Adaptive Control and Signal Processing in Marine Systems
Adaptive output regulation for offshore managed pressure drilling
Hessam Mahdianfar,
Alexey Pavlov,
Corresponding Author
Hessam Mahdianfar
Department of Engineering Cybernetics, Norwegian University Of Science and Technology (NTNU), N-7491 Trondheim, Norway
Correspondence to: Hessam Mahdianfar, Department of Engineering Cybernetics, Faculty of Information Technology, Mathematics and Electrical Engineering, Norwegian University Of Science and Technology (NTNU), Trondheim, Norway.
E-mail: [email protected]
Search for more papers by this authorAlexey Pavlov
Department of Advanced Wells and Enhanced Oil Recovery, Statoil Research, Porsgrunn, N-3905 Norway
Search for more papers by this authorHessam Mahdianfar,
Alexey Pavlov,
Corresponding Author
Hessam Mahdianfar
Department of Engineering Cybernetics, Norwegian University Of Science and Technology (NTNU), N-7491 Trondheim, Norway
Correspondence to: Hessam Mahdianfar, Department of Engineering Cybernetics, Faculty of Information Technology, Mathematics and Electrical Engineering, Norwegian University Of Science and Technology (NTNU), Trondheim, Norway.
E-mail: [email protected]
Search for more papers by this authorAlexey Pavlov
Department of Advanced Wells and Enhanced Oil Recovery, Statoil Research, Porsgrunn, N-3905 Norway
Search for more papers by this authorSummary
This paper deals with output regulation problem for an offshore managed pressure drilling system subject to sinusoidal disturbances. The disturbance is caused by the heave motion of the floating drilling rig during pipe connections, and the objective is to maintain a constant pressure at the bottom of the well. The controller for the heave disturbance attenuation consists of three cascaded parts. First, a nonlinear inversion element is applied to invert nonlinearity of choke. Second, an adaptive compensator is designed based on internal model, and certainty equivalence principles for asymptotic rejection of time-varying heave disturbance. Third, an output feedback controller is synthesized for providing stability and improving transient performance of closed-loop system. Robust stability of closed-loop system is analyzed using edge theorem. Simulation results of the combined adaptive output regulator are presented, which show satisfactory set-point tracking and attenuation of the heave disturbance. Copyright © 2016 John Wiley & Sons, Ltd.
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