This research paper presents the active heave compensation control design using a novel hybrid riser tensioning system by integrating an electrically powered riser tensioning system into existing hydro-pneumatic tensioners. This is a further control design development paper following the previous framework introduction paper of riser hybrid tensioning system. The realization of the active heave compensation operation mode using this novel hybrid tensioning system is analyzed. A mathematical model for describing this operation mode is built integrating electrical and hydro-pneumatic tensioning systems. As a multi-input multi-output system, one Linear Quadratic Gaussian control design is proposed and implemented in both Matlab simulation and hardware realization. The simulation results and the experimental study have confirmed that the riser hybrid tensioning system is a feasible concept with better control accuracy and improves riser reliability compared to the traditional hydro-pneumatic system. The main benefit of the electrical tensioning system is its ability to deliver dynamically changed tension within milliseconds. The actualization of this principle control mode gives us confidence to carry on for further riser dynamic control using this riser hybrid tensioning system.
