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A three dimensional finite element model is built to compute the motions of a pipe that is being laid on the seabed. This process is geometrically nonlinear, therefore co-rotational beam elements are used. The pipe is subject to static and dynamic forces. Static forces are due to gravity, current and buoyancy. The dynamic forces exerted by the water are incorporated using Morison's equation. The dynamic motions are computed using implicit time integration. For this the Hilber-Hughes-Taylor method is selected. The Newton-Raphson iteration scheme is used to solve the equations in every time step. During laying, the pipe is connected to the pipe laying vessel, which is subject to wave motion. Response amplitude operators are used to determine the motions of the ship and thus the motions of the top end of the pipe.

A nonlinear dynamic corotational finite element model for submerged pipes