TAMU - Pemex

Offshore Drilling

Lesson 6
Motion Compensation

1
 Motion Compensation

 Reentry
 Tensioners
 Heave Compensators
 Passive Motion Compensation
 Active and Semiactive Systems
2
 Re-entry

It is possible to re-enter a borehole

without using guidelines!

1. Use land-based navigation

equipment to get the vessel in
the vicinity of the well
or better still: Use GPS
(Global Positioning System)
3
 Re-entry, cont’d

2. Lower reentry string to a safe

distance above the wellhead

3. Use position location equipment

to complete the job:
(i) Television camera
(ii) Acoustic device - pinger or transponder
(iii) ROV - Remote Operated Vehicle
4
 Heave Compensation

 How do you maintain a constant tension

on the marine riser - when the vessel
heaves?

 How do you maintain a constant weight

on the bit - when the vessel heaves?

5
 Deadweight Riser Tensioning System

Dead Weight Dead Weight

(~constant
tension)
Slip Joint

Marine Riser

Early design - OK up to 100,000 lbf. Attached to lower half of telescoping joint. Adds weight & 6
is bulky...
 Pneumatic Riser
Tensioning System
7
 Pneumatic/Hydraulic Heave
Compensation System

Pneumatic/Hydraulic Tensioners:
 Take up much less room than
dead weights
 Facilitate changing the tension by
changing the air pressure
 Can be used for the marine riser,
the guidelines and the drill string
8
 Pneumatic/Hydraulic Heave
Compensation System

Passive Systems are

the most popular
 Require essentially no energy input
 Use an “air spring” with a variable
spring constant
 Can keep the tension within ~ 15%
or even less.
9
 Pneumatic/Hydraulic Heave
Compensation System

Active Systems
 Require external energy through
each load cycle
 Provide a highly consistent force
 But -- Have a high initial cost
 Have a high operating cost

10
 F = PA
Passive
To support System
larger load,
increase the Air reservoir
pressure reduces
pressure
changes

An AIR spring ...

11
12
 Consider Change from P1
and V1 to P2 and V2

n
F2 P2 P2  V1 
α and =  
F1 P1 P1  V2 

P1 and P2 are absolute pressures

n = 1 for isothermal expansion or contraction

n = 1.41 for adiabatic expansion or contraction
13
 Change in Volume

P1 and P2 are absolute pressures

Isothermal Volume Change: PV = const.

(slow; constant temperature)
1.41
Adiabatic Volume Change: PV = const.
(fast; no heat flow)
14
 1.41
1.4 1.41
 V1 
P2  V1 
=   =  = 1.37
P1  V2   0.8 V1 
 
Pressure Ratio, P2 / P1

ADIABATIC

∆V Relative
V Change in
1.0
volume
-0.1 +0.2

ISOTHERMAL

0.7 P2  V1   V1 
=   =   = 1.25
P1  0.8 V1 
 V2    15
Vol. of Reservoir / Vol. of Cylinder Fig. 4-7

30
Theoretical reservoir
size vs. pressure
fluctuation.

15

0 15 30
Allowable Pressure Fluctuation, %
16
 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
 volume of reservoir 
R = Theoretica l  
 volume of cylinder =5

R = 5 (from Figure 7 - 4)
17
Example cont’d VRES = R m A L

m = 2 = number of cylinders

L = 10 ft = piston stroke
2
A = π /4 (14/12) = 1.07 ft2 = piston area

Reservoir Volume = R m A L
= 5 * 2 * 10 * 1.07 = 107 ft3

18
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:
 F2    V 
n

E =  − 1100 =   − 1100
 F1   V − m A ∆L  

L L
and - ≤ ∆L ≤
2 2
19
  F2   V 
n


Where: E = 
F
 1
− 1100 = 
  V − m A ∆L


− 1100


E = theoretical percentage error in force

applied to the load
F2
= force applied to the load relative to
F1
the force with the piston centered
A = piston area, ft.2
L = full piston stroke, ft.
mAL
V = reservoir volume + , ft 3
2
∆ L = length of the stroke from the
L L
center of the piston, ft. - ≤ ∆L ≤
2 2

20
Percent Change in Load 10 0
15 15
Adiabatic

0 0

Reservoir Volume
= 5 * vol. swept by piston
-15 -15
-20 Heave Down 20
Heave Up, ft
21
 1,500 psig WP 5 ft

Typical
Tensioner

20 ft

Lower sheaves are attached to the cylinder (and vessel), upper sheaves are attached to the piston
22 rod
 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
23air press.
Rucker Heave
Compensator

Dual Pistons
- on the
travelling
block

Large air
cylinders
below deck

Flexible hoses

24
Figure 7-9
Vetco dual
piston Heave
Compensator

L.P. hydraulic
fluid throttled
for damping

Piston
balancing
may be
problem

25
 Western Gear
Heave
Compensator

Split travelling block

Hydraulically
Single operated pistons can
Piston Rod
be locked in any
position with
remotely operated
Figure valves.
7-10
Air operated units must be mechanically locked in position because of compressible fluid in cylinders.
26
Figure 7-13. Active Heave Compensator

27
Semiactive Heave Compensator

28
Bumper Subs

 Fit into the drill collar string, but do

not have the ruggedness of drill
collars. To obtain a reasonable
operating life from bumper subs,
action has to be taken on the
following points of concern:
 1. Always run the bumper subs at the
“neutral point” in the string.
29
Bumper Subs, cont’d
 2. Bumper subs are designed to
stroke, and if operated at a single
position, they will wear at that
position.
 3. Running the subs in tension
minimizes the area through which
the torque will be transmitted, and
will cause excessive wear and fatigue.

30
 Bumper Subs

 4. Running the joint in compression

increases torque reversals and fatigue
in the tool. It also increases “bit
chatter” and instantaneous peak
torque, causing unnecessary wear to
the tool and the string. This is the fault
of the operation, not the sub.

31
Bumper Subs

 5. From items 3 and 4 above, it is

evident that once the string has
been run, the weight on the bit is
fixed. This weight should not be
changed until the string has been
pulled and the number of drill collars
below the bumper sub changed.

32
Bumper Subs
 6.Do not separate the bumper subs in a
drillstring for heavy drilling operations.
 7.Special care and maintenance are
required to obtain a reasonable
operating life.
*Remember: bumper subs fit into the same
part of the drillstring where drill collars and
stabilizers have been destroyed. This is a
severe test of workmanship & maintenance.
33
Unbalanced
Bumper
Subs

34
Buoyant Riser Module
35
Cantilever
Jackup
Rig

Float out to
location

Then lower
legs to
seafloor

Then jack up
36
Jackup Rig

Side View

37
Jackup
Rig

Deck
Plan

38
 End of
Lesson 6
39