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Production
manifold
Production
Production tree jumper
From other
manifolds
Confidential © 2014 Aker Solutions Slide 2 November 18, 2014 MEK 4450 course 2014 Preferred partner
Why are we concerned about vibrations from the flow?
■ High-cycle fatigue: long term risk of
Flow-induced transient forces
structural damage due to small
amplitude cyclic motions of the
piping and equipment Cyclic structural response
(vibration)
Confidential © 2014 Aker Solutions Slide 3 November 18, 2014 Preferred partner
Types of flow-induced transient forces
■ Vortex-Induced Vibration (VIV): vibration of long spans of piping due to
the external sea water current
■ One mechanism: sea current flowing around the circular cross-section of
the piping. Vortices are shed alternately in the wake, inducing pressure
oscillations at the pipe external surface
■ Technical solution: break coherence of the vortex shedding along the pipe
length by adding helical “strakes”.
Confidential © 2014 Aker Solutions Slide 4 November 18, 2014 Preferred partner
Types of flow-induced transient forces
■ Flow-Induced Vibration (FIV): vibration of piping and equipment due
to the internal flow of hydrocarbons, chemicals, water, etc…
■ Multiple mechanisms
■ Acoustic pulsations in gas filled systems
■ Multiphase flow excitation at bends in the piping
■ Fast closing valves in liquid system
■ Vortex shedding around intrusive elements
■ Etc…
Source: TNO
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Types of flow-induced transient forces
■ Example: flow past a closed side branch (“dead leg”)
■ Vortices are formed at the upstream edge of the side branch
𝑆 ∙𝑈
opening, with a frequency 𝐹𝑓𝑙𝑢𝑖𝑑 = 𝑟𝐷 𝑜 where D is the side branch
diameter and Sr is the Strouhal number
2𝑛−1
Acoustic natural frequencies: 𝐹𝑛 = 𝑐 4𝐿
where c is the speed of sound and L is the
length of the side branch
Source: TNO
Confidential © 2014 Aker Solutions Slide 6 November 18, 2014 Preferred partner
Types of flow-induced transient forces
■ Example: multiphase excitation of pipe bends
Fxy
Average GVF
Confidential © 2014 Aker Solutions Slide 7 November 18, 2014 Preferred partner
Theory of mechanical vibration
■ Definition of vibration
■ Mechanical oscillation about an equilibrium position, i.e. repeating
variation of a certain measure about a central value or state.
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Structural modes of vibration
■ A structural system will vibrate according to its eigenmodes
■ An eigenmode is a pattern of motion in which all parts of the system
move sinusoidal with the same frequency and with fixed phase shift.
The corresponding frequencies of eigenmodes are called
eigenfrequencies or natural frequencies.
■ A mode is the combination of
■ A deflection shape
■ A frequency of vibration
Confidential © 2014 Aker Solutions Slide 9 November 18, 2014 Preferred partner
Forms of vibration
■ Periodic vibration
■ The amplitude is repeated after a
discrete time period
■ The amplitude can be decomposed
as a series of sine waves
■ Harmonic vibration
■ The amplitude corresponds to a
single sine wave
■ Can only occur is the excitation
force is at a single frequency
■ Non periodic
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Single degree of freedom system
■ General equation of motion: 𝑚𝑥 + 𝑐𝑥 + 𝑘𝑥 = 𝐹𝑒 𝑖𝜔𝑡
where
■ x: displacement
■ m: mass
■ k: spring stiffness
■ ω: excitation frequency
■ F: excitation force
■ c: viscous damping
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Single degree of freedom system
■ Free damped vibration: 𝑚𝑥 + 𝑐𝑥 + 𝑘𝑥 = 0
1 𝑐
Solution: depends on the damping ratio 𝜉 =
2 𝑘𝑚
Ex: subsea production piping, 𝜉 ≈ 0.02, 0.1 Ex: car damper, 𝜉 ≈ 0.02, 0.1
Confidential © 2014 Aker Solutions Slide 12 November 18, 2014 Preferred partner
Single degree of freedom system
■ Forced damped vibration: 𝑚𝑥 + 𝑐𝑥 + 𝑘𝑥 = 𝐹𝑒 𝑖𝜔𝑡
1 𝐹𝑒 𝑖𝜔𝑡
Steady-state solution: 𝑥 = 1− 𝜔 𝜔0 2 +2𝑖𝜉 𝜔 𝜔0 𝑘
1 𝐹𝑒 𝑖 𝜔𝑡−𝜃
The solution can be re-arranged as 𝑥 = 𝑘
2
1− 𝜔 𝜔0 2 2 + 2𝜉 𝜔 𝜔0
1
where 𝐻(𝜔) = is the gain (amplification factor)
2 2+ 2
1− 𝜔 𝜔0 2𝜉 𝜔 𝜔0
2𝜉 𝜔 𝜔0
and 𝜃 = tan−1 is the phase difference between the displacement and
1− 𝜔 𝜔0 2
the excitation force.
Confidential © 2014 Aker Solutions Slide 13 November 18, 2014 Preferred partner
Single degree of freedom system
■ Forced damped vibration amplitude response characteristics
■ Peak response occurs at frequency 𝜔 = 𝜔0 1 − 2𝜉 2
1
■ Peak value of the gain is 𝐻(𝜔) = 2 2𝜉 1−𝜉
𝐻(𝜔) 𝜃
𝜔 𝜔0
𝜔 𝜔0
Confidential © 2014 Aker Solutions Slide 14 November 18, 2014 Preferred partner
Resonance
■ Amplification of the system response occurs when the excitation
frequency coincides with one of the natural frequencies
■ For systems with low damping, resonance can lead to structural
damage
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How to limit mechanical response to vibrations?
■ First assessment
■ Increase stiffness k (lower amplitude response over all frequencies)
■ Ex: add supports to the piping
■ Reduce/suppress excitation force F
■ Ex: strakes for VIV
■ Avoid resonance
■ Structural eigenfrequencies must be outside ± 20% of excitation
frequencies
■ Achieved by tuning m, k or (if possible) the excitation force ω
■ Ex: increase diameter at the mouth of a closed branch
Confidential © 2014 Aker Solutions Slide 16 November 18, 2014 Preferred partner
Case example: subsea production jumper
■ Function: carry production fluid (oil Dalia production jumper installation
and gas) from the production tree to
the manifold
■ Requirements:
■ Flexibility
■ Length Oil and gas
■ Self-supporting (buoyancy elements)
■ Durability Sea current Production
manifold
■ Sources of vibrations
■ Vortex-Induced Vibrations from the
external sea current
■ Flow-Induced Vibrations from the
internal flow of oil and gas
Confidential © 2014 Aker Solutions Slide 17 November 18, 2014 Preferred partner
Vortex Induced Vibrations (VIV) mechanism
■ System: cylindrical body (the pipe) with perpendicular current
1 𝑘
Assumption: 2D system, no damping 𝐹𝑚𝑒𝑐ℎ = 2𝜋 𝑚+𝑚𝑎
, where ma is the
added mass due to the water around the body.
Confidential © 2014 Aker Solutions Slide 18 November 18, 2014 Preferred partner
Application (exercise 1)
■ The jumper is modeled as a 40 m long straight pipe fixed at both
ends and filled with oil
■ The seawater current is perpendicular to the jumper and has a
velocity of 30 cm/s
■ In order the avoid any risk of VIV, the vortex shedding frequency
must be outside ± 20% of any structure natural frequency
■ Is there a risk of VIV for the jumper?
■ Input data:
■ Pipe material: structural steel (A36 grade)
■ Pipe outer diameter: 168.3 mm
■ Pipe inner diameter: 124.4 mm
■ Oil density: 800 kg/m3
■ Water density: 1014 kg/m3
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Application (exercise 1)
■ Determination of jumper natural frequency
𝜇 𝐸𝐼
First mode natural frequency is given by 𝑓1 = 2𝜋𝐿1 2 𝑤
■ μ1 = frequency factor for mode 1
■ L = pipe length between the supports [m]
■ w = jumper mass (including oil and added mass of seawater) per
unit length [kg/m]
■ E = pipe material modulus of elasticity [N/m2]
𝜋 4 4
■ I = moment of inertia [m4] 𝐼= 𝐷𝑜𝑢𝑡𝑒𝑟 − 𝐷𝑖𝑛𝑛𝑒𝑟
64
Confidential © 2014 Aker Solutions Slide 20 November 18, 2014 Preferred partner
Flow Induced Vibration (FIV) mechanism
■ Present case: multiphase flow excitation of piping with bends
■ Flow reaction force on a pipe bend for steady-state, single phase flow
■ First component: force due to the change of
momentum of the fluid
𝜕
𝐹𝑚𝑜𝑚 = 𝜌𝑣𝑑𝑉 + 𝜌𝑣 𝑣 ∙ 𝑛 𝑑𝑆
𝜕𝑡 𝑉 𝑆
𝐹𝑃 = 𝑃𝑛 𝑑𝑆
𝑆
Confidential © 2014 Aker Solutions Slide 21 November 18, 2014 Flow induced vibrations for subsea production systems Preferred partner
Flow Induced Vibration (FIV) mechanism
■ Characteristics of multiphase flow A: pipe cross-sectional area
■ Transient distribution of the phases
𝑠 𝑄𝑖,𝑗
■ Superficial phase velocities: 𝑈𝑖,𝑗 = 𝐴
where Qi is the volumetric flow rate of phase i
■ Mixture velocity: 𝑈𝑚 = 𝑈𝑖𝑠 + 𝑈𝑗𝑠
𝑈𝑙𝑆
𝑈𝑔𝑆
Confidential © 2014 Aker Solutions Slide 22 November 18, 2014 Flow induced vibrations for subsea production systems Preferred partner
Flow Induced Vibration (FIV) mechanism
■ Slug flow
■ Tonal excitation, low frequency,
high amplitude
■ Spatial correlation between the
bends
■ Annular flow
■ High GVF and gas velocity
■ Broadband excitation in the range
1 to 30 Hz
■ Stratified flow
■ Low mixture velocity = low forces
■ Single phase flow
■ Low forces for long radius bends
Confidential © 2014 Aker Solutions Slide 23 November 18, 2014 Flow induced vibrations for subsea production systems Preferred partner
Flow Induced Vibration (FIV) mechanism
■ Simplified slug flow force calculation
■ Assumptions y
■ No gas entrainment in
the liquid slug x
■ 𝜌𝑙 ≫ 𝜌𝑔
■ Steep liquid front and tail
■ No liquid film in the gas
bubble
■ 𝑈𝑠𝑙𝑢𝑔 ~1.2𝑈𝑚
𝜕
𝐹= 𝑚𝑣
𝜕𝑡
𝑈𝑠𝑙𝑢𝑔 − 0 𝐿𝑠𝑙𝑢𝑔
𝐹𝑥 = 𝜌𝑙 𝐴𝐿𝑠𝑙𝑢𝑔 Δ𝑡𝑝𝑎𝑠𝑠𝑎𝑔𝑒 ~
Δ𝑡𝑝𝑎𝑠𝑠𝑎𝑔𝑒 𝑈𝑠𝑙𝑢𝑔
0 − −𝑈𝑠𝑙𝑢𝑔
𝐹𝑦 = 𝜌𝑙 𝐴𝐿𝑠𝑙𝑢𝑔 𝐹 = 2𝜌𝑙 𝐴𝑈𝑠𝑙𝑢𝑔 2
Δ𝑡𝑝𝑎𝑠𝑠𝑎𝑔𝑒
Confidential © 2014 Aker Solutions Slide 24 November 18, 2014 Flow induced vibrations for subsea production systems Preferred partner
Application (exercise 2)
■ Calculate the force due to the flow of water in a 45° bend.
Pressure drop due to friction and hydrostatic forces in the bend is
neglected.
■ Input data
■ Flowing pressure: 150 bar
■ Water density: 1010 kg/m3
■ Volume flow rate: 50 000 barrels/day
■ Pipe inner diameter: 139.8 mm
Confidential © 2014 Aker Solutions Slide 25 November 18, 2014 Preferred partner
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Confidential © 2014 Aker Solutions Slide 26 November 18, 2014 Preferred partner