Fatigue Analysis

Offshore Structures – Fatigue Analysis
Training Course on Offshore Structures
14-24 July 2008
at L & T Valdel Office, Bangalore
Department of Ocean Engineering

Indian Institute of Technology Madras
FATIGUE ANALYSIS AND DESIGN
21 July 2008 2 Dr. S. Nallayarasu

Indian Institute of Technology Madras-36
Where to Check Fatigue ?

Any Connections subjected to cyclic
stresses. e.g
Tubular Connections (Brace-Chord
Interface)
Tubular transitions both in thickness and
diameter (inline fatigue)
Plated Connections (Numerous types of
connection configurations in offshore
structures)

What Methods are available ?

Simple Cumulative Fatigue Damage
Method
Proven method, for many years
Simple but not reflecting the actual scenrio
Still lot of studies going on
Fracture Mechanics Method
Recently getting popular but still need lot of
research
Lack practical application as it involves estimate
of initial crack width

Fatigue Concept
Fatigue can occur where there is a

Discontinuity
Change in stress path
Change in thickness
Change in material
Applied load is cyclic

Typical T Joint

Location of Saddle and Crown

But Welded Connection

Fabrication Misalignment

Tubular Misalignment

FATIGUE ANALYSIS STEPS
Fatigue analysis method
Jacket Model
Wave Climate (Scatter Data)
Hydrodynamic Coefficients
Structural Response
Cyclic Stress Calculations
Dynamic Amplification Factor
SCF equations
S-N curve
Fatigue Damage Calculations
Factor of Safety

WAVE SCATTER DATA
JOINT OCCURANCE DATA

DIRECTIONAL SCATTER DATA

JOINT OCCURANCE DATA FOR WAVE HEIGHT AND PERIOD
Hmax





FATIGUE ANALYSIS METHODS
Simplified Fatigue
Analysis
Detailed Fatigue
Analysis
Deterministic Method
Spectral Method
(Stochastic)

SIMPLIFIED FATIGUE ANALYSIS
Used only for preliminary screening of joints
for fatigue strength and will be used in
concept stage
Method is based punching shear concept for
tubular joints using allowable hot spot
stresses compared with applied stresses
Method is described as below.
Static analysis using design wave as per API RP
2A clause 2.3.4-3
Compute allowable hot spot stress using API RP
2A Figure C51-1 and 2
Unity Check calculated and must be less than 1


DETERMINISTIC FATIGUE ANALYSIS
Used for Detail design of jackets in water depth less than
400 ft and natural period less than 3 seconds
Method is based on Cumulative fatigue Damage concept
Establish sea-state scatter data and define applied cycles (n)
for each wave (sea-state is described by discrete waves)
Static analysis using design sea-state waves (DAF can be
inlcuded)
Compute nominal stresses at the brace chord intersections
Compute SCF using efthymiou equations
Compute Hot Spot Stress Range (HSSR) = nominal stress
range x SCF
Select Suitable S-N curve and find out the allowable number of
cycles (N) for each wave
Cumulative fatigue damage (D) is calculated by adding
damage for all waves
∑
D = (n / N )
FATIGUE DATA & STRUCTURAL

* - Dynamic analysis
Wave Scatter
ENVIRONMENTAL AND
diagram 3-D structure computer model
•wave loads
CONFIGURATION
•stiffness
S-N Damage scatter
Curves diagram
“Centre of Damage” Linearised

seastate foundation
DETERMINISTIC
Long term cumulative Wave heights
distribution of wave and periods
heights
WAVES
Number of occurrences of
each deterministic wave
Contd….


Structural
For each wave direction and
Each deterministic wave
analysis
RANGES
STRESS
Stress
Concentration
factors
For all locations in structure
Hot spot stress range values

STATISTICS
Number of
STRESS
RANGE
occurrences of each
stress range value
DAMAGE
S-N
FATIGUE
Miner’s rule
Curves
Figure lives

SPECTRAL FATIGUE ANALYSIS
Used for Detail design of jackets in water depth less than
400 ft and natural period more than 3 seconds
Method is based on Cumulative fatigue Damage concept
Establish sea-state scatter data and define applied cycles (n)
for each wave (sea-state is described spectra, PM, ISSC,
JONSWAP)
Static / dynamic analysis using design sea-state waves
Compute nominal stresses at the brace chord intersections
Compute SCF using efthymiou equations
Compute Hot Spot Stress Range (HSSR) = nominal stress
range x SCF
Select Suitable S-N curve and find out the allowable number
of cycles (N) for each wave
Cumulative fatigue damage (D) is calculated by adding
damage for all waves
∑
D = (n / N )
ENVIRONMENTAL AND FATIGUE DATA

* - Dynamic analysis
Wave Scatter & STRUCTURE CONFIGURATION

diagram 3-D structure computer model
•wave loads * mass*
• stiffness * damping*
S-N Damage scatter
Curves diagram
“Centre of Damage” Linearised

seastate foundation
DETERMINING
WAVES FOR
FUNCTIONS
TRANSFER
Wave Natural
frequencies and frequencies*
wave heights
Contd….

Structural analysis
For each TRF frequency

(dynamic)*
TRANSFER
FUNCTION
For each wave direction
STRESS
Stress
concentration Nominal member stresses
factors
Hot spot stress range transfer

functions
For all locations in structure
scatter diag
Seastate in
For each
Wave Spectrum Short term
STATISTICS
statistics
STRESS
RANGE
Long term cumulative
distribution of hot
spot stress ranges
DAMAGE
S-N
FATIGUE
Miner’s rule
Curves
Figure lives

PM SPECTRA
H Tz −1 −4
2
Sh ( f ) = exp[ ( fTz ) s
4π ( fTz ) 5
π
Where
Sh ( f ) = Single sided spectral density of wave

2
amplitude ( m unitfrequency )
Hs = Significant wave height (m)
Tz = Zero up-crossing period (sec)
f = Wave frequency
CENTRE OF FATIGUE DAMAGE
Pi
Di = H bm
si
Where
Tzi
Di = Damage of the ith sea-state
m= Slope of the S-N curve
b= Slope of log-linear wave height versus stress

(assumed 1.80)
H si = Significant wave height of the ith sea-state
Tzi = Zero up-crossing period of the ith sea-state
Pi = Probability of occurrence of the ith sea-state


EQUIVALENT WAVE HEIGHT AND PERIOD
HS = ∑ DH i si
Di
Tz = ∑ DT i si
Di
Hydrodynamic coefficients
Cd and Cm depends on the flow field and the structure

size and related by Keulegan-Carpenter Number
2UmT2
K=
D
Storm Waves (Large in relation to Size of members)
Cd – 0.65 (Clean), 1.05 (Rough)

Cm – 1.6 (Clean), 1.2 (Rough)
Fatigue Waves (Small in relation to Size of members)
Cd – 0.5 (Clean), 0.8 (Rough)

Cm – 2.0 (Clean), 2.0 (Rough)

Wave Directions
Minimum 8 Directions for 4 or 8 Leg

jacket
Minimum 12 Directions for Tripod

Wave Directions

Generation of Cyclic Stresses

Various Methods available to
generate
Simplest will be to calculate static stress
amplitude and multiply by a factor 2 (if
we know that the stress variation is
simple sinusoidal variation)
Using wave loads options to generate
stresses at crest and trough positions of
the passing wave and the difference is
the stress range
Generation of Cyclic Stresses

But due to the complexity of the
structure like jacket, the methods
are not so simple
The methods available in SACS can
be used
Wave load with MS and NS options, i.e.
Maximum Base shear (MS) and
Minimum base Shear (NS), the resulting
difference in these two load cases will
give the stress range


Why we need to do Dynamic Analysis
Offshore structures are subjected to dynamic loads
from wave, wind and deck machinary
Dynamic loads with specific cyclic period close to the
natural period may cause resonance
In order to assess the vulnerability of the structure
against dynamic loads, natural period and associated
characteristics is required
For Simple systems such as cantilevers, simply
supported beams, fixed beams closed form solutions
are available to calculate the natural period where as
for large structures, FEM methods are used


Fixed template type platforms have

natural periods less than 4 Seconds
Compliant structures have natural
period in excess of 10 seconds
Fatigue wave periods ~ 3 to 12
seconds
Storm wave periods ~ 6 to 16 seconds

Inappropriately configured jacket with

natural period greater than 3 seconds could
cause large problem with regards to fatigue
loading as DAF will be very high
Hence as a first step in configuring a jacket
structure, we need to asses the natural
period quickly
Do remedies by making the jacket base
larger, more foundation piles, less deck mass
(if possible)


Structural Response – Static Analysis
If the natural period of the platform is
considerably away from fatigue waves,
assumption of equivalent static analysis is
acceptable
Simple calculations for DAF using SDOF
model for each of the wave period can be
calculated and applied to the wave loads
Simple Static Analysis either with Pile Soil
Interaction or equivalent linearised
foundation can be used.
[ K ]{ X } = {F * DAF }
DYNAMIC AMPLIFICATION
1
DAF =
2
T Tn 2
(1 − ) + (2ς )
N
2
T T
Damping


Structural Response – Wave Response analysis
If the natural period of the platform is close
to the fatigue waves, assumption of
equivalent static analysis is not acceptable
Simple calculations for DAF using SDOF model
for will result in very conservative or non-
conservative results depending on the
assumptions made on average wave periods
for the calculation of DAF
Hence a Dynamic Wave Response analysis
needs to be performed
Due to iterative calculations in Free Vibration
analysis, equivalent linearised Foundation is
required
Structural Response – Wave Response analysis
The dynamic wave response analysis
requires the dynamic characteristics
The results of dynamic analysis will be used
in Dynamic Wave Response analysis to
generate structure response
Free Vibration Analysis
[ K ]{ X } + [ M ]{ X "} = 0
Wave Response Analysis
[ K ]{ X } + [C ]{ X '} + [ M ]{ X "} = {F }
STRESS TRANSFER FUNCTION
A transfer function defines the range

of cyclic stresses to wave ratio over a
range of wave period (or frequency)
Including Dynamics
R( f ) = H ( f ) * F ( f )
Final Response Forcing Function
A transfer function defines the range

of cyclic stresses to wave ratio over a
range of wave period (or frequency)
[ K ]{ X } + [C ]{ X '} + [ M ]{ X "} = {F }
H ( f ) = Cyclic Stress / WaveHeight

Determination of H(f) involves

response of the structure for various
wave frequency for unit amplitude
waves
Selection of frequencies for
generation of H(f) is important so
that the peaks and valley of the
transfer function are included

Selection of wave frequency for transfer function

WAVE HEIGHT FOR TRANSFER FUNCTION
Wave height for each frequency

selected shall be defined
This can be calculated by assuming
certain wave steepness. Typically
the wave steepness of 1/20 to 1/25
can be used
A minimum wave height of 0.3m
and the maximum of design wave
shall be achieved to cover all ranges
CYCLIC STRESS RANGE

TYPICAL STRESS TRANSFER FUNCTION

σ = ∫ H ( f ) S ( f )df
i ∞ 2
RMS 0 i h
σ
i
T = RMS
∫ f H ( f ) S ( f )df
z
∞ 2 2
0 h


Fraction of
Design Life
mL Design Life
n( s ) =
Tz
n( s ) ∞ s s2
D= 2 ∫ exp( 2 )ds
σ RMS i 0
N ( s) σ RMS i

Stress Concentration Factors (SCF)
Hot Spot Stress
SCF =
Nominal Stress
•SCF can be evaluated using physical models testing
•SCF can be computed using FEM model studies
•SCF using Lloyds register equation
•SCF using Efthymiou Equations
•SCF using Kuang et al, or Alpha-Kellogg


FEM Model of T Joint

LOCAL INCREASE IN STRESSES

TYPES OF JOINTS
SIMPLE JOINTS
GROUTED TUBULAR JOINTS
INTERNAL RING STIFFENED JOINTS
OVERLAPPING JOINTS
CALCULATION OF SCF FOR THE ABOVE JOINTS DIFFER

GEOMETRIC CLASSIFICATION
T
Y
K
X
COMBINATION OF
THE ABOVE
JOINTS ARE TREATED IN ONE PLANE – PLANER JOINTS

JOINT TYPES

GROUTED PILE / LEG SECTION
JACKET LEG PILE
GROUT

ANNULAR GROUTED TUBULAR JOINTS
Teq = T p2 + T L2
Where Tp is the thickness of pile wall and TL

is the thickness of jacket leg.

S-N CURVES
VARIOUS TYPES OF S-N CURVES

AVAILABLE FROM
American Welding Society, AWS
American Petroleum Institute API RP 2A
Det Norske Vritas DNV RP C203
American Bureau of Shipping, Guidance
Health and Safety Executive, HSE UK

SCF FOR T JOINT - API RP 2A

S-N Curves
Stress-Cycles (S-N) curve is material
characteristics
Generated using experimental methods
API RP 2A suggest use of X and X’ curves
for Tubular Joints (Now its is called WJ and
Improved WJ)
Health and Safety Executive (HSE) has
many Classes of S-N curves for different
connections including Tubular Joints

BASIC S-N CURVE (API RP 2A)

S-N CURVES
Log10( N ) = Log10(k1) − mLog10( S )
N = 10 log 10 ( k 1 ) − m log 10 ( s )

S-N Curve Improved profile (API RP 2A)

HSE S-N CURVE FOR NODAL JOINTS

FACTOR OF SAFETY
(API RP 2A)

MINERS’ RULE
all
n
FATIGUE DAMAGE D=∑
i =1 N
n = Number of occurrences in each sea-state

N = Allowable number of cycles
Where to Check ?
LOCAL FATIGUE
Computation of Cyclic stresses using
global loads can only maximise the
global response
Local member response needs to be
looked into especially in deterministic
analysis

RING STIFFENED JOINTS

RING STIFFENED JOINTS

Rings are effective means of reducing SCF’s at brace /
chord interface
The SCF’s at saddle get reduced considerably but not at
the crowns
If the load is axial or OPB, the rings are effective but for
IPB it is not effective in reducing the SCF’s at the Crown
location
May have to use Two rings just below the Crown to be
effective in reducing the SCF at crown
SCF’s at ring / chord interface shall be checked. This
location being cannot inspect, keep the ring bending
modulus to ring area high as much as 8 to 15.

OTHER FATIGUE ISSUES

Pile Driving fatigue
Wind induced Fatigue
Fatigue non-tubular connections
Fatigue on Topsides due to platform
Displacement
Fatigue on Riser and Wellhead piping

Fatigue Life Improvement

Profile Grinding the weld
Weld Toe grinding
Hammer peening of the weld toe
Smoothening Weld caps in butt welds
Post weld heat treatment
Adding Internal rings
Adding external reinforcements

WELD PROFILE

TRANSITION

BUT WLED


Fatigue Analysis

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Offshore Structures – Fatigue Analysis

Training Course on Offshore Structures

14-24 July 2008

at L & T Valdel Office, Bangalore

Department of Ocean Engineering

Offshore Structures – Fatigue Analysis