We investigate the low-energy properties, especially the low-energy excitation structures, of N -leg integer-spin ladders and tubes with an antiferromagnetic (AF) intrachain coupling. In the odd-leg tubes, the AF rung coupling causes the frustration. To treat all ladders and tubes systematically, we apply Sénéchal's method [Phys. Rev. B 52, 15319 (1995)], based on the nonlinear sigma model, together with a saddle-point approximation. This strategy is valid in the weak interchain (rung) coupling regime. We show that all frustrated tubes possess six-fold degenerate spin-1 magnon bands, as the lowest excitations, while other ladders and tubes have a standard triply degenerate bands. We also consider effects of four kinds of Zeeman terms: uniform, staggered only along the rung, only along the chain, or both directions. The above prediction of the no-field case implies that a sufficiently strong uniform field yields a two-component Tomonaga-Luttinger liquid (TLL) due to the condensation of doubly degenerate lowest magnons in frustrated tubes. In contrast, the field induces a standard one-component TLL in all other systems. This is supported by symmetry and bosonization arguments based on the Ginzburg-Landau theory. The bosonization also suggests that the two-component TLL vanishes and a one-component TLL appears, when the uniform field becomes larger for the second lowest magnon bands to touch the zero-energy line. This transition could be observed as a cusp singularity in the magnetization process. When the field is staggered only along the rung direction, it is implied that the lowest doubly-degenerate bands fall down with the field increasing in all systems. For final two cases where the fields are staggered along the chain, it is showed that at least in the weak rung-coupling region, the lowest-excitation gap grows with the field increasing, and no critical phenomena occurs. Furthermore, for the ladders of the final two cases, we predict that the inhomogeneous magnetization along the rung occurs, and the frustration between the field and the rung coupling can induce the magnetization pointing to the opposite direction to the field. All the analyses suggest that the emergence of the doubly degenerate transverse magnons and the single longitudinal one is universal for the one-dimensional AF spin systems with a weak staggered field.