Modelling of a hydro-pneumatic system for heave compensation

This paper presents a mathematical model of the dynamic behaviour of a passive heave compensation system. The main purpose is to develop a model that enables cost-efficient prototyping and testing of the control system in an active heave compensator. The physics are described by first principles, and result in 21 ordinary differential equations. Temperature calculations are included as an option during simulation in order to investigate its effect on the results. Similarly is a non-ideal gas law (Redlich-Kwong equation) implemented and compared to the ideal gas law. Verification against field data shows that the model is in good accordance with real-life drilling operations. It is further s…