Offshore StructuralMechanics 30nov2010 PDF

Seminar – Nov 2010
Engineering Simulation
Software for the Offshore,
Marine and Wave/Tidal
Renewable Energy Industries
Structural Mechanics
Steve Varnam
Richard Mitchell
ANSYS UK
© 2010 ANSYS, Inc. All rights reserved. 11 ANSYS, Inc. Proprietary
Agenda
• ANSYS Heritage in Offshore Structural Analysis

– ANSYS ASAS
• Analysis of Offshore Structures in our
mainstream software
– ANSYS Mechanical
• Addressing the next generation of structural
analysis requirement
– ANSYS Workbench
• Fatigue
• Composites
• Optimisation
ANSYS Offshore Solutions
- proven for Oil & Gas applications
• Since 1971, AQWA & ASAS have been developed for analyzing a large
variety of oil & gas offshore structures
– WS Atkins Century Dynamics ANSYS
• ANSYS® AQWATM
– Fully Integrated Multi-body Hydrodynamic and Motion Analysis
– Mooring, stability, vessel motions in regular and irregular waves
• within time and frequency domain
• with coupled cable dynamics
• with forward speed
• ANSYS® ASASTM shielding cargo lowered onto vessel
– Offshore Structural FE Analysis

– Coupled wave/current/wind-structure interaction with
nonlinear structural response
– Fatigue assessment with irregular waves and using
deterministic and spectral methods
AQWA & ASAS Overview
- Main Application Areas
Images courtesy of Arup, Moss Maritime AS, Technip Offshore Finland and REpower Systems AG
• Offshore Structures
– Fixed
• Steel Jackets
• Concrete
– Compliant
• Jack-ups
– Floating
• FPSOs
• SPARS
• Semi-Submersibles
• Tension Leg Platforms
– Risers
– Offshore Wind Turbines
• Harbours
• Ships
– Design
– Offloading
ASAS
- Typical Applications
Offshore Wind Turbines
• Some example applications
Courtesy of Fraunhofer CWMT
Jacket Structures
Tidal Turbine Structure Transportation of Spar Truss on Heavy Lift Vessel

Courtesy of Technip Offshore Finland
Courtesy of REpower Systems AG

ANSYS ASAS
- Relevance for Offshore Renewables
• For more than 30 years, (ANSYS) ASAS has been successfully used
for analyzing a large variety of offshore structures subjected to
wave, current and wind loading
– More than half of all North Sea jacket structures have been designed with the
aid of ASAS
• CAE requirements for Offshore Renewables are very similar:

– Variety of foundations ranging from concrete gravity-based to steel jackets
– Combined wave, current and wind loading – incl. spectral fatigue
– Variety of local joint flexibility for tubular joints
– Seismic loading
– Soil-pile-structure and soil-pile interaction
– Range from shallow to deep water conditions
– Member and Joint Code Checking (e.g., API RP2a-WSD 21st Ed.)

ANSYS ASAS
- in a nutshell
• Offshore/Marine Structural Finite Element Analysis

• Coupled wave/current/wind-structure interaction with nonlinear
structural response
• Linear and non-linear analysis
– Comprehensive modeling capabilities for frame structures
– Extensive library of Finite Elements
– Multi-level superelement capability
– Frequency domain or time history dynamic analysis
• Fatigue assessment with irregular waves and using deterministic
and spectral methods
• Seismic loading using response spectrum technique
• Comprehensive Code Checking for Framed structures - AISC and
API (working stress and LRFD), NORSOK, BS5950 and DS449.

ANSYS ASAS
- Coupled Wave-Structures
• Coupled hydro-elastic analysis for tubular framed structures

– Fully coupled hydrodynamic loading with non-linear analysis capability
– Automatic computation of hydrodynamic damping
– Regular and irregular waves
– Ability to take RAO results as time history loading
– Tube-in-tube contact
• Wave loading for application of Morison

forces (coupled for non-linear analyses)
• Calculation of added mass due to
marine growth
• Hydrodynamic mass calculations
• Buoyancy calculations, including
free flooding

ANSYS ASAS
- Wind, Wave & Current Loading
• Coupled wave/current/wind-structure interaction with nonlinear

structural response
– Capability to handle compliant structures with regular & irregular waves
– Wave theories include:
• Conventional waves such as linear wave (Airy), solitary wave (Cnoidal 1st), Stokes
5th order, Stream function but also Shell New Wave (dispersive wave)
• Irregular waves such as JONSWAP, Pierson-Moskovitz, user-defined
• API Wave recipe
– Current theories include:
• API WSD 20th Ed. and LRFD 1st Ed. codes of practice!

ANSYS ASAS
- Soil-Pile-Structure Interactions
• Capabilities
– Single pile or pile group analysis
– Soil-pile-structure interaction with single piles or pile groups
– No limit to number of piles or soil layers
– Piles may have non-constant cross sections
– Automatic sub-division of piles taking into account changes
in cross section, soil layers, etc.
– Automatic calculation of Mindlin coefficients for group pile
analysis
– Automatic generation of lateral forces (P-Y) and skin friction
(T-Z) curves
– Efficient nonlinear solution for soil-pile-structure interactions
via superelement (sub-structuring) approach
– Non-tubular cross sections

ANSYS ASAS
- Code Checks
• Joint Code & Member Code checks including:

– AISC 10th edition working stress and 2nd edition LRFD
– API RP2a-WSD 21st edition working stress
– RP2A-LRFD 1st edition
– BS5950 part 1 1992
– NORSOK 2000
– NORSOK NS3472 1984
– NPD 1992
– DS449 1984 (with 1994 amendments)
– DS412 1984 (with 1994 amendments)
– ISO 19902 implementation started
• Easy-to-use code check facilities including:

– Code checks on time histories
– Code checks on combined load cases
– Visualization of code checks
– Ability to use them in combination with ANSYS calculations
ANSYS ASAS
- Fatigue Assessments
• FATJACK module offers both deterministic and spectral fatigue

capabilities
– for tubular frame structures subjected to waves and current or wind including
wind gusts
– can be used in frequency and time domain
– sea states: JONSWAP, Pierson-Moskovitz, Occhi-Hubble, Scot-Weigel and
Shell New Wave, or user-defined wave spectra
• FATJACK includes explicit SCF definitions

– SCFJ – if crown & saddle SCF is known e.g. from empirical formulae
– SCFA – if SCF is known at specific locations e.g. from FE
– SCFB – if SCF is constant across a section
– SCFP – if SCF values vary with location
• Automatic (empirically derived) SCF definitions based on

– Efthymiou, Wordsworth, Kuang or DS449
ANSYS ASAS
• Rainflow counting fatigue

– Reduces spectrum of varying stress into simple stress reversals
– Allows the application of Miner’s rule to assess fatigue life of structure
subject to complex loading
– Based on ASTM E1049-85 (2005) Standard Practices for Cycle
Counting in Fatigue Analysis
– It is possible to use results from up to 1000

different transient dynamic analyses and loading
(i.e., multi-directional wave spectra)
– Uses Rainflow counting method to produce stress
range histogram

ANSYS ASAS
• Rainflow counting fatigue

– Within the fatigue (FATJACK) module these results can be
combined using a probabilistic based Rainflow Counting
approach
– Output includes:
• fatigue life (based on Miner´s rule)
• usage factors
• damage per wave (history)
• stress histograms
– Results are stored for further processing (e.g. ASAS
Visualizer)

ANSYS ASAS
- Wind/Wave/Current & Rotor Blade Loading
Interface to FLEX5
• FLEX5 is one of a number of highly specialized
wind loading programs
– thoroughly validated for wind turbines
– however, limited to simple substructures
• This limitation can be overcome by combining
FLEX 5 with ANSYS ASAS
– Simplified substructure (in FLEX 5) can be replaced by a
realistic structural model (in ANSYS ASAS) that can
accurately model the structural behavior and wave loading
• This capability was initiated, sponsored and verified by REpower

Systems AG
ANSYS ASAS
Interface to FLEX5
• Allows complex substructure
modelling for offshore wind turbines
• Fatigue and extreme condition design
• Analysis process:
– ASAS(NL) generates FLEX 5
substructure input model data.
– FLEX 5 performs WT analysis
– ASAS(NL) reads the FLEX 5 results and
adds wave load to extract member
forces.
– ASAS performs fatigue analysis via
rain-flow counting.
• It has been successfully applied for
the certification of the Beatrice wind
farm demonstrator project, and others Photo courtesy of REpower Systems AG
(e.g., 150MW Ormonde wind farm).

ANSYS ASAS
Why is this (integrated) Loading Combination Important?
Influence of Substructure on Tower Bottom Fatigue Load
Without Wave Loading

Impact of substructure on tower bottom fatigue loads

140% With Waves
135% OJQ
With Wave Loading
130% CCT
125% FFT
Increase of Fatigue Loads up to 35%!
120%
115%
Global OWEC Centre
Flat Face 110%
Natural Jacket Colum
Tripod
Frequencies Quattropod Tripod 105%
f0 [Hz] 0.33 0.26 0.3 100%
95%
f1 [Hz] 1.64 1.35 0.86
90%
Shear long. Shear lat. Vertical Bending Bending Torsion
force lat. long.
ANSYS ASAS
Why is this (integrated) Loading Combination Important?
• For local problems it is even more

important.
– Local eigenfrequency is blade mode (flap
wise direction)
– Bracings in one of the lower bays are also
part of this local mode shape
• The highest loading on bracings is the

out-of-plane bending moment due to
waves.

ANSYS Mechanical FEA Suite
• Founded in 1970, ANSYS have been

developing generic Mechanical FEA software
for 40 years
• Originally developed for the nuclear industry,
quality was paramount in its design, now
in accordance with ISO quality controls
• ANSYS FEA has the broadest range of
capabilities in the market-place, with
technologies for:
– Linear & Nonlinear (geometric/material)
analyses
– Static, frequency-domain & time-domain
– 0-D to 3-D elements
– Isotropic, anistropic, layered materials
– ....
ANSYS Mechanical Applications
• Offshore Structures
• Pipelines and Risers
• Tubulars, connectors
• BOPs
• Pressure vessels
• Seals
• Hulls
• Etc….
Courtesy of Delta Marine Engineering Company

ANSYS Mechanical Solutions
ANSYS Mechanical solutions articulates the best in class CAE

products and technology for structural, thermal, acoustics
and coupled physics analysis that offers a unique class of
integrated simulation solution for the entire product
development process …

Product Offering/Target Users
• Built upon robust technology offers a range of

products with a clear upgrade path from designers to
analyst.
ANSYS
Functionality/Price
Multiphysics
ANSYS
Mechanical
ANSYS
Structural
ANSYS
Professional
ANSYS
DesignSpace
Front End Mid-Range High-End
Drafting Concept Advanced Virtual

Plan Evaluate Production
CAD Simulation Analysis Prototyping
ANSYS ANSYS ANSYS ANSYS

DesignSpace Professional Structural Mechanical
Product/Technology Description
Solver Technology
ANSYS ANSYS ANSYS ANSYS

DesignSpace Professional NLT Structural Mechanical
Linear Structural Linear Structural Linear Structural Linear Structural

Steady State Thermal Steady State Thermal Non-Linear Structural Non-Linear Structural
Transient Thermal Linear Dynamics Linear Dynamics
Linear Dynamics Nonlinear Dynamics Nonlinear Dynamics
Steady State Thermal
ANSYS Transient Thermal
Professional NLS Acoustics
Direct Coupled
Linear Structural
Steady State Thermal
Nonlinear Structural
Linear Dynamics

Analysis Methods & Solvers
Technology Components
• Elements & Materials

• Contact Analysis
• Nonlinear Analysis
• Solver Technology

Elements Technology
Solid Elements Shell Elements

2D Quad/Tri Lower/Higher Order
3D – Hexa/Tetra/Wedge/Pyramid Layered Shells
Layered Solids
Solid Shell
Special Elements
Rebars/Reinforcements Beam Elements
Links/Pipes/Springs Multi material beam analysis
Cohesive Zone Beam Cross Section Definition
User Elements
Gaskets
Materials Modeling
Material Models
Isotropic/Orthotropic Elasticity
Hyperelasticity
Plasticity
Viscoelasticity
Viscoplasticity
Creep
Hyperelastic Material
Other Models
Cast Iron Plasticity
Drucker-Prager
Shape Memory Alloy
USERMAT
Gasket Material
Concrete
Gurson Damage
Gasket Material
Contact Analysis
• Node-Node; Node-Surface; Surface-Surface; Line-Line; Line-Surface

• Small and Large Sliding
• Lower and Higher order elements
• Pure Penalty; Augmented Lagrange; Pure Lagrange; MPC contact
• Semi-Automatic Contact Stiffness Update
• Multiphysics Contact; Rigid Contact
• Friction Sliding (Small/Large Deformation)
• Shell/Beam Thickness Effects
• Contact Manager Wizard
• Automatic Assembly Contact

Umbillical Analysis
• Geometry built in
DesignModeler:
– Core tubing
– 6 helical tubes wrapped
around core
– External insulation
• Loads:
– Bent to 36’ radius
– Hydrostatic loads
– End tension
– Gravity

Threaded Connector
• 2D Axisymmetric
model created from
parasolid model
– 9.3e-3” interference
• Loads:
– 10 ksi internal
pressure
– 10,000 lb axial load

Barge Analysis
• Partial deck
model
• Maximum
load-
spreading
reaction
applied to
patches
• Deflections
are less than
0.192” in (5
mm) at any
point

Explicit - Impact

Explicit – Explosion

Explicit - Explosion

Model all aspects of the design
• From the topsides.....
Courtesy of Pluere
Courtesy of AKERE Energy, CA
.. ....to the drill bit

ANSYS Workbench
• Being part of the ANSYS Workbench

infrastructure opens up several
enhancements in overall process for the
structural mechanics users
– Geometry
– Meshing
– Post-processing
– Reporting
– Process scripting & chaining
– Automatic Project updates
ANSYS Workbench

ANSYS Structural Mechanics
• Geometry
– Direct CAD Links
• Connect to real CAD models
and create true parametric
analysis
– Create analysis geometry
• Geometry clean-up
• Simplification
• Create Shell & Beam
geometry
– Work with imported files
• Preprocessing
• Materials
• Linear-Elastic
• Plastic
• Hyper-elastic
• Creep
• Soils, Concrete
• Damage models
• Meshing
• From fully automatic to highly controlled
• Loads
• Imported data fields
• Time dependant
• Complex systems
• Contact
• Model real assemblies
• Bonded, Frictionless & Frictional contact

• Solving
• ANSYS solver technology
evolving to keep pace
with PC developments
• Multi-core
• 32 & 64 bit
• Clusters
• GPU

• Postprocessing
• Stress, Strain, Creep,
Contact, Reactions
• Linearisation
• Images
• Tabular data  Excel
• Movie files
• Automated report
generation

• ANSYS Structural analysis

DesignXplorer
• Start with a workbench defined process

– Use parameters in:
• CAD
• DesignModeler
• SpaceClaim
• Engineering data
• Preprocessor
• Postprocessor
• Derived parameters
– Define design envelope
• Parameter limits
• Descrete/continuous
– Define goal
• Near target
• Min/Max
• Trade offs

DesignXplorer
• DOE
– Select DOE type
– Custom + Sampling (OSF)
• Candidate designs
• Response surface
• Six Sigma analysis
– Manufacturing best/worst case

ANSYS Composite Prep/Post
• Composite materials
– Light
– Strong
– Good corrosion resistance Composite examples
• Complex manufacturing
– Multiple materials
– Multiple directions
Simple geometry's easy to handle

• Take loaded FE model from

ANSYS Mechanical
• Build model as manufactured
– Ply by ply manufacture
– Draping
– Section cuts
• Use proven ANSYS FEA solver
• Post process using composite
criteria

• Composite specific
post processing
– Layer by layer
– User selected failure
mechanisms
– User defined failure
criteria

ANSYS nCode DesignLife
• Premier fatigue analysis tool

• Analyze implications of repeated,
fluctuating, and rapidly applied loads,
which can result in failure or damage
• Stress-Life (single, multi-curve, Haigh diagrams)
• Strain-Life (automated multi-axial corrections)
• Multi-axial safety factor (Dang Van)
• Seam welds and spot welds
• High temperature fatigue
• Vibration fatigue (shaker simulation)
• Multiple runs in a single analysis
• Complete duty cycles
• Multi-processor enabled for fast results
• Use Python for proprietary or custom methods

Offshore Structures – ANSYS
Product Roadmap
• Transfer of ASAS unique solver technology to ANSYS
Structural Mechanics products
– Single FE product suite
– Recognition of ASAS key features
• Creation of a Design Assessment system to handle
post-processing of analysis results
– Delivered as part of Structural Mechanics products
– For offshore related use, this covers load case
combinations and code checking
• Additional Products
– Separate Code Checking and Fatigue Products

ANSYS Workbench
• The vehicle for integration of ASAS

capabilities into our mainstream FEA product
is the ANSYS framework called Workbench
• Workbench acts as a common environment
for all of our mainstream products –
structures, fluids, thermal, electronics
electromagnetics .....
• It enables us to interface software modules
directly without going through intermediate
files and manual processes

ASAS to Mechanical
- Beams and Wave Theories
• Beam Post-Processing
enhancements
– Shear Force and Bending
Moment diagrams
• Beam End-Releases
• Wave Theories Added
(Mechanical already has 4
wave theories implemented)
• Irregular waves
• Shell New Wave
• Constrained Wave

ASAS to Mechanical
- Soil-Pile-Structure Interaction
• Soil/Pile Interaction Solver (SPLINTER) enhanced to

work with Mechanical (via command snippets &
Matrix27 elements)
– PILEGEN and PILECALC macros included with the
ASAS installation (capability only available via ASAS
Offshore license)

Design Assessment
- New System in Workbench
• Design Assessment System

– Available with Professional NLS and above
– Post-analysis assessments of FEA results
– Load Case Combinations
• Static Structural
• Flexible Dynamics (at a specific time)

Design Assessment
- Customization
• Design Assessment System

– Advanced post-processing of FEA results
• Targeted at user wanting to do design code
assessment based on FEA models and results
– Predefined scripts supplied for ANSYS
supplied code checking tools
– Enables the customer to define additional data
that is associated with their model and then
perform custom post processing
• Custom definition of input data
• Custom result definitions
• Custom Solve & Post scripts (Python based)
Design Assessment
- Assessment Types
• ANSYS or User Defined

– ANSYS Supplied Tools
• FATJACK
– Beam joint fatigue of
framed structures
• BEAMCHECK
– Member checks on
frame structures
• Solution Combination only
– User Defined
• User can build/integrate own
load case combination and
code checking tool
Design Assessment
- Additional Code Checking Products
• ANSYS FATJACK
– Beam joint fatigue assessment
– New separate product
(also remains part of ASAS FATJACK
Fatigue Result
Offshore)
– Python scripts provided Joint Unitary
Check for
• ANSYS BEAMCHECK BEAMCHECK
– Was available initially at 12.0

– Python scripts provided

Mechanical
- Example Jacket Structural Analysis
Project Page showing various
“Mechanical” Systems
Detailed jacket model in

DesignModeler
Jacket model in Mechanical
Bending moment plot
SF/BM plots
along member

Mechanical
- Example with Design Assessment (1)
Project Page showing various
“Mechanical” Systems
Simple riser in DesignModeler – each of 5

members with different diameter/thickness
Mechanical model – APDL macros for

wave loading and pile-substructure
Stress plot result using

Beam Tool

Mechanical
- Example with Design Assessment (2)
Simple load combination (load factor) with first
Design Assessment system
Factored deformation
Second Design Assessment system

applies API code check
Code check parameters

entered in details panes
Unity check result

showing Yield
utilization

Summary
• ANSYS continues to offer and invest in significant

capabilities for offshore applications
– Significant progress in implementing key features of
ASAS in ANSYS Structural Mechanics products
– New Design Assessment tool enabling advanced
customized post-processing, including application of
ANSYS developed code checking tools and user
custom capabilities (not limited to Offshore)
– Separate code checking products

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Seminar – Nov 2010

• ANSYS Heritage in Offshore Structural Analysis

• ANSYS® ASASTM shielding cargo lowered onto vessel

– Offshore Structural FE Analysis

Courtesy of Fraunhofer CWMT

Tidal Turbine Structure Transportation of Spar Truss on Heavy Lift Vessel

© 2010 ANSYS, Inc. All rights reserved. 5 ANSYS, Inc. Proprietary

• CAE requirements for Offshore Renewables are very similar:

© 2010 ANSYS, Inc. All rights reserved. 6 ANSYS, Inc. Proprietary

• Offshore/Marine Structural Finite Element Analysis

© 2010 ANSYS, Inc. All rights reserved. 7 ANSYS, Inc. Proprietary

• Coupled hydro-elastic analysis for tubular framed structures

• Wave loading for application of Morison

© 2010 ANSYS, Inc. All rights reserved. 8 ANSYS, Inc. Proprietary

• Coupled wave/current/wind-structure interaction with nonlinear

© 2010 ANSYS, Inc. All rights reserved. 9 ANSYS, Inc. Proprietary

© 2010 ANSYS, Inc. All rights reserved. 10 ANSYS, Inc. Proprietary

• Joint Code & Member Code checks including:

• Easy-to-use code check facilities including:

• FATJACK module offers both deterministic and spectral fatigue

• FATJACK includes explicit SCF definitions

• Automatic (empirically derived) SCF definitions based on

• Rainflow counting fatigue

– It is possible to use results from up to 1000

© 2010 ANSYS, Inc. All rights reserved. 13 ANSYS, Inc. Proprietary

• Rainflow counting fatigue

© 2010 ANSYS, Inc. All rights reserved. 14 ANSYS, Inc. Proprietary

• This capability was initiated, sponsored and verified by REpower

(e.g., 150MW Ormonde wind farm).

Without Wave Loading

Impact of substructure on tower bottom fatigue loads

• For local problems it is even more

• The highest loading on bracings is the

© 2010 ANSYS, Inc. All rights reserved. 18 ANSYS, Inc. Proprietary

• Founded in 1970, ANSYS have been

Courtesy of Delta Marine Engineering Company

© 2010 ANSYS, Inc. All rights reserved. 20 ANSYS, Inc. Proprietary

ANSYS Mechanical solutions articulates the best in class CAE

© 2010 ANSYS, Inc. All rights reserved. 21 ANSYS, Inc. Proprietary

• Built upon robust technology offers a range of

Front End Mid-Range High-End

Drafting Concept Advanced Virtual

ANSYS ANSYS ANSYS ANSYS

ANSYS ANSYS ANSYS ANSYS

Linear Structural Linear Structural Linear Structural Linear Structural

© 2010 ANSYS, Inc. All rights reserved. 23 ANSYS, Inc. Proprietary

• Elements & Materials

© 2010 ANSYS, Inc. All rights reserved. 24 ANSYS, Inc. Proprietary

Solid Elements Shell Elements

• Node-Node; Node-Surface; Surface-Surface; Line-Line; Line-Surface

© 2010 ANSYS, Inc. All rights reserved. 27 ANSYS, Inc. Proprietary

© 2010 ANSYS, Inc. All rights reserved. 28 ANSYS, Inc. Proprietary

© 2010 ANSYS, Inc. All rights reserved. 29 ANSYS, Inc. Proprietary

© 2010 ANSYS, Inc. All rights reserved. 30 ANSYS, Inc. Proprietary

© 2010 ANSYS, Inc. All rights reserved. 31 ANSYS, Inc. Proprietary

© 2010 ANSYS, Inc. All rights reserved. 32 ANSYS, Inc. Proprietary

© 2010 ANSYS, Inc. All rights reserved. 33 ANSYS, Inc. Proprietary

• From the topsides.....

Courtesy of AKERE Energy, CA

.. ....to the drill bit

• Being part of the ANSYS Workbench

© 2010 ANSYS, Inc. All rights reserved. 36 ANSYS, Inc. Proprietary

© 2010 ANSYS, Inc. All rights reserved. 38 ANSYS, Inc. Proprietary