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FIPLAAnysim Based VersionFully Integrated PipeLaying

Analysis Simulation Tool

Fabio Dezi

Francesco Saverio Di TomasoPaolo MontiIrene Renzi

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FIPLA(anysim)

Fully Integrated PipeLaying Analysis Simulation Tool

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SAIPEM WHO WE ARE

Saipem is an international

company leader in Services

for Oil & Gas Industry.

It operates in Onshore and

Offshore environment, with

a strong focus in remote

areas and deep waters.

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Nord Stream, Baltic Sea

Wasit, Saudi Arabia TAP, Adriatic SeaJSM, Bigfoot and KCC,

Gulf of Mexico

Burullus, Mediterreanean South Stream, Black Sea

SAIPEM FRONTIER OFFSHORE PROJECT

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PIPELAY INTRODUCTION

S-Lay Operation J-Lay Operation

Pipe

Pipe

Seabed Seabed

One of the main Saipem offshore activities is the pipelay operation. The installed pipelay methodsare J-lay or S-lay. The workspace in a pipelay vessel is called firing line where is made thealigning, coupling and welding of the pipe joints and the all pipe structural tests needed before thepipe laying on the seabed.

Stinger

Tower

During the S-lay operation the pipe leaves thelay vessel supported by a curved launching ramp(stinger). The pipe is constrained with the vesselby the roller of the stinger and the tensionerlocated on the firing line.

The pipe is assembled inside the vertical towerand it leaves the lay vessel approximatelyvertically. The pipe is constrained with thevessel thanks to the tensioners placed insidethe tower after the welding station.

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S-LAY INTRODUCTION

In the pipe-lay operations the station keeping andmove-up by Dynamic Positioning (DP) is a suitableand proven alternative to the traditional mooringspread.The strong coupling between the vessel behavior andpipe behavior leads to need to make an integratesimulation to understand and predicts the operativelimits.Pipe laying in DP shall target the integrity of thepipeline, through the definition of the limits imposedto the response of the lay vessel to impacting seastate:

DP station keeping and pipeline pay-out controlcapacity The response of the pipeline to large offsets The response of the lay vessel and pipe itself

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FIPLA

W H Y ?In order to fulfill the requirements imposed byInternational Codes and Companys safety criteriaas well. FIPLA is a tool able to simulate in an

integrated way the vessel motions, the DynamicPositioning System performance and the structuralbehavior of the submarine pipeline duringinstallation has been developed.

W H E R E? The simulation tool FIPLA is developed to simulate

the S-lay or J-lay scenario with a DP lay vessel.The software was heavily used in the new vesselCASTORONE during the start-up time and it iscurrently used in different project in engineeringand operative phases.

F E AT U R E S !Time domain software.FIPLA is based on aNySIM 10.4.6.The FIPLA software has a pre-processing and post-processing graphic interfaces and input check tospot the user input errors.

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FIPLA DESCRIPTION

Vessel HydrodynamicDatabase Current Forces

(FORSIM) Wave Forces

Wind Forces(WINDSM)

Other Forces

Wind Velocity & Heading

Wave [ Hs/Tp/Spreading/Heading ]

[SERIES]

[ S E R I E S ]

[ S E R I E S ]

[DLL]

[DLL] DPSimplifiedAlgorithm

Vessel Position Measured Position

ResultantThruster

Forces

Filtered Wind Forces(Wind Feed Forward)

Pipe &Stinger &Tensioner

Model

Pipe / StingerForces

Pipe Feed Forward

[ D L L ]

[DLL]

PIPE LAY INTEGRATE SIMULATION FLOW CHART

Vessel

Anysim

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FIPLA DESCRIPTION

Legend: Used in FIPLA Will be use in the future

FIPLA version

ANYSIM BLOCKS INTEGRATION

Allocation Ballast Body CatenaryB2B Controller Current Environment EquiPosition Fender

General Interaction Joint KalmanFilter Line Locacc Locmot Locvel Modal [MARIN only - aNySTA input only] Mooring MooringPrepar [Validation Stage] Morison [Validation Stage] Output

Propulsion Reldamp Relmot Series Stabbing cones Stability UserInterface [MARIN only] Wave feed forward Waves

Wind

List of Anysim input fields:

Winsm is usedinstead to allowwind feedforward

Forsim is used

to allow shortcrested waves

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FIPLA DESCRIPTION

PIPE & STINGER MODEL

Stinger Dynamic Program developed in the 70sby Garrett (Shell), improved internally andvalidated vs. Offpipe.3D Finite Element ModelLinear & non-linear elastic, torque free, beamelements for pipelineEquivalent or detailed S-Lay Stinger (rigid,articulated, floating) / J-Lay Ramp model,rigidly connected to vessel CoG.Pipe connected with Stinger/Ramp throughrollers and tensioners/clampsLoads acting on the pipeline

Vessel CoG motion (in time domain)Wave loadsCurrent loads

Pipe-soil interaction at sea-bottom.Static & time-domain dynamic analysis

RST

N

WDTDP

STL

yN

WDTDP

STL

y

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FIPLA DESCRIPTION

TENSIONER MODEL

pipe tensioner relative motion

tensioner load

tensionerset-point

tensioner stiffness

Blocked Tensioner model


tensioner load

tensionerset-point

tensioner stiffness

Blocked Tensioner model


tensioner load

tensionerset-point

tensioner deadband

Hysteretic deadband model


tensioner load

tensionerset-point

tensioner deadband

Hysteretic deadband model

Three different tensioner / clampmodels

Blocked tensioner/clamp modelHysteretic dead band modelElectric-controlled tensioner model

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FIPLA DESCRIPTION

DP SIMPLIFIED ALGORITHMSaipem in-house programming, representing a simplified DP Control Systeminstalled on board Saipem vessels, prepared by Kongsberg.

Made to have maximum flexibility to modify the algorithm according to the

different project requirements. Some features have been simplified withrespect to a complete DP system:

1. Simplified thruster allocation:Thrusters grouped in equivalent (resultant) thrusters

2. Simplified Controller :

PD with static gains. Compensation of integrative parts by constant errorcomputed by the bias observer

3. Simplified Observer systemImplementation of a Non-linear Observer as opposite to an Extended Kalmanfilter

The Simplified Algorithm validated vs. a complete DP kongsberg consolesimulated with hardware in-the-loop technique with very satisfying results.

it has also been compared with the on-board measurements with goodresults.

T H R U S T E R S C O N

F I G U R A T I O N

T H R U S T E R S C O N

F I G U R A T I O N

T1

T2yT2x

T3y

T3x

T4x

y

x

T4y

T5

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FIPLA DESCRIPTION

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CASE OF STUDY

The software FIPLA has been used duringthe start-up of new vessel Castorone.

JSM project (Jack-St. Malo Oil ExportPipeline Project) is a pipeline located on theGulf of Mexico and it was the fist projectwhere the Castorone has been used.

The report of Station keeping performanceduring the pipeline installation wasprepared by FIPLA with the aim toanticipate the vessel behavior.

S-LAY WITH DP SYSTEM

ILS #1 ILS #2ILS #1 ILS #2

By the simulation has been examined two main aspects:Performance of the vessel DP system with a focusregarding the critical environment also during anequipment failure

Critical aspects of the pipelay with a focus regardingthe pipe behavior and the stinger and roller stress.

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CASE OF STUDY

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CASE OF STUDY

STATION KEEPING RESULTS

0.2

0.40.6

0.8

1

22.5

202.5

45.0

225.0

67.5

247.5

90.0270.0

112.5

292.5

135.0

315.0

157.5

337.5

180.0

0.0

Thruster Utilization H s 2.0 - T mean (Vcurr 0.46 m/s)

RPM1

RPM2

RPM3

RPM6

0.2

0.4

0.6

0.8

1

22.5

202.5

45.0

225.0

67.5

247.5

90.0270.0

112.5

292.5

135.0

315.0

157.5

337.5

180.0

0.0

Thruster Utilizati on H s 3.0 - T mean (Vcurr 0.60 m/s)

RPM1

RPM2

RPM3

RPM6

K I N D O F S I M U L A T I O NThe station keeping performance FIPLA results allows toevaluate and predict the thruster utilization under definedweather conditions.

Different weather conditions in order to have a complete viewof the possible environment scenarios have been analyzed .Conditions of thrusters and other equipment under failurestate have been analyzed .

U S E O F T H E R ES U LT S

All the simulation have been summarized by some rosettas.This study has been allowed to predict the behavior of thevessel and the operative DP limits.The onboard DP operator has known the performance of thevessel before the start of the operation that are used duringthe project to take the operative choices.

VA L I D A T I O N O F T H E R ES U LT SThe results have been compared with the measurements comingfrom the kongsberg DP system installed onboard with goodresults.

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PIPELAY RESULTSCASE OF STUDY

M A I N P I P E PA R A M E T ER SFollowing are reported the parameters with asignificant relevance during the pipelay

operation: Pipe configuration Axial Tension Bending Moment Roller reactions Pipe Fatigue

U S E O F T H E R ES U LT SThe pipe results are used to understand thecritical aspects generated by the coupling of thevessel motion with the pipe and stinger behaviorand vice versa.

VA L I D A T I O N O F T H E R ES U LT SThe pipe integrate simulation results made byFIPLA have been compared with an equivalentscenario with the software OFFPIPE. The resultsof the two software are similar and that hasbeen allowed the validation of softwareregarding the pipe and stinger section.

ROLLERREACTION

BENDINGMOMENT

BENDINGMOMENT

AXIALTENSION

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PIPELAY RESULTSCASE OF STUDY

M A I N P I P E PA R A M E T ER SFollowing are reported the parameters with asignificant relevance during the pipelay

operation: Pipe configuration Axial Tension Bending Moment Roller reactions Pipe Fatigue

U S E O F T H E R ES U LT SThe pipe results are used to understand thecritical aspects generated by the coupling of thevessel motion with the pipe and stinger behaviorand vice versa.

VA L I D A T I O N O F T H E R ES U LT SThe pipe integrate simulation results made byFIPLA have been compared with an equivalentscenario with the software OFFPIPE. The resultsof the two software are similar and that hasbeen allowed the validation of softwareregarding the pipe and stinger section. Flexjoint TransitionJoint

Weather Forecasting Lay Rate

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ISSUES

Direct Reading of the simulation variable from the DLL like Wind Speed and Direction.Multi-slope description for a single mooring line.Direct reading of .dwg file as presents in different mooring software (Gmoor).Introduction of a buoyancy tank located from the water line and connects to the mooringline with a wire.Introduction multi directional wave model in the Anysim with .ini file input.Introduction of sea-bed slope option in the Anysim with .xmf file input.

OMAE2014-24662.pdf

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