Lecture 1-b

Catenary Risers: Global Analysis

Dynamic Problem
equations and time scales

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
 General Kirshoff-Clebsh-Love Equations
(KCL equations)
Curved bars – large displacements, small deformations

T  2u
 Q v  w  Q w  v  f u (t )  m
s t 2
Q v 2v
 Q w  u  T w  f v (t )  m Mu
s t2

Q w 2w
 T v  Q v  u  f w (t )  m
s t 2 t=u
M u  2 u Mv
 M v  w  M w  v  K u (t )  I uu Qv
s t 2 P’
M v  v
2 v
 M w  u  M u  w  Q w  K v (t )  I vv
s t 2 n
T
b
w
M w  2 w
 M u  v  M v  u  Q v  K w (t )  I ww
s t 2
Qw
Mw
 The planar static problem
with:

f t  q sin   ct ( s )
f n  q cos  cn ( s )
dT d
Q  ft  0
ds ds ct (s); cn (s)
dQ d
T  fn  0
ds ds
Static forces due to
dM
Q  0 . current
ds
v u
(s) j
y
x k
i
 The planar dynamic problem

Oscillating hydrodynamic
forces
Hang-off
boundary-
Τ d   2 ut
layer  T + Q   Q   ct   t  q sin   m 2
s ds s t
( s, t )   ( s)   ( s, t )
Q d   2u n
ε ( s, t )   ( s )  e ( s, t )  Τ  Q   Τ   cn   n  q cos  m 2
s ds s t
Τ ( s, t )  T ( s )   ( s, t )
Q(s, t )  Q( s)   ( s, t ) un d
Perturbations around the
 ut  (1   ( s )) ( s, t )
static equilibrium s ds
configuration
TDP ut d
boundary- n t  un e
y layer (s,t) s ds
x
Kinematic relations
 Separating static and dynamic parts:
Static equilibrium,
tangential direction
 T d    0
  Q  c  q sin  
 s
t
ds 
  d    2 ut
   T +    Q    t   m 2
 s ds s  t

Static equilibrium,
normal direction
 Q d    0
  T  c  q cos 
 s
n
ds 
  d    2u n
     Q       n   m 2
 s ds s  t
 Linearized Dynamic Equations

Negleting second-order terms

 d
 T    +   
s ds
  2 ut
 Q       t  m 2  d   2 ut
s t  T +    Q    t  m 2
s ds s t
 d   2u n
 d    Q   T    n  m 2
   Q      s ds s t
s ds
  2u n
 T       n  m 2
s t
Two dynamic equilibrium equations,
linearized around the static
equilibrium configurations
 Linearized Dynamic Equations: neglecting bending stiffness
Two dynamic equilibrium equations,
 d  2 ut linearized around the static
Negleting  T   t  m 2 equilibrium configurations
bending stiffness s ds t
d   2u n
  T    n  m 2
effects:

ds s t

 ut d
 un e Kinematic relations
s ds
 un d
 ut  1   
s ds

 ( s, t )  EAe( s, t )  q f (ut sin   un cos )

q f   a S o   f Si g
Constitutive equations
 Mean current hydrodynamic forces

1
ct ( s )   a DU ( s ) U ( s ) CT cos2  ( s )
2
1
cn ( s )    a DU ( s ) U ( s ) C D sin 2  ( s )
2
 Oscillating hydrodynamic forces

Parcelas dinâmicas das forças devido à correnteza e às ondas:

Viscous parcels  ( s, t )   visc ( s, t )   in ( s, t )

  u t u 
 tvisc ( s, t )   CT  a Dsinal v t   2U ( s) cos 
1
 U ( s) sin  n  w t  
2   t s 
  u u 
 nvisc ( s, t )   C D  a Dsinal v n  2U ( s) sin   n  U ( s) cos n  w n  
1
2   t s 
 tin ( s, t )  0
  2 ut  w n 
 ( s, t )  ma  2  U ( s) cos
in
 
 t t t 
n

Inertial parcels
ut
vt   U cos  w t
t Gravitational waves
Relative velocity
u velocity filed
components to the v n  n  U sin   w n
flow t
 The bending stiffness effect

From the classic linear constituve equations:

 d 
M  EI ( s, t )  EI   c ( s, t ) 
 ds 
e
M  d 2 c
Q  EI  Q    EI 2  EI
s s ds s

The dynamic equation in the normal direction may be written:

 2  T d    2u n
 EI 2  T     EI   cn   n  q cos  m 2
s  s ds s  t
 The bending stiffness effect
Flexural lenght at TDP q
0 
Defining: T0
EI

T0 Static curvature
Small length

at TDP
parameter
 c
tˆ  0 t
L Transversal wave celerity L
due to geometric stiffness,
T0
at TDP c0 
Second-order m  ma
term
The nondimensional dynamic equation in the normal direction reads:

2  
2
ˆ ˆ  ˆ 2 d ˆ   2uˆn
  ˆ       cˆn  ˆ n  ˆ 0 cos  2
sˆ 2  sˆ dsˆ s 
ˆ  tˆ

 The bending stiffness effect

Rigid risers (Steel):   O(10 2 )

Flexible risers:   O(10 3 )

Neglecting secon-order terms (bending stiffness):

ˆ 
ˆˆ    cˆ  ˆ  ˆ cos  uˆ n (1  O( 2 ))
2

s tˆ 2
n n 0
ˆ
 Time scales
L T
t1  cg 
cg (m  ma )
Wave celerity associated to
 geometric rigidity
t2 
cg 2 EI
c (i )

 (f i ) (m  ma )
f
L
t (i )
3  (i ) Wave celerity associated to
cf bending stiffness

 ca 
EA
t (i )
4  (i ) m
cf Wave celerity associated to
axial stiffness
L
t5  EI
ca  ( s) 
T (s)
Local flexural length
 [.

Model similarity and nondimensional group

Number Symbol and definition Representation
A Dynamic motion in
Froude Number Fr 
gL waves
UD Viscous forces
Reynolds Number Re 

f D
St  s
Vortex shedding
Strouhal Number U frequency
Keulegan- 2A Inertial forces vs.
Carpenter Number KC  drag forces
D
Structural  
c Linear structural
Damping cc damping
Vr 
U Normalized
Reduced Velocity fnD velocity in VIV
fs U
Vortex shedding
Reduced Shedding f s   St  S t Vr
fn fnD normalized
Frequency
frequency
m Riser mass vs.
Reduced Mass m 
mD displaced mass
ma Added mass vs.
Added Mass a
m riser mass
f 1 EI
Bending vs.
Bending Stiffness Kf   geometrical
L L T
stiffness
Axial vs.
EA
Axial Stiffness Ka  geometrical
T
stiffness
Rateiro et al k s EI
Soil vs. bending
Soil Stiffness Ks  and geometrical
ISOPE2012 T2
stiffness
 Summary

• The global dynamics is governed by the geometric stiffness or

catenary stiffness.

• Bending stiffness effetcs are importante at the extremities and

TDP, or for high-order vibration modes for which the mode
vibrattion length is of same order of the local flexural length.

• There are several time scales that govern the overall dynamics
of a riser.

• A large nondimensional parameters group govern the overall

riser dynamics
 Acknowledgements

TPN
FLUID-STRUCTURE INTERACTION AND
OFFSHORE MECHANICS LABORATORY