Vertical Position Control for Top Tensioned Riser With Active Heave Compensator

The top and bottom angles of a marine riser are of crucial importance during e.g. drilling and workover operations. A vertical position control with active heave compensator (AHC) is proposed to maintain the safety of the riser when subjected to environmental excitations. The possibility of reducing the maximum angular response level by adjusting the vertical rod position by means of an active heave compensator is investigated with a positioning algorithm based on adaptive backstepping. Riser top and bottom angles are dealt with by the algorithm in order to minimize both angles.