Abstract:This master thesis presents the development, analysis and comparison of different heave compensator methodologies for drill string.Firstly, a review of previous studies about the subject is presented. Next, is presented a study of drill string modelling. Following the studies, a methodology to design a passive heave compensator is develop and validated by using a small scale prototype. In order to obtain higher levels of attenuation, active heave compensators are designed.Hence, the study of observers, estimat… Show more
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