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Research Papers: Piper and Riser Technology

Modeling and Simulation of Deepwater Pipeline S-Lay With Coupled Dynamic Positioning

[+] Author and Article Information
Shangmao Ai

College of Shipbuilding Engineering,
Harbin Engineering University,
No. 145 Nantong Street,
Harbin 150001, China
e-mail: aishangmao@hrbeu.edu.cn

Liping Sun

College of Shipbuilding Engineering,
Harbin Engineering University,
No. 145 Nantong Street,
Harbin 150001, China
e-mail: sunliping@hrbeu.edu.cn

Longbin Tao

Department of Naval Architecture, Ocean and
Marine Engineering,
University of Strathclyde,
100 Montrose Street,
Glasgow G4 0 LZ, UK
e-mail: longbin.tao@strath.ac.uk

Solomon C. Yim

School of Civil and Construction Engineering,
Oregon State University,
Corvallis, OR 97331
e-mail: solomon.yim@oregonstate.edu

1Corresponding author.

Contributed by the Ocean, Offshore, and Arctic Engineering Division of ASME for publication in the JOURNAL OF OFFSHORE MECHANICS AND ARCTIC ENGINEERING. Manuscript received December 1, 2014; final manuscript received April 15, 2018; published online May 21, 2018. Editor: Lance Manuel.

J. Offshore Mech. Arct. Eng 140(5), 051704 (May 21, 2018) (10 pages) Paper No: OMAE-14-1150; doi: 10.1115/1.4040049 History: Received December 01, 2014; Revised April 15, 2018

Dynamic position (DP) control and pipeline dynamics are the two main parts of the deepwater S-lay simulation model. In this study, a fully coupled analysis tool for deepwater S-lay deployment by dynamically positioned vessels is developed. The method integrates the major aspects related to numerical simulation, including coupled pipeline motion and roller contact forces. The roller–pipe interaction is incorporated in the S-lay pipeline model using a contact search method based on a lumped-mass (LM) formulation in global coordinates. A proportional-integration-differentiation (PID) controller and a Kalman filter are applied in the vessel motion equation to calculate the thrust allocation of the DP system in time domain. Numerical simulation results showed that the dynamic effects add a significant contribution to the tension, but have little influence on the maximum pipe stress and strain. The dynamic response of the coupled S-lay and DP pipeline deployment system increases the demand on the tensioner load carrying capability as well as the maximum DP thruster power.

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Figures

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Fig. 1

Diagrammatic sketch of coupled S-lay roller, pipeline, and DP system

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Fig. 2

Solution procedure of pipelay vessel motion with coupled DP control system

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Fig. 3

S-lay pipeline idealized LM discretization model

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Fig. 4

Schematic diagram of contact search between the pipeline and rollers: (a) search for minimum distance between the central point of the roller line (SC) and the central point of the pipe element (PC), then (b) calculate the common perpendicular

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Fig. 5

Schematic diagram of validation model with specified system parameters and vertical oscillation time function

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Fig. 6

Comparison of predicted maximum bending moment along pipeline arc length between coupled S-lay pipeline-roller model and orcaflex results

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Fig. 7

Comparison of roller R1 and the pipeline line clearance time histories between roller-pipeline model and orcaflex

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Fig. 8

Comparison of pipe bending stress–strain trajectories at arc length 31m between roller-pipeline model and orcaflex

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Fig. 9

Vessel motion with PID controller applied: (a) surge, sway and yaw time histories and (b) trajectory on the water surface

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Fig. 10

Characteristics of HYSY 201 pipelay vessel: (a) lines plane, (b) thrusters configuration, and (c) geometric mesh

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Fig. 11

Schematic diagram of S-lay model static configuration

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Fig. 12

Representative top-end pipe tensile force time history from coupled roller-pipeline-DP analysis

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Fig. 13

Pipe maximum bending stress (a) and maximum strain (b) results along pipe arc length

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Fig. 14

Vessel response time histories: (a) heave, (b) pitch, (c) surge, and (d) total allocated thrust force

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