Modeling and Simulation of Subsea Actuator PDF
Modeling and Simulation of Subsea Actuator PDF
SupplyPressure
Model
Volumetric Flow
1 ATM Subsea Valve Control
Vertical Hose to
Surface Platform
230m
SubseaControl
Visco/Elastic Hose
20km
SubseaMassFlow
Subsea
Actuator Subsea Control
0.1gpm/psi
External Load
10000
Load
Spring 2kN/cm
30kN preload
3 Test Scenarios
• Scenario 1 – Charge (pressurize) system
• Close subset valve, open surface valve and pump in fluid
• How long does it take to charge the system?
• Scenario 2 – Activate system using hose strain energy
• First charge (fill) the hose until hose expands (bulges) and acts
as an accumulator
• Shut-off and seal pump at surface and open subset valve
• Is there enough energy to activate the actuator? How long does it
take?
• Scenario 3 – Vent down (depressurize) system
• Shut off pump
• Divert flow to drain and depressurize line from surface
• How long will it take to depressurize the system?
Simulation Results
• Plot valve positions, pressure, and
watch how the pressures, fluid
volumes, and actuator positions
change.
• Predict how long it takes to charge
and discharge the system (hours)
• Plot on right shows actuator
pressures for 2 scenarios:
• 1- charging the system;
• 2- activating the actuators using
the hose strain energy
Other Considerations
• Deep sea oil drilling typically uses long hydraulic
pipes.
• Problem: transient water hammer.
• MSC.EASY5 provides tools to model and analyze
water hammer dynamics, and to mitigate water
hammer using accumulators.
• Typical application: short pipes/hoses in fuel
injectors, airplane hydraulic systems, etc.
• PROBLEM: method is not well suited for long
pipes.
Numerical Method – Lumped Mass
Approach 1 (Lumped Line Model Approach):
• Divide a line into many sections (nodes), each of which can be
assumed to have a uniform pressure within it.
• Use continuity equation to calculate rate of change of pressure
within each section
• Use momentum equation to calculate the rate of change of
flow from one section to the next section.
• This approach results in solution of
pressure
ordinary differential equations and
is the approach used in the
Hydraulic Library. N1 N2 N3 N4 N5 N… Nn
TF,W P,TR
1 DH 2
P,TR Q,W,TF
+
LEN +
j=1 jth section j=N
W1 WN 1 WN j-1 WN j W N N -1 WN N
PN 1 PN j PN j+ 1 PN N P2
LEN /N
Port 1 Port 2
Water Hammer Dynamics
• Special transient pipe
component models water
hammer and cavitation
• 10 meter pipe could be
segmented into 10 nodes
(1 m per node)
• Results= 51 states
• 1 temp
• 10 pressure, 10 flow rate,
30 friction states
• 1 km pipe= 5,100 states!!
• Impossible to realistically
simulate this!!
Numerical Method – Method of
Characteristics
Approach 2 (Continuous Line Model Approach)
• Work directly with the continuous line model which
represents the continuity and the momentum equations as
partial differential equations.
• Use Method of Characteristics for solving partial
differential equations
• By using appropriate time delays, method provides better
results than the lumped line model (>10x faster, and more
accurate)
t M r N z O
∆x ∆x
x
Long-Pipe Hydrodynamic Simulation
• Deep sea scenario:
• Up to 50 miles long pipes with actuator/valve at end
• Purpose: pump NT3 fluid into hydraulic control system
used to actuate a valve attached to flow line to control
flow of gases/crude oil
Surface supply 5000 psig
• Studies: compressor
• Transient pressure
ID= ½ inch Umbilical
in system Fluid=water
Initial cond.=5000 psig Accumulator 2 gals
Tamb= 40 deg F
• Response time to 10 – 50 miles
& valve Precharge @ 8000 psig
Model Summary:
118 Components
1725 Cont. States
1331 Variables
216 Tables
269 Parameters
Summary
• MSC.EASY5 ideal CAE tool for modeling subsea
hydraulic systems
• Requirement to simulate water hammer dynamics
in long pipes results in large models with
unacceptable number of states
• Method of characteristics used to simulate water
hammer; reduced # states by factor of 160
• New and improved Method of Characteristics
being developed to improve accuracy and
performance – can be applied to both gases and
fluids