Applied Ocean Research 22 (2000) 4553

www.elsevier.com/locate/apor

Three-dimensional behaviour of elastic marine cables in sheared currents

M.A. Vaz a,*, M.H. Patel b
a

Laboratory for Subsea Technology, Ocean Engineering Program, Coppe, Federal University of Rio de Janeiro, Rio de Janeiro, Brazil
b
Santa Fe Laboratory for Offshore Engineering, Department of Mechanical Engineering, University College London, London, UK
Received 20 January 1999; received in revised form 25 June 1999; accepted 25 June 1999

Abstract
This paper presents the formulation and solution of governing equations that can be used to analyse the three-dimensional (3D) behaviour
of either marine cables during installation or the response of segmented elastic mooring line catenaries as used for floating offshore structures
when both are subjected to arbitrary sheared currents. The methodology used is an extension of one recently developed for analyses of marine
cables when being installed on the seabed or being towed. The formulation describes elastic cable geometry in terms of two angles, elevation
and azimuth, which are related to Cartesian co-ordinates by geometric compatibility relations. These relations are combined with the cable
equilibrium equations to obtain a system of non-linear differential equations, which are numerically integrated by fourth and fifth order
RungaKutta methods. The inclusion of cable elasticity and the ability to consider arbitrary stored currents are key features of this analysis.
Results for cable tension, angles, geometry and elongation are presented for three example casesthe installation of a fibre optic marine
cable, the static analysis of a deep water mooring line and the response of a telecommunications cable to a multi-directional current profile.
q 2000 Elsevier Science Ltd. All rights reserved.
Keywords: Statics of marine cables; Cable installation; Mooring lines

1. Introduction
The exploitation of the oceans natural resources is continuing to demand intensive use of cable and line structures in
the marine environment. These include mooring lines for
offshore structures together with flexible riser and umbilical
catenaries between the seabed and surface vessel of floating
oil production structures. A parallel requirement for the
understanding of suspended cable span is in the installation
process of the worlds extensive network of subsea optical
fibre telecommunication cables.
Now, as offshore suspended cable systems are being
applied to even deeper waters, the effects of line elasticity
and of sheared current profiles become more important.
Deeper water suspended cable structures are more susceptible to the effects of currents to the extent that accurate
analysis of their geometry becomes an important design
requirement. Such analysis needs to predict the cable
tension and displacement profile, its suspended length and
the horizontal and vertical forces at the top endthe latter
being an important element of the systems performance.
The behaviour of marine cables during their installation
phase is a distinctly different problem both in the physics of
* Corresponding author. Tel.: 155-21-560-8832; fax: 155-21-290-6626.
E-mail address: murilo@peno.coppe.ufrj.br (M.A. Vaz)

the laying process and in the objectives of an analysis of the

process. An important element of the physics of the installation process is the pay out of the cable and its sinking due to
submerged weight during its transit to the seabed. At the
same time, the analysis of the installation is concerned with
the position of the cables touch down point (TDP) just as
much as with the tension at the top of the cable suspended
length.
The work of many investigators into the cable installation
problem has demonstrated that inaccuracy in cable TDP
position is due to the presence of unknown ocean currents.
Such currents are a combination of components including
tide driven, local wind, Stokes wave drift, set up in shallow
waters, storm surges and water density variations (see Ref.
[1]). Ocean currents are known to have magnitude and
direction varying in space and time although a depth dependent two-dimensional (2D) profile is often used as a design
assumption. Analysis shows that uniform in-plane current
changes the cable inclination and offsets the cable TDP,
while non-uniform current whose direction changes with
depth leads to a complex curvature of the cable.
Burgess [2] has carried out several studies on the
effect of current on marine cable installation and has
conducted sea trials to evaluate the influence of sheared
currents on cable deployment. A significant variation in
the current profile was detected for different locations

0141-1187/00/$ - see front matter q 2000 Elsevier Science Ltd. All rights reserved.
PII: S0141-118 7(99)00023-1

46

M.A. Vaz, M.H. Patel / Applied Ocean Research 22 (2000) 4553

Fig. 1. Systems of co-ordinates.

and times. Use of measured current profiles on the

numerical simulations improved results for the prediction of the TDP track.
Many analysts have considered the problem of marine
cable installation starting with the pioneering work of
Zajac [3] who formulated the equations and developed a
solution for the 2D stationary configuration of marine cables
being laid. He also approximated the solution for the 3D
problem by a perturbation technique. It was assumed that
the cables were subjected to surface currents and zero
bottom tension. A steady state formulation and solution
for a cable-body system towed by a ship describing a circular path were presented by Choo and Casarella [4]. The
elasticity of the cable was not included. Casarella and
Parsons [5] and Choo and Casarella [6] presented a systematic and comprehensive review of early work on the simulation of cable-body systems. Pedersen [7] proposed a
numerical solution using successive integrations to determine the 2D static configuration of cables and pipelines

during laying. Peyrot and Goulois [8] proposed a numerical

solution for analyses of 3D assemblages of cables and substructures. The loading in the cable was restricted to gravity,
thermal expansion and fluid drag. In his textbook, Faltinsen
[1] presented the classical analytical solution for static
cables suspended by two points and subjected to self-weight
and hydrostatic forces only. Bending stiffness and fluid
hydrodynamic actions are not considered. The cable elasticity may be approximately included in the formulae.
Leonard and Karnoski [9] developed a numerical algorithm
to simulate the stationary 3D cable deployment from a ship
travelling at a constant speed and direction in sheared
currents. The authors were particularly interested in investigating the configuration during passively controlled cable
installation.
The dynamic analysis of marine cables has also received
much attention in the research literature with development
of different algorithms to solve the problemsee for
example [2,1013]. A key feature of this technique is its

Fig. 2. Geometric compatibility.

M.A. Vaz, M.H. Patel / Applied Ocean Research 22 (2000) 4553

47

Fig. 3. Forces on cable infinitesimal element.

computational efficiency, making it possible to carry out

calculations in real time or on board vessels.
More recently, Pinto [14] has produced a stable formulation
for cables with low or nearly zero tension. In parallel with
this work, Vaz et al. [15] have produced an efficient formulation and numerical solution for the 3D behaviour of
marine cable installation. The analysis presented in this
paper is an extension of the latter work in two areasthe
first being the inclusion of sheared currents to bring
the efficient formulation to bear on this. At the same time,
the methodology has been developed so that segmented
elastic mooring lines or the flexible riser problem can also
be efficiently solved in a unified technique.
2. Formulation of the governing equations
The solution for the cable steady-state configuration
encompasses the formulation of geometric and equilibrium
relations. The governing equations are written for a local coordinate system where loads can be more easily calculated.
This local system of reference varies its orientation with
position in the cable and is related to the moving frame by
a rotation matrix. The formulation presented in this paper is
steady-state (time independent), or sometimes called
stationary, as it depends on relative velocities and involves
dynamic forces but it is not an arbitrary function of time.
2.1. Systems of co-ordinates and cables kinematics
Three Cartesian systems of references, shown in Fig. 1,
are adopted. The inertial OXYZ system has the plane OXZ in
the seabed and the axis OY oriented vertically upwards. The
ship motion and current profile are defined relative to this
system. Axes system Oxyz has the same orientation as the
OXYZ system but with its origin at the cable TDP. A local
frame of reference defines an individual cable element and
is represented by the tangent, normal and binormal unit
~ respectively, of a cable segment. Transvectors ~t; n~ ; b;
formation matrices relate these systems to each other. The

following relation is derived from Fig. 2:

8 9 8 9 2
~I > > ~i >
cos u cos c
>
>
= 6
< >
= >
< >
sin u
J~ > > ~j > 6
4
>
>
;
:~>
; >
:~>
cos u sin c
k
K

2sin u cos c
cos u
2sin u sin c

38 9
2sin c >
>
> ~t >
7< =
0 7
~
n
5> >
>
;
:~>
cos c
b

1
~ K
~ are the unit vectors of Oxyz and
where ~i; ~j; k~ and ~I; J;
OXYZ, respectively. The azimuth and elevation angles are,
respectively, c cp and u up and p is the stretched
arc length along the cable. The relationship between the
stretched and unstretched arc length s is
dp
111
ds

where 1 is the uniaxial strain in the cable and the independent variables p and s are also called the material co-ordinates. Small deformations are assumed and flexure, shear
and torsion effects are not considered. The position of a
~ c ; may be decomposed into (see Fig. 1)
cable element, R
~ c p; t ~r 0 t 1 ~r c p
R

3a

~
where ~r0 t V0 t~i and ~rc p Xp~i 1 Yp~j 1 Zpk:
The functions Xp; Yp and Zp describe the cable
geometric configuration viewed from an observer moving
with the TDP, t is the time variable and V0 gives the constant
velocity of the TDP. The velocity and acceleration of a
~ c are given by
cable element, respectively, V~ c and A
d ~
R p; t ~tV0 cos u cos c 2 Vpo
V~ c p
dt c
~ 0 sin c
2 n~ V0 sin u cos c 2 bV
3b


2
du
dc
2
~
~ c p d R
~ c p; t Vpo
~
n
1
cos
b
u
A
dp
dp
dt2

3c

where Vpo is the cable pay out rate. The concept of total
differentiation is needed because the cable is constantly paid

48

M.A. Vaz, M.H. Patel / Applied Ocean Research 22 (2000) 4553

Table 1
HA cable characteristics
Weight in air/sea (N/m)

Cable diameter (m)

Drag coefficient

Inertia coefficient

26.49/17.76

0.0332

1.649

1.0

out and a formulation fixed in space is adopted. The

geometric compatibility equations (Eqs. (A1a)(A1c)) are
used in the derivation of Eqs. (3b) and (3c).

2.2. Relations for cable equilibrium

The equilibrium of external and internal forces in the
infinitesimal element of stretched length dp is calculated
next. Newtons second law is invoked to account for the
centrifugal force originated from the fact that the added
cable travels at constant speed but it changes direction when
in a curved configuration. The bending stiffness is assumed
to be smallfor cables subjected to high axial forces the
moments associated with the curvature (i.e. the geometrical
stiffness component) are higher than the internal moments
resulting from the cable-section bending stiffness. The
marine cable is assumed fully immersed in water and the
cable rotational motions are not considered.
The following forces act on the cable element of Fig. 3.
^ ~j
self weight: 2wdp
effective tension: 2T~t and T 1 dT~t 1 d~t
^ rt uVrt udp~t
tangential drag force: Dt 2 12 rCf pdV
1
^
normal drag force: Dn 2 2 rCD dVrn uVrnb udp~n
^ rb uVrnb udpb~
binormal drag force: Db 2 12 rCD dV
~
inertia force: r^ c dpAc
pd^ 2 ~
dpAc
hydrodynamic added inertia: rCm
4
where w^ is the cable weight in sea water per unit stretched
length, r the sea water density, Cf the friction coefficient,
CD the drag coefficient, d^ the cable diameter after the cable
stretches, Vrn ; Vrb ; Vrt ; uVrnb u are relative velocities defined
in Appendix B, r^ c is the cable physical mass per unit
~c
stretched length Cm is the added mass coefficient and A
is the cable acceleration. It is assumed that both the cable
mass and material density remain invariant during its
^
stretching.
p Hence r^ c rc ; w^ w=1 1 1 and d
d= 1 1 1 where rc ; w and d are the cables properties before
stretching.
Furthermore, the cable is assumed to be continuous and
extensible with a linear elastic stressstrain relationship
given by Hookes Law, i.e. s E1; where s is the normal
stress, E is the Youngs Modulus and 1 is the unit elonga where A is the
tion. The axial stress is also given by s T=A
cables cross-sectional area and T is the actual tension.
The effective tension T is related to T by T
T 2 rgAh 2 Y; where g is the acceleration of gravity
and h is the water depth.
Summing forces parallel to the tangential, normal and
binormal axes, respectively (t), (n) and (b), and using the

material co-ordinate s results in

p
dT
1
2 w sin u 2 rCf pd 1 1 1Vrt uVrt u 0
ds
2

T2
2

T2

4a

4b

4c


r
du
2
Vpo
111
ds
p
1
rCD d 1 1 1Vrn uVrnb u 2 w cos u 0
2

r
dc
2
cos u
Vpo
111
ds

p
1
rCD d 1 1 1Vrb uVrnb u 0
2
pd2
:
where r rc 1 rCm
4
2

3. Numerical solution
The solution is obtained by solving a system of seven
non-linear first-order ordinary non-linear differential equations. Eqs. (2), (4a) and (A1a)(A1c) are written in the
Cauchy form to allow numerical solution by a Runge
Kutta solver using the computer package Matlab (1991).
Seven initial conditions at the TDP are required, i.e. elevation and azimuth angles, tension and three Cartesian coordinates. Note that the numerical scheme allows solution
for segmented lines, i.e. cables with different geometrical
and material properties. This is specifically important, for
instance, when analysing mooring lines composed of
segments of steel chains and fibre ropes. For segmented
lines, the end conditions of the lower cable section are the
initial conditions of the upper cable section. In static
analyses the sea bottom may have a slope. The convergence
is fast and the method is very robust.

4. Results
Three computations are presented to illustrate the solution method and the main type of analyses. The first deals
with the installation of a telecommunication cable under a
transverse sheared current, whereas the second example
simulates the static behaviour of a segmented mooring
line. A third example considers the effect on a telecommunication cable of a sheared current in mutually perpendicular vertical planes.

M.A. Vaz, M.H. Patel / Applied Ocean Research 22 (2000) 4553

49

Fig. 4. (a) XY projection; (b) ZY projection; (c) elevaton angle; (d) Azimuth angle; (e) effective tension distribution; (f) distribution of cable elongation; and (g)
suspended length and TDP radius.

4.1. Installation of telecommunication cable in transverse

current
The installation of a heavy armoured (HA) optical fibre
cable is used in this case. The cable properties are chosen to

be the same as those used by Hopland [16] and are described

in Table 1. An axial stiffness EA 1:0 108 N is assumed.
The equation of the laying ships track is taken as
~r0 t S0 1 V0 t~i

50

M.A. Vaz, M.H. Patel / Applied Ocean Research 22 (2000) 4553

Fig. 4 (continued).

where V0 is the ship speed, t time and S0 is the initial

distance between the axes systems OXYZ and oxyz. S0
may be taken as zero without losing the generality of the
solution.
The idea behind this simulation is to evaluate the effect of
transverse marine current (relative to the ship track) on the
configuration of a fibre-optic cable during installation.
Tangential drag forces are neglected and the cable is
assumed to be uniform. The marine current profile is
~ 1:0 Y=h 2 0:5K
~ where h 1000 m is
taken to be U
~ is the unit vector in the Z direction.
the water depth and K
This current profile is a function of depth only, which
makes the problem solution stationary. In other words, for
any point in a plane parallel to OXZ, the current profile
remains the same function of Y. As the ship moves, the
cable encounters the same depth dependent current although
this current may have components in both the OX and OZ
directions.
The laying vessel is assumed to move at a constant speed
of 1.5 m/s, which is also the pay out rate. The current profile
varies linearly from 0.5 m/s at the sea level to 20.5 m/s at
the seafloor. There is no current velocity component in the
direction of the vessel motion. Results are presented for four
levels of pre-tension at the cable TDP.
Fig. 4ag presents the results of such an analysis. In each
of these figures, t0 is the cable pre-tension at the lower end.

These figures are obtained by integrating the governing

equation from the TDP upwards so that the initial (boundary) conditions at the TDP need to be known. Fig. 4a and b
presents the cable configuration (which is constant in time)
as an observer would view it from the TDP. Fig. 4a, the XY
projection, shows the in-plane frame moving from a straight
line configuration for low tensionas predicted by Zajac
[3]to a catenary-like shape for higher pre-tensions. Fig.
4b, the ZY projection, shows the out-of-phase projection of
the cable configuration. Lower pre-tension increases the
cable curvature. If there was no transverse current there
would be no ZY projection. Fig. 4c and d, respectively,
show the distribution of elevation and azimuth angles as a
function of depth. Higher the pre-tension, the higher is the
variation of elevation and smaller is the variation of
azimuth.
For low pre-tension, the solution approaches Zajacs
result of a constant angle (straight line). Near the TDP,
the cable develops large elevation gradients. The azimuth
distribution also indicates a progressive shift from the
straight-line cable laying with a constant angle to a nearly
constant azimuth as the pre-tension (and stiffness) increases.
Fig. 4e shows the linear distribution of tension in the
cable with tangential drag forces neglected. Maximum and
minimum tensions occur at the cables upper and lower
ends, respectively. The actual cable tension is lower than
the effective tension except at the sea surface where they are
equal. Finally Fig. 4f presents the cable elongation, i.e. the
amount of cable stretched when axial stiffness is included.
The cable elasticity is only noticeable when there is a significant pre-tension. The larger elongations are found at the sea
surface, as expected.
Fig. 4g shows the cable suspended length and the horizontal distance from the TDP to the upper point (TDP
radius). TDP radius is the horizontal distance between the
TPD and the cable upper end. As in a mooring line,
the higher the pre-tension, the higher is the offset and the
suspended length as well as the stretched length and the
TDP radius.
4.2. Mooring line
Results are presented for a typical segmented mooring
line installed in deep waters at offshore Campos Basin,

Table 2
Properties of line segments

D (m)
w (m)
EA (MN)
Breaking load (kN)
Total length (m)
Drag coefficient CD
Inertia coefficient Cm

Lower segment chain

Intermediate segment wire rope

Upper segment chain

0.095
1729.1
793.88
6930
1240
3.2
1.6

0.109
420.8
536.79
7160
1250
1.8
1.0

0.084
1363.8
620.68
7230
150
3.2
1.6

M.A. Vaz, M.H. Patel / Applied Ocean Research 22 (2000) 4553

51

Fig. 5b shows the percentage gain or loss of horizontal

load for the mooring line in the presence of currents. Results
are compared with the case of no currents. In the operating
range, the line experiences decreasing influence of the
marine currents as the offset is increased and the line is
stretched. For deeper water, the role of marine currents on
the mooring line is expected to be even greater.
4.3. Telecommunication cable in 3D current profile
This example uses the same cable as in Section 4.1, but
imposes a more complex 3D current profile given by the
equation




~ u cos 2pY ~I 1 u sin 2pY K
~
U
h
h

Fig. 5. (a) Mooring line stiffness; and (b) reduced stiffness due to current.

Brazil. This line consists of bottom and upper chain

segments and an intermediate wire rope segment. Their
material and geometrical properties are described in Table 2.
Also, the design pre-tension is 1351 kN with an anchoring radius of 2387 m. The water depth is assumed constant
and equal to 861 m.
Fig. 5a presents the restoring capacity of a single mooring
line in terms of the offset, this being defined as the horizontal distance between the anchor and the upper end
point. Results are plotted for in-line constant profile marine
currents of ^1.0 m/s and for no current. The line exhibits its
typical progressively hardening restoring characteristic. The
line design optimisation reveals two issues: (1) the line
breaking point occurs just after the maximum operating
condition which is initial offset plus 10% water depth.
Also, the line tends to break before the anchor lifts. Both
situations represent loss of restoring capacity. (2) The point
at which the wire rope touches the seafloor is away from the
other operating extreme condition given by initial offset
minus 10% water depth. Wire ropes are not very resistant
to abrasion and contact with seabed soil should be avoided.

where h 1000 m is the water depth and u is taken to have

values of 1.5, 0.75 m/s and zero (no current). The Z coordinate of the top end is set to zero and only one level of pretension at the cable TDP is computed. Fig. 6af presents the
results of this analysis.
The projections of the cable configuration are shown in
Fig. 6a and b. In the absence of currents, the cable geometrical configuration entirely lies in the XY plane with a
perfect catenary shape. Sheared currents displace the cable
laterally and this is more noticeable with the higher magnitude of the current.
The elevation and azimuth angles are shown in Fig. 6c
and d, respectively, as functions of the vertical co-ordinate.
These figures illustrate how difficult it is, for example, to
extrapolate the cable configuration underwater with the
knowledge of the top angles only.
Fig. 6e shows the linear variation of cable effective
tension with water depth. Fluid velocity could only affect
tension distribution if tangential drag forces were considered (Eq. (4a)).
Fig. 6f presents the distribution of cable elongation. The
higher the magnitude of the current, the longer are the
suspended lengths, as are the cable elongations. The
stretched suspended cable lengths for u 1:5; 0.75 m/s
and no current are equal to 4782.7, 4156.8 and 3840.9 m,
respectively.
5. Conclusions
A 3D steady-state formulation for elastic segmented
marine cables during installation in sheared currents is
presented. The time independent set of first-order non-linear
ordinary differential equations are solved by a RungeKutta
integrator. Case studies are presented for three typical situations: the installation of a heavy armoured fibre optical telecommunication cable in the presence of transverse and 3D
currents, and the static analysis of a segmented deep water
mooring line subjected to in-line current and employed
offshore Brazil.
The results presented demonstrate the importance of

52

M.A. Vaz, M.H. Patel / Applied Ocean Research 22 (2000) 4553

Fig. 6. (a) XY projection; (b) ZY projection; (c) elevaton angle; (d) Azimuth angle; (e) effective tension distribution and (f) distribution of cable elongation.

current profile, both in terms of magnitude and direction, for

prediction of suspended line behaviour. In particular, the
analyses demonstrate the uncertainty of predicting line
configurations by using only the top angles and also the
difficulty of accurately predicting TDP position without
good current information.

The 3D steady-state model developed in this paper is

comprehensive as it includes the effects of sheared currents,
cable elasticity, segmented cables and laying vessel speed,
allowing an accurate analysis of the installation of marine
cables subjected to time independent environmental actions.
The numerical model is also robust and computationally

M.A. Vaz, M.H. Patel / Applied Ocean Research 22 (2000) 4553

efficient demanding little CPU time. It can, therefore, be

used in real time or on board installation or offshore vessels
requiring only reliable current data for operationally effective prediction of underwater cable or line behaviour.
Acknowledgements

Appendix A. Equations of geometric compatibility

The following relationships are derived from Fig. 2:
dX
1 dX
cos c cos u
dp
1 1 1 ds

A1a

dY
1 dY
sin u
dp
1 1 1 ds

A1b

dZ
1 dZ
sin c cos u
dp
1 1 1 ds

A1c

Then
 
 

dX 2
dY 2
dZ 2
1
1
1
dp
dp
dp

and

 
 

dX 2
dY 2
dZ 2
1
1
1 1 12 :
ds
ds
ds

Appendix B. Relative velocity fluid/structure

The sheared current velocity is a function of depth only
and is given by
~
~ UX Y~I 1 UZ YK
U

~ is given by
Hence the relative velocity V~ r V~ c 2 U
8
~tV0 2 Ux Y cos u cos c 2 Vpo 2 Uz Y cos u sin c1
>
>
>
<
~
V~ r 1n2V
:
0 2 Ux Y sin u cos c 1 Uz Y sin u sin c1
>
>
>
: ~
2bV0 2 Ux Y sin c 1 Uz Y cos c

B3

This work was carried out with the support of the facilities of The Laboratory for Subsea Technology, Federal
University of Rio de Janeiro and The Santa Fe Laboratory
for Offshore Engineering, University College London. The
first author acknowledges the support of the Brazilian Council of Research (CNPq). Data on the mooring line case
considered here were kindly supplied by CENPES/Petrobras, Brazil.

53

B1

There is no vertical component of current. In terms of the

local system, the current profile is
8
~tUx Y cos u cos c 1 Uz Y cos u sin c1
>
>
<
~ 2~nUx Y sin u cos c 1 Uz Y sin u sin c1 : B2
U
>
>
:
~ x Y sin c 1 Uz Y cos c
2bU

And
the magnitude
of the radial relative velocity is uVrnb u

p
2:
Vrn2 1 Vrb

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