OA16936A - Hybrid tensioning riser string. - Google Patents

Abstract

An enhanced riser control system may employ electrical tensioners coupled to a drilling riser by wires. The electrical tensioners may provide quick response to a tension controller to handle positioning of the drilling riser. The electrical tensioners of the enhanced riser control system may be combined with hydro-pneumatic tensioners in a riser hybrid tensioning system. A controller within the enhanced riser control system may be configured to distribute tension to electrical tensioners and to control electrical tensioners to adjust the length of the first and second wires. The electrical tensioners may be used, for example, to suppress vortex-inducedvibration (VIV) and control drilling riser recoil.

Description

[0001] This application daims the benefit of U.S. Provisional Application No. 61/579,353 to 5 Wu et al. entitled “Enhanced Riser Control System” and filed December 22, 2011, and U.S.

Provisional Application No. 61/725,4 H to Wu et al. entitled “Riser Hybrid Tensîoning System” and filed November 12,2012, both of which are hereby incorporated by reference.

Technical Field [0002] This disclosure is related to riser control Systems. More specifically, this disclosure is related to a riser tensîoning control system having electrical tensioners.

Background [0003] Safety and performance are important considérations in a drilling riser. With trends 15 over the past décades to exploit resources in deeper waters and harsher environments, ensuring the safety and performance of drilling risers has become a challenging task.

[0004] A riser tensîoning System aims to compensate for relative motions between a floating drilling rig and the seabed, which are joined by a rigid riser string. In conventional Systems, the most widely used riser tensîoning system is a hydro-pneumatic riser tensîoning system consisting 20 of hydro-pneumatic cylinders, air/oil accumulators, and air pressure vessels. However, there are short-comings in hydro-pneumatic tensîoning Systems.

[0005] First, the response time for a hydro-pneumatic tensîoning system is too slow for certain situations. The relatively slow operation of pneumatic Systems results in a long control response time, which is the time between issuing a command and force being appiied by the 25 tension system. In certain situations, such as during an emergency riser disconnecζ the tension changing response may be too slow. The slow, large over-pulling force may accelerate free riser pipes outward, allowing them to jump out, and consequently damage the drilling rig floor and riser pipes.

[0006] Second, increasing longitudinal over-pull tension, the conventional method în hydro30 pneumatic tensîoning Systems used to suppress destructive vortex-induced vibration (V1V), causes stress on the supporting equipment, increases wear and tear on the tensîoning system, and increases riser pipe fatigue. Furthermore, increasing longitudinal over-pull tension raîses safety concems in situations where a pair of hydro-pneumatic tensioners are receiving maintenance while the drilling rig is experiencing high wave conditions.

[0007] Third, a hydro-pneumatic tensioning system is a relatively complex and costly system that requires a significant amount of maintenance and is at risk for hydraulic fluid leakage. A 5 hydro-pneumatic tensioning system includes a hydro-pneumatic cylinder rod and a seal that are exposed to bending due to factors such as vortex-Înduced vibration (VIV) or unequal and nonlinear loading caused by vessel roll and pitch. These factors may cause high failure risk and may require a high maintenance cost to avoid hydraulic fluid leakage and risks of environmental pollution. Furthermore, the complex hydro-pneumatic system includes a significant volume of 10 air accumulators and réservoirs that consume useful floor space on a drilling rig.

StJMMARV [0008] An enhanced riser tensioning system having an electrical tensioner may provide additional stability and performance over conventional riser tensioning Systems having only 15 hydro-pneumatic tensioners. The system may enhance the overall safety and reliability of a deepwater riser system. Electric tensioners hâve quicker response times than hydro-pneumatic tensioners. With quicker response times, electric tensioners may apply variable tensions to provide more accurate heave compensation control, safer anti-recoil control and reducing the fatigue damage by vortex-induced vibration (VIV) on riser string. This riser hybrid tensioning 20 system also brings new functionalities for simplifying the riser operation process, such as (I) a new riser position control operation mode, (2) a new functionality of vessel motion stabilizer and (3) a new functionality of moving riser string between dual drilling stations [0009] According to one embodiment, an apparatus includes a first and second electrical tensioner mechanically coupled to a drilling riser via a first and a second wire of a plurality of 25 wires and electrically coupled to a direct current (DC) power distribution bus. The apparatus may also inciude an energy storage system and a power dissipater, both of which are also coupled to the DC power distribution bus. The apparatus may further inciude a hydro-pneumatic tensioner mechanically coupled to the drilling riser via a third wire of the plurality of wires. Further, the apparatus may inciude a control 1er configured to measure the tension and speed 30 delivered by both the electrical and hydro-pneumatic tensioner. The controller may also be configured to détermine the tension for the first and second electrical tensioners based, in part, on the riser load and the measured tension of the hydro-pneumatic tensioner. The controller may be configured to distribute tension to the first and second electrical tensioners, and to control the first and second electrical tensioners to adjust the length ofthe first and second wires.

[0010] The electrical tensioner within the apparatus may include a motor configured to act as a motor or a generator and an energy inverter. The energy inverter may be coupled to the motor and also to the DC power distribution bus. The electrical tensioner may further include a gear box coupled to the motor and include a winch. The winch may be coupled to the gearbox and may be coupled to the drilling riser via the drilling riser wîre. The energy inverter within the electrical tensioner may invert AC energy to DC energy or DC energy to AC energy. The controller may be further configured to regulate the torque and power flow in a plurality of energy inverters.

[0011] Energy management may be improved on a vessel through the use of energy storage system. For example, energy may be stored in the storage system when the electric tensioner opérâtes as a generator to regenerate energy in the half wave motion of the vessel; and vice versa.

[0012] A method for controlling a tension of a riser tensioning system includes measuring a tension delivered by a tensioner. The method may also include determîning a tension for a plurality of electrical tensioners based, in part, on the measured tension. The method may further include distributing the determined tension to the plurality of electrical tensioners. The method may also include controlling the plurality of electrical tensioners based, in part, on the determined tension. The method for controlling a tension of a riser tensioning system that includes distributing the determined tension tothe plurality of electrical tensioners may be useful in stabilizing a riser in a drilling vessel.

[0013] In an embodiment, the delivered tension that is measured may be the tension of a hydro-pneumatic tensioner or an electrical tensioner. ln such an embodiment, the tensioning system may be a riser hybrid tensioning system, which is a riser tensioning system that intégrâtes an electrical tensioning system with hydro-pneumatic tensioners.

[0014] The foregoing has outlined rather broadly the features and technical advantages of the présent disclosure in order that the detailed description of the disclosure that follows may be better understood. Additional features and advantages of the disclosure will be described hereinafter which form the subject ofthe daims of the disclosure. It should be appreciated by those skilled in the art that the conception and spécifie embodiment disclosed may be readily utilized as a basis for modifying or designing other structures for carrying out the same purposes of the présent disclosure. It should also be reaüzed by those skilled in the art that such équivalent constructions do not départ from the spirit and scope of the disclosure as set forth in the appended claims. The novel features which are believed to be characteristic of the disclosure, both as to its organization and method of operation, together with further objects and 5 advantages will be better understood from the following description when considered in connection with the accompanyîng figures. It is to be expressly understood, however, that each of the figures is provided for the purpose of illustration and description only and is not intended as a définition of the limits of the présent disclosure.

Brief Description of tiie Drawings [0015] For a more complété understanding of the disclosed system and methods, référencé is now made to the following descriptions taken in conjunction with the accompanyîng drawings.

[0016] FIGURE ! A is a block diagram illustrating a top view of a riser electrical tensioning system according to one embodiment of the disclosure.

[0017] FIGURE IB is a block diagram illustrating a top view of a riser hybrid tensioning system according to one embodiment of the disclosure.

[0018] FIGURE 2A is block diagram illustrating a riser tensioning system according to one embodiment of the disclosure.

[0019] FIGURE 2B is a block diagram illustrating a controller for the riser tensioning system 20 according to one embodiment of the disclosure.

[0020] FIGURE 3A is a flow chart illustrating a method for controlling the tension of a riser tensioning system according to one embodiment of the disclosure.

[0021] FIGURE 3B is a flow chart illustrating a method for controlling energy transfer within a riser tensioning system according to one embodiment of the disclosure.

[0022] FIGURE 4A is a graph illustrating a relationship between vessel velocity and riser tension according to one embodiment of the disclosure.

[0023] FIGURE 4B is a graph illustrating a relationship between vessel velocity and riser tension according to one embodiment of the disclosure.

[0024]

FIGURE 4C is a graph illustrating tension applied by electric and hydro-pneumatic tensioners in a riser hybrid tensioning system according to one embodiment of the disclosure.

[0025] FIGURE 5 is a block diagram illustrating routing of energy within a riser hybrid tensioning system according to one embodiment ofthe disclosure.

[0026] FIGURE 6 is a block diagram illustrating a control scheme for energy storage devices according to one embodiment ofthe disclosure.

[0027] FIGURE 7A is a block diagram illustrating a side and top view of a dual-activity vessel having electric tensioners when a riser string is moving from a first drilling station to the second station according to one embodiment of the disclosure.

[0028] FIGURE 7B is a block diagram illustrating a side and bottom view of a dual-activity vessel having electric tensioners when a riser string is moving from a second drilling station to the first station according to one embodiment of the disclosure.

Detailed Description [0029] The safety and performance of a deepwater riser tensioning system may be improved by using electrical components to control a tension of a riser. A riser hybrid tensioning system may integrate a riser electrical tensioning system with existing hydro-pneumatic tensioners to improve safety and functionality over conventional riser tensioning Systems. A riser tensioning system may also include only electric tensioners. Electrical components, such as an electrical 20 machine, can provide a control response in the range of milliseconds, which is a nearly instantaneous control response. Use of electrical components allows quick response that improves safety and functionality by allowing the tensioning system to respond to different conditions faster. Moreover, additional functionality of a riser hybrid tensioning system may provide enhanced modes of operation to solve numerous problems encountered on deepwater 25 riser tensioning Systems.

[0030] FIGURE IA is a block diagram illustrating a top view of a riser electrical tensioning system 150 according to one embodiment of the disclosure. A riser 130 may be coupled to the electrical tensioners 110-117 by ropes. Although FIGURE IA depicts the electrical riser tensioning system 150 with eight electrical tensioners 110-117, the electrical riser tensioning 30 System 150 is not limited to this spécifie number of electrical tensioners 110-117. For example, in another embodiment, an electrical riser tensioning system may include four electrical tensioners.

[0031] FIGURE IB is a block diagram illustrating a top view of a riser hybrid tensioning system 100 according to one embodiment of the disclosure. The riser 130 may be coupled to electrical tensioners 110-113 and hydro-pneumatic tensioners 120-123 by ropes. Together the electrical tensioners 110-113 and hydro-pneumatic tensioners 120-123 may form the riser hybrid tensioning system 100. Although many of the short-comings of riser tensioning Systems that employ only hydro-pneumatic riser tensioners 120-123 hâve already been detailed, hydropneumatic tensioners 120-123 may be used in a riser hybrid tensioning system 100 to take advantage of the benefits of hydro-pneumatic tensioners 120-123. For example, a riser hybrid tensioning system 100 with hydro-pneumatic tensioners 120-123 may hâve good reliability because the hydro-pneumatic tensioners 120-123 are passive and self-contained Systems that hâve no energy exchange with external Systems. Furthermore, the riser hybrid tensioning system 100 may be more résistant to disturbances and fluctuations of outside Systems. Electrical riser tensioners 110-113 add many advantages, such as delivering dynamically variable torque with high accuracy, providing quick control responses, and being easier to install. A riser hybrid tensioning system 100 may therefore benefit from the combined advantages of hydro-pneumatic tensioning Systems 120-123 and electrical tensioners 110-113.

[0032] Although FIGURE IB depicts the riser hybrid tensioning system 100 with four electrical tensioners 110-113 and four hydro-pneumatic tensioners 120-123, a riser hybrid tensioning system is not limited to this spécifie number of electrical tensioners and hydropneumatic tensioners. For example, in another embodiment, a riser hybrid tensioning system may include six hydro-pneumatic tensioners and four electrical tensioners.

[0033] FIGURE 2A is block diagram illustrating a riser tensioning system 200 according to one embodiment of the disclosure. The tensioning system 200 may be used to control the tension ofwires 231 coupling electrical tensioners 210 to a drilling riser 230. Although only one electrical tensioner 210 is lllustrated, additional electrical tensioners may be présent, such as illustrated in FIGURE IA above.

[0034] The electrical tensioner 210 may be coupled to a common DC power distribution bus 270, which may be shared with other electrical tensioners. The DC bus 270 provides a physical link for the energy flowing into and out of the tensioning system 200, as well as for other power devices. The DC bus 270 may be coupled to an active front end (AFE) rectifier 260 that converts power from an AC bus 272 powered by one or more generators 274. The power module ofthe AFE rectifier 260 may be controlled by a power management System 250 through an AFE controller 260a.

[0035] The electrical tensioner 210 may include a variable frequency drive (VFD) 211 to invert energy from AC to DC or from DC to AC. The VFD-type inverter 211 may be controlled by the tension controller 202 through a VFD controller 21 la. In one direction, the inverter 211 may convert DC energy from the DC bus 270 to AC energy for use by the electrical tensioner 5 210. In another direction, the inverter 211 may convert AC energy from the electrical tensioner

210 to DC energy that is transferred onto the DC bus 270.

[0036] The electrical tensioner 210 may also include a motor 212 coupled by the wire 231 to a sheave 214 and to the riser 230. The motor 212 may be, for example, a high-torque low-speed machine. The motor 212 may be a direct-drive motor, such as an axial-flux permanent magnet 10 dise motor. The motor 212 may controlled by the VFD 211. A position sensor (PS) 216 may be coupled to the electrical tensioner 210 to measure the motor rotating position 231 and to report the position to a tension controller 202. A température sensor 218 may be located inside or on the motor 218 and provide feedback to a VFD controller 21 la. For example, when a température measured by the sensor 218 exceeds a safe level, the circulation of an auxiliary cooling system 15 may be increased, or the motor 212 may be shut down to reduce its température.

[0037] In an all-electric tensioning system, such as illustrated in FIGURE IA, multiple electric tensioners may be coupled to the riser 230 by wires 231. When the tensioning system 200 is a hybrid system, such as illustrated in FIGURE IB, the system 200 may include a hydropneumatic tensioner 252 with associated controller 252a. Although only one hydro-pneumatic 20 tensioner 252 is illustrated, multiple hydro-pneumatic tensioners may be coupled to the riser 230 through the wires 231. The controller 252a may also be in communication with the tension controller 202.

[0038] The tension controller 202 may be configured to perform many tasks within a hybrid or electrical riser tensioning System and provide feedback to the power management controller 25 250. For example, the controller 202 may regulate the torque in the motor 212 for different control purposes through different control algorithme. As another example, the controller 202 may be used as a load sharing controller that distributes tension between the hydro-pneumatic tensioner 252 and the electrical tensioner 210. Furthermore, the controller 202 may be configured to dynamically control the wireline 231 tension. For monitoring and control 30 purposes, status feedback of the electrical tensioners 210, the hydro-pneumatic tensioners 252, the riser 230 and the drilling vessel on which the riser tensioning System is employed may be sent to the controller 202. Altematively, the controller 202 may calculate the reference signais for both electrical and the hydro-pneumatic tensioners using different control algorithms. The algorithms may be based, in part, on the riser top and the drilling vessel heave relative positions to the seabed, velocity and accélération from the motion reference unit (MRU) 232, a MRU on the vessel (not shown), and tension measurements of the electrical tensîoner 210 and the hydropneumatic tensîoner 252. Moreover, the controller 202 may be configured to monitor the routing of energy in and out of the electrical tensîoner 202 and send this energy signal into the power management controller 250.

[0039] The power management controller 250 may be configured to monitor the DC bus 270 voltage and the AC bus 272 frequency. Furthermore, the controller 250 may coordinate power among other power components, such as the electrical tensîoner 210, the ultra-capacitor bank 222, and the power dissipater 242.

[0040] Referring back to FIGURE 2A, in normal operation, a drilling vessel having a riser hybrid tensioning system may expérience wave motion that transfers large amounts power to and/or from the electrical tensîoner 210. For example, when the vessel expériences waves that cause the vessel to move upward, the electrical tensîoner 210 may consume energy from the rig power network 250. The energy consumed by the electrical tensîoner 210 may be în the megajoule range, and the required peak power may then be in the mégawatt range. When the vessel expériences waves that cause the vessel to move downward, the electrical tensîoner 210 may release the same power back onto the DC bus 270. Power fluctuations from the waves may be compensated with éléments 222 and 242. That is, by storing energy retumed to the DC bus 270 by the energy storage éléments 222 or dissipating the energy in energy dissipation éléments 242.

[0041] The energy storage éléments 220 may be coupled to the DC bus 270. Each energy storage element 222 may be coupled to a DC/DC power chopper (DDPC) 221. The spécifie number and type of energy storage devices 222 used for the energy storage éléments 220 may dépend on application spécifie parameters, such as the type of vessel used or the space available for the energy storage éléments 220. An energy storage device 222 may be, for example, an ultracapacitor bank (UCB) a battery bank, or a flywheel. When the UCB is used for the energy storage device 222, the UCB may be selected to hâve a capacity at least 1.2 times the maximum of both the vessel heave of the most significant sea state criterion and five times of the UCB’s capacity de-rating.

[0042] The tensioning system 200 may also include a power dissipater 242 coupled to the

DC bus 270 through a unidirectional power chopper 241. The unidirectional power chopper 241 which may regulate the amount of energy to be dissipated by the power dissipater 242. The power dissipater 242 may be any device that consumes energy, such as a resistor or a heat sink. Operation algorithms within the power management system 250 may route energy into power dissipaters 242 when the energy storage devices 222 are fully charged or when the operating voltages ofthe UCBs exceed a maximum operating voltage.

[0043] FIGURE 3A shows a flow chart illustrating a method 300 for controlling the tension of a riser tensioning system according to one embodiment of the disclosure. The method 300 begins at block 302 with measuring a tension delivered by a tensioner within the riser tensioning system. The measured tension may be the tension delivered by a hydro-pneumatic tensioner or an electrical tensioner. In one embodiment, a controller, such as the controller 202 of FIGURE 10 2A, may receive tension feedback signais delivered by the hydro-pneumatic or electrical tensioner to obtain the measured tension delivered by either the hydro-pneumatic or electrical tensioner. In certain embodiments, a plurality of hydro-pneumatic and/or electrical tensioners may be monitored by the controller. In one embodiment, a controller, such as the controller 202 of FIGURE 2A, may measure the tension delivered by the hydro-pneumatic or electrical 15 tensioners, while in tensioner.

[0044] At block 304, a desired tension for a plurality of electrical tensioners may be determined based, in part, on the measured tension at block 302. Other parameters that may be used to détermine the desired tension for a plurality of electrical tensioners include the tension delivered by a hydro-pneumatic or electrical tensioner, a total required tension ofthe entîre riser 20 tensioning System, a total number of hydro-pneumatic tensioners în a riser hybrid tensioning system, and/or a total number of electrical tensioners in the system. Furthermore, the controller 202 of FIGURE 2A may be configured to détermine the desired tension of the electrical tensioner based, în part, on monitored parameters of a drilling vessel, such as the total number of hydro-pneumatic and electrical tensioners on the vessel.

[0045] At block 306, the desired tension of block 304 may be distrîbuted to the plurality of electrical tensioners. The plurality of electrical tensioners may then be controlled to deliver the determined tension by evenly rolling in or rolling out a wire coupled to a respective electrical tensioner of the plurality of electrical tensioners.

[0046]

According to one embodiment, the desired tension of an electrical tensioner, or a plurality of electrical tensioners, may be calculated using the following équation:

«HT Trotalfà ~ 7hTî(0 l-i where Tw may dénoté the desired tension of an individual electrical tensioner /, and Thti may be the tension delivered by hydro-pneu mat ic tensioner i at any given time, and T/_Ola! may represent the total desired tension ofthe entire riser hybrid tensioning system. The n/n and oet parameters 5 may be the total number of hydro-pneumatic and electrical tensioners, respectively, in the system.

[0047] At block 308, the plurality of tensioners may be controlled based, in part, on the tension that was determined at block 304 and that was distributed at block 306. For example, the tensioners may apply a tension to the wires. The plurality of electrical tensioners may be 10 controlled and coordinated to satisfy different control purposes. This may assist in stabïlizing a riser in an offshore drilling vessel. For example, the measuring of the tension delivered by tensioners may be performed continuously to dynamically calculate the desired tension of a tensioner and control the tension being delivered by tensioners. This may ensure that the total delivered tension by the hydro-pneumatic and/or electrical tensioners remains nearly constant.

In one embodiment, the controller 202 of FIGURE 2A may be configured to control the plurality of electrical tensioners and adjust the wireline tension according to different drilling operation and sea condition. The actions disclosed at the blocks of FIGURE 3A may be performed continuously, and in parallel, with the actions that manage the energy in the system, such as those described at blocks 330 and 340 of FIGURE 3B.

[0048] FIGURE 3B is a flow chart illustrating a method for controlling energy transfer within a riser tensioning system according to one embodiment of the disclosure. The actions of method 300 of FIGURE 3A may be performed continuously, and either sequentially or in parallel, with the actions of method 350 of FIGURE 3B.

[0049] At block 320, it is determined whether a vessel has moved vertîcally up or down. In 25 one embodiment, the vessel being monitored for vertical movement may be an offshore drilling vessel on which a riser tensioning system, as in FIGURE IA, or riser hybrid tensioning system, as in FIGURE IB, is located. The vertical motion of the vessel may be caused by waves in the océan.

[0050] At block 320, when the vessel has moved down, the method 350 may proceed to 30 block 330 where energy may be transferred from an electrical tensioner to energy storage devices. That is, the motor of the electrical tensioning system may act as a generator when the vessel moves down. At block 330, the energy from an electrical tensioner may be transferred to the energy storage system or to power dissipaters for dissîpating the energy generated by the electrical tensioner. The energy transferred from an electrical tensioner may be energy that has 5 been generated by the electrical tensioner. For example, when the vessel moves down, the wire coupled to the electrical tensioner may roi! in. As the wire rolls in, the motors may act as generators converting potential energy to AC electrical energy. The generated AC electrical energy may be inverted to DC energy by an AC/DC inverter and flow onto a common DC power distribution bus where it may then be transferred to the energy storage devices for storage.

[0051] Decisions may be made to détermine where the energy generated from an electrical tensioner should be routed. For example, at block 331, it îs determined if an energy storage device has reached its maximum energy capacity. At block 332, the energy generated by an electrical tensioner may be transferred to the energy storage device for storage if it was determined at block 33! that the energy storage device had not reached its maximum capacity.

Energy generated by an electrical tensioner may continue to be stored in the energy storage device or devices until the energy storage device or devices hâve reached their maximum energy capacity. As energy is stored in the energy storage device or devices, the energy in the energy storage device or devices may be monitored to détermine at block 33! if the maximum energy capacity has been reached.

[0052] After the détermination at block 331 that the energy storage devices in the electrical tensioning system hâve reached their maximum energy capacity, it may be determined at block 333 if a power network has reached capacity. ln an embodiment, a safe operation criterion or threshold for the power network may serve as an aid in determining whether the power network has reached capacity. At block 334, the energy generated by an electrical tensioner may be 25 transferred to the AC power network for other power consumption if it was determined at block

333 that the power network had not reached its maximum capacity. Energy generated by an electrical tensioner may continue to be transferred into the AC power network until the power network has reached its maximum energy capacity. As energy is absorbed in the power network, the frequency ofthe power network may be monitored to détermine at block 333 ifthe maximum 30 energy capacity has been reached. At block 336, the energy generated by an electrical tensioner may be transferred to a power dissîpating device to dissipate excess generated energy if it was determined at block 333 that the power network had reached its maximum capacity.

[0053] If it îs determined at block 320 that the vessel has moved up, the method 350 may proceed to block 340 where energy may be transferred from energy storage devices to the electrical tensîoner. For example, when the vessel moves up, the wire coupled to the electrical tensioner may roll out. Energy stored in energy storage devices may be transferred onto the common DC power distribution bus where it can be transferred to an electrical tensioner. The energy transferred from the energy storage devices to the DC bus may be inverted to AC energy by the AC/DC inverter in an electrical tensioner. The inverted AC energy may be converted from AC electrical energy to potential energy by the motor in an electrical tensioner to control the tension in the wire. The energy stored in the energy storage device that is transferred to an electrical tensioner may be energy that has been stored in the energy storage device when the vessel last moved down or energy that was provided by charging from the power network.

[0054] At block 340, the energy transferred to the electrical tensioner may also be transferred from the AC power network. Furthermore, energy from a power network may also be transferred to an energy storage device to charge it at block 340.

[0055] Decisions may be made to détermine from where energy for an electrical tensioner should be routed. For example, at block 341, it is determined if an energy storage device has sufficient energy stored. In an embodiment, an energy storage device that has sufficient energy stored may be one that has energy amounting to a predetermined percentage of its maximum capacity. For example, a minimum level in a UCB may be 20% of a total capacîty or 40% of a nominal voltage. At block 342, energy may be transferred to an electrical tensioner from an energy storage device if it was determined at block 341 that the energy storage device had sufficient energy stored. Furthermore, at block 342, the energy transferred to an electrical tensioner may be transferred from a plurality of energy storage devices if it was determined at block 331 that the plurality energy storage devices had sufficient energy, and the energy transferred may be transferred to a plurality of electrical tensioners. Energy may continue to be transferred to an electrical tensioner from the energy storage device or devices until the energy storage device or devices hâve become depleted or become discharged below a predetermined percentage ofthe maximum capacity. As energy is transferred from the energy storage devices, the energy in the energy storage devices may be monitored to détermine at block 341 if they hâve sufficient energy to continue operating the electric tensioners.

[0056] According to an embodiment, after the détermination at block 341 that the energy storage devices in the electrical tensioning system do not hâve sufficient energy, at block 344, the energy transferred to an electrical tensioner may be transferred from the DC bus. For example, additional power may be transferred from generators to the DC bus through an AC-toDC converter. Furthermore, energy may be transferred from the DC bus to the energy storage devices that are dischargcd or depleted to charge the energy storage devices. By charging the depicted energy storage devices, the energy required by electrical tensioners may be transferred 5 from the energy storage devices the next cycle the vessel moves up.

[0057] Through the management of energy described in method 350 of FIGURE 3B, the electrical tensioning system may be an independent energy conversion system with nearly zéro energy consumption from the DC bus other than losses by the tensioners.

[0058] FIGURE 4A is a graph illustrating a relationship between vessel position and riser 10 tension according to one embodiment of the disclosure. The vessel position versus time graph

402 provides an illustration of the movement that a vessel may expérience. When the vessel moves up, such as during a région 440, an electrical tensioner may receive energy from either the energy storage devices or the power network. In one embodiment, during the time région 440, the actions at block 340 of FIGURE 3B may be performed, because the decision at block 320 15 may détermine that the vessel moved vertically up during this time région. When the vessel moves down, such as during a région 430, an electrical tensioner may generate energy that can be stored in the energy storage system, transferred to the power network, or dissipated in a power dissipater. Furthermore, the actions at block 330 of FIGURE 3B may be performed, because the decision at block 320 may détermine that the vessel moved down during this time région.

[0059] The riser tension versus time graph 404 provides an illustration of the total tension delivered by the hydro-pneumatic and/or electrical tensioners across time. The total tension 410 may be maintaïned nearly constant at ail times despite the vessel’s vertical position fluctuations indicated in the vessel position versus time graph 402.

[0060] FIGURE 4B is a graph illustrating a relationship between vessel velocity and riser 25 tension according to one embodiment of the disclosure. A graph 452 traces vertical velocity of a vessel experiencïng waves in an océan. A graph 454 traces tension delivered to a wire during the same time period as graph 452. During a first half of the wave period while the vessel is rising, a smaller tension is applied to the line in time period 462. During time period 462, less energy is converted to potential energy by the electric tensioners. During the second half of the wave 30 period while the vessel is falling, a larger tension is applied to the line in time period 464.

During time period 464, electrical energy may be harvested from the wave motion in order to compensate the system losses and to increase the reliability during AC power network black out situation.

[0061] The overall performance of a riser hybrid tensioning system is illustrated in FIGURE 4C, which illustrâtes graphs of tensions within the riser hybrid tensioning system according to one embodiment. FIGURES 4A-4C illustrate the AC portion of the tensions. The y-axis of each graph ignores the DC portion of the tensions. Each of the tensions may be nearly constant, only 5 varying in a small range as shown in the AC portions. A graph 464 illustrâtes a required load tension as measured at the top of a riser. A graph 464 illustrâtes tension delivered by a hydropneumatic tensioner, and a graph 466 illustrâtes tension delivered by an electric tensioner. The tension applied by the electric tensioner in graph 466 is 180 degrees out of phase from the tension applied by the hydro-pneumatic tensioner in graph 464, such that the summation of the 10 tension delivered by the hydro-pneumatic tensioner and the electric tensioner provides the required tension illustrated in graph 462. In using the riser hybrid tensioning disclosed above, heave compensation, which may be controlled by the controller 202 of FIGURE 2A, may hâve a higher level of accuracy. Thus, the riser cyclical fatigue life may be improved by using the riser hybrid tensioning system.

[0062] FIGURE 5 is an illustration 500 of the routing of energy in a riser hybrid tensioning system according to one embodiment of the disclosure. The illustration 500 may visually depîct the management and routing of energy as described in FIGURE 3B. In one embodiment, the AC power network 550, power dissipater 540, tensioner 510, and the ultra-capacitor bank 520 in FIGURE 5 may be the AC power network 272, power dissipater 240, electrical tensioner 210, 20 and the energy storage device 220 described in FIGURE 2A, respectively. As one example, arrow 502 illustrâtes that energy may be transferred from a UCB 520 to an electrical tensioner 510 as described at block 342 ofFIGURE 3C. In one embodiment, the controlling ofthe routing of energy to and from different éléments within the riser hybrid tensioning system may be performed by the controller 250 of FIGURE 2A.

[0063] FIGURE 6 depicts a control scheme 600 for energy storage devices according to one embodiment of the disclosure. In this embodiment an energy storage device to be controlled may be a ultra-capacitor bank (UCB), and the DC/DC power chopper DDPC 620 in FIGURE 6 may be the DDPC 221 of FIGURE 2A. According to the embodiment, a feedback controller with faster sampling rate may be used to regulate the power, voltage, and current inside of each UCB based on a signal received from the power management controller. An outer power control loop may defines a UCB voltage set point, a control loop, which may predefine a UCB voltage set point, may force a UCB to supply or absorb power according to a kW reference received from an upper-level coordination controller, such as the controller 250 of FIGURE 2A. A différence 623 between a reference power 621 and a measured UCB power 622 may be transmitted through a power regulator 624 that may set an UCB voltage référencé 602. A différence 606 between a référencé voltage 602 and a measured UCB voltage 604 may be transmitted through a voltage regulator 608 that may set an UCB current référencé 610. Furthermore, the DDPC’s duty cycle 618 may be generated by a current regulator 616 based on an error 614 between the current référencé 610 and a measured current 612. This control scheme 600 may enable UCBs to compensate for energy demand in a tensioner system. The control scheme may be implemented with a controller 630, which may control more than one DDPC 620 in parallel.

[0064] A power management controller may be used in this topology to keep energy equalized in each UCB, in order to avoid over-depletion of a certain UCB, so that the life cycles of ail UCBs are balanced. When an energy surge is regenerated from the electrical tensioners, the amount of power flowing into an energy storage system may be distributed to each UCB according to the percentage of its free volume versus the total free volume of ail UCBs, as shown in _p_________________p ‘ W’.ruu-^)+...+^(^-^)+...+^(^-^) where P_t with u =1, .... n is the power distributed to the UCB, P_Total >^s the total power regenerated from the tensioning system, C₍ is the capacitance of the f* UCB, Vj and Vjjruu ^are the actual voltage and the nominal voltage of the UCB. When energy is consumed by electrical tensioners, the amount of the power transferred out of the energy storage system may be withdrawn from each UCB according to the percentage of its state of charge (SOC) versus the total SOC of ail UCBs, as shown in:

CV^{2 P}‘ ~ +...+C^’ +... + CX^{2 PmrAL} [0065] With the novel riser hybrid tensioning system disclosed, several control modes employed in riser control Systems may be enhanced, such as active heave compensation control, anti-recoil control, vortex-induced vibration (V1V) suppression control, and riser position control. Quicker response times provide a dynamic response profile that may prevent the riser from jumping out during anti-recoil operation. Furthermore, the riser hybrid tensioning system may deliver variable tensions that may actively suppress VIV.

[0066] Several control modes may be implemented that utilize the riser hybrid tensioning system disclosed above, such as an active heave compensation control mode, ln this control mode the electrical tensioning system may be set to track a desired vessel heave trajectory in the riser top référencé frame to keep the tension applied at the riser top to be within a safe range.

[0067] The entire active heave compensation control algorithm may be embedded into the controller 202 in FIGURE 2A to calculate torque référencés and to control the active heave compensation System. The caiculated reference signais can be input into an AC/DC inverter to effectively control the motor to roll in or roll out the wire in the electrical tensioning system so 5 as to optimize the total delivered tension by both electrical and hydro-pneumatic tensioners for compensating the force disturbances induced on riser and the accélération of ail moving mechanics, as shown in FIGURE 4C. In using the riser hybrid tensioning system disclosed above, heave compensation, which may be controlled by the controller 202 of FIGURE 2A, may hâve an improved control response time and a higher level of accuracy. Thus, the riser cydical 10 fatigue life may be improved by using the riser hybrid tensioning system.

[0068] In one embodiment, another control mode that may be used is an anti-recoil mode to bring the riser string up in a controlled manner according to a desired goal such as to achieve a desired water clearance from the riser bottom to the top of LMRP or to maintain a safe air gap distance from the drill floor to the riser top at the instant of end stop. In this control mode, the 15 control strategy for the electrical tensioner may be a fixed relationship function between the motor output torque and the wire relevant displacement. The fixed relationship strategy may be embedded into a controller, such as the controller 202 of FIGURE 2A, to control the electrical tensioners during an emergency disconnect scénario in which the riser tensioning system may be in an anti-recoil mode. Another embodiment for anti-recoil control using the riser hybrid 20 tensioning system may include a feedback control strategy that controls the tension delivered by electrical tensioners and its relative displacement to achieve a controlled décélération profile of the riser string until it stops. This control algorithm for the anti-recoil mode may also be embedded into a controller. For example, the controller 202 of FIGURE 2A, when operating in anti-recoil mode, may be configured to control the electrical tensioners to reduce the upper 25 pullîng force on a drilling riser.

[0069] FIGURE 2B is a block diagram illustrating an anti-recoil controller for the riser tensioning system according to one embodiment of the disclosure. A controller 290 may include cascade proportional-integral-derivative (PID) controllers for controlling a riser hybrid tensioning system. A first PID controller 292 may receive a reference position signal POS from 30 the controller 202 of FIGURE 2A, and a feedback signal (FB) from an clectric tensioner (ET) drive 296 from the position sensor 216 of FIGURE 2A,. The first PID controller 292 may be an outer loop ofthe controller 290 for performingwire-line displacement control. The output ofthe first PID controller 292 is provided as an input to a second PID controller 294, which also receives information regarding the vessel velocîty (V). such as from the motion reference unit (MRU) 233 sitting on the vessel body of FIGURE 2A, and a feedback signal (FB2) from the ET drive 296. The second PID controller 294 may be an inner loop of the controller 290 for performing wire-line velocity control.

[0070] An anti-recoil trigging method may be comparing the relative vertical movement 5 between the MRU232 of FIGURE 2A located on the riser and an MRU 233 of FIGURE 2A on the vessel body. Jf the différence exceeds a certain limit, the anti-recoil system may be triggered.

[0071] Furthermore, a riser-mounted MRU may measure second-order transient shock waves in the riser caused by riser disconnection. Because the second-order transient shock wave travels along the riser at a much faster rate than velocity of the riser main body, recoil of the riser may 10 be detected quicker by monitoring the second-order transient shock wave. When a shock wave is detected, hydro-pneumatic tensioners may be unloaded from the riser and the electrical tensioners could adjust tension on the riser to counteract the riser recoil.

[0072] The riser hybrid tensioning system may operate in a control mode for VIV suppression that compensâtes the disturbances induced at the top of a riser to reduce the VIV and 15 extend riser fatigue life. A comparison of relative horizontal position or velocity may be performed between the MRU232 of FIGURE 2A located on the riser and an MRU 233 of FIGURE 2A on the vessel body. With a suitable model for the riser and a suitable control algorithm, the electrical tensioner controlled by the controller 202 of FIGURE 2A may decrease the VIV magnitude and frequency, therefore reduce the fatigue damage of the riser pipe and 20 increase the whole riser Systems availability. Using riser hybrid tensioning system could be set to stabîlize the riser top at the small neighborhood of its original position, i.e., to reduce the vibration displacement of the riser ίη x and y axis în transverse reference plane. The destructive vortex-induced vibration is in fact an unsteady résonant oscillation condition that causes the riser fatigue failure over time. Another VJV control strategy may set to prevent the riser string vortex 25 shedding from entering the riser natural frequency by applying dynamïc top tensions in vertical directions. For example, the VIV pattern in water may be collapsed by introducing a small disturbance into the résonant potential and kinetic energy from the top of the riser.

[0073] An active riser position control may be applied using this hybrid riser tensioning system, implemented in the controller 202 of FIGURE 2A to position and/or relocate a riser string. For example, a riser string disconnected from a blow-out preventer (BOP) may hang from the vessel while the vessel relocates to a new well center. During this time, the riser string may act as a spring that amplifies waves în the océan. Electrical tensioners may be used to control the accurate position in water to eliminate the mass spring effect in the riser string during movement of the riser string from one well center to another well center.

[0074] Electric tensioners may also be used to reconnect a lower marine riser package (LMRP) at the end of a riser string back onto biowout preventer. The riser hybrid tensioning 5 system may provide précisé LMRP position control which may reduce the time consumed in reconnecting the LMRP onto a biowout preventer (BOP) in comparison a hydro-pneumatic system. The riser hybrid tensioning system may directly and securely iand the LMRP back onto the BOP through the ieveraging of the electrical tensioners with proper maneuver of remoteiy operated vehicles. Furthermore, an operator may control the appropriate distance between the 10 LMRP and the BOP. The controller, now operatîng in riser reconnection mode, may be configured and operated in position control mode to control the distance between the LMRP and the BOP by compensating vessel heave motion. According to one embodiment, the LMRP may be coupled to the BOP, such that the LMRP and BOP are being placed on a well head together through the position control by the hybrid tensioners.

[0075] Electric tensioners may also facilitate movement of a riser string from a first drilling station to another drilling station on a dual-activity vessel. For example, a first drilling station may construct the well head, and a second station may construct the riser string. Then, the electric tensioners may adjust lengths of wire coupled to the riser string to move the riser string from the second drilling station to the first drilling station. FIGURES 7A and 7B are block 20 diagrams illustrating movement of a riser string between drilling stations by electric tensioners according to one embodiment of the disclosure. FIGURE 7A illustrâtes a riser string 702 attached to a derrick 710. The riser string 702 may be held in place by electric tensioners 730 and 732. When the riser string 702 is attached to a second drilling station, wires coupling the electric tensîoner 732 may be at high tension to roll the sheaves 722 towards the first station and 25 also reduce length of the wires and, thus, the distance between the tensîoner 732 and the riser string 702. FIGURE 7B illustrâtes the riser string 702 attached to a derrick 710 above a first drilling station. Wires coupling the electric tensîoner 730 may be adjusted to roll the sheaves 722 towards the second station and to reduce length of the wires and, thus, the distance between the riser string 702 and the tensîoner 730. The tensioners 730 and 732 may be coupled to the 30 riser 702 through sheaves 722 attached to a rack 720 on the vessel.

[0076] Although the présent disclosure and its advantages hâve been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the disclosure as defined by the appended claims.

Moreover, the scope of the présent application is not întended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the spécification. As one of ordinary skill in the art will readily appreciate from the présent processes, disclosure, machines, manufacture, compositions of matter, means, 5 methods, or steps, presently existing or later to be developed that perform substantially the same function or achieve substantially the same resuit as the corresponding embodiments described herein may be utilized according to the présent disclosure. Accordingly, the appended daims are întended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or steps.

Claims (15)

1. An apparatus, comprising:

a direct current (DC) power distribution bus;

a drilling riser;

2. The apparatus of claim 1, further comprising:

a hydro-pneumatic tensîoner coupled to the drilling riser via a third wire of the plurality of wires;

15 wherein the controller is further configured:

to measure tensions delivered by the hydro-pneumatic and electrical tensioners; and to détermine a tension for the first and second electrical tensioners based, in part, on the measured tensions ofthe hydro-pneumatic and electrical tensioners.

20

3. The apparatus of claim 2, in which the controller further détermines the tension for the first and second electrical tensioners based on at least one of:

a drilling vessel heave relative position;

a drilling vessel velocity and accélération; and a tension measurement.

4.

5 inverting altematîng current energy to direct current energy; and storing direct current energy in the energy storage device.

21. The method of claim 18, further comprising harvesting wave energy by:

applying a larger tension from the plurality of electrical tensioners when a vessel is falling down; and

5 dual activity drilling vessel.

5.

The apparatus ofclaim i, furthercomprising:

an energy storage system coupled to the DC power distribution bus; and a power dissipater coupled to the DC power distribution bus.

The apparatus of claim 4, wherein the energy storage system comprises:

an energy storage device; and a bi-directional power converter coupled to the energy storage device and the DC power distribution bus.

5 a plurality of wires coupled to the drilling riser;

a first and second electrical tensîoner coupled to the drilling riser via a first and a second wire of the plurality of wires and coupled to the power distribution bus; and a controller configured:

to distribute tension to the first and second electrical tensioners; and

6. The apparatus of claim 4, further comprising: a unidirectional power converter coupled to the power dissipater and the DC power distribution bus.

10

7. The apparatus of claim 1, in which the controller is further configured to control the distance between a lower marine riser package and a blowout preventer by adjusting the length of the plurality of wires to compensate for vessel heave motion in an active heave compensation mode.

8. The apparatus of claim 1, in which the controller is further configured to control the first

15 and second electrical tensioners to apply dynamic tensions to reduce résonant conditions in a wire ofthe plurality ofwires in a vortex-induced vibration (V1V) suppression mode.

9. The apparatus of claim 1, in which the controller is further configured to control the first and second electrical tensioners to dynamic control an upper pulling force on the drilling riser in an anti-recoil mode.

20 10. The apparatus of claim 1, in which the controller is further configured to control the first and second electrical tensioners to control a vessel position in water to elimînate a mass spring effect in the drilling riser during movement of the vessel from a first well center to a second different well center.

10 applying a smaller tension from the plurality of electrical tensioners when the vessel is rising up

22. The method of claim 18, further comprising managing energy in the energy storage device based on at least one of state of charge, power, voltage, and current.

23. The method of claim 13, wherein determining the tension for a plurality of electrical

10 electrical tensioners based, in part, on data received from the position sensor and the motion reference unit, in which the controller comprises:

a first proportional-integral-derivative (P1D) controller executing an inner feedback loop; and a second proportional-integral-derivative (P1D) controller executing an outer 15 feedback loop.

10 to control the first and second electrical tensioners to adjust a tension of the first and second wires.

11. The apparatus of claim 1, in which the controller is further configured to adjust the length of the first and second wires to reposition the drilling riser on a different drilling station for a

12. The apparatus of claim 1, further comprising:

a position sensor coupled to the electric tensioner and coupled to the controller;

a motion reference unit (MRU) coupled to the electric tensioner and coupled to the controller, in which the controller is configured to control the first and second

13. A method, comprising:

measuring a tension delivered by a tensioner;

determining a tension for a plurality of electrical tensioners based, in part, on the measured tension;

20 distributing the determined tension to the plurality of electrical tensioners; and controlling the plurality of electrical tensioners based, in part, on the determined tension.

14. The method of claim 13, în which measuring a tension delivered by a tensioner comprises measuring a tension delivered by a hydro-pneumatic tensioner.

15. The method of claim 13, in which the stepofcontrolling the plurality ofelectrical tensioners comprises compensating for vessel heave motion in an active heave compensation mode.

16. The method of claim 13, in which the step of controlling the plurality of electrical tensioners comprises reducing résonant conditions în a wire in a vortex-induced vibration (VIV) suppression mode.

17. The method of claim 13, in which the step of controlling the plurality of electrical tensioners comprises dynamic controlling an upper pullîng force on the drilling riser in an antirecoil mode.

18. The method of claim 13, further comprising:

transferring energy from an energy storage device to an electrical tensioner of the plurality of electrical tensioners; and storing energy from an electrical tensioner of the plurality of electrical tensioners in an energy storage device.

19. The method of claim 18, wherein transferring energy from an energy storage device comprises:

rolling out a wire coupled to the electrical tensioner;

transferring energy from the energy storage device onto a common DC power distribution bus;

inverting energy from DC energy on the common DC power distribution bus to AC energy; and converting electrical energy into potential energy.

20. The method of claim 18, wherein storing energy from an electrical tensioner of the plurality of electrical tensioners comprises:

rolling in a wire coupled to the electrical tensioner;

convertîng potential energy to altematîng current electric energy;

15 tensioners is further based on at least one of:

the tension delivered by a hydro-pneumatic tensioner;

a total required tension of an entire system;

a total number of hydro-pneumatic tensioners in the system; and a total number of electrical tensioners in the system.