Table 1.
Conventional mechanism structure of linear motion.
Fig 1.
The design of active compensation system with the pinion and rack.
(a) Design scheme 1 and (b) Design scheme 2.
Fig 2.
The diagram of passive compensation system.
Fig 3.
Block diagram of control systems of MSAHC.
Fig 4.
Simulation model of the MSAHC system.
Part A—The compensation cylinder models; Part B—The drill string model; Part C—Frequency control of motor speed model; Part D–The energy consumption calculation model; Part E—The pinion and rack model.
Fig 5.
Simulation model of the PHC system.
Part A—The compensation cylinder model; Part B—The rotary hook displacement calculation model; Part C—The signal control model; Part D–The drill string model;
Fig 6.
Simulation model of AHC system.
Part A—The compensation cylinder model; Part B—The rotary hook displacement calculation model; Part C—The drill string model; Part D—The Systems energy supply model; Part E—The energy consumption calculation model.
Fig 7.
Simulation model of SAHC system.
Part A—The compensation cylinder models; Part B—The drill string model; Part C–The compensation system model; Part D–The Energy consumption calculation model.
Fig 8.
The system performance on different GR.
(a) Change rule of the DRH under different GR in 60 seconds, (b) Change rule of total DRH in 60 seconds, (c) Change rule of the EC in 60 seconds,(d) Change rule of total EC in 60 seconds.
Table 2.
System parameter settings on different GR.
Fig 9.
Change rule of the DRH on different SC in 60 seconds.
Table 3.
System parameter settings on different SC
Fig 10.
Change rule of total EC in 60 seconds.
Fig 11.
Change rule of the EC on different RHL.
(a) Change rule of the EC in 60 seconds, (b) Change rule of total EC in 60 seconds.
Table 4.
System parameter settings on different RHL.
Fig 12.
Change rule of the DRH on different HH and HP.
Table 5.
System parameter settings on different HH and HP.
Fig 13.
Change rule the EC on different HH and HP.
Fig 14.
Change of the EC rule on different AV.
Table 6.
System parameter settings on different AV.
Table 7.
Simulation parameters values.
Fig 15.
Contrast of heave compensation systems on compensation effect.
Fig 16.
Contrast of heave compensation systems on the EC.