Feedback control system for blow-out preventer positioning |
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| Institution: | 1. National Maritime Research Institute, Ocean Engineering Department, Japan;2. University of Campinas, Faculty of Mechanical Engineering, Brazil;1. College of Automation, Harbin Engineering University, Harbin 150001, China;2. School of Engineering, University of Guelph, Guelph, ON N1G 2W1, Canada;1. School of Mechanical Engineering, Yangtze University, Jingzhou 434023, PR China;2. Shale gas research institute of PetroChina Southwest Oil ＆ Gasfield Company, PR China;3. School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, PR China;4. School of Engineering and Applied Sciences and Department of Physics, Harvard University, Cambridge 02138, United States |
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| Abstract: | During the drilling of ultra-deep-water subsea petroleum wells, a blow-out preventer (BOP), a piece of safety equipment, must be assembled on the wellhead. The BOP is suspended using the drilling riser during the wellhead approach operation, and the riser's top end is connected to the floating platform rig. This article presents a feedback control system for the automatic approach of the BOP to the wellhead. Compared to state-of-the-art controls, ours does not require ancillary thrusters installed alongside the riser nor inclination sensors atop of the drilling riser. Additionally, our proposed control embeds a closed-loop dynamic positioning system, thus retaining the characteristics of the original control system and adding an extra closed-loop. This eases implementation of the BOP approach control to an existing platform. To calculate the optimal gains for the BOP controller, we assume a linear system for the riser, including only the pendulum-shape. The simulation is carried out using nonlinear models for both riser and floating platform. We assume an International Towing Tank Conference standard semi-submersible platform, coupled with a 3000-m free-hanging vertical riser for the time-domain simulation. The results show the BOP tracking to be a step-shaped input signal under current and wave loads. A discussion of the performance of feedback control under different environmental loads is also included. |
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| Keywords: | BOP position control Floating platform Drilling riser Dynamic positioning system |
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