作用次数、土的重塑时间等相关。基于现有试验数据拟合得到吸力数值模型,用于改进立管动力分析程序,研究立管拔出速度和管径等对触地区吸力分布、动态响应和疲劳寿命的影响。结果表明：海床土吸力对立管触地区应力特别是弯曲应力的影响较大,二者的变化趋势相似;管径的影响主要体现在贯入深度与管径的相对大小,同一贯入速度下,管径越小则相对贯入深度越大,拔出位移与吸力也会越大,反之则越小;立管的拔出速度是影响海床吸力最大值和拔出位移的主要因素,土吸力和拔出位移随拔出速度的增大而增大,导致触地区的疲劳损伤加剧。因此,探究管土耦合作用的吸力效应及其对SCR触地区疲劳损伤的影响,可为SCR与复杂海床相互作用及工程应用提供重要参考。     

Performance of non-linear seabed interaction models for steel catenary risers,part II: global response

Fatigue response of steel catenary risers (SCR) in the touchdown zone (TDZ) is significantly affected by riser-seabed interaction. Non-linear hysteretic riser-seabed interaction models have been recently developed to simulate the SCR cyclic embedment into the seabed. Despite the advancements achieved in the prediction of non-linear hysteretic riser-seabed interaction, several inconsistencies have been recently identified in the nodal performance of some of the popular models. These limitations need to be resolved by proposing new models or improving the existing models. However, it is necessary to evaluate the influence of the identified shortcomings of the existing models on the global performance of the riser. In this paper, the influence of nodal inconsistencies observed in a popular riser-seabed interaction model on the global performance of the riser was comprehensively examined in the TDZ. The riser embedment profile, cyclic contact stress, contact stress envelop, mean shear force, cyclic bending moment, and consequently the cumulative fatigue damage was investigated. The study showed that the soil model overestimates the riser embedment and other global responses. Recommendations were made to overcome the identified shortcomings of the existing models in future developments.     

Centrifuge modelling of SCR vertical motion at touchdown zone

Steel catenary risers (SCR) connect seabed pipelines and flow lines to floating structures used for oil and gas production in deep waters. Waves and currents induce motions of the structure and the risers. The repeated motions of the risers at the touchdown zone in turn induce loads on the seabed soil and might eventually cause fatigue damage to the risers. The analysis of riser fatigue damage is heavily dependent on the soil model. Soil behaviour at touchdown zone such as soil remoulding, stiffness degradation and deformation of the seabed at the touchdown zone further complicate the accurate assessment of riser fatigue damage, which is currently not appropriately quantified in existing design methods. This paper presents centrifuge model tests simulating the repeated vertical movement of a length of riser on clay seabed with increasing undrained shear strength with depth. During the tests, the pipe was subject to cyclic motion over fixed vertical displacement amplitude from an invert embedment of 0.5-3.5 pipe diameters into the soil. The test results show a significant progressive degradation of soil strength and diminution of excess pore water pressure with increasing number of riser penetration/uplift cycle. In view of the different types of environment loadings experienced by floating platforms and various soil conditions, tests were also conducted to investigate the effect of soil strength, riser displacement rate and loading mode on riser-soil interaction during repetitive penetration/uplift motion of the riser.     

Time domain prediction approach for cross-flow VIV induced fatigue damage of steel catenary riser near touchdown point

Previous steel catenary riser (SCR) models targeted for VIV prediction are truncated at touchdown point (TDP) where simple constrain and rotation stiffness are generally applied. In this study, a time domain approach accounting for the SCR–soil interaction is proposed to predict the cross-flow (CF) VIV induced fatigue damage of a SCR near TDP. The hydrodynamic force is simulated based on the forced vibration test data as a function of the non-dimensional amplitude and frequency, and an empirical damping model. When the non-dimensional frequency associated with the calculated frequency falls in the excitation region, the natural frequency closer to the frequency corresponding to the maximum excitation force is taken to be the dominant frequency, and applied to obtain the excitation force. The SCR–soil interaction model takes into account the trench shape, and the mobilization and release of the soil suction. Fatigue damage is linearly accumulated by using the rain-flow counting methodology. To validate the proposed models, simulation for a riser model test is carried out, and the envelopes of RMS displacement, curvature, and fatigue damage are compared. Further works focus on the sensitivity of VIV induced fatigue damage near TDP to the seabed parameters, such as mudline shear strength, shear strength gradient and soil suction, and some conclusions are obtained.     

Lateral cyclic interaction between catenary riser and soft seabed

The cyclic movement of a riser at the touchdown zone (TDZ), which involves complicated pipe–soil interaction, is critical to its long-term safety. Most previous studies have focused on the pipe–soil interaction of the riser in the vertical plane at the TDZ. Therefore, we conducted laboratory tests to investigate the pipe–soil interaction during lateral cyclic pipe movements and the influence of seabed evolution around the TDZ on the following vertical cyclic pipe movements. At the TDZ, the bell mouth shape of the clay bed and ladle-like shape of the pipe were observed during lateral cycling. The movement trajectory of the pipe as well as the gradual penetration process was recorded, which may be mainly attributed to the lateral ploughing and soil softening around the pipe. The test dynamic embedment factor (ratio of the dynamic embedment and static embedment) was 1.7–2.7. The enlargement of the TDZ during cycling was measured, which was mainly related to the movement of the trench surface point. The increase in the undrained strength of the soil at the TDZ after dynamic tests proves that a crust of soil was formed beneath the pipe owing to consolidation during cyclic pipe–soil interaction.     

钢悬链线立管与海床土体接触问题的ANSYS有限元分析

钢悬链线立管(SCR)与海床土体的接触问题对立管的疲劳寿命影响很大.运用ANSYS有限元软件中的接触单元模拟SCR与海床接触处的相互作用,考虑海床土体的非线性,建立SCR与海床系统有限元模型,并同已有的等价梁-弹簧模型进行了比较和验证.运用该模型进行计算分析,探讨了管道重量、土体模型和摩擦系数等对管道入土深度和弯矩的影响,为进一步研究SCR与海床的相互作用提供参考.     

Fatigue Characteristic Analysis of Deepwater Steel Catenary Risers at the Touchdown Point

This paper presents fatigue characteristic analysis of a deepwater steel catenary riser (SCR) under ambient excitations. The SCR involves complex nonlinear dynamic behaviors, especially at the touchdown point (TOP) where the riser first touches the seafloor. Owing to the significant interaction with soil, the touchdown zone is difficult to be modeled. Based on Lumped-Mass method and P-y curve, nonlinear springs are used to simulate the SCR-seabed coupled interaction. In case studies, an SCR's dynamic features have been obtained by transient analysis and the structure fatigue assessment has been carried out by S-N approach. The comparative analysis shows that the TOP is the key location where soil-riser interaction rises steeply and minimum fatigue life occurs. Parameters such as ocean environment loads, vessel motions, riser material and geometric parameters are discussed. The results indicate that the vessel motion is the principal factor for the structure fatigue lite distribution.     

Experimental Investigation on Vortex-Induced Vibration of Steel Catenary Riser

Steel catenary riser(SCR) is the transmission device between the seabed and the floating production facilities. As developments move into deeper water, the fatigue life of the riser can become critical to the whole production system, especially due to the vortex-induced vibration(VIV), which is the key factor to operational longevity. As a result, experimental investigation about VIV of the riser was performed in a large plane pool which is 60 m long, 36 m wide and 6.5 m deep. Experiments were developed to study the influence of current speed and seabed on VIV of SCR. The results show that amplitudes of strain and response frequencies increase with the current speed both in cross-flow(CF) and in-line(IL). When the current speed is high, multi-mode response is observed in the VIV motion. The amplitudes of strain in IL direction are not much smaller than those in CF direction. The seabed has influence on the response frequencies of riser and the positions of damage for riser.     

Experimental Investigation on Vortex-Induced Vibration of Steel Catenary Riser

Steel catenary riser (SCR) is the transmission device between the seabed and the floating production facilities. As developments move into deeper water, the fatigue life of the riser can become critical to the whole production system, especially due to the vortex-induced vibration (VIV), which is the key factor to operational longevity. As a result, experimental investigation about VIV of the riser was performed in a large plane pool which is 60 m long, 36 m wide and 6.5 m deep. Experiments were developed to study the influence of current speed and seabed on VIV of SCR. The results show that amplitudes of strain and response frequencies increase with the current speed both in cross-flow (CF) and in-line (IL). When the current speed is high, multi-mode response is observed in the VIV motion. The amplitudes of strain in IL direction are not much smaller than those in CF direction. The seabed has influence on the response frequencies of riser and the positions of damage for riser.     

浮体二阶运动下钢悬链式立管触地区动态响应分析

浮体运动是引起钢悬链式立管(steel catenary riser,简称SCR)动态响应和疲劳损伤的关键因素,目前研究SCR问题时,为简化计算往往仅考虑平台一阶运动,忽略二阶运动影响。而实际上不同浮体结构的二阶运动响应特征明显,拟以SCR服役张力腿平台(tension leg platform,简称TLP)为例,探讨浮体二阶运动对SCR触地区动态响应的影响。建立考虑海床刚度退化的管土作用模型以改进现有的CABLE3D RSI程序,通过编写程序接口,将有限元分析得到的平台实际运动响应导入,研究平台不同运动作用下SCR触地区的位移、动力响应及疲劳分布情况。根据波流作用方向将TLP二阶慢漂运动分为近端和远端漂移两种工况,发现二阶运动下立管与海床的作用范围会增大,且触地区不仅发生高频小幅振荡运动,同时伴随低频大幅运动响应;平台远端漂移时,管内张力敏感程度高,而近端漂移时触地区的弯矩显著增大,都会不同程度提高触地区的疲劳损伤率。研究可为服役不同浮体的SCR响应预测与疲劳分析提供参考和借鉴。     

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。     

Cross-Flow VIV-Induced Fatigue Damage of Deepwater Steel Catenary Riser at Touch-Down Point简

A prediction model of the deepwater steel catenary riser VIV is proposed based on the forced oscillation test data, taking into account the riser-seafloor interaction for the cross-flow VIV-induced fatigue damage at touch-down point （TDP）. The model will give more reasonable simulation of SCR response near TDP than the previous pinned truncation model. In the present model, the hysteretic riser-soil interaction model is simplified as the linear spring and damper to simulate the seafloor, and the damping is obtained according to the dissipative power during one periodic riser-soil interaction. In order to validate the model, the comparison with the field measurement and the results predicted by Shear 7 program of a full-scale steel catenary riser is carried out. The main induced modes, mode frequencies and response amplitude are in a good agreement. Furthermore, the parametric studies are carried out to broaden the understanding of the fatigue damage sensitivity to the upper end in-plane offset and seabed characteristics. In addition, the fatigue stress comparison at TDP between the truncation riser model and the present full riser model shows that the existence of touch-down zones is very important for the fatigue damage assessment of steel catenary riser at TDP.     

Fatigue analysis of offshore well conductors: Part I – Study overview and evaluation of Series 1 centrifuge tests in normally consolidated to lightly over-consolidated kaolin clay

An important aspect of deepwater well integrity assurance is conductor fatigue analysis under environmental loads acting on the riser system during drilling operation. Fatigue damage arises from stress changes in a structure due to cyclic loading. In practice, the lateral cyclic soil response is typically modelled using Winkler p–y springs. An appropriate soil model for conductor–soil interaction analysis is the one based on which the absolute magnitudes of stresses and their changes can accurately be predicted for well integrity evaluation. The API recommendations for p–y curves, which are often used for conductor–soil interaction analysis, have originally been developed for piled foundation and are inappropriate for well fatigue analysis. To that end, an extensive study involving four series of centrifuge model tests and FE numerical analyses was conducted to fundamentally study conductor–soil interaction under a wide spectrum of loading conditions. The tests simulated conductor installations in normally to over consolidated clays, and medium-dense clean sands. Soil models were developed specifically for conductor fatigue analysis for each of the soil types. The test results and soil models are presented in two papers. The first paper, Part I, presents an overview of the study and first series tests in normally to lightly over-consolidated kaolin clay and discusses the observations made with regards to monotonic and cyclic soil resistances and their relationship to conductor fatigue modelling. The second paper, Part II, presents centrifuge test results in normally to lightly over-consolidated Golf of Mexico (GoM) clay, over-consolidated natural clay and medium-dense clean sands along with the respective soil models developed for conductor fatigue damage prediction. Overall, the accuracy of fatigue life predictions using these novel soil models is very high – generally within about a few percentage of the measured values.     

复杂载荷作用下立管触地段损伤管道的动力响应

触地段(Touchdown zone, TDZ)是在役钢悬链线立管(Steel catenary riser, SCR)的关键部位,在复杂载荷作用下,极易形成损伤缺陷,其载荷寿命的评估是深海结构工程中的一个关键问题。本文以大型有限元软件ABAQUS为平台,运用损伤管道实体单元与土弹簧阻尼单元相互作用的模型模拟触地段损伤海底管道在复杂载荷作用下的动力响应,数值计算考虑了管-土相互作用过程中的材料非线性、几何非线性以及接触非线性。讨论了单一环向体积损伤位于触地段管道的不同位置时,触地段损伤管道在不同载荷作用下的动力特性及特征点的动力响应。结果表明,管道所受内外压力以及管道提升端的竖向位移载荷会影响结构的自振频率;体积损伤部位的动力响应较完好部位更剧烈;体积损伤的位置和动力载荷频率对管道动力放大系数的影响很大;当动力载荷的激励频率越接近结构基频时,损伤管道的动力响应及动力放大系数越大。     

钢悬链线立管与海床相互作用小尺寸三维试验研究

围绕钢悬链线立管(SCR)与海床的相互作用,在水箱内开展三维试验研究,研究在不同模拟运动激励下SCR触地点的应力状态。针对当前模拟试验中,全尺寸试验耗资巨大,且试验环境难以控制,缩尺试验大多模拟立管二维运动等现状,提出一套简单易行的三维管土作用试验装置,通过横向、纵向、垂向三个方向轨道位置的合理布置,使得立管可在单向、二维耦合和三个方向同时运动,对模型立管的顶端、底端的边界条件进行处理,通过驱动器在顶端施加位移,模拟在周期运动作用下,立管触地区与土的相互作用,在三维空间内研究立管的力学特性。由此指导立管的整体设计与分析,对保证SCR在深水油气开采中的安全可靠性,具有非常重要的意义。     

波频和慢漂组合作用下钢悬链线立管疲劳损伤研究

为了有效地考虑浮体慢漂运动对钢悬链线立管疲劳损伤的影响,提出了波频和慢漂运动组合作用下钢悬链线立管疲劳损伤简化计算的位置组合叠加法。其核心是:基于浮体慢漂运动概率分布选取若干典型慢漂位置,进行波频运动作用下钢悬链线立管动力响应分析;根据钢悬链线立管运动位置变化特征,截取若干慢漂位置对应的波频应力时程叠加到慢漂应力时程上,得到波频和慢漂运动的组合应力时程;编写基于雨流计数法的MATLAB程序处理立管各节点应力,采用海水环境下Do E.E型S-N曲线和Palmgren-Miner累积损伤准则计算立管各节点疲劳损伤。应用位置组合叠加法对某海域500 m水深的立管进行了疲劳分析,并与全耦合法、权重组合叠加法以及波频和慢漂疲劳损伤简单相加法的结果进行了对比,结果表明该方法具有较高的精度和效率。此外,进行了区域设定系数、波浪高度、波浪周期和土壤表面剪切强度等参数对组合作用下立管疲劳损伤的敏感性分析。     

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.