Offshore marine operations. Heavy lifts - · PDF file1 FGN 21.02.07 Content • Examples on...
Transcript of Offshore marine operations. Heavy lifts - · PDF file1 FGN 21.02.07 Content • Examples on...
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FGN 21.02.071
Content
• Examples on Offshore lifting operations– Module lifting– Jacket installation– Installation of sub-sea equipment
• Overview of important issues.– Lift in air versus sub-sea operations– Dynamics– (Weather windows – statistics)
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FGN 21.02.072
Grane jacket, Apr. 2003
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FGN 21.02.073
Grane process module installation, Apr. 2003. Lift-off from barge.
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FGN 21.02.074
Grane process module installation, Apr. 2003. Approaching jacket.
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FGN 21.02.075
Grane process module installation, Apr. 2003. Landing on jacket.
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FGN 21.02.076
Grane process module installation, Apr. 2003. Living quarter.
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FGN 21.02.077
”Building-blocks” of a process platform
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FGN 21.02.078
Jacket installation, Self-floater and launching from barge
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FGN 21.02.079
Crane assisted jacket installation
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FGN 21.02.0710
Crane assisted jacket installation, side view
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FGN 21.02.0711
Crane assisted jacket installation, plane view.
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FGN 21.02.0712
Tandem lift from barge
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FGN 21.02.0713
Fram module lift. Model test setup
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FGN 21.02.0714
Fram module. Model testing
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FGN 21.02.0715
Installation of Fram West moduleThe Fram West module (900 tons)lifted onboard Troll C. May 2003
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FGN 21.02.0716
Simulation of Fram module installation
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FGN 21.02.0717
Heavy versus light lifts• Heavy lifts: Coupled dynamics, No heave compensation, W > 1000 tonnes)
– Multibody dynamics
• Light lifts: (Minor coupling, Heave compensation possible, W <100 tonnes)– Static deformation of lifting wire in current– Vertical oscillations of a mass wire system– Mathieu instability.
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FGN 21.02.0718
Example: Saipem7000Semisubmersible crane and pipelaying (J-lay) DP vessel
Dimensions:Length: 198 mBreadth: 87 mDepth to main deck: 45 mTransit draft: 10.5 mOperational draft: 27.5 m
Ballast system:Computer controlled system comprising 4 x 6,000 t/h ballast pumps, fully redundant.
Lifting facilities main crane:Fully revolving. Main blocks tandem lift: 14,000 tMain block single lift: 7,000 t revolving at 40 m Aux.1 block: 2,500 t revolving at 74 m rad.Aux. 2 block: 900 t revolving at 115 m rad.Lowering capability to 450 m below sea levelWhip hook: 120 t revolving at 150 m rad.
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FGN 21.02.0719
Examples on heavy lifts, modules
Module Hook weight (t) Lift date Vessel Kittiwake deck (Shell)
6 900 May 90 DB102
Miller M7 (BP) 6 200 July 91 DB102 Piper PUD (EEC)
10 750 Mar 92 DB102
Gannet deck ( Shell)
9 600 Apr 92 DB102
Piper WM/DSM (EEC)
6 825 Apr 92 DB102
Bruce P10 (BP) 8 750 Aug 92 M7000 Bruce P20 (BP) 8 180 Aug 92 M7000 Bruce drill deck (BP)
7 520 Aug 92 M7000
Saltire deck (EEC)
10 300 Sept 92 DB102
Tiffany M1 (Agip)
8 140 Nov 92 M7000
Tiffany M2 (Agip)
6 070 Nov 92 M7000
North Everest (Amoco)
8 500 Nov 92 DB102
Lomond (Amoco)
8 600 Dec 92 DB102
Scott P1 (Amarada)
10 000 Apr 93 DB102
Scott UQ (Amarada)
8 000 Apr 93 DB102
East Brae (Marathon)
8 500 Spr. 93 DB102
Nelson (Shell) 9 600 Aug 93 DB102 Dunbar (Total) 9 400 Mid 94 DB102
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FGN 21.02.0720
Crane assisted jacket installationsJacket Water depth
(m) Hook weight (t) Lift date Vessel
Veslefrikk (Statoil)
175 9 050 May89 M7000
Gyda (BP) 66 8 770 Sept 89 M7000 Kittiwake (Shell) 85 5 300 May 90 DB102 Gannet (Shell) 94 7 500 June 91 DB102 Bruce PUQ (BP) 121 9 425 May 92 M7000 Bruce D (BP) 121 7 950 May 92 M7000 Unity (BP) 127 6 500 Jul 92 DB102 Beryl riser (Mobil)
112 5 800 Jul 92 DB102
Scott JU (Amerada)
141 8 800 Mar 93 DB102
Nelson (Shell) 84 8 500 Spr. 93 DB102 East Brae (Marathon)
116 9 300 May 93 DB102
Dunbar (Total) 145 9 100 Mid 94 DB102
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FGN 21.02.0721
Installation of subsea equipment, TOGI 1989
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FGN 21.02.0722
Installation of subsea equipment, Troll pilot
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FGN 21.02.0723
Installation of subsea equipment, Oseberg sør template, 2002.
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FGN 21.02.0724
Offshore wind farms
20 x 2MW
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FGN 21.02.0725
Offshore wind farms
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FGN 21.02.0726
Weather windows
0 10 20 30 40 50 600.5
1
1.5
2
2.5
3
3.5
T ime (hours)
Hs (m
)Measured H
sH'
s
t1 t
2 t
3 t
4 t
5
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FGN 21.02.0727
Weather windows
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FGN 21.02.0728
Weather windows
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FGN 21.02.0729
Five phases of crane operations. Some possible problems:
1) Lift off.
Snatch loads - Impacts Horizontal sliding.
2) In air.
Pendulum motion Collision – use of tugger lines
3) Crossing splash zone.
Dynamic loads, Snatch loads 4) Deeply submerged.
Vertical resonance. 5) Landing.
Vertical motions. Horizontal offset. Position / rotation control Impacts. Position control
1 2
3
4
5
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FGN 21.02.0730
Multibody dynamics
xy
z(xt,yt,zt)
* (xG,yG,zG)(xl,yl,zl)
ls
η1
η2
η3
η4
η5
η6
η7
η8
η9
x = ( 1, 2, 3, 4, 5, 6, 7, 8, 9)T
M=
m+A11 0 A13 0 mzG +A15 −myG 0 0 0m+A22 A23 −mzG +A24 A25 mxG +A26 0 0 0
m+A33 myG −mxG +A35 0 0 0 0I44 +A44 −I45 −I46 0 0 0
I55 +A55 −I56 0 0 0I66 +A66 0 0 0
mL +a11 0 0mL +a22 0
mL +a33
Nine DOF:
Vessel - vesselLoad - Load
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FGN 21.02.0731
Restoring matrix (1-2)
Cm =
Cm11 Cm12 0 0 0 Cm16 0 0 0Cm22 0 0 0 Cm26 0 0 0
0 0 0 0 0 0 00 0 0 0 0 0
0 0 0 0 0Cm66 0 0 0
0 0 00 0
0
Ch =
0 0 0 0 0 0 0 0 00 0 0 0 0 0 0 0
Ch33 Ch34 Ch35 0 0 0 0Ch44 0 Ch46 0 0 0
Ch55 0 0 00 0 0 0
0 0 00 0
0
Mooring part
Hydrostatic part:
xy
z(xt,yt,zt)
* (xG,yG,zG)(xl,yl,zl)
ls
η1
η2
η3
η4
η5
η6
η7
η8
η9
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FGN 21.02.0732
Restoring matrix (2-2)
C vl =
wl 0 0 0 w
l z t − wl y t − wl 0 0 w l 0 − w
l z t 0 w l x t 0 − w
l 0
A E l e
A E l e y t − A E
l e x t 0 0 0 − A E l e
C vl44 − A E l e x ty t − w
l z t x t 0 w l z t − A E
l e y t
C vl55 − w l z t y t − w
l z t 0 A E l x t
C vl6 6 w l y t − w
l x t 0 w l 0 0
w l 0
A E l e
Coupling effects:x
y
z(xt,yt,zt)
* (xG,yG,zG)(xl,yl,zl)
ls
η1
η2
η3
η4
η5
η6
η7
η8
η9
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FGN 21.02.0733
Eigenmodes and eigen-frequenciesUndamped eigenvalue problem
( )2 0ω
Motion response to harmonic excitation:
− + =M C x
1λ −=x M Cx
( )2
i tei
ω
ω ω=
− + +aFη
M B C
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FGN 21.02.0734
Example• Vessel with:
m = 5.17E7 kg (xg,yg,xg) = (0, 0, -0.02L), L= 100m (r44,r55,r66)= (.33L,.32L,.35L), rij=0, ijg0
• Added mass matrix for vessel:
• Vessel restoring matrix:
• C11= 2.E05 N/m, C33= 7.85E06 N/m and C66=1.0E08A
m =
.7 0 0 0 0 01 0 0 0 0
1 0 0 0.1L2 0 0
.1L2 0.1L2
C =
C11 0 0 0 0 0C11 0 0 0 0
C33 0 0 00.05C33L2 0 0
0.05C33L2 0C66
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FGN 21.02.0735
Example cont.
• Mass of load: ml=0.1m• Position of top of crane: (xt,yt,zt) = (.6L,0,.5L)• Length of wire (from top of crane to load): l=2L• Elasticity of line: AE=3.96E09 N• Added mass of load: (a1,a3,a3) = (.5ml,.5ml,2ml)• Submerged weight of load: w = .5ml*g
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FGN 21.02.0736
Eigenperiods and eigenmodesUn-coupled
• Load alone: T0load = 49.14 49.14 5.56 sec
• Eigenvector:
• Vessel alone:T0vessel = 131.7 32.4 142.9 32.9 22.8 213.1 sec
• Eigenvector:
x0load =1 0 00 1 00 0 1
x0vessel =
−1 0.0219 0 0 0 00 0 1 0.0184 0 00 0 0 0 1 00 0 0.0031 −.9998 0 0
0.0037 0.9998 0 0 0 00 0 0 0 0 1
Surge pitch sway roll heave yaw
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FGN 21.02.0737
Eigenperiods and eigenmodescoupled• Complete coupled system:
T0coupled = 4.3 23.6 37.1 51.7 138.3 30.4 146.8 46.0 239.7 sec.
_ _0.0097
-0.0206 -0.0737 -0.0934 0.6542 -0.0000 0.0000 -0.0000
x0coupled =
0.0000
-0.0000 -0.0000 -0.0000 0.0000 -0.0000 0.0593 -0.7758 0.0752 -0.0311
-0.1366 -0.8090 0.0522 -0.0084 -0.0000 0.0000 -0.0000 0.0000 -0.0000
0.0000 -0.0000 -0.0000 0.0000 0.0000 -0.8118 0.0040 0.2098 0.0030
0.4569 -0.4468 -0.4841 0.2109 0.0074 -0.0000 0.0000 0.0000 0.0000
-0.0000 -0.0000 0.0000 0.0000 0.0000 0.1337 0.2546 0.2303 -0.6570
-0.0031 0.1225 0.6559 0.9449 0.7562 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 -0.0000 -0.0000 -0.0000 -0.5653 -0.5774 -0.9473 -0.7533
0.8789 -0.3612 0.5721 -0.2319 -0.0078 0.0000 -0.0000 -0.0000 -0.0000
Eigenmode no. 1 2 3 4 5 6 7 8 9
Dominatingmode of motion
9 3 5 7 1 4 2 8 6
Name load Vertical
heave pitch load x-dir.
surge roll sway load y-dir
yaw
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FGN 21.02.0738
Example cont. Force oscillations
F=[i*C11 0 C33 0 0 0 0 0 0] T 2% damping
0 50 100 150 200 250 3000
0.5
1
1.5
2
Absolute value of dynamic response in direction: 1
X11
(m)
Period (sec)0 10 20 30 40 50 60
0
2
4
6
8
10
12
Absolute value of dynamic response in direction: 3
x 3 (m)
Period (sec)
Period of oscillation (sec)
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FGN 21.02.0739
Example cont. Force oscillations
0 20 40 60 80 1000
0.02
0.04
0.06
0.08
0.1
0.12Absolute value of dynamic response in direction: 5
x 5 (rad
)
Period (sec) 0 50 100 150 200 250 3000
0.5
1
1.5
2
2.5
3
3.5
4
4.5
Absolute value of dynamic response in direction: 7
x 7 (m)
Period (sec)
Period of oscillation (sec)
0 20 40 60 80 1000
1
2
3
4
5
Absolute value of dynamic response in direction: 9
x 9 (m)
Period (sec)