Proceedings of the ... International Conference on Offshore Mechanics and Arctic Engineering, Volume 15, Part 6American Society of Mechanical Engineers, 1996 - Arctic regions |
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Page 82
... control force will get smaller and smaller . When the realized trajectory converges to the objective trajectory , the feedback control force ideally becomes zero . On the other hand , the feedforward force is composed , and in the final ...
... control force will get smaller and smaller . When the realized trajectory converges to the objective trajectory , the feedback control force ideally becomes zero . On the other hand , the feedforward force is composed , and in the final ...
Page 83
... force is evaluated by the Morison equation . P is fluid density , Ca is the drag force coefficient and A is the ... control forces are output by thrusters fixed on the model , the positions are illustrated in Fig.2 . The control forces ...
... force is evaluated by the Morison equation . P is fluid density , Ca is the drag force coefficient and A is the ... control forces are output by thrusters fixed on the model , the positions are illustrated in Fig.2 . The control forces ...
Page 84
... force is improved by learning the previous control force and tracking error . In mathematical terms , this scheme is an application of modified Newton's method to trajectory tracking . Substituting equation ( 5 ) , ( 7 ) , ( 8 ) and ...
... force is improved by learning the previous control force and tracking error . In mathematical terms , this scheme is an application of modified Newton's method to trajectory tracking . Substituting equation ( 5 ) , ( 7 ) , ( 8 ) and ...
Contents
Operational | 1 |
Technological Problems Associated With Subsea Development of High Pressure | 17 |
New Concept for a General Purpose Subsea Installation System | 23 |
Copyright | |
10 other sections not shown
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Common terms and phrases
Agip alignment ball valves boosting unit bore buoy buoyancy cable chain clamps completion configuration connection control force Control System cost crane vessel deep water deepwater deployed deployment line DFCS DIVERLESS downhole drilling end effector equipment feedback field Figure flowline flowline connector fluid Gulf of Mexico heave compensated horizontal Hurricane Opal hydrate hydraulic inspection integration interface jumper LAPV loads located lube oil measurement meters modules motion Motion Compensation multiphase boosting multiphase flow objective trajectory offshore operation package performed phase pipe pipeline Popeye Popeye installation position pressure pull-in pump realized trajectory retrieval Riser and Control riser joint RUNNING TOOL SAF system Scene Reconstruction simulation skid Snamprogetti Sonsub spool Statoil subsea production system subsea structure subsea tree Surface Tree tasks TElerobotic thrusters tie-in tubing hanger tunnel umbilical underwater valves vehicle vessel water depth wellhead winch wireline WOCS