2 - Estimation of Hydrodynamic Forces During Subsea Lifting

Estimation of Hydrodynamic
Forces during Subsea Lifting
Tormod Be
DNV Marine Operations
4th December 2012
Content
Brief overview of relevant DNV publications
DNV Rules for Marine Operations, 1996,

Pt.2 Ch.5 Lifting Capacity Checks
Simplified Methods for prediction of Hydrodynamic Forces

o in Splash Zone, DNV-RP-H103 Ch.4
o in Deepwater, DNV-RP-H103 Ch.5
Estimation of Hydrodynamic Forces during Subsea Lifting
4. December 2012
Slide 2
Relevant DNV Publications

Lifting- and subsea operations :
DNV Rules for Planning and Execution of
Marine Operations 1996 and
DNV-OS-H101 Marine Operations, General - 2011
Specially planned, non-routine operations of
limited durations, at sea. Marine operations are
normally related to temporary phases as e.g.
load transfer, transportation and installation.
DNV-OS-E402 Offshore
Standard for Diving Systems
October 2010
DNV Standard for Certification

No.2.22 Lifting Appliances
October 2011
DNV Standard for Certification

No. 2.7-3 Portable Offshore Units
May 2011
Specially planned non-routine operations
4. December 2012
Routine operations
Slide 3
Relevant DNV Publications - Other
DNV-RP-C205 Environmental Conditions

and Environmental Loads, October 2010
DNV-RP-H103 Modelling and Analysis of

Marine Operations, April 2011
DNV-OS-E407 Underwater Deployment

and Recovery Systems, October 2012
Upcoming DNV publications:
Remaning DNV Marine Operation Offshore

Standards DNV-OS-H202,H204-H206
4. December 2012
Slide 4
Relevant DNV Publications - WebSite

DNV publications can be downloaded for free at:
http://www.dnv.com/resources/rules_standards/
The 1996 DNV Rules for Marine Operations is not in the DNV
intranet site.
4. December 2012
Slide 5
Content


4. December 2012
Slide 6
Capacity Checks - DNV 1996 Rules

Part 2 Chapter 5
Dynamic loads, lift in air
Crane capacity
Rigging capacity,
(slings, shackles, etc.)
Structural steel capacity

(lifted object, lifting points,
spreader bars, etc.)
Dynamic loads for subsea lifts are estimated according to DNV-RP-H103
4. December 2012
Slide 7
Capacity Checks DAF for Lift in Air
Dynamic loads are accounted for by

using a Dynamic Amplification Factor
(DAF).
DAF in air may be caused by e.g.

variation in hoisting speeds or motions
of crane vessel and lifted object.
The given table is applicable for

offshore lift in air in minor sea states,
typically Hs < 2-2.5m.
DAF must be estimated separately for

lifts in air at higher seastates and for
subsea lifts !
Table 2.1 Pt.2 Ch.5 Sec.2.2.4.4
4. December 2012
Slide 8
Capacity Checks - Crane Capacity

The dynamic hook load, DHL, is
given by:
DHL = DAF*(W+Wrig) + F(SPL)

ref. Pt.2 Ch.5 Sec.2.4.2.1
W is the weight of the structure,

including a weight inaccuracy factor
The DHL should be checked against

available crane capacity
The crane capacity decrease when

the lifting radius increase.
4. December 2012
Slide 9
Capacity Checks - Sling Loads

Example :
The maximum dynamic sling load, Fsling,
can be calculated by:
Fsling = DHLSKLkCoGDW / sin
ref. Pt.2 Ch.5 Sec.2.4.2.3-6
where:
SKL = Skew load factor extra loading

caused by equipment and fabrication tolerances.
kCoG = CoG factor inaccuracies in estimated

position of centre of gravity.
DW = vertical weight distribution e.g.

DWA = (8/15)(7/13) in sling A.
= sling angle from the horizontal plane.
4. December 2012
Slide 10
Capacity Checks - Slings and Shackles

The sling capacity Minimum breaking load,
MBL, is checked by:
Fsling
MBLsling
<
sf
The safety factor is minimum sf 3.0.

(Pt.2 Ch.5 Sec.3.1.2)
Safe working load, SWL, and MBL, of the

shackle are checked by :
a) Fsling < SWL DAF
and
b) Fsling < MBL / 3.3
Both criteria shall be fulfilled (Pt.2 Ch.5 Sec.3.2.1.2)
4. December 2012
Slide 11
Capacity Checks Structural Steel

Lifting points:
Other lifting equipment:
The load factor f = 1.3, is increased by a

consequence factor, C = 1.3, so that total
design faktor, design , becomes:
A consequence factor of C = 1.3

should be applied on lifting yokes,
spreader bars, plateshackles, etc.
design = c f = 1.3 1.3 = 1.7
Structural strength of Lifted Object:
The design load acting on the lift point becomes:
The following consequence factors

should be applied :
Fdesign = design Fsling = 1.7 Fsling
A lateral load of
minimum 3% of the
design load shall be
included. This load
acts in the shackle
bow !
(ref. Pt.2.Ch.5 Sec.2.4.3.4)
Table 4.1
4. December 2012
Pt.2 Ch.5 Sec.4.1.2

Slide 12
Capacity Checks Summary

Compute
DAF
DHL
Fsling
Check
Apply
Lift in air: VMO Rules Pt.2 Ch.5
Subsea lift: DNV-RP-H103
Weight of lifted object

and lifting equipment
Skew load, CoG and sling angle
Safety factors
4. December 2012
Crane
capacity
Capacity
of lifting
equipment
Slide 13
Content


4. December 2012
Slide 14
Simplified Method, Splash Zone - DNV-RP-H103

The
Recommended Practice; DNV-RPH103 Modelling and Analysis of Marine

Operations was issued april 2009. Latest
revision is april 2011.
A Simplified
Method for calculating

hydrodynamic forces on objects lifted
through wave zone is included in chapter 4.
This
Simplified Method supersedes the

calculation guidelines in DNV Rules for
Marine Operations, 1996, Pt.2 Ch.6.
4. December 2012
Slide 15
Simplified Method, Splash Zone - Assumptions

The Simplified Method is based upon the
following main assumptions:
the horizontal extent of the lifted object is

small compared to the wave length
the vertical motion of the object is equal the

vertical crane tip motion
vertical motion of object and water dominates

other motions can be disregarded
The intention of the Simplified Method is to

give simple conservative estimates of the
forces acting on the object.
4. December 2012
Slide 16
New Simplified Method - Assumptions

Time-domain analysis:
4. December 2012
Coupled multi-body
systems with individual
forces and motions.
Wind, wave and current

forces.
Geometry modelled.
Motions for all degrees

of freedom computed.
Non-linearities included.
Coupling effects.
Continous lowering
simulations.
Varying added mass.
Statistical analysis of
responses.
Visualization of lift.
Slide 17
Simplified Method, Splash Zone - Crane Tip Motions
The Simplified Method is unapplicable if the crane tip

oscillation period or the wave period is close to the
resonance period, Tn , of the hoisting system
Heave, pitch and roll RAOs for

the vessel should be combined
with crane tip position to find
the vertical motion of the crane tip
If operation reference period is

within 30 minutes, the most
probable largest responses may
be taken as 1.80 times the
significant responses
Unless the vessel heading is

fixed, vessel response should be
analysed for wave directions at
least 15 off the applied vessel
heading
4. December 2012
Tn = 2
M + A33
K
Slide 18
Simplified Method, Splash Zone - Wave Periods

There are two alternative approaches:
Alt-1) Wave periods are included:
Analyses should cover the following zerocrossing wave period range:
8.9
Hs
g
Tz 13
A lower limit of Hmax=1.8Hs=/7 with

wavelength =gTz2/2 is here used.
Alt-2) Wave periods are disregarded:

Operation procedures should in this case reflect that the calculations are only valid for
waves longer than:
Tz 10.6
HS
g
A lower limit of Hmax=1.8Hs=/10 with wavelength

=gTz2/2 is here used.
4. December 2012
Slide 19
Simplified Method, Splash Zone - Wave Kinematics

Alt-1) Wave periods are included:
The wave amplitude, wave particle
velocity and acceleration can be taken as:
a = 0.9 HS
4 2 d
2
v w = a
Tz
2
aw = a
Tz
T z2 g
4 2 d
T z2 g
d : distance from water plane to CoG of

submerged part of object
Alt-2) Wave periods are disregarded:
vw = 0.30
The wave particle velocity and acceleration can

be taken as:
4. December 2012
g Hs e
aw = 0.10
g e
0.35 d
Hs
0.35 d
Hs
Slide 20
Simplified Method, Splash Zone - Hydrodynamic Forces

Slamming impact force
Slamming forces are short-term impulse
forces that acts when the structure hits the
water surface.
AS is the relevant slamming area on the
exposed structure part. Cs is slamming coeff.
v s = v c + v ct2 + v w2
vc = lowering speed
vct = vertical crane tip velocity
vw = vertical water particle velocity
at water surface
The slamming velocity, vs, is :
Varying buoyancy force
F = V g
Varying buoyancy, F , is the change in

buoyancy due to the water surface
F = V g
elevation.
~
V = Aw
V is the change in volume of displaced

water from still water surface to wave crest
or wave trough.
4. December 2012
a 2 + ct2
a = wave amplitude
ct = crane tip motion amplitude
w = mean water line area in the
wave surface zone
Slide 21

Drag force
Drag forces are flow resistance on submerged
part of the structure. The drag forces are
related to relative velocity between object and
water particles.
v r = vc +
The drag coefficient, CD, in oscillatory flow for

complex subsea structures may typically be
CD 2.5.
Relative velocity are found by :
Mass force
Crane tip acceleration and water particle

acceleration are assumed statistically
independent.
vc = lowering/hoisting speed
vct = vertical crane tip velocity
vw = vertical water particle velocity
at water depth , d
Ap = horizontal projected area
FM =
Mass force is here a combination of inertia

force, Froude-Kriloff force and diffraction
force.
4. December 2012
vct2 + v w2
[(M + A ) a ] + [(V + A ) a ]
2
33
ct
33
M = mass of object in air

A33 = heave added mass of object
act = vertical crane tip acceleration
V = volume of displaced water relative to
the still water level
aw = vertical water particle acceleration
at water depth, d
Slide 22
Simplified Method, Splash Zone - Basics

Properties:
Forces:
Mass, M [kg]
Weight [N]
Volume, V [m3]
Buoyancy [N]
Added mass, A33 [kg]
Weight = M*gmoon
Buoyancy = *V*g
Weight = M*g
4. December 2012
Slide 23
Simplified Method, Splash Zone - Added Mass

Hydrodynamic added mass for flat plates
Example:
Flat plate where
length, b, above
breadth, a, is
b/a = 2.0 :
A33 = 0.76
4. December 2012
2
a b
4
Slide 24

Added Mass Increase due to Body Height
A33 1 +
A
2 33o
2( 1 + )
1 2
1.8
1.7
A33/A33o
The following simplified approximation of the

added mass in heave for a three-dimensional
body with vertical sides may be applied :
Added Mass Increase due to Body Height
1.6
1.5
1.4
1.3
1+SQRT((1-lambda^2)/(2*(1+lambda^2)))
1.2
and
Ap
h + Ap
1.1
1
0
0.5
1.5
2.5
ln [ 1+ (h/sqrt(A)) ]
where
A33o = added mass for a flat plate with a

shape equal to the horizontal projected
area of the object
h = height of the object
Ap = horizontal projected area of the object
4. December 2012
Slide 25

Added Mass from Partly Enclosed Volume
A volume of water partly
enlosed within large plated
surfaces will also contribute
to the added mass, e.g.:
The
volume of water
inside suction anchors
or foundation buckets.
The
volume of water
between large plated
mudmat surfaces and
roof structures.
4. December 2012
Slide 26

Added Mass Reduction due to Perforation
Recommended reduction:
Effect of perforation on added mass

1
if p< 5
A33
= 0.7 + 0.3 cos[ ( p 5 ) / 34 ]
A33 S
if 5 < p < 34
A33
=e
A33 S
10 p
28
if 34 < p < 50
0.9
Added Mass Reduction Factor
A33
= 1.0
A33 S
0.8
0.7
0.6
0.5
0.4
e^-P/28
BucketKC0.1-H4D-NiMo
BucketKC0.5-H0.5D-NiMo
PLET-KC1-4
Roof-A0.5-2.5+
Hatch20-KCp0.5-1.8
Hatch18-KCp0.3-0.8
BucketKC0.1
BucketKC0.6
BucketKC1.2
RoofKCp0.1-0.27
RoofKCp0.1-0.37
DNV-Curve
Mudmat CFD
0.3
0.2
0.1
A33S = added mass for a nonperforated structure.
0
0
10
Perforation
20
30
40
50
No reduction applied in added mass when perforation is small. A significant drop in the
added mass for larger perforation rates. Reduction factor applicable for p<50.
4. December 2012
Slide 27

The hydrodynamic force is a time dependent function of slamming impact
force, varying buoyancy, hydrodynamic mass forces and drag forces. In the
Simplified Method the forces may be combined as follows:
Fhyd = ( FD + Fslam ) 2 + ( FM F ) 2
The structure may be divided into

main items and surfaces contributing
to the hydrodynamic force
Water particle velocity and

acceleration are related to the
vertical centre of gravity for each
main item. Mass and drag forces
contributions are then summarized :
FM =
Mi
FD =
Di
FMi and FDi are the individual

force contributions from each
main item
4. December 2012
Slide 28
Simplified Method, Splash Zone - Load Cases Example

The static and hydrodynamic force should be calculated for different stages. Relevant
load cases for deployment of a protection structure could be:
Load Case 1
Still water level beneath top of ventilated buckets
Slamming impact force, Fslam, acts on top of

buckets. Inertia force to be included.
Varying buoyancy force, F , drag force, FD

and hydrodynamic part of mass force, FM are
negligible.
Load Case 2
Still water level above top of buckets
Slamming impact force, Fslam, is zero
Varying buoyancy, F , drag force, FD and

mass force, FM, are calculated. Velocity and
acceleration are related to CoG of submerged
part of structure.
4. December 2012
Slide 29

Load Case 3
Still water level beneath roof cover.
Slamming impact force, Fslam, acts on the roof

cover.
Varying buoyancy, F , drag force, FD and mass

force, FM are calculated on the rest of the
structure. Drag- and mass forces acts mainly on
the buckets and is related to a depth, d, down to
CoG of submerged part of the structure.
Load Case 4
Still water level above roof cover.
Slamming impact force, Fslam, and varying

buoyancy, F, is zero.
Drag force, FD and mass force, FM are calculated

individually. The total mass and drag force is the
sum of the individual load components, e.g. :
FD= FDroof + FDlegs+ FDbuckets applying correct CoGs
4. December 2012
Slide 30
4. December 2012
Slide 31
Simplified Method, Splash Zone - Static Weight
In addition, the weight inaccuracy factor should be applied
4. December 2012
Slide 32
Simplified Method, Splash Zone - DAF

Capacity Checks
The capacities of crane, lifting equipment and
lifted object are checked as for lift in air. The
following relation should be applied:
Ftotal
DAF =
Mg
where
Mg : weight of object [N]
Fstatic-max is the maximum static

weight of the submerged object
including flooding and weight
inaccuracy factor
Fhyd is the hydrodynamic force
Fsnap is the snap load (normally

to be avoided)
Ftotal : is the characteristic total force on the

(partly or fully) submerged object. Taken as the
largest of;
Ftotal = Fstatic-max + Fhyd
or
Ftotal = Fstatic-max + Fsnap

4. December 2012
Slide 33
DAF < 1.0

Possible ?
4. December 2012
Slide 34

The DAF factor is given by:

= 1 +
Hence, if the buoyancy is larger than the

hydrodynamic forces DAF becomes less than 1.0
4. December 2012
Slide 35
Simplified Method, Splash Zone - Slack Slings

The Slack Sling Criterion.
Snap forces shall as far as possible

be avoided. Weather criteria should
be adjusted to ensure this.
The following criterion should be

fulfilled in order to ensure that snap
loads are avoided:
Fhyd 0.9 Fstatic min

Fstatic-min
= weight before flooding,

including a weight reduction applied
by the weight inaccuracy factor.
4. December 2012
Slide 36
Simplified Method, Splash Zone - Results

Hydrodynamic force on object, Fhyd
Tables
can be
computed giving an
overview of
operable seastates
Maximum
allowable
Fhyd is derived
from max allowable
DAF and the slack
sling criterion
Red
results are
above installation
limit
Outside
means
non-existent
seastates
Tz\Hs
2.0
2.5
3.0
3.5
4.0
4.5
5.0
5.5
6.0
6.5
7.0
7.5
8.0
8.5
9.0
9.5
10.0
10.5
11.0
11.5
12.0
12.5
13.0
0.5
12.24
8.33
6.14
4.79
3.89
3.29
2.87
2.57
2.35
2.16
2.00
1.85
1.73
1.62
1.52
1.43
1.36
1.29
1.23
1.17
1.12
1.07
1.03
1.0
Outside
Outside
20.45
15.54
12.34
10.19
8.73
7.70
6.92
6.27
5.72
5.24
4.82
4.45
4.13
3.84
3.59
3.37
3.17
2.99
2.83
2.69
2.55
1.5
Outside
Outside
Outside
32.45
25.53
20.89
17.76
15.57
13.90
12.53
11.36
10.34
9.46
8.68
8.01
7.42
6.90
6.43
6.02
5.66
5.33
5.03
4.75
2.0
Outside
Outside
Outside
Outside
Outside
35.40
29.97
26.17
23.30
20.94
18.92
17.17
15.65
14.32
13.17
12.16
11.27
10.48
9.78
9.16
8.60
8.09
7.63
2.5
Outside
Outside
Outside
Outside
Outside
53.71
45.35
39.52
35.10
31.49
28.40
25.72
23.39
21.36
19.60
18.06
16.71
15.51
14.45
13.50
12.65
11.89
11.19
3.0
Outside
Outside
Outside
Outside
Outside
Outside
63.92
55.61
49.32
44.18
39.79
35.98
32.68
29.81
27.31
25.13
23.22
21.53
20.03
18.69
17.49
16.41
15.42
3.5
Outside
Outside
Outside
Outside
Outside
Outside
Outside
74.44
65.96
59.02
53.10
47.97
43.52
39.66
36.30
33.37
30.79
28.52
26.51
24.71
23.10
21.65
20.34
4.0
Outside
Outside
Outside
Outside
Outside
Outside
Outside
Outside
85.00
76.01
68.33
61.68
55.91
50.91
46.56
42.76
39.44
36.50
33.90
31.58
29.50
27.62
25.93
+
. ( )
4. December 2012
Slide 37
Simplified Method, Splash Zone - Summary

Compute
Fd, Fm,
Fslam and F
Apply
Object motion equal crane tip
Wave kinematics dependent on

assumed Hs,Tz seastate
Different deployment levels
Structure divided in main items
Check
Fhyd
No slack
slings
DAF
Capacity
checks
4. December 2012
Slide 38
Simplified Method, Splash Zone - Summary

The simplified method
assumes that:
Vertical motion of
structure is equal
to the crane tip
motion.
The horizontal
extension of the
structure is small.
Only vertical
motion is present.
More accurate
calculations can be
performed applying:
4. December 2012
Regular design
wave approach
(Ch. 3.4.2)
Time domain
analyses
CFD analyses
Slide 39
Content


4. December 2012
Slide 40
Deepwater Operations - Challenges

Challenges :
Static weight at crane tip

increases linearly with cable
length.
The resonance period of the

lifting system increases with
cable length. Dynamic forces
may increase due to resonant
amplification induced by the
vertical crane tip motion.
4. December 2012
Slide 41
Dynamic Forces Vertical resonance
4. December 2012
Slide 42
Simplified Method, Deepwater - Assumptions

DNV-RP-H103 Chapter 5 includes a simplified
method for estimating dynamic response of
lowered object.
The following main assumptions are applied:
the subsea structure is lowered into

deepwater and is unaffected by wave
forces
the vertical motion of crane tip and

subsea structure dominates other
motions can be disregarded
Offset due to current forces is

disregarded
Heave compensation systems are not

taken into account
4. December 2012
Slide 43
Case Study Crane Tip Motion
Lift at side of
crane vessel
Wave heading
15 off bow
RAO in heave,
pitch and roll are
combined in
order to find the
vertical motion at
the crane tip
Vessels natural
period in roll at
T=9s dominates
4. December 2012
Slide 44
Case Study Dynamic Load at Lifted Object
Cable length L=2750m

4. December 2012
Slide 45
Transfer
functions
for dynamic load
in cable and
crane tip motion
are combined
with a wave
spectrum S()
Most
probable
largest response
for dynamic force
in cable is found
by:
A duration time t =30 minutes

gives Fd=530kN in this case
4. December 2012
Slide 46
Non-operable
seastates
4. December 2012
Slide 47
Simplified Method, Deepwater - Summary

DNV-RP-H103 chapter 5 contains a simplified
method for establishing dynamic loads and
limiting weather criteria during deepwater
lifting operations.
4. December 2012
Slide 48
Finally One Last Comment:
When planning
Marine Operations,
remember to take
into account ....
4. December 2012
Slide 49
Easy Handling ..
4. December 2012
Slide 50
.. and Access for Survey !!
4. December 2012
Slide 51
4. December 2012
Slide 52

2 - Estimation of Hydrodynamic Forces During Subsea Lifting

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

2 - Estimation of Hydrodynamic Forces During Subsea Lifting

Uploaded by

Copyright:

Available Formats

Estimation of Hydrodynamic

Forces during Subsea Lifting

Brief overview of relevant DNV publications

DNV Rules for Marine Operations, 1996,

Simplified Methods for prediction of Hydrodynamic Forces

Estimation of Hydrodynamic Forces during Subsea Lifting

Relevant DNV Publications

DNV Standard for Certification

DNV Standard for Certification

Specially planned non-routine operations

Estimation of Hydrodynamic Forces during Subsea Lifting

Relevant DNV Publications - Other

DNV-RP-C205 Environmental Conditions

DNV-RP-H103 Modelling and Analysis of

DNV-OS-E407 Underwater Deployment

Upcoming DNV publications:

Remaning DNV Marine Operation Offshore

Estimation of Hydrodynamic Forces during Subsea Lifting

Relevant DNV Publications - WebSite

Estimation of Hydrodynamic Forces during Subsea Lifting

Brief overview of relevant DNV publications

DNV Rules for Marine Operations, 1996,

Simplified Methods for prediction of Hydrodynamic Forces

Estimation of Hydrodynamic Forces during Subsea Lifting

Capacity Checks - DNV 1996 Rules

Dynamic loads, lift in air

Structural steel capacity

Dynamic loads for subsea lifts are estimated according to DNV-RP-H103

Estimation of Hydrodynamic Forces during Subsea Lifting

Capacity Checks DAF for Lift in Air

Dynamic loads are accounted for by

DAF in air may be caused by e.g.

The given table is applicable for

DAF must be estimated separately for

Table 2.1 Pt.2 Ch.5 Sec.2.2.4.4

Estimation of Hydrodynamic Forces during Subsea Lifting

Capacity Checks - Crane Capacity

DHL = DAF*(W+Wrig) + F(SPL)

W is the weight of the structure,

The DHL should be checked against

The crane capacity decrease when

Estimation of Hydrodynamic Forces during Subsea Lifting

Capacity Checks - Sling Loads

SKL = Skew load factor extra loading

kCoG = CoG factor inaccuracies in estimated

DW = vertical weight distribution e.g.

= sling angle from the horizontal plane.

Estimation of Hydrodynamic Forces during Subsea Lifting

Capacity Checks - Slings and Shackles

The safety factor is minimum sf 3.0.

Safe working load, SWL, and MBL, of the

b) Fsling < MBL / 3.3

Both criteria shall be fulfilled (Pt.2 Ch.5 Sec.3.2.1.2)

Estimation of Hydrodynamic Forces during Subsea Lifting

Capacity Checks Structural Steel

Other lifting equipment:

The load factor f = 1.3, is increased by a

A consequence factor of C = 1.3

design = c f = 1.3 1.3 = 1.7

Structural strength of Lifted Object:

The design load acting on the lift point becomes:

The following consequence factors

Fdesign = design Fsling = 1.7 Fsling

Pt.2 Ch.5 Sec.4.1.2