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.

Copyright © 2018 by ASME
Your Session has timed out. Please sign back in to continue.


Kyriakides, S. , and Corona, E. , 2007, Mechanics of Offshore Pipelines (Buckling and Collapse), Vol. 1, Elsevier, Oxford, UK.
Maier, G. , Corradi, L. , Mazzoli, A. , and Michelini, R. , 1982, “Optimization of Stinger Geometry for Deepsea Pipelaying,” ASME J. Energy Resour. Technol., 104(4), pp. 294–301. [CrossRef]
Zhu, D. S. , and Cheung, Y. K. , 1997, “Optimization of Buoyancy of an Articulated Stinger on Submerged Pipelines Laid With a Barge,” Ocean Eng., 4(4), pp. 301–311. [CrossRef]
Guarracino, F. , and Mallardo, V. , 1999, “A Refined Analytical Analysis of Submerged Pipelines in Seabed Laying,” Appl. Ocean Res., 21(6), pp. 281–293. [CrossRef]
Yuan, F. , Guo, Z. , Li, L. , and Wang, L. , 2012, “Numerical Model for Pipeline Laying During S-Lay,” ASME J. Offshore Mech. Arct. Eng., 134(2), p. 021703. [CrossRef]
Vlahopoulos, N. , and Bernitsas, M. H. , 1990, “Three-Dimensional Nonlinear Dynamics of Pipelaying,” Appl. Ocean Res., 12(3), pp. 112–125. [CrossRef]
Suzuki, N. , and Jingu, N. , 1982, “Dynamic Behavior of Submarine Pipeline Under Laying Operation,” ASME J. Energy Resour. Technol., 104(4), pp. 313–318. [CrossRef]
Clauss, G. F. , Weede, H. , and Riekert, T. , 1992, “Offshore Pipe Laying Operations—Interaction of Vessel Motions and Pipeline Dynamic Stresses,” Appl. Ocean Res., 14(3), pp. 175–190. [CrossRef]
Tikhonov, V. S. , Safronov, A. I. , Kamyshev, M. A. , and Figarov, N. G. , 1996, “Numerical Analysis of Pipeline Dynamics in Seabed Laying,” Int. J. Offshore Polar, 6(3), pp. 212–218. https://www.onepetro.org/journal-paper/ISOPE-96-06-3-212
Zhang, X. , Yue, Q. , Zhang, W. , and Xie, P. , 2014, “Study on the Design of a Model Experiment for Deep-Sea S-Laying,” Ocean Eng., 84, pp. 194–200. [CrossRef]
Garrett, D. L. , 2005, “Coupled Analysis of Floating Production Systems,” Ocean Eng., 32(7), pp. 802–816. [CrossRef]
Jacob, B. P. , Bahiense, R. D. A. , Correa, F. N. , and Jacovazzo, B. M. , 2012, “Parallel Implementations of Coupled Formulations for the Analysis of Floating Production Systems—Part I: Coupling Formulations,” Ocean Eng., 55, pp. 206–218. [CrossRef]
Jensen, G. A. , Säfström, N. , Nguyen, T. D. , and Fossen, T. I. , 2010, “A Nonlinear PDE Formulation for Offshore Vessel Pipeline Installation,” Ocean Eng., 37(4), pp. 365–377. [CrossRef]
Silva, D. M. L. D. , Lima , M. H. A., Jr. , and Jacob, B. P. , 2008, “Pipeline-Laybarge Interaction Model for the Simulation of s-Lay Installation,” ASME Paper No. OMAE2008-57487.
Gong, S. , Xu, P. , and Guo, Z. , 2014, “Numerical Modelling on Dynamic Behaviour of Deepwater S-Lay Pipeline,” Ocean Eng., 88, pp. 393–408. [CrossRef]
Hall, M. , and Goupee, A. , 2015, “Validation of a Lumped-Mass Mooring Line Model With DeepCwind Semisubmersible Model Test Data,” Ocean Eng., 104, pp. 590–603. [CrossRef]
Masciola, M. , Jonkman, J. , and Robertson, A. , 2014, “Extending the Capabilities of the Mooring Analysis Program: A Survey of Dynamic Mooring Line Theories for Integration Into FAST,” National Renewable Energy Laboratory, Golden, CO, Paper No. NREL/CP-5000-61159. https://www.nrel.gov/docs/fy14osti/61159.pdf
Jonkman, J. , 2013, “The New Modularization Framework for the FAST Wind Turbine CAE Tool,” AIAA Paper No. 2013-0202.
Low, Y. M. , and Langley, R. S. , 2006, “Time and Frequency Domain Coupled Analysis of Deepwater Floating Production Systems,” Appl. Ocean Res., 28(6), pp. 371–385. [CrossRef]
Fossen, T. I. , 2011, Handbook of Marine Craft Hydrodynamics and Motion Control, Wiley, Chichester, UK. [CrossRef]
Ogilvie, T. F. , 1964, “Recent Progress Towards the Understanding and Prediction of Ship Motions,” Fifth Symposium on Naval Hydrodynamics, Bergen, Norway, Sept. 10–12, pp. 3–80.
Bray, D. , 2003, Dynamic Positioning, Oilfield Publications Limited, London.
Ramberg, W. , and Osgood, W. R. , 1943, “Description of Stress–Strain Curves by Three Parameters,” National Advisory Committee for Aeronautics, Washington DC, Technical Note No. 902 https://ntrs.nasa.gov/search.jsp?R=19930081614.
Clough, R. W. , and Penzien, J. , 1993, Dynamics of Structures, 2nd ed., McGraw-Hill, New York.
Orcina, 2005, “Orcaflex Manual,” Orcina Ltd., Ulverston, UK.
Mattiazzo, G. , Mauro, S. , and Guinzio, P. S. , 2009, “A Tensioner Simulator for Use in a Pipelaying Design Tool,” Mechatronics, 19(8), pp. 1280–1285. [CrossRef]


Grahic Jump Location
Fig. 1

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

Grahic Jump Location
Fig. 2

Solution procedure of pipelay vessel motion with coupled DP control system

Grahic Jump Location
Fig. 3

S-lay pipeline idealized LM discretization model

Grahic Jump Location
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

Grahic Jump Location
Fig. 6

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

Grahic Jump Location
Fig. 7

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

Grahic Jump Location
Fig. 8

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

Grahic Jump Location
Fig. 5

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

Grahic Jump Location
Fig. 10

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

Grahic Jump Location
Fig. 11

Schematic diagram of S-lay model static configuration

Grahic Jump Location
Fig. 9

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

Grahic Jump Location
Fig. 12

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

Grahic Jump Location
Fig. 13

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

Grahic Jump Location
Fig. 14

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



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In