Lecture 1-a

Catenary Risers: Global Analysis

Static Problem
general equations

Celso P. Pesce
Professor of Mechanical Sciences
PhD in Ocean Engineering, MSc Marine Hydrodynamics, Naval Architect
ceppesce@usp.br

LMO - Offshore Mechanics Laboratory

Escola Politécnica
University of São Paulo
Brazil
 Catenary lines

TLP
FPSO

junta
flexível enrijecedores de Bending stiffener
flexão
flexible joint

bóia
intermediária
Floaters
Subsurface buoy
flutuadores

Steel catenary riser

riser de aço
Lazy-wave riser

Bending restrictors
restritor de Weight anchor
curvatura poita
 Effective Tension Concept

F(s+s)

F(s) mgs
=
pext
F(s+s)
Tef(s+s)
(a) E
pext Tef(s)
F(s+s) F(s) =
mgs Pim
pext
mgs pext F(s) pext (A) (B)
+

(b) (c)

Tef ( s)  F ( s)  pext ( s) So ( s)

pext ( s)  a g H  y ( s)
 General Kirshoff-Clebsh-Love Equations
(KCL equations)

Curved bars – large displacements, small deformations

dT
 Qv  w  Qw  v  f u  0
ds
dQv Mu
 Qw u  T w  f v  0
ds
dQw
 T v  Qv u  f w  0
ds t=u
dM u
 M v  w  M w v  Ku  0 Mv
ds Qv
dM v P’
 M w u  M u  w  Qw  K v  0 v
ds
dM w n b
 M u  v  M v u  Qv  K w  0 T w
ds
Qw
Mw
 Euler angles and Curvature analogy

ku


d d u
u   cos
ds ds
d d
 v  sen   sen  cos
ds ds
d d
 w  cos  sen  sen  P
ds ds
 w
kw
v
 
kv 
 Rigid Body Dynamic Equations

dQ
cQf  0
Mathematically analogous
ds

dM
cM uQK  0 Q momentum
ds
M angular momentum
c angular velocity vector
c  u ,  v ,  w  K Moment of external forces wrt an
arbitrary point O
Q  T , Qv , Qw 
u velocity of point O
M  M u , M v , M w 
f   fu , fv , f w 
K  K u , K v , K w 
 dT
Back to KCL  Qv  w  Qw  v  f u
ds
Equations: dQv
 Q w  u  T w  f v
ds
dQw
M u  Bu u  T v  Qv  u  f w
ds
M v  Bv v d
Bu  u   Bv  Bw  v  w  K u  0
M w  Bw w ds
d
Bv  v   Bw  Bu  w  u  Qw  K v  0
ds
d
Bw  w   Bu  Bv  u  v  Qv  K w  0
ds

dT
 Qv  w  Qw  v  f u
ds
d
Bu  u   Bv  Bw  v  w  K u  0
ds
d2 dK v
 Bv  v  
d
 B w  Bu  w  u   T  v  Q v  u  f w  0
ds 2 ds ds
d2 dK w
 B w  w  
d
 B u  B v   u  v   Q w  u  T  w  f v  0
ds 2 ds ds
 dT
 Qv w  Qw v  f u
If stiffness ds
d
Bu u   Bv  Bw  v w  K u  0
independent on s:
ds
d 2 v
Bv
ds 2
  B w  Bu  d

ds w u
   T v  Q 
v u  f w 
dK v
ds
0

d 2 w
Bw
ds 2
  Bu  B v  d
 
ds u v
   Q 
w u  T w  f v 
dK w
ds
0

If plane case, no twisting:  v  0; K u  0  u   0 , constant

dT
If distributed loads absent:  Qv w
ds
d w
Qv   Bw  Bu 
ds
 u  0
d 2 w T ( s)  T0
Bw  Qw 0  T w  0
ds 2 Qv  0
u  0
If a constant pitch helix case:  w   b  0 Qw  0  T0  0
If distributed moment loading absent:  K ; K ; K   0;0;0
u v w

dT
 Qv w  Qw v  f u
ds
d u
Bu   Bv  B w  v w  0
ds
d 2 v d
Bv   B w  B u   w u   T v  Qv u  f w  0
ds 2 ds
d 2 w d
Bw   B u  B v   u v   Qw u  T w  f v  0
ds 2 ds

If symmetric section: Bv  Bw  B f  u   0 , constant

dT
 Qv w  Qw v  f u
ds
 u  0
d 2 v d w
Bf
ds

2  B f  Bu  0  ds
 T v  Qv 0  f w  0

d 2 w d v
Bf
ds 2
 B
u  B f  0 ds
 Qw 0  T w  f v  0
 Symmetric sections:
necessary (though not suficient) condition for null twist is the the applied
twisting load be null. In this case:

dT
 Qv w  Qw v  f u
ds
u  0
u  0  0 d 2 v
Bf 2  T v  f w  0
ds
d 2 w
Bf  T w  f v  0
ds 2

Though relevant to instability analysis under twist (see Ramos & Pesce,
2003; Gay neto & Martins, 2011), torsion will be left aside from now on !
The static problem in the vertical
plane In fact:

f w  fb  0
Ku  Kt  0
Kv  Kn  0
K w  Kb  0
Qv  Qn  Q ( s )
dT d Qw  Qb  0
Q  ft  0
ds ds Mu  Mt  0
dQ d Mv  Mn  0
T  fn  0
ds ds u  t  0
d 2 v  n  0
B 2 Q  0
ds d
 w  b 
ds
u d
v
(s) j M w  M b  M ( s )  B  B
y ds
x k
i
 Catenary lines

TLP
FPSO

junta
flexível enrijecedores de
flexão

bóia
intermediária

flutuadores

riser de aço

restritor de
curvatura poita
The static equilibrium equations can be reduced to a
single nonlinear ordinary differential equation:

Taking f v  f n  q cos  hn ( s)
f u  f t  q sen   ht ( s)
Where
h stands for hydrodynamic forces and
q is the immersed weight

It follows, after a long algebraic effort (Love; see also Pesce, 1997),

d 2  2  d  
B 2 sec   qs    hn sec   sec   hn sen  ht cos d ds 
ds s  ds  s 
 T0 tan   Q0
 Absence of ocean current

In this case, the integral term is identically null:

d 2
B 2 sec   qs  T0 tan   Q0
ds

If bending stiffness effect is neglected leads to

the Catenary Equation

qsc
tan c ( sc ) 
T0c
 The catenary curvature is then given by:

dc q q 1
c ( sc )   cos c ( sc ) 
2
2
dsc T0c T0c  qsc 
1  
 T0c 

Tension is:

dTc
 q sen c Tc ( sc )  T0c sec c
dsc

Ty  Tc ( sc )sen c  T0c tan c  qsc Tx  Tc ( sc ) cosc  T0c ; constante

The horizontal component of tension is constant along the catenary line!

 Cartesian coordinates

dx dy dy
From:  cos ;  sen;  tan 
ds ds dx
and

dc
d
dsc
Tc ( sc )sen c  
dTc
dsc
sen c  Tc ( sc ) cos c
dsc
 q sen 2
c  q cos 2
c  q

follows:
12
q   dy c  

2 2
d yc
2   1    0
dx c T0c   c 
dx

Whose solution is the wellknown catenary equation:

T0 c q 
yc ( x )  cosh  x c  C1   C2
q  T0 
Special interest: existence of a TDP, ou “touch down point”:

v u
(s) j
y
x k
i
 Special interest: existence of a TDP, ou “touch down point”:

yc  dyc dxc  0 at xc  0

Leading to:

T  q  
yc ( x )  0c cosh xc   1
q   T0  

dx T T0 T0 c  qsc 
 cos  0  xc ( s)  arcsenh  

T0 2  qs   T0 
12
ds Tc ( s) 2 q
  2 12 
dy
 sen  
qs

qs T0 c   qsc   

T0 2  qs  yc ( s)  1  
q    T0 c  
  1
12
ds Tc ( s) 2

 

Parametric Equations
 Back to the catenary curvature function:

dc q q 1
c ( sc )   cos c ( sc ) 
2
2
dsc T0c T0c  qs 
1  c 
 T0c 

q
And observing that c ( 0 )  0 c  is the curvature at TDP:
T0 c

1
c ( s )  0 c cos 2 c ( sc )  0 c
1   0 c sc 
2

 
c ( s)  0c 1   0c sc  ; 0c sc  1
2
 Other useful relations:

T0c
Lc  tan tc
q

H ct

  1
T0c T0c
H   dyc 
q 0
sen c sec 2
c dc  sec c
t

0
q

1
 qH 
cos ct    1
 T0 c 
12
  qH  2   qH  1
sen ct   1    1   1
  T0c    T0c 
12
T0 c   qH  
2

Lc   1    1
q  T0 c  
 Catenary with a TDP on a horizontal bottom
No current

Nondimensional curves; parameterized wrt angle at upper end

cL  10
. ;125
. ;15
. rad
 Summary

• Effective tension is a fundamental concept in submerged lines.

• The classic Kirschoff-Clebsh-Love equilibrium equations are a

essential tool in catenary riser analysis.

• In the planar problem Love equations can be reduced to a single

second-order ODE in (s).

• This equation must be solved iteratively, since the hydrodynamic

forces depend on the sought equilibrium configuration.

• In the absence of current KCL equations reduce to the well

known catenary equation.
 Appendix:
The planar static problem under current

a DU ( s) U ( s) CT cos2  ( s) t  sinal(  (s))CD sen 2  ( s)n

1
h( s) 
2
n t (s)
U(s)
 1;   0 b
sinal(  )  
 1;   0 j

k
T0 tan   i

 d 
 CD sen  ( )  CT cos  ( )dds  qs
1
 a DU 0  CD  sen  tan ds   sec 2 
2 3 3
2  s s
ds s

d  q  CD sen  tan   1

 cos  
2
   a DU 02
ds  ( T0  Fx ( s ))  2
 Curvature at TDP

• Under or not current forces curvature at TDP is given by:

d q
0  
ds s0 T0

• Current effect is implicit to the tension at TDP: T0

 First-order approximate solution under
constant current profile
In first-order, around the catenary solution:

Horizontal coordinates of upper end point and center of mass

x Lc ln tan cL  sec cL  cot cL

H

sec cL  1
xGc

H sec cL  1

1  sec cL  tan cL ln tan cL  sec cL  

Hydrodynamic forces center coordinates:

xYC 1  aY (cL )  bY (cL )  y XC 1  a X (cL )  bX (cL ) 
     
H sec cL  1  cY (cL )  dY (cL )  H sec cL  1  c X (cL )  d X (cL ) 

Angle at upper end: ~ tan cL  Yc T0c

tan L 
T0 T0c  X c T0c

~
Tension atTDP: 1  Xc 
T0
T0c
  x
H  Lc
 x Gc  tan cL   x Lc  xYc  Yc
T0c
  H  y Xc  
T0c 
 First-order approximate solution under
constant current profile
where:

aY ( )  1 2 ln 2 (sec   tan  )  sen  ln(sec   tan  )  ln(cos )

bY ( )    cos ln(sec   tan  )
cY ( )  sen   ln(sec   tan  )
dY ( )  1  cos
and:
1
a X ()  2  cos   sec   tan 2   ln(cos )
2
bX ()    sen
c X ()  cos   sec   2
d X ()  sen

  CT C D
 Approximate solution under constant current profile

Normalized tension at TDP, referred to the catenary solution, vs

catenary angle at upper end parametrized wrt the current intensity
force
1 a DU 02
CD  CD  2,5; 5,0; 7,5 e 10%
q 2 q
 Approximate solution under constant current profile

Normalized tension at TOP, referred to the catenary solution, vs

catenary angle at upper end parametrized wrt the current intensity
force
1 a DU 02
CD  CD  2,5; 5,0; 7,5 e 10%
q 2 q
 Approximate solution under constant current profile

Angle variation (rad) at TOP vs catenary angle at upper end

parametrized wrt the current intensity force
1 a DU 02
CD  CD  2,5; 5,0; 7,5 e 10%
q 2 q
 Approximate vs ‘exact’ numerical solution
SCR:10”3/4 in 910m deep waters
cL  65 o  1.1346 rad
Tração Horizontal no TDP - Cabo com Correnteza
 C D q  0,15  U 0  0,9 m s
1,8

1,6

1,4
numérico

1,2

analítico
1
To/Toc

0,8

0,6

0,4

0,2

0
0 0,05 0,1 0,15 0,2 0,25 0,3 0,35 0,4 0,45
(1/2)*CdD*Uo^2/q
 Summary

• In the planar problem, curvature at TDP depends only on

tension and immersed weight. Tension brings implicitly all
information from the equilibrium configuration.

• A first-order approximation gives the static configuration under a

constant current profile.

• Such an approximation is fair enough in mild current conditions,

up to 1.0m/s for a standard 10 inches SCR.
 Acknowledgements

TPN
FLUID-STRUCTURE INTERACTION AND
OFFSHORE MECHANICS LABORATORY