O presente trabalho foi realizado por meio de uma abordagem tríplice do problema de compressão dinâmica em risers, fundamentado em ensaios em um Calibrador Hidrodinâmico, com posterior confrontação dos resultados com formulações analíticas e o uso de programas comerciais dedicados ao estudo da estática e dinâmica de linhas flexíveis. O principal objetivo foi a determinação acurada, a partir de uma instrumentação pouco invasiva, dos comprimentos das ondas de flexão geradas no TDP, durante a compressão dinâmica. Esse objetivo, de per si, encerra o caráter de ineditismo da presente tese. Os ensaios consistiram na realização de movimentos circulares no topo de um modelo flexível lançado em catenária, sob diversas configurações, totalizando um total de 72 experimentos: foram utilizados três frequências de movimento, três amplitudes, quatro ângulos de topo e dois sentidos de rotação. Um sistema de monitoramento óptico foi utilizado como principal instrumentação. Além desse equipamento, foi utilizada uma célula de carga, posicionada entre o equipamento que prescrevia os movimentos ao modelo flexível e uma rótula, que permitia que a célula de cargas e movimentasse solidariamente ao sistema. Rotinas numérica próprias foram utilizadas para o pós-processamento dos dados obtidos. Os resultados foram, então, comparados com formulações analíticas constantes da literatura, bem como a adaptação da equação para a carga crítica de flambagem de vigas curvas, para as condições de contorno dos ensaios realizados. Como resultado principal, é possível citar a confirmação experimental da suposição corrente com relação ao número de onda associado às ondas de flexão geradas na compressão dinâmica, até então assumida como uma hipótese ad hoc. Além disso, o procedimento adotado, embasado teoricamente, foi utilizado desde o estabelecimento do material com que o modelo foi construído, passando pela elaboração racional da matriz de ensaios e finalizando com as análises realizadas, quando os resultados experimentais foram confrontados com as previsões analíticas. / This work was carried out through a threefold approach to dynamic compression in risers, based on tests in a Hydrodynamic Calibrator, with subsequent comparison of results with analytical formulations and the use of commercial softwares dedicated to the study of static and dynamic flexible lines. The main aim was an accurate determination, from a minimally invasive instrumentation, the lengths of flexural waves generated in the TDP, during dynamic compression. This goal, in itself, is the novelty of this thesis. The tests consisted in performing circular motion on top of a flexible catenary model launched under several conditions, amounting to a total of 72 experiments: three motion frequencies, three imposed amplitudes , four top angles and clockwise and counter-clockwise rotation. A tracking monitoring system was used as main instrumentation. In such equipment, a load cell was used, positioned between rotor used to prescribe top movements at the top of a flexible model, allowing the load cell jointly move around a bar conected to the shaft motor. Numerical routines, made by author, were used for data post-processing. The results were then confronted with analytical formulations from specialized literature, as well as the adaptation of the equation for the buckling critical load for curved beams under the boundary conditions of the tests. As a main result, it is possible to mention the experimental confirmation of the current assumption with respect to the wave number associated with bending waves generated during the dynamic compression, hitherto assumed as an ad hoc hypothesis. In addition, the procedure adopted, based in analytical theories, was used since the establishment of the material with which the model is built, through the rational development of the test matrix and ending with the analyzes carried out when the experimental results were compared with analytical predictions.

A computer program is developed for the dynamic analysis of a spar platform coupled with mooring lines and risers in waves, winds, and currents. The new multi-contact analysis program is developed for the nonlinear multi-contact coupling between vertical risers and guide frames inside of the spar moon-pool. The program extends capability of the current coupled dynamic analysis program, WINPOST, by adding the capability of analyzing riser effects caused by the contact forces and moments from buoyancy-cans inside the spar moon-pool on the global spar motions. The gap between the buoyancy can and riser guide frames are modeled using three different types of nonlinear gap springs. The new riser model also considers the Coulomb damping between the buoyancy-cans and riser guide frames, and it also calculates the impact force on risers for use in fatigue analysis. The spar platform generally uses vertical risers with dry trees. However, as the water depth increases, the size of the buoyancy-can increases, and it makes installation more difficult. The pneumatic riser support system does not use buoyancy-cans and is an alternative solution to the buoyancy-can approach. The dynamic characteristics of pneumatic riser support system are studied by using the newly developed numerical analysis program. The damped Mathieu instability diagram for the damped Mathieu's equation is developed. Due to spar heave and pitch coupling, Mathieu's instability may become excited in long period waves. In the numerical analysis program, pitch and roll hydrostatic stiffness are recalculated for heave motion in every time step to check Mathieu's instability for the spar platform. Simplified vortex-induced vibration effects on the spar platform are considered in newly developed numerical analysis program, and the results are systematically compared with those of the original program WINPOST. The results in this paper show that the buoyancy-can effect significantly reduces the spar pitch motion, and the Coulomb damping effect also significantly reduces the spar heave motion. The buoyancy-can effect also plays an important role in Mathieu instability. The results also show that a pneumatic riser support system increases the spar heave motion and payload.

Top Tensioned Riser (TTR) and Steel Catenary Riser (SCR) are often used in a floating oil/gas production system deployed in deep water for oil transport. This study focuses on the improvements to the existing numerical code, known as CABLE3D, to allow for static and dynamic simulation of a TTR connected to a floating structure through a tensioner system or buoyancy can, and a SCR connected to a floating structure through a flex joint. A tensioner system usually consists of three to four cylindrical tensioners. Although the stiffness of individual tensioner is assumed to be linear, the resultant stiffness of a tensioner system may be nonlinear. The vertical friction at a riser guide is neglected assuming a roller is installed there. Near the water surface, a TTR is forced to move due to the motion of the upper deck of a floating structure as well as related riser guides. Using the up-dated CABLE3D, the dynamic simulation of TTRs will be made to reveal their motion, tension, and bending moment, which is important for the design. A flex joint is approximated by a rotational spring with linear stiffness, which is used as a connection between a SCR and a floating structure or a connection between a TTR and the sea floor. The improved CABLE3D will be integrated into a numerical code, known as COUPLE, for the simulation of the dynamic interaction among the hull of a floating structure, such as SPAR or TLP, its mooring system and riser system under the impact of wind, current and waves. To demonstrate the application of the improved CABLE3D and its integration with COUPLE, the related simulation is made for ‘Constitution’ SPAR under the met-ocean conditions of hurricane ‘Ike’. The mooring system of the Spar consists of nine mooring lines and the riser system consists of six TTRs and two SCRs.

O presente trabalho foi realizado por meio de uma abordagem tríplice do problema de compressão dinâmica em risers, fundamentado em ensaios em um Calibrador Hidrodinâmico, com posterior confrontação dos resultados com formulações analíticas e o uso de programas comerciais dedicados ao estudo da estática e dinâmica de linhas flexíveis. O principal objetivo foi a determinação acurada, a partir de uma instrumentação pouco invasiva, dos comprimentos das ondas de flexão geradas no TDP, durante a compressão dinâmica. Esse objetivo, de per si, encerra o caráter de ineditismo da presente tese. Os ensaios consistiram na realização de movimentos circulares no topo de um modelo flexível lançado em catenária, sob diversas configurações, totalizando um total de 72 experimentos: foram utilizados três frequências de movimento, três amplitudes, quatro ângulos de topo e dois sentidos de rotação. Um sistema de monitoramento óptico foi utilizado como principal instrumentação. Além desse equipamento, foi utilizada uma célula de carga, posicionada entre o equipamento que prescrevia os movimentos ao modelo flexível e uma rótula, que permitia que a célula de cargas e movimentasse solidariamente ao sistema. Rotinas numérica próprias foram utilizadas para o pós-processamento dos dados obtidos. Os resultados foram, então, comparados com formulações analíticas constantes da literatura, bem como a adaptação da equação para a carga crítica de flambagem de vigas curvas, para as condições de contorno dos ensaios realizados. Como resultado principal, é possível citar a confirmação experimental da suposição corrente com relação ao número de onda associado às ondas de flexão geradas na compressão dinâmica, até então assumida como uma hipótese ad hoc. Além disso, o procedimento adotado, embasado teoricamente, foi utilizado desde o estabelecimento do material com que o modelo foi construído, passando pela elaboração racional da matriz de ensaios e finalizando com as análises realizadas, quando os resultados experimentais foram confrontados com as previsões analíticas. / This work was carried out through a threefold approach to dynamic compression in risers, based on tests in a Hydrodynamic Calibrator, with subsequent comparison of results with analytical formulations and the use of commercial softwares dedicated to the study of static and dynamic flexible lines. The main aim was an accurate determination, from a minimally invasive instrumentation, the lengths of flexural waves generated in the TDP, during dynamic compression. This goal, in itself, is the novelty of this thesis. The tests consisted in performing circular motion on top of a flexible catenary model launched under several conditions, amounting to a total of 72 experiments: three motion frequencies, three imposed amplitudes , four top angles and clockwise and counter-clockwise rotation. A tracking monitoring system was used as main instrumentation. In such equipment, a load cell was used, positioned between rotor used to prescribe top movements at the top of a flexible model, allowing the load cell jointly move around a bar conected to the shaft motor. Numerical routines, made by author, were used for data post-processing. The results were then confronted with analytical formulations from specialized literature, as well as the adaptation of the equation for the buckling critical load for curved beams under the boundary conditions of the tests. As a main result, it is possible to mention the experimental confirmation of the current assumption with respect to the wave number associated with bending waves generated during the dynamic compression, hitherto assumed as an ad hoc hypothesis. In addition, the procedure adopted, based in analytical theories, was used since the establishment of the material with which the model is built, through the rational development of the test matrix and ending with the analyzes carried out when the experimental results were compared with analytical predictions.

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L'utilisation de composites et nano composites est une tendance croissante dans des industries telles que l'aérospatiale, l'automobile et l'énergie. Pour de nombreuses applications, l'adhésion entre des structures pour bien transférer les efforts est un problème difficile à résoudre. Dans l’industrie pétrolière, par exemple, une technique utilisée pour ancrer les armures de traction d’une conduite flexible est à travers un époxy intégré car elle fournit une bonne résistance mécanique et chimique. Cependant, des fissures et des défauts peuvent apparaître dans le bloc époxy pendant les opérations ou le montage lors de l'étape de cuisson de l'époxy, et ces fissures pourraient affecter les performances d'ancrage, en particulier pour les armures composites en fibre de carbone (CFAs). Dans ce contexte, ce travail propose le renforcement de l'époxy pour l'ancrage du CFA, focalisé sur les propriétés mécaniques et d'adhérence. Un modèle analytique est développé pour le mécanisme d'ancrage du CFA et vérifié par analyse numérique pour évaluer la sensibilité du système aux caractéristiques de l’époxy. Ainsi, l'augmentation de ces propriétés est proposée par l'ajout de nanotubes de carbone multi-feuilles (MWCNTs) et des essaies sont réalisées avec le époxy pur et renforcés pour caractériser l’augmentation des propriétés mécaniques et adhésives. Ensuite, la morphologie des nanotubes et l'homogénéité de la matrice sont investiguées pour corréler avec des résultats mécaniques. La recherche a confirmé une amélioration de la résistance à l'ancrage en renforçant la matrice époxy avec des MWCNTs. / The use of composite and nanocomposites is a growing trend in many industries such as aerospace, automotive and energy. For many applications, the adhesion between structures for efficiently transferring loads is a difficult problem to solve. In oil and gas segment, for instance, a common technique used for anchoring the tensile armors of flexible riser within the end fitting is through an embedded epoxy since it provides good mechanical and chemical resistance. Even though, cracks and defects can arise in the epoxy block during operations or mounting at epoxy curing step, and such cracks could affect the anchoring performance, in particular for carbon fiber composite armors (CFA). In this context, this work proposes the improvement of the epoxy for anchoring the CFA, with a focus on the mechanical and adhesion properties. An analytical model is developed for CFA anchoring mechanism and verified by numerical analysis to evaluate the sensitivity of the system to the epoxy characteristics. Thus, the increase of these properties is proposed by adding multi-walled Carbon Nanotubes (MWCNTs) and some experiments are carried out with neat and toughened epoxies to characterize the gain of mechanical and adhesive properties. Then, nanotubes morphology and the matrix homogeneity are expertized to correlate with mechanical results. The research confirmed an improvement of anchoring resistance by toughening the epoxy matrix with MWCNTs. / O uso de compósitos e nano compósitos é uma tendência crescente em muitas indústrias, como aeroespacial, automotivo e energia. Para muitas aplicações, a adesão entre estruturas para transferência eficiente dos esforços é um problema de difícil solução. No segmento de óleo e gás, por exemplo, uma técnica comum utilizada para ancorar as armaduras de tração do tubo flexível dentro do conector é através de um epóxi embebido, pois proporciona boa resistência mecânica e química. No entanto, trincas e defeitos podem surgir no bloco de epóxi durante as operações ou montagem, na etapa de cura do epóxi, e tais defeitos podem afetar a performance de ancoragem, em particular para armaduras de compósito de fibra de carbono (CFA). Neste contexto, este trabalho propõe a melhoria do epóxi para ancorar o CFA, com foco nas propriedades mecânicas e adesivas. Um modelo analítico é desenvolvido para o mecanismo de ancoragem do CFA e verificado por análise numérica para avaliar a sensibilidade do sistema às características do epóxi. Assim, o aumento dessas propriedades é proposto pela adição de nano-tubos de carbono de múltiplas paredes (MWCNTs) e alguns experimentos são realizados com os epóxis puro e modificado para caracterizar o ganho de propriedades mecânicas e adesivas. Em seguida, a morfologia dos nano-tubos e a homogeneidade da matriz são investigadas para correlacionar com os resultados mecânicos. A pesquisa confirmou uma melhoria da resistência à ancoragem ao tenacificar a matriz de epóxi com MWCNTs.

The simulation of seafloor-steel catenary interaction and prediction of riser fatigue life required an accurate characterization of seafloor stiffness as well as realistic description of riser load-deflection (P-y) response. This thesis presents two load-deflection (P-y) models (non-degradating and degradating models) to simulate seafloor-riser interaction. These two models considered the seafloor-riser system in terms of an elastic steel pipe supported on non-linear soil springs with vertical motions. These two models were formulated in terms of a backbone curve describing self-embedment of the riser, bounding curves describing P-y behavior under extremely large deflections, and a series of rules for describing P-y behavior within the bounding loop. The non-degradating P-y model was capable of simulating the riser behavior under very complex loading conditions, including unloading (uplift) and re-loading (downwards) cycles under conditions of partial and full separation of soils and riser. In the non-degradating model, there was a series of model parameters which included three riser properties, two trench geometry parameters and one trench roughness parameter, two backbone curve model parameters, and four bounding loop model parameters. To capture the seafloor stiffness degradation effect due to cyclic loading, a degradating P-y model was also developed. The degradating model proposes three degradation control parameters, which consider the effects of the number of cycles and cyclic unloading-reloading paths. Accumulated deflections serve as a measure of energy dissipation. The degradating model was also made up of three components. The first one was the backbone curve, same as the non-degradating model. The bounding loops define the P-y behavior of extreme loading deflections. The elastic rebound curve and partial separation stage were in the same formation as the non-degradating model. However, for the re-contact and re-loading curve, degradation effects were taken into the calculation. These two models were verified through comparisons with laboratory basin tests. Computer codes were also developed to implement these models for seafloor-riser interaction response.

The simulation of seafloor-steel catenary interaction and prediction of riser fatigue life required an accurate characterization of seafloor stiffness as well as realistic description of riser load-deflection (P-y) response. This thesis presents two load-deflection (P-y) models (non-degradating and degradating models) to simulate seafloor-riser interaction. These two models considered the seafloor-riser system in terms of an elastic steel pipe supported on non-linear soil springs with vertical motions. These two models were formulated in terms of a backbone curve describing self-embedment of the riser, bounding curves describing P-y behavior under extremely large deflections, and a series of rules for describing P-y behavior within the bounding loop. The non-degradating P-y model was capable of simulating the riser behavior under very complex loading conditions, including unloading (uplift) and re-loading (downwards) cycles under conditions of partial and full separation of soils and riser. In the non-degradating model, there was a series of model parameters which included three riser properties, two trench geometry parameters and one trench roughness parameter, two backbone curve model parameters, and four bounding loop model parameters. To capture the seafloor stiffness degradation effect due to cyclic loading, a degradating P-y model was also developed. The degradating model proposes three degradation control parameters, which consider the effects of the number of cycles and cyclic unloading-reloading paths. Accumulated deflections serve as a measure of energy dissipation. The degradating model was also made up of three components. The first one was the backbone curve, same as the non-degradating model. The bounding loops define the P-y behavior of extreme loading deflections. The elastic rebound curve and partial separation stage were in the same formation as the non-degradating model. However, for the re-contact and re-loading curve, degradation effects were taken into the calculation. These two models were verified through comparisons with laboratory basin tests. Computer codes were also developed to implement these models for seafloor-riser interaction response.

The dissertation presents a CFD approach for 3D simulation of long risers. Long riser VIV simulation is at the frontier of the CFD research area due to its high demand on computational resources and techniques. It also has broad practical application potentials, especially in the oil and gas industry. In this dissertation, I used a time domain simulation program - Finite-Analytic Navier-Stokes (FANS) code to achieve the 3D simulations of riser VIV. First, I developed a riser modal motion solver and a direct integration solver to calculate riser dynamic motions when subject to external forces. The direct integration solver provides good flexibility on inclusion of riser bending stiffness and structural damping coefficients. I also developed a static catenary riser solver based on trial and error iteration technique, which allowed the motion solvers to handle catenary risers and jumpers with arbitrary mass distribution. I then integrated the riser motion solvers to the existing FANS code, and applied the CFD approach to a series of riser VIV problems including a 2D fixed/vibrating riser, a 3D vertical riser in uniform and shear currents, a 3D horizontal riser in uniform and shear current, a hypothetic 3,000 ft marine top tensioned riser in uniform current, a practical 1,100m flexible catenary riser in uniform current, and a hypothetic 265m flexible jumper partially submerged in uniform current. I developed a VIV induced fatigue calculation module based on rain flow counting technique and S-N curve method. I also developed a modal extraction module based on the least squares method. The VIV details, including flow field vorticities, rms a/D, riser motion trajectories, PSDs, modal components, VIV induced stress characteristics, and VIV induced fatigue damages were studied and compared to the published experimental data and results calculated using other commercial software tools. I concluded that the CFD approach is valid for VIV simulations in 3D. I found that the long riser VIV response shows complex behaviors, which suggests further investigation on the lock-in phenomenon, high harmonics response, and sensitivity to the lateral deflections.

Slender marine risers used in deepwater applications often experience vortex-induced vibration (VIV). Fatigue damage associated with VIV is of great concern to offshore engineers; however, it has proven difficult to predict this fatigue damage using existing semi-empirical tools. Similarly, approaches based on theoretical and computational fluid dynamics (CFD) generally rely on simplified assumptions on the fluid flow fields and response characteristics. To gain an understanding of VIV and associated fatigue damage, full-scale field monitoring campaigns as well as reduced-scale laboratory experiments are often carried out, wherein the riser response in the form of strains and/or accelerations is recorded using an array of a limited number of sensors distributed over the length of the riser. Simultaneously, current velocities at a proximate location are also recorded. Such measurements generally reveal complex characteristics of the dynamic response of a riser undergoing VIV, including the presence of multiple vibration harmonics, non-stationary behavior, and the existence of sustained or intermittent traveling wave patterns. Such complex features, often not accounted for in some semi-empirical and theoretical approaches, are critical to take into consideration for accurate fatigue damage estimation. In this study, several empirical methods are employed to first reconstruct the response of an instrumented riser and, then, estimate fatigue damage rates over the entire span of the riser based on a limited number of discrete measurements. The methods presented employ the measured data in different ways. One method, referred to as ``weighted waveform analysis'' relies on expressing the riser response as a summation of several weighted waveforms or riser modes; the mode shapes are ``assumed'' and time-varying weights for each mode are estimated directly from the measurements. The riser response over the entire span is reconstructed based on these assumed mode shapes and estimated modal weights. Other methods presented extract discrete mode shapes from the data directly. With the help of interpolation techniques, continuous mode shapes are formed, and the riser response is again reconstructed. Fatigue damage rates estimated based on the reconstructed strains obtained using the various empirical methods are cross-validated by comparing predictions against direct measurements available at the same locations (but not used in the analyses). Results show that the empirical methods developed here may be employed to accurately estimate fatigue damage rates associated with individual recorded segments of measurements. Finally, a procedure for prediction of long-term fatigue damage rates of an instrumented marine riser is presented that relies on combining (multiplying) the fatigue damage rates associated with short recorded segments for specific current profile types, with the relative likelihood of different incident current profiles, and integration over all current profiles. It should be noted that the empirical approaches to fatigue damage estimation presented in this study are based only on measured data; also, they explicitly account for different riser response characteristics and for site-specific current profiles developed from metocean studies. Importantly, too, such estimation procedures can easily accommodate additional data that become available in any ongoing field monitoring campaign to improve and update long-term fatigue damage prediction. / text