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TAMU - Pemex Offshore Drilling: Lesson 6 Motion Compensation
TAMU - Pemex Offshore Drilling: Lesson 6 Motion Compensation
TAMU - Pemex
Offshore Drilling
Lesson 6
Motion Compensation
2
Motion Compensation
Reentry
Tensioners
Heave Compensators
,
_
2
1
1
2
14
Change in Volume
P
1
and P
2
are absolute pressures
Isothermal Volume Change: PV = const.
(slow; constant temperature)
Adiabatic Volume Change: PV
1.41
= const.
(fast; no heat flow)
15
V
V
Relative
Change in
volume
37 1
8 0
41 1
1
1
41 1
2
1
1
2
.
V .
V
V
V
P
P
.
.
,
_
,
_
P
r
e
s
s
u
r
e
R
a
t
i
o
,
P
2
/
P
1
ADIABATIC
1.4
1.0
0.7
-0.1 +0.2
ISOTHERMAL
25 .
8 .
1
V 0
V
V
V
P
P
1
1
2
1
1
2
,
_
,
_
16
Theoretical reservoir
size vs. pressure
fluctuation.
Allowable Pressure Fluctuation, %
V
o
l
.
o
f
R
e
s
e
r
v
o
i
r
/
V
o
l
.
o
f
C
y
l
i
n
d
e
r
15
30 0
15
30
Fig. 4-7
17
Example
Consider a 14-inch piston with a 10-foot
stroke. We shall hook two units (cylinders)
to the reservoir. Determine reservoir size
for 15% force variation.
Reservoir Volume = R m A L
4) - 7 Figure (from 5 R
cylinder of volume
reservoir of volume
l Theoretica
,
_
R
= 5
18
Example contd
Reservoir Volume = R m A L
= 5 * 2 * 10 * 1.07 = 107 ft
3
m = 2 = number of cylinders
L = 10 ft = piston stroke
A = /4 (14/12)
2
= 1.07 ft
2
= piston area
V
RES
= R m A L
19
Equation (on p. 170)
Theoretical force variations as a function of
piston position and heave can be
determined by a modification of the
previous pressure - volume equation:
2
L
L
2
L
- and
100 1
L A m V
V
100 1
F
F
E
n
1
2
1
1
]
1
,
_
,
_
20
Where:
E = theoretical percentage error in force
applied to the load
= force applied to the load relative to
the force with the piston centered
A = piston area, ft.
2
L = full piston stroke, ft.
V = reservoir volume +
L = length of the stroke from the
center of the piston, ft.
3
2
ft ,
mAL
1
2
F
F
100 1
100 1
1
2
1
1
]
1
,
_
,
_
n
L A m V
V
F
F
E
2
L
L
2
L
-
21
Heave Down
P
e
r
c
e
n
t
C
h
a
n
g
e
i
n
L
o
a
d
0
15
-15
-20
20
15
-15
0
0
10
Heave Up, ft
Reservoir Volume
= 5 * vol. swept by piston
Adiabatic
22
Lower sheaves are attached to the cylinder (and vessel), upper sheaves are attached to the piston rod
20 ft
5 ft
1,500 psig WP
Typical
Tensioner
23
Motion
Compensator
Principles of
Operation
Purpose:
Keep bit on
bottom
with low bit
weight change
Air pressure can support entire weight of drillstring. e.g. 200,000 - 40,000 = 160,000lbf. Reduce air press.
24
Rucker Heave
Compensator
Dual Pistons
- on the
travelling
block
Large air
cylinders
below deck
Flexible hoses
25
Figure 7-9
Vetco dual
piston Heave
Compensator
L.P. hydraulic
fluid throttled
for damping
Piston
balancing
may be
problem
26
Figure
7-10
Split travelling block
Hydraulically
operated pistons can
be locked in any
position with
remotely operated
valves.
Air operated units must be mechanically locked in position because of compressible fluid in cylinders.
Single
Piston Rod
Western Gear
Heave
Compensator
27
Figure 7-13. Active Heave Compensator
28
Semiactive Heave Compensator
29
Bumper Subs