Force element arrangement and method

Abstract

The present invention relates to a riser joint for a riser with a joint connecting two parts of a riser where the two parts are allowed angular displacement. According to the invention the riser joint comprises means for connection to the two parts of the riser at a distance from the joint, and means for adding a force between the two parts. The invention also relates to a method for reducing bending moments in a riser at a connection between the riser and a subsea installation.

Claims

1. A riser joint for use in connection with a riser, the joint comprising: first and second ends; a flexible connection between the first and second ends which is configured to allow the first end to be laterally displaced relative to the second end; and force means connected to both the first and second ends for generating a force on one of the ends when that end is moved out of a neutral position; wherein the force is applied in the same direction as the direction of movement of the one end out of the neutral position.

2. The riser joint according to claim 1, further comprising: a first anchoring point located adjacent to the first end; and a second anchoring point located adjacent to the second end; both anchoring points being laterally spaced from a joint axis in a neutral position of the joint; wherein the force means are configured to apply a force between the anchoring points to laterally deflect the one end of the joint away from the joint axis.

3. The riser joint according to claim 1, further comprising a first shoulder connected to the first end and a second shoulder connected to the second end, wherein the force means are connected to the two shoulders.

4. The riser joint according to claim 3, wherein the force means are connected to at least one of the shoulders with a hinged connection.

5. The riser joint according to claim 3, wherein at least one of the shoulders is adjustably connected to its corresponding end.

6. The riser joint according to claim 1, wherein the force means comprises one selected from the group consisting of a mechanical system, a hydraulic system, a magnetic system and an electric system.

7. The riser joint according to claim 1, wherein the force means comprises a cylinder arrangement which includes at least three pistons connected to one of the ends and at least three cylinders connected to the other of the ends, and fluid lines connected between the cylinder arrangement, a reservoir of fluid and a control unit.

8. The riser joint according to claim 1, wherein the riser extends between a floating installation and an installation fixed relative the seabed.

9. The riser joint according to claim 8, wherein the riser is connectable to a tension system arranged on the floating installation.

10. A method for reducing bending moments in a riser at a connection between the riser and a subsea installation, the riser being connected to a tension system at a floating vessel, the method comprising providing a riser joint between two parts of the riser which riser joint in a neutral position provides mainly equal forces around the circumference of the riser and which with a deviation from the neutral position will induce a force on the two parts which will act against the return of the two parts to the neutral position.

11. The method according to claim 10, further comprising providing the riser joint with a cylinder arrangement and regulating a supply of fluid to the cylinder arrangement to regulate the force acting on the two parts of the riser.

12. A riser joint for connecting a first part of a riser to a second part of the riser, the riser joint comprising: a first end which is connected to the first part; a second end which is connected to the second part; a flexible connection between the first and second ends which is configured to allow the first end to move laterally relative to the second end; and a force element which is connected between the first and second ends and which, when the first end moves relative to the second end, generates a force on the first end which acts in the same direction as the direction of movement of the first end relative to the second end.

13. The riser joint according to claim 12, wherein the force element comprises a plurality of hydraulic cylinders, each of which includes a piston that is connected to one of the first and second ends and a cylinder that is connected to the other of the first and second ends.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The invention will now be described with reference to the accompanying drawings where;

(2) FIG. 1 is a drawing of a prior art riser system.

(3) FIG. 2 is a sketch showing the forces acting on the riser.

(4) FIG. 3 is a diagram showing bending moments,

(5) FIG. 4 is a sketch showing the principles of the invention,

(6) FIG. 5 is a drawing showing a first embodiment of the invention,

(7) FIG. 6 is a drawing showing a second embodiment of the invention,

(8) FIG. 6A is a top plan view of the embodiment of the invention shown in FIG. 6.

(9) FIG. 7 is a drawing showing a third embodiment of the invention,

(10) FIG. 8 is a drawing showing a fourth embodiment of the invention,

(11) FIG. 9 is a drawing showing a fifth embodiment of the invention

(12) FIG. 10 is a drawing showing a sixth embodiment of the invention,

(13) FIG. 11 is a drawing showing a seventh embodiment of the invention,

(14) FIG. 12 is a drawing showing an eight embodiment of the invention, and

(15) FIG. 13 is a diagram showing bending moment variations on the wellhead with three different configurations of a riser.

DETAILED DESCRIPTION OF THE INVENTION

(16) In FIG. 2 is shown a simplified sketch of a part of the riser system as depicted in FIG. 1. A flex joint 20 is mounted between the riser 24 and wellhead 14. The flex joint is typically located at a height H from the wellhead 14 datum to the flex joint axis. The riser can also be said to comprise two parts joined at the flex joint. As can be seen from FIG. 2, when tension is applied to the riser, an upward force F.sub.R acts on the wellhead. When the riser is at an angle this force will split into a vertical and a horizontal component. As will be understood, when the riser is vertical the horizontal component is zero but as the angle increases the horizontal component will also increase. The horizontal component will result in a bending moment generated at the wellhead, as represented by the formula
M.sub.WH=F.sub.R,hH+k.sub.
where H: Height from wellhead datum to flex joint axis : Global flex joint angle F.sub.R: Riser tension at flex joint axis F.sub.R,h: Horizontal component of F.sub.R k.sub.: Rotational flex joint stiffness

(17) FIG. 3 is a diagram of one solution to the above equation, showing the curve of the bending moments M.sub.wh as a result of varying the flex joint stiffness k.sub.. This shows that even when the flex joint stiffness k.sub. is zero, which is an idealized joint with no friction or stiffness, there is still bending moment M.sub.wh acting on the wellhead, as can bee seen as the graph crosses the Y-axis in a distance from the X-axis. The bending moments on the wellhead will as indicated with the graph also with an increasing flex joint stiffness have an increasing value. The diagram also shows that the least moment on the wellhead is achieved if the stiffness in the joint between two parts of the riser is negative. This theoretical considerations shows that if it could be possible to design a flex joint with a negative stiffness, the result will be an arrangement giving the least moment forces acting on the wellhead. There is a range of negative stiffness values for the flex joint stiffness k.sub., which gives this desired effect on the wellhead. One can see this in the figure in that the graph has a dip close to a zero value for the bending moment at the wellhead, M.sub.wh, for a negative value of the joint stiffness k.sub.. One should here also notice that with a negative flex joint stiffness k.sub. which has a larger negative value, there will again be an increasing bending moment at the wellhead, as indicated in the graph. The challenge is to change cocking stiffness of a joint between two parts of a riser from positive to negative. This will reduce the overall dynamical/static bending moment on the wellhead during subsea operations.

(18) This problem is solved according to the invention by providing a device which is creating a force that acts on the two riser parts connected by the joint that induces a negative stiffness in the joint between the two riser parts. In FIG. 4 there is shown a sketch of the principle behind the invention. A force creating element is attached between a point below and a point above the flex joint or with other words to the two different riser parts in a distance from the joint. The element will create a situation giving that if the bending angle is larger than zero the force element will try to increase the angle. The bending angle is an angle between the two riser parts, when these riser parts are moved out from a neutral position. This angular deviation of the one riser part in relation to the other riser part will be resisted by the vessel due to the tension system connected to the riser at the vessel and the result is that in this situation we have introduced a flex joint with a negative stiffness. This enables the flex joint to be designed with negative cocking stiffness and this will cancel out or reduce the influence of the bending moments as a result of the deviation of the riser parts relative each other., as shown in the formula below:

(19) $M_{\mathrm{FJ}}=F$$=\frac{L}{2}\sin \left(\frac{}{2}\right)$$F=P-\left(kL-k*L*\cos \left(\frac{}{2}\right)\right)=P-kL\left(1-\cos \left(\frac{}{2}\right)\right)$$M_{\mathrm{FJ}}\text{:}\mathrm{Bending}\mathrm{moment}\mathrm{generated}\mathrm{by}\mathrm{flex}\mathrm{joint}$$F\text{:}\mathrm{Spring}\mathrm{force}$$\text{:}\mathrm{Distance}\mathrm{from}\mathrm{spring}\mathrm{centre}\mathrm{to}\mathrm{flex}\mathrm{joint}\mathrm{rotational}\mathrm{axis}$$\text{:}\mathrm{Global}\mathrm{flex}\mathrm{joint}\mathrm{angle}$$L\text{:}\mathrm{Length}\mathrm{of}\mathrm{spring}\mathrm{in}\mathrm{neutral}\mathrm{flex}\mathrm{joint}\mathrm{position},i.e.=0\left(\mathrm{changeable}\right)$$P\text{:}\mathrm{Preload}\mathrm{in}\mathrm{spring}\left(\mathrm{changeable}\right)$$k\text{:}\mathrm{Spring}\mathrm{tensile}\mathrm{stiffness}\left(\mathrm{changeable}\right)$

(20) FIG. 5 shows a first embodiment of the invention where the force means or force element arrangement for bending the riser comprises a mechanical spring 50. In the description below there is used the phrase force element arrangement alternately with force means. A flex joint is known to those skilled in the art and is therefore only represented in principle in the FIG. 5. The flex joint may for example be of the kind described in U.S. Pat. No. 5951061 comprising a ball shaped member 55 that moves against a spherical seat 56 and having rubber elements that take up the forces when bending occurs. The upper part 52 may be connected to the riser pipe 24 attached to a floating vessel and thereby follow the movement of the vessel, while the lower part 58 may be attached to the stress joint 20 shown on FIG. 1, and thereby kept relatively still in relation to the seabed. However, any kind of flexible joint may be used between the two parts of the riser that should be allowed to form an angular deviation between them. By angular deviation one should understand that there is an angular deviation between the longitudinal axes of the two riser parts, or the riser part attached to the vessel and the part of the fluid conduit from the well and up to the flex joint. This last part of the fluid conduit will also form a part of the riser from the well to the vessel. A first shoulder or spring holder 60 is attached to the first or upper part 52 of the riser and a second shoulder or spring holder 62 is attached to the second or lower part 58. In the figure there is shown that the position of the lower shoulder 62 can be adjusted relative the second part 58 by a nut arrangement 64. It is possible to arrange also the first shoulder 60 adjustable connected to the first part. It is also possible to arrange both shoulders 60, 62 adjustable connected to their respective parts 52,58 of the riser. This enables the spring to be pretensioned according to the desired force on the specific flex joint to easily adjust the force for the specific use. The shoulders 60, 62 are formed by annular shaped shoulders extending in a radial direction relative the riser parts. There is in these shoulders 60, 62 also arranged a groove 61, 63. As shown in the figure these grooves 61, 63 of the respective two shoulders 60, 62 are facing away from each other and thereby also facing away from the other riser part compared with the one they are attached to. It is also possible to envisage an opposite configuration where the grooves are facing each other. In the spring holders or shoulders there are arranged hydrostatic suspensions 66, 67 respectively. The hydrostatic suspensions each consist of a ring-shaped cylindrical flexible element, for example made by rubber. The interior of this flexible element is filled with a fluid, preferably an incompressible fluid. The flexible element forming the hydrostatic suspensions 66,67 is positioned in the grooves 61,63 of the respective shoulders 60,62. There are arranged end parts 68, 69 of the spring 50 in the form of disk shaped elements which are supported on the flexible elements 66 and 67. The end parts 68,69 are thereby allowed to have a angular position other than transverse to a longitudinal axis of the part of the riser and thereby also an angular position other than parallel with a main extension of the shoulders. The shoulders 60, 62 are fixed to have a mainly rectangular orientation in relation to a longitudinal axis of the riser part to which they are attached.

(21) The spring is tensioned according to the desired function and when the upper part 52 moves out of alignment the axis of the spring will also move out of alignment with the riser. This creates the uneven force that will tend to pull the riser further out of alignment. A stop may be introduced to limit the bending angle,

(22) In an alternative the spring may be replaced with a bi-stable rubber element having the same function.

(23) FIGS. 6 and 6A show a second embodiment of the arrangement for providing forces to the joint. Similar parts are given the same numbers as on FIG. 5. Between the two shoulders 60,62 there are arranged a number of hydraulic cylinders 70, 71, 72 having pistons such that the piston 73 is connected to a rod 74 which is attached to one shoulder, in this case shoulder 60. The cylinder is, in this case, attached to shoulder 62. The piston 73 is reciprocally movable in cylinder 72 thus limiting the cylinder into two chambers. Each chamber is connected to a fluid line 75 and 76 for supplying fluid under pressure to one or the other chamber, for thereby regulating the force from the cylinder arrangement on the flexible joint. The fluid lines are connected to a source of pressurized fluid 77 and the flow to the different chambers of the different cylinders in the cylinder arrangement is controlled by a control unit 78. The system also includes sensors for measuring the global riser angle as well as pressure and temperature transmitters as is common in control systems. The arrangement function such that the angle size and direction is measured and when the riser starts bending the control unit will direct pressurized fluid into the chamber above the piston to force an increase of the bending angle.

(24) The piston and cylinders are preferably attached to the shoulders with flexible joints to avoid excessive bending.

(25) The system is shown having three cylinders equally disposed around the riser but the number may be any that will achieve the desired result. Also, it will be obvious to a person skilled in the art that the piston and cylinder can be otherwise arranged, i.e. that the piston may be attached to the lower shoulder 62 and the cylinder to the upper shoulder 60. It should also be obvious that the pressurized fluid can be directed and distributed to more than one cylinder so that the increase in angle can be achieved. As indicated in the figure a line 79 may be connected between the hydraulic cylinders 72 and the internal bore 54 of the riser through the joint. By this one may pressure compensate the force element arrangement for the pressure within the riser and thereby have the possibility of regulating the force element arrangements and the forces from this arrangement on the riser parts, independent of the pressure within the internal bore 54.

(26) In FIG. 7 there is shown a third embodiment of the invention. In this case the desired function is achieved by using electromagnets. Again, any number of magnets can be used, distributed evenly around the joint. Each electromagnet consists of a positive 82 and negative 84 magnets, each attached to, respectively, the upper and lower shoulder 60, 62. A cable 86 extends from a power unit 80 to the electromagnets. When power is applied to the electromagnets they will be attracted to each other and, as is known in the art, the distances between the magnets are proportional to the attraction. The system is therefore of such a configuration that when the riser starts bending to one side, the magnet(s) on that side will seek to move closer together and thereby try to increase to bending of the flexible joint. This will increase the power of attraction and tend to increase the angle. It should also be noted that by changing the polarity of the magnets it will be possible to lock the joint in the stable (e.g. aligned) configuration.

(27) In FIG. 8 there is shown a fourth embodiment of the invention. In this embodiment a first riser segment 90 is connected to the joint according to the invention through a first swivel means 93A. At the opposite side of this swivel means 93A there is connected a first bent pipe segment 94A. A first end of the first bent pipe segment 94A will not be aligned with a second end of the first bent pipe segment 94A since this pipe segment is bent. Via a second swivel means 93B a second bent pipe segment 94B is connected to the first bent pipe segment 94A. The second bent pipe segment 94B is connected to a second riser segment 92 via a third swivel means 93C. The relative movement between the different bent pipe segments 94A, 94B is controlled by motors 95 with crown wheels 96. Through the controlled movement of the swivel means one achieves the induced bending force in the joint.

(28) In FIG. 9 there is shown a fifth embodiment of the invention. This embodiment is similar to the embodiment in FIG. 6. A difference in this embodiment is that the cylinders/piston rod 102 are arranged with an extension axis transverse to an axis of the joint in a neutral position, and with hinged connection 104,103 connected between a first arm 101 and a second, mainly L-shaped arm 100 with a distal end of the L-shape arranged mainly radial outside the first arm 101. Each arm 100,101 is connected to a respective part 52,58 of the joint.

(29) A similar system is shown in the sixth embodiment as shown in FIG. 10, but in this embodiment the piston rod 102 is connected to a bearing arrangement 105 running on a spherical surface 106.

(30) In FIG. 11 there is shown a seventh embodiment of the invention. In this embodiment the flexible means of the joint between the two ends are formed by a flexible pipe segment 110 instead of a ball joint or prebended pipe segments as shown in the other embodiments. The flexible pipe segment 110 is connected frame elements, 111 and 112, one on each end of the joint. The force means 113,114 are in this embodiment shown to be cylinder/piston arrangements. It is however possible to envisage the flexible pipe segment 110 with the other possible force means arrangements as described in relation to embodiment with the ball joint solution.

(31) In FIG. 12 there is shown a different aspect of the invention. In this embodiment the force means, in the form of helical springs 50, are positioned at one end of the force means closer to a centre axis of the joint than at the other end of the force means. This will give a gearing of the force in this system dependent on the lateral displacement of the end of a first part 52 of the joint in relation to an end of a second part 58 of the joint. Such a positioning of the force means are also possible with the other different force means as described in relation to the other embodiments.

(32) In FIG. 13 there is shown a diagram showing the results in the form of graphs of a calculation of the time variation of the bending moment acting on a wellhead of a 150 meter long riser (RAO 16,9817) with different types of flexible riser joints. There are three curves shown in this diagram, one where there is no flex joint in the riser, which is the graph with the largest variations in bending moments. The second graph is with a theoretical ideal flex joint, showing less bending moments than with no flex joint. The third graph is a riser with a joint according to the invention, described as a negative flex joint, since the joint will try to increase the bending when the joint first bends. As one can see the bending moments are not zero but the amplitudes are reduced significantly.

(33) The invention has now been explained with several embodiments. A skilled person will understand that there may be made alterations and modifications to these embodiments that are within the scope of the invention as defined in the attached claims. For example it may be desirable to have a locking function to lock the system so that it will behave as a stiff rod, i.e. turning the flex joint into a stiff joint. It may also be desirable to use a type of flex joint that does not resist bending, such as a ball joint.