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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)
FGN 21.02.072
Grane jacket, Apr. 2003
FGN 21.02.073
Grane process module installation, Apr. 2003. Lift-off from barge.
FGN 21.02.074
Grane process module installation, Apr. 2003. Approaching jacket.
FGN 21.02.075
Grane process module installation, Apr. 2003. Landing on jacket.
FGN 21.02.076
Grane process module installation, Apr. 2003. Living quarter.
FGN 21.02.077
”Building-blocks” of a process platform
FGN 21.02.078
Jacket installation, Self-floater and launching from barge
FGN 21.02.079
Crane assisted jacket installation
FGN 21.02.0710
Crane assisted jacket installation, side view
FGN 21.02.0711
Crane assisted jacket installation, plane view.
FGN 21.02.0712
Tandem lift from barge
FGN 21.02.0713
Fram module lift. Model test setup
FGN 21.02.0714
Fram module. Model testing
FGN 21.02.0715
Installation of Fram West moduleThe Fram West module (900 tons)lifted onboard Troll C. May 2003
FGN 21.02.0716
Simulation of Fram module installation
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.
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.
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
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
FGN 21.02.0721
Installation of subsea equipment, TOGI 1989
FGN 21.02.0722
Installation of subsea equipment, Troll pilot
FGN 21.02.0723
Installation of subsea equipment, Oseberg sør template, 2002.
FGN 21.02.0724
Offshore wind farms
20 x 2MW
FGN 21.02.0725
Offshore wind farms
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
FGN 21.02.0727
Weather windows
FGN 21.02.0728
Weather windows
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
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
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
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
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
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
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
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
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
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)
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)