scholarly journals Tuning for robust and optimal dynamic positioning control in BlueROV2

2021 ◽  
Vol 1201 (1) ◽  
pp. 012015
Author(s):  
X Yang ◽  
Y Xing

Abstract A tuning approach for the robust and optimal dynamic positioning control of BlueROV2 subjected to currents with varying speeds and headings is presented. A 2D planar dynamic model of BlueROV2 is developed in Matlab/Simulink and used for the study. The surge, sway and yaw motions are controlled by individual PID controllers. An extensive sensitivity study is carried out on a total of nine cases with different current speeds, current headings, and measurement noise levels. The results show that tuning a model solely using step responses from a linearized model might not produce optimal results. Further it is important to verify the system responses in time domain after tuning. Finally, it is observed that re-tuning the controllers for each simulation case may lead to better performance. However, it is also shown that the base case controller gains are sufficiently robust and lead to good performances for the other simulation cases.

Author(s):  
Chongyao Zhou ◽  
Gang Xu ◽  
Zhiming Huang ◽  
Dagang Zhang ◽  
Naiquan Ye ◽  
...  

Subsea pipeline laid on the seabed will experience free span when the lay path is long and seabed is rugged. Hydrodynamic loads caused by the currents around the pipeline can induce oscillations in both cross-flow and in-line directions. This phenomenon is called vortex-induced vibration (VIV) which is the most common case that could induce serious fatigue problems. The pipe-soil interaction is one of the main factors that influence the vibration. In this paper, a study focusing on the effect of pipe-soil interaction on VIV for different types of free span is presented. The Milan wake oscillator is applied to calculate the dynamic response induced by VIV in Orcaflex, and the results are compared with experimental data to identify its validity. A sensitivity study is also performed to study the parameter influence of the Milan wake oscillator model. Four types of free span (including the multiple free spans) are modeled in Orcaflex and time domain VIV analysis is carried out to study the influence of pipe-soil interaction. Comparison among different types of free span is discussed. The influence of structural damping is studied for flexible pipe only because its influence on steel pipe is negligible. The influence of structural damping on flexible pipe is studied by means of a predefined moment-curvature curve. In addition, several cases are studied to investigate the influence of tension on VIV by Milan wake oscillator.


2021 ◽  
Author(s):  
Thaer I. Ismail ◽  
Emad W. Al-Shalabi ◽  
Mahmoud Bedewi ◽  
Waleed AlAmeri

Abstract Gas injection is one of the most commonly used enhanced oil recovery (EOR) methods. However, there are multiple problems associated with gas injection including gravity override, viscous fingering, and channeling. These problems are due to an adverse mobility ratio and cause early breakthrough of the gas resulting, in poor recovery efficiency. A Water Alternating Gas (WAG) injection process is recommended to resolve these problems through better mobility control of gas, leading to better project economics. However, poor WAG design and lack of understanding of the different factors that control its performance might result in unfavorable oil recovery. Therefore, this study provides more insight into improving WAG oil recovery by optimizing different surface and subsurface WAG parameters using a coupled surface and subsurface simulator. Moreover, the work investigates the effects of hysteresis on WAG performance. This case study investigates a field named Volve, which is a decommissioned sandstone field in the North Sea. Experimental design of factors influencing WAG performance on this base case was studied. Sensitivity analysis was performed on different surface and subsurface WAG parameters including WAG ratio, time to start WAG, total gas slug size, cycle slug size, and tubing diameter. A full two-level factorial design was used for the sensitivity study. The significant parameters of interest were further optimized numerically to maximize oil recovery. The results showed that the total slug size is the most important parameter, followed by time to start WAG, and then cycle slug size. WAG ratio appeared in some of the interaction terms while tubing diameter effect was found to be negligible. The study also showed that phase hysteresis has little to no effect on oil recovery. Based on the optimization, it is recommended to perform waterflooding followed by tertiary WAG injection for maximizing oil recovery from the Volve field. Furthermore, miscible WAG injection resulted in an incremental oil recovery between 5 to 11% OOIP compared to conventional waterflooding. WAG optimization is case-dependent and hence, the findings of this study hold only for the studied case, but the workflow should be applicable to any reservoir. Unlike most previous work, this study investigates WAG optimization considering both surface and subsurface parameters using a coupled model.


Author(s):  
Fang Wang ◽  
Yong Bai ◽  
Feng Xu

Deepwater oil and gas explorations bring more safety and reliability problems for the dynamically positioned vessels. With the demands for the safety of vessel crew and onboard device increasing, the single control architecture of dynamic positioning (DP) system can not guarantee the long-time faultless operation for deeper waters, which calls for much more reliable control architectures, such as the Class 2 and Class 3 system, which can tolerate a single failure of system according to International Maritime Organization’s (IMO) DP classification. The reliability analysis of the main control station of DP Class 3 system is proposed from a general technical prospective. The fault transitions of the triple-redundant DP control system are modeled by Markov process. The effects of variation in component failure rates on the system reliability are investigated. Considering the DP operation involved a human-machine system, the DP operator factors are taken into account, and the human operation error failures together with technical failures are incorporated to the Markov process to predict the reliability of the DP control system.


2008 ◽  
Vol 2 (1) ◽  
pp. 160-165 ◽  
Author(s):  
Federico Delfino ◽  
Renato Procopio ◽  
Mansueto Rossi

In this paper, a novel procedure to reconstruct the lightning channel-base current starting from the measurement of the induction field generated by it is presented. The procedure is based on a suitable mathematical manipulation of the equation expressing the induction field in the time domain, in order to transform it into a Volterra-like integral equation. Such kind of equations can be easily numerically solved without resorting to any sort of regularization techniques as they are not affected by the typical ill-conditioning of the inverse problems. The developed algorithm has been validated by means of several numerical simulations, which have shown its effectiveness also in presence of measurement noise on the induction field values.


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