Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
flatness based control of an active heave compensator
Submission Author:
Andres Felipe Gonzalez Ordoñez , DF
Co-Authors:
Andres Felipe Gonzalez Ordoñez, cuellar sanchez, José Oniram de Aquino Limaverde Filho, Eugenio Fortaleza
Presenter: Andres Felipe Gonzalez Ordoñez
doi://10.26678/ABCM.COBEM2019.COB2019-1764
Abstract
Hybrid heave compensators mitigate the heave movement on offshore drilling platforms, which are constantly moved by the action of waves, winds and ocean currents causing an undesirable movement to the load. The hybrid compensator consists of passive and active compensators. In this article, a novel nonlinear active control to improve the attenuation rate of the transmitted heave motion from the vessel to the load is proposed. First a nonlinear validation model that considers a lumped drill string model, a passive heave compensator and an active heave compensator is presented. A reduced model is then obtained with physical simplifications and it is used for design controller based on differential flatness theory. Finally, through numerical simulations, the efficiency of the proposed nonlinear control scheme is demonstrated for the nonlinear validation model. Besides, its results are compared with those of the passive heave compensator and the linear controller.
Keywords
heave compensator, differential flatness theory, offshore drilling, Nonlinear control
