DNV Lifting

DNV Marine Operations Rules
for Subsea Lift Operations

Simplified Methods for Prediction of Hydrodynamic Forces
Tormod Be
DNV Marine Operations
29th November 2011
DNV Marine Operations' Rules for Subsea Lift Operations Slide 2 29. November 2011
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
Relevant DNV Publications
Lifting- and subsea operations :

Specially planned non-routine operations Routine operations
DNV Standard for Certification
No.2.22 Lifting Appliances
October 2011
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. 2.7-3 Portable Offshore Units
May 2011
DNV-RP-C205 Environmental Conditions
and Environmental Loads October 2010
DNV-RP-H101 Risk Management in
Marine and Subsea Operations, January
2003
DNV-RP-H102 Marine Operations during
Removal of Offshore Installations,
April 2004
DNV-RP-H103 Modelling and Analysis of
Marine Operations, April 2011
Relevant DNV Publications - Other
Relevant DNV Publications - WebSite
Most DNV publications can be downloaded for free at:
http://www.dnv.com
The 1996 DNV Rules for Marine Operations is not in the
DNV intranet site.
Content
Capacity Checks - DNV 1996 Rules
Dynamic loads, lift in air
Crane capacity
Rigging capacity,
(slings, shackles, etc.)
Structural steel capacity
(lifted object, lifting points,
spreader bars, etc.)
Part 2 Chapter 5
Dynamic loads for subsea lifts are estimated according to DNV-RP-H103
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

The dynamic hook load, DHL, is
given by:
DHL = DAF*(W+Wrig) + F(SPL)
ref. Pt.2 Ch.5 Sec.2.4.2.1

Capacity Checks - Crane Capacity
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.

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:
Capacity Checks - Sling Loads
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.
Example :

Safe working load, SWL, and MBL, of the
shackle are checked by :
a) F
sling
< SWL DAF
and b) F
sling
< MBL / 3.3
Both criteria shall be fulfilled (Pt.2 Ch.5 Sec.3.2.1.2)

The sling capacity Minimum breaking load,
MBL, is checked by:

The safety factor is minimum sf 3.0.
(Pt.2 Ch.5 Sec.3.1.2)
Capacity Checks - Slings and Shackles
sf
sling
sling
MBL
F <
Lifting points:
The load factor
f
= 1.3, is increased by a
consequence factor,
C
= 1.3, so that total
design faktor, design , becomes:
design = c f = 1.3 1.3 = 1.7
The design load acting on the lift point becomes:
Fdesign = design Fsling = 1.7 Fsling

Capacity Checks Structural Steel
Other lifting equipment:
A consequence factor of
C
= 1.3
should be applied on lifting yokes,
spreader bars, plateshackles, etc.
Structural strength of Lifted Object:
The following consequence factors
should be applied :
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 Pt.2 Ch.5 Sec.4.1.2
Capacity Checks Summary
Capacity
of lifting
equipment
Weight of lifted object
and lifting equipment
Skew load, CoG and sling angle
Safety factors
Lift in air: VMO Rules Pt.2 Ch.5
Subsea lift: DNV-RP-H103
Compute
Apply
F
sling
Crane
capacity
DHL
DAF
Check
Content
Simplified Method, Splash Zone - DNV-RP-H103
The Recommended Practice; DNV-RP-
H103 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.
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.
New Simplified Method - Assumptions
Time-domain analysis:
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.
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
K
A M
T
n
33
2
+
= t
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
Simplified Method, Splash Zone - Wave Periods
13 9 . 8 s s
z
T
g
H
s
A lower limit of Hmax=1.8Hs=/7 with
wavelength =gT
z
2
/2 is here used.
g
H
z
T
S
>
6 . 10
A lower limit of Hmax=1.8Hs=/10 with wavelength
=gT
z
2
/2 is here used.
There are two alternative approaches:
Alt-1) Wave periods are included:
Analyses should cover the following zero-
crossing wave period range:
Alt-2) Wave periods are disregarded:
Operation procedures should in this case reflect that the calculations are only valid for
waves longer than:
Alt-1) Wave periods are included:
The wave amplitude, wave particle
velocity and acceleration can be taken as:

Simplified Method, Splash Zone - Wave Kinematics
S a
H = 9 . 0 ,
g T
z
a w
z
d
e
T
v
2
2
4
2
t
t
,

|
|
.
|
\
|
=
g T
z
a w
z
d
e
T
a
2
2
4
2
2
t
t
,

|
|
.
|
\
|
=
s H
d 35 . 0
v e
s
H g 30 . 0
w
= t
s
H
d 35 . 0
a e g 10 . 0
w
= t
Alt-2) Wave periods are disregarded:
The wave particle velocity and acceleration can
be taken as:
d : distance from water plane to CoG of
submerged part of object

Slamming impact force
Slamming forces are short-term impulse
forces that acts when the structure hits the
water surface.
A
S
is the relevant slamming area on the
exposed structure part. Cs is slamming coeff.
The slamming velocity, v
s
, is :

Simplified Method, Splash Zone - Hydrodynamic Forces
2 2
w ct c s
v v v v + + =
g V F = o
Varying buoyancy force

Varying buoyancy, F , is the change in
buoyancy due to the water surface
elevation.
V is the change in volume of displaced
water from still water surface to wave crest
or wave trough.
vc = lowering speed
vct = vertical crane tip velocity
vw = vertical water particle velocity
at water surface
2 2
~
ct a w
A V q , o + =
g V F = o
a = wave amplitude
ct = crane tip motion amplitude
w = mean water line area in the
wave surface zone
Mass force
Mass force is here a combination of inertia
force, Froude-Kriloff force and diffraction
force.
Crane tip acceleration and water particle
acceleration are assumed statistically
independent.
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.
The drag coefficient, CD, in oscillatory flow for
complex subsea structures may typically be
CD 2.5.
Relative velocity are found by :
2 2
w ct c r
v v v v + + =
vc = lowering/hoisting speed
vct = vertical crane tip velocity
vw = vertical water particle velocity
at water depth , d
Ap = horizontal projected area
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
( ) | | ( ) | |
2
33
2
33 w ct
M
a A V a A M
F
+ + +
=

Simplified Method, Splash Zone - Basics
Forces:
Weight [N]
Buoyancy [N]
Weight = M*g
moon

Weight = M*g
Buoyancy = *V*g
Properties:
Mass, M [kg]
Volume, V [m
3
]
Added mass, A
33
[kg]
Simplified Method, Splash Zone - Added Mass
Hydrodynamic added mass for flat plates
b a
4
76 . 0 A
2
33
=
t
Example:
Flat plate where
length, b, above
breadth, a, is
b/a = 2.0 :

Added Mass Increase due to Body Height

The following simplified approximation of the
added mass in heave for a three-dimensional
body with vertical sides may be applied :
o 33
2
2
33
A
) 1 ( 2
1
1 A
(
(
(
+ ~
p
p
A h
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
and
Added Mass Increase due to Body Height
1
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
0 0.5 1 1.5 2 2.5
ln [ 1+ (h/sqrt(A)) ]
A
3
3
/
A
3
3
o
1+SQRT((1-lambda^2)/(2*(1+lambda^2)))
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.
Added Mass Reduction due to Perforation

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.
.
Effect of perforation on added mass
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
0 10 20 30 40 50
Perforation
A
d
d
e
d

M
a
s
s

R
e
d
u
c
t
i
o
n

F
a
c
t
o
r
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 . 1
A
A
S 33
33
=
| | 34 / ) 5 p ( cos 3 . 0 7 . 0
A
A
S 33
33
+ = t
28
p 10
S 33
33
e
A
A

=
if p< 5
if 5 < p < 34
if 34 < p < 50
Recommended reduction:
A
33S
= added mass for a non-
perforated structure.
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:
2 2
) ( ) (

F F F F F
M D slam hyd
+ + =
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 :
=
i
i M M
F F
=
i
i D D
F F
FMi and FDi are the individual
force contributions from each
main item
Simplified Method, Splash Zone - Load Cases Example
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.
The static and hydrodynamic force should be calculated for different stages. Relevant
load cases for deployment of a protection structure could be:
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.
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= F
Droof
+ F
Dlegs
+ F
Dbuckets
applying correct CoGs
Simplified Method, Splash Zone - Static Weight
In addition, the weight inaccuracy factor should be applied
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:

where
Mg : weight of object [N]
Ftotal : is the characteristic total force on the
(partly or fully) submerged object. Taken as the
largest of;
F
total
= F
static-max
+ F
hyd
or
F
total
= F
static-max
+
Fsnap
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)
Mg
F
DAF
total
=
Simplified Method, Splash Zone - Slack Slings
The Slack Sling Criterion.
Snap forces shall as far as possible
be avoided. Weather crietria should
be adjusted to ensure this.
The following criterion should be
fulfilled in order to ensure that snap
loads are avoided:
min static hyd
F 9 . 0 F

s
Fstatic-min = weight before flooding,
including a weight reduction implied
by the weight inaccuracy factor.
Simplified Method, Splash Zone - Results
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
29. November 2011 DNV Marine Operations' Rules for Subsea Lift Operations Slide 35
Hydrodynamic force on object, Fhyd
Tz\Hs 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
2.0 12.24 Outside Outside Outside Outside Outside Outside Outside
2.5 8.33 Outside Outside Outside Outside Outside Outside Outside
3.0 6.14 20.45 Outside Outside Outside Outside Outside Outside
3.5 4.79 15.54 32.45 Outside Outside Outside Outside Outside
4.0 3.89 12.34 25.53 Outside Outside Outside Outside Outside
4.5 3.29 10.19 20.89 35.40 53.71 Outside Outside Outside
5.0 2.87 8.73 17.76 29.97 45.35 63.92 Outside Outside
5.5 2.57 7.70 15.57 26.17 39.52 55.61 74.44 Outside
6.0 2.35 6.92 13.90 23.30 35.10 49.32 65.96 85.00
6.5 2.16 6.27 12.53 20.94 31.49 44.18 59.02 76.01
7.0 2.00 5.72 11.36 18.92 28.40 39.79 53.10 68.33
7.5 1.85 5.24 10.34 17.17 25.72 35.98 47.97 61.68
8.0 1.73 4.82 9.46 15.65 23.39 32.68 43.52 55.91
8.5 1.62 4.45 8.68 14.32 21.36 29.81 39.66 50.91
9.0 1.52 4.13 8.01 13.17 19.60 27.31 36.30 46.56
9.5 1.43 3.84 7.42 12.16 18.06 25.13 33.37 42.76
10.0 1.36 3.59 6.90 11.27 16.71 23.22 30.79 39.44
10.5 1.29 3.37 6.43 10.48 15.51 21.53 28.52 36.50
11.0 1.23 3.17 6.02 9.78 14.45 20.03 26.51 33.90
11.5 1.17 2.99 5.66 9.16 13.50 18.69 24.71 31.58
12.0 1.12 2.83 5.33 8.60 12.65 17.49 23.10 29.50
12.5 1.07 2.69 5.03 8.09 11.89 16.41 21.65 27.62
13.0 1.03 2.55 4.75 7.63 11.19 15.42 20.34 25.93
Simplified Method, Splash Zone - Summary
DAF within
capacity
requirements
Object motion equal crane tip
Wave kinematics dependent on
assumed Hs,Tz seastate
Different deployment levels
Structure divided in main items
Compute
Apply
No slack
slings
F
hyd
Check
DAF
F
d,
F
m,
F
slam
and

F

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:
Regular design
wave approach
(Ch. 3.4.2)
Time domain
analyses
CFD analyses
Content
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.
Dynamic Forces Vertical resonance
Simplified Method, Deepwater - Assumptions
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
DNV-RP-H103 Chapter 5 includes a simplified
method for estimating dynamic response of
lowered object.
Case Study Main Data
The subsea structure mass is 97 tonnes
Water depth is 3000 m
The crane cable is a conventional steel wire
No heave compensation system
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
Case Study Dynamic Load at Lifted Object
Comparison with a
non-linear time-
domain FE analysis
Dynamic
amplification 20%
higher at natural
period T
0
=9s
Dynamic amp. at
T=1.5s due to
longitudinal
pressure waves
No wave energy at
T=1.5s, hence
deviation is
acceptable
Cable length L=2750m
Transfer functions
for dynamic load
in cable and
crane tip motion
are combined
with a wave
spectrum S()
Jonswap wave
spectrum with
Hs=2.0m and
Tp=9s is applied
Most probable
largest response
for dynamic force
in cable is found
by:

A duration time t =30 minutes
gives F
d
=530kN in this case

Calculations
are repeated
for a range of
seastates
Hs=2.0m gives
acceptable
dynamic loads
for all wave
periods
Natural period
of the lifting
system is
T
0
=9s

Calculations are
repeated for a
range of cable
lengths
Max Fd for all
Tz values
Fd<0.9*Fstatic
in order to avoid
risk of snap
loads due to
slack slings;
Fd < 68t
Capacity
requirement of
crane and cable
governs for
cable lengths
above L>2250m
due to weight of
cable
Non-operable
seastates
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
Most probable largest dynamic load in the lifting line is computed
taking into account dynamic amplification due to resonance
effects
The simplified method is well suited for common spreadsheet
programs or other computer software for engineering
calculations.
.. Questions ??

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DNV Marine Operations Rules

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Varying buoyancy force

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