Finite element modeling and jacket lauch analysis using a barge

This paper presents method numerically simulate the barge jacket system for calculating the jacket launch process using a barge by finite elements software, desire to affirm the ability of our engineers in the calculation of the problems mentioned above.

Tiểu ban Năng lượng, Kỹ thuật cơng trình, Vận tải Công nghệ Biển FINITE ELEMENT MODELING AND JACKET LAUCH ANALYSIS USING A BARGE Dinh Quang Cuong (1); Ngo Tuan Dung (2) (1) Institute of Construction for Offshore Engineering (ICOFFSHORE) University of Civil Engineering - 55 Giai Phong Street - Hanoi (2) PetroVietnam Marine Shipyard J/S Company (PVshipyard), No 65A2, 30/4 Street, Vung Tau; Email: dqc@hn.vnn.vn Abstract: There jacket - barge system models can be using Software system, which have currently on the world and in Vietnam to calculating: StruCAD*3D; StabCAD; NEPTUNE Developed by Zentech USA; MOSES (Multi Operational Structural Engineering Simulation) and SACS (Structural Analysis Computer System), ProgramManual- Engineering Dynamic, Inc USA, but their use often by foreigners The most important problem is the system simulation includes barge and jacket This paper presents method numerically simulate the barge - jacket system for calculating the jacket launch process using a barge by finite elements software, desire to affirm the ability of our engineers in the calculation of the problems mentioned above PHƯƠNG PHÁP PHẦN TỬ HỮU HẠN GIẢI BÀI TOÁN VẬN CHUYỂN, ĐÁNH CHÌM KHỐI CHÂN ĐẾ CƠNG TRÌNH BIỂN TỪ SÀ LAN Tóm tắt: Có thể dùng chương trình phần mềm theo phương pháp phần tử hữu hạn để giải tốn vận chuyển, đánh chìm khối chân đế từ xà lan Các chương trình phần mềm nói là: StruCAD*3D; StrabCAD; SASC,… trang bị Việt Nam, nhiên người nước sử dụng Vấn đề quan trọng thực toán thống mặt phương pháp mô hệ thống kết cấu khối chân đế sà lan trình vận chuyển, đánh chìm Báo cáo trình bầy việc mơ hệ thống kết cấu theo phương pháp phần tử hữu hạn số kết ban đầu tính tốn vận chuyển, đánh chìm khối chân đế cơng trình biển thép từ sà lan chương trình phần mềm theo phương pháp phần tử hữu hạn, với mong muốn khẳng định khả kỹ sư giải tốn nêu Introduction The launch process is broadly divided into four dynamically distinct phases: Phase 1: Jacket sliding over the launch-way of the barge towards the rocker arm 163 164 Hội nghị Khoa học Cơng nghệ Biển tồn quốc lần thứ V Phase 2: Jacket sliding on the rocker arm and rotating with respect to the rocker pin Phase 3: Jacket tipping on one side of the barge Phase 4: Separation of the jacket from the barge During each phase, the equations of motion are developed and solved using a powerful variable time step algorithm [1] [2] In the launch formulation, the barge-jacket interaction effect is incorporated and barge and jacket motions (including displacement, velocity, and acceleration) are computed for each time step, and the reaction forces and hydrodynamic forces are summarized Bottom clearance for the jacket can also be checked during the launch process Currently, the program assumes the lateral symmetry of the barge-jacket system, and thus only Phase 1, Phase 2, and Phase are simulated by the program Although the first two phases of jacket motion are constrained to the vertical plane of the barge, the hydrodynamic forces of the barge and jacket are considered in three dimensions Simulate the system 2.1 Coordinate Systems: There are five major coordinate systems: 2.1.1.The input coordinate system The input coordinate system is the coordinate system used to generate barge and jacket models and to enter launch data In general, the input coordinate system is also known as the structural global system when generating the jacket structural model The x-axis of the input coordinate system should be parallel to water surface and run along the center of the barge toward the rocker arm, i.e., the launch direction It is recommended that the x-axis of the input coordinate system be chosen along the keel of the launch barge 2.1.2 The barge body coordinate system The barge body coordinate systems are fixed in the body with the origin located at the barge Center of Gravity (C.G.), respectively (Figure 2) The barge body coordinate system is also used to describe relative motions between jacket and barge during the first two phases of the launch process 2.1.3 The jacket body coordinate system The jacket body coordinate systems are fixed in the body with the origin located at the jacket Center of Gravity respectively (Figure 2) 2.1.4 The rocker arm coordinate system The rocker arm coordinate system is fixed in the rocker arm, with its origin at the rocker pin (Figure 3) The rocker arm coordinate system is mainly used to describe phase motion and jacket-barge interaction forces 2.1.5 The global (water surface) coordinate system The global coordinate system, which is an inertial system fixed in space, that the origin is at the water surface directly above the barge center of gravity before the launch process begins The global coordinate system has the same positive directions (X, Y, and Z) as the Tiểu ban Năng lượng, Kỹ thuật cơng trình, Vận tải Cơng nghệ Biển 165 input coordinate system (Figure 1) The barge and jacket motions and hydrodynamic forces are described in the global coordinate system Originally, all the x-axes are in the direction of the barge bow to stern (i.e., in the launch direction), and all z-axes are vertical upward The y-axis is determined by the right-hand rule By specifying the jacket leading points, trailing points, and trailing edge distance, the program automatically puts the jacket on the top of the launch runner based the the assumption that the launch runner is parallel to the barge keel 2.2 Mathematical Formulation The forces acting on the jacket-barge system due to inertial, gravitational, frictional, and hydrostatic and hydrodynamic forces are evaluated, and the equations of motion in the form MX  CX  KX  F (t ) are established (1) M: Total mass matrix of the global coordinate system; C: Damping matrix; K: Structural stiffness matrix; F(t): Force vector; X ; X ; X : Vector of accelerations, velocities and displacements Thus the equations of motion are non-linear and the time domain method of analysis is inevitable 166 Hội nghị Khoa học Cơng nghệ Biển tồn quốc lần thứ V 2.3 Model Generation Other typical input which includes the barge C.G., simulation time and time step, jacket initial position relative to launch runner, and rocker arm data The barge geometry is modeled by 'PANEL' cards Each panel is a flat area described by connecting lines of up to points All the joints in the panel must be in the same plane The order of the connecting nodes, whether clockwise or counter-clockwise, will determine the direction of the panel in accordance with the right hand rule All the panels must have inward normal (i.e., the direction of the panel) to form a complete enclosed body, i.e., the hull of the launch barge The jacket model can be generated in any orientation in the input coordinate system (Figure 4) By defining the contacting surface of the jacket on the barge, the program will re-orient the jacket The initial position of the jacket can be determined by further specifying the initial trailing edge position and the height of rocker pin and rocker arm in the input coordinate system Since it is assumed that the barge-jacket system is laterally symmetric, it is not necessary to specify the relative position in the y-direction The contacting surface of the jacket on the barge is defined by specifying four typical points, i.e., the leading starboard point, the leading port point, the trailing starboard point, and the trailing port point (Figure 1) These points are used to determine the coordinate system associated with the contacting surface, and the contacting length of jacket structure members on the launch runner Therefore, the trailing points should be the aft-most points of the jacket structure members that contact the barge launch runner 2.4 Initial Equilibrium Position The barge-jacket system is assumed to be in static equilibrium under the effect of gravity and hydrostatic forces when the launch simulation begins The initial equilibrium position can be obtained by the program based upon mass matrices, geometry, and the relative Tiểu ban Năng lượng, Kỹ thuật cơng trình, Vận tải Cơng nghệ Biển 167 position of the jacket and barge However, you can also choose to enter the initial draft and trim of the barge to define the initial equilibrium position In this case, the program will not check the unbalanced forces and moments, if any Therefore, you need to make sure to enter the correct initial equilibrium position that corresponds with other input data 2.5 Mass Properties In addition to structural geometry, the mass properties of the barge and the jacket are also required for launch analysis While the mass matrix of the jacket structure is calculated internally by the program, you must enter the mass matrix of the barge yourself 2.6 Winch Effect A system of “winches” may be used to slide the jacket along the launch runner toward the rocker arm In this case, it is assumed that a constant winch speed is applied and the winch process is slow enough that its dynamic effect can be neglected Winching proceeds until the jacket sliding velocity is greater than the winch speed This makes the jacket slide along the launch runner by its own weight 2.7 Hydrodynamic Forces and Coefficients While Morison’s equation is applied to calculate the hydrodynamic forces on the jacket, the hydrodynamic forces acting on the barge are described by added mass and damping coefficients You can choose to enter these hydrodynamic coefficients to override the default values assigned by the program (Currently not available) Both added mass and damping coefficients must be entered in a non-dimensional form Non-dimensional added mass coefficients are defined as follows: • For surge, sway, and heave: Aii/ Mass, i = 1, 2, • For roll, pitch, and yaw: Aii/Iii, i = 4, 5, Non-dimensional damping coefficients are defined as follows: • For surge, sway, and heave: Bii / Mass * (L/g)1/2 i = 1, 2, 1/2 • For roll, pitch, and yaw: Bii/ Mass * (L/g) * (1/L) , i = 4, 5, Where lii is mass moment of inertial, L is the length of the barge, and g is the acceleration due to gravity 2.8 Load Generation Each program-generated load case, which corresponds to each time point specified may include parts or all of the following loads: Buoyancy, hydrodynamic forces, barge-jacket interaction forces, and inertial forces Member buoyancy and hydrodynamic forces are generally transformed to member distributed loads, except that when only avery small number of the members is submerged, and member concentrated loads are therefore used To generate barge-jacket interaction loads, the jacket structure joints lying on the launch runner that is to receive the launch runner reaction is defined Based upon these structural joints, the program will search for the structural members contacting the launch runner, and subsequently map the interaction forces onto these members The program assumes that the rocker arm is relatively rigid with respect to the jacket, and therefore interaction 168 Hội nghị Khoa học Cơng nghệ Biển tồn quốc lần thứ V forces are distributed uniformly along the structural members contacting the rocker arm and barge launch runner Program Output There are two levels of output In the Summary Output, Launch Parameters, Initial Position, Weight and Buoyancy, Phase-wise Motion Summary, and the Height to Water Surface reports are included The Detail Report includes the Rigid Body Position Result Degrees of Freedom (DOF), the Velocity of Jacket and Barge (6 DOF), the Acceleration of Jacket and Barge (6 DOF), the Rocker Arm Forces, and Forces and Moments acting on the Launch System You also have an option to choose output time steps for each phase, which can be different from the simulation time steps To help you better understand the Launch program, sample launch outputs are explained report-byreport on the following pages 3.1 Jacket Mass Matrix Report The Jacket Mass Matrix and Jacket Radius of Gyration are reported in the Input Coordinate System with the jacket at its original position, i.e., before the jacket is reoriented and put on the launch way (Figrue 4) 3.2 Launch Parameters and Barge Data Report The barge-jacket system is assumed to be in static equilibrium under the effect of gravity and hydrostatic forces when the launch simulation begins The initial equilibrium position (with the jacket already on the launch way) is defined by the draft at the barge center of gravity, and barge trim and heel (Figure 2) The Barge Radius of Gyration is relative to the body-fixed Barge Coordinate System The Rocker Pin location is reported in the Input Coordinate System with the barge launch way still parallel to the X axis of the Input Coordinate System, i.e., before the barge-jacket system achieves its initial equilibrium position (Figure 4) 3.3 Weights and Buoyancy and Initial Position Data Report In the Input Coordinate System, the jacket weight and buoyancy are reported with the jacket at its original position, i.e., before the jacket is re-oriented and put on the launch way (Figure 4) However, in the Global Coordinate System, the jacket weight and buoyancy are reported with the barge-jacket system in its initial equilibrium position (Figure 2) The initial position data of barge - jacket system are reported in the Global Coordinate System (Figure 2,4) Tiểu ban Năng lượng, Kỹ thuật cơng trình, Vận tải Công nghệ Biển 169 3.4 Rigid Body Position Results The barge rigid body position (six degrees of freedom) is reported in the Global Coordinate System, which is fixed in the space with its X-Y plane coinciding with the water plane The jacket rigid body position (six degrees of freedom) is reported both in the Global Coordinate System and in the Barge Coordinate System, which is fixed in the barge with its origin at the barge C.G For Phase 1, the only non-zero relative motion between the jacket and barge is in the barge Хdirection, since the jacket is sliding on the launch way For Phase 2, the jacket has relative skid and rotational motion with respect to the barge These relative motion components are described as motion in 'X', 'Z' and 'Pitch' in the Barge Coordinate System For Phase 4, the jacket has been separated from the barge Thus no relative motion is reported Figure 8: Phase Motion Figure 9: Height to Water Surface and Bottom Clearance 170 Hội nghị Khoa học Cơng nghệ Biển tồn quốc lần thứ V 3.5 Velocity and Acceleration of Jacket and Barge The barge velocity is reported in the Global Coordinate System, which is fixed in space with its X-Y plane coinciding with the water plane The jacket velocity is reported in both the Global Coordinate System and in the Barge Coordinate System, which s fixed in the barge with its origin at the barge C.G 3.6 Force Table The total contacting forces between the jacket and barge are reported in the rocker arm coordinate system, which is fixed in the rocker arm with the local z direction always perpendicular to the rocker arm top and the x-direction originally in the launch direction (Figure 3) Note that the rocker arm Y-direction is determined by the right hand rule 3.7 Forces and Moments acting on the Launch System All the forces and moments acting on the barge are reported in the coordinate system, which origin is located at the barge C.G and the X-Y-Z axes in the same direction as those of the Global Coordinate System (Figure 5) All the forces and moments acting on the jacket are reported in the coordinate system, which origin is located at the jacket C.G and the X-Y-Z axes in the same direction as those of the Global Coordinate System (Figure 5) 3.8 Phase Motion Report In this report, the barge motions are reported in the Global Coordinate System Since the only relative motion between the jacket and the barge is in the x-direction of the Barge Coordinate System (fixed in the barge), the jacket motions are better described as relative motion Note that the x-direction of the Barge Coordinate System will be different from that of the Global Coordinate System if the barge has a non-zero pitch/trim angle Only the most important barge motions, i.e., surge, heave, and pitch, are included in this summary report The other motion information can be found in the detail report 3.9 Phase Motion Report For Phase 2, both the barge and jacket motions are reported in the Global Coordinate System The relative skid velocity is reported in the Rocker Arm System (fixed in the rocker arm) The relative position (X-direction) is still reported in Barge Coordinate System to be consistent with the Phase relative motion In addition, the rocker arm rotating angle and rocker arm contacting force in the rocker arm z-direction are also reported The rocker arm force in the rocker arm y-direction can be found in the detail report Note that the x-direction of the Rocker Arm Coordinate System will be different from that of the Global in Barge Coordinate System if rocker arm has a non-zero angle Only the most important barge and jacket motions, i.e., surge, heave, and pitch are included in this summary report The other motion information can be found in the detail report 3.10 Phase Motion Report For Phase 4, both the barge and jacket motions are reported in the Global Coordinate System Since the jacket has separated from the barge, no relative motion will be reported The bottom clearance is calculated based upon the reference joints you define Only the most important barge and jacket motions, i.e., surge, heave, and pitch are included in Tiểu ban Năng lượng, Kỹ thuật cơng trình, Vận tải Cơng nghệ Biển 171 this summary report The other motion information can be found in the detail report 3.11 Height to Water Surface and Bottom Clearance of Jacket The “Height to Water Surface’ is positive if the joints are above the water surface The “Deepest Point” is calculated based upon the reference joints you define Conclusions There jacket - barge system models can be using Software system, which have currently in ICOFFSHORE to calculating: StruCAD*3D; StabCAD; NEPTUNE Developed by Zentech USA SACS, Structural Analysis Computer System, Program ManualEngineering Dynamic, Inc USA Reference Bathe K J -Finite Element Procedures in Engineering Analysis-1992 Bathe K.J - Finite Element Procedures - USA-1996 Peter Bettes - Infinite element - London - 1993 Softwares: StruCAD*3D; StrabCAD; NepTune developed by Zentech – USA SACS, Structural Analysis Computer System, Program Manual- Engineering Dynamic, Inc USA  ... Phase 2, and Phase are simulated by the program Although the first two phases of jacket motion are constrained to the vertical plane of the barge, the hydrodynamic forces of the barge and jacket. .. Coordinate System with the jacket at its original position, i.e., before the jacket is reoriented and put on the launch way (Figrue 4) 3.2 Launch Parameters and Barge Data Report The barge -jacket. .. interaction effect is incorporated and barge and jacket motions (including displacement, velocity, and acceleration) are computed for each time step, and the reaction forces and hydrodynamic