Drilling control and monitoring systems - Aker Solutions
Drilling control and monitoring systems - Aker Solutions
Drilling control and monitoring systems - Aker Solutions
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<strong>Aker</strong> <strong>Solutions</strong><br />
<strong>Drilling</strong> Technologies<br />
<strong>Drilling</strong> <strong>control</strong> <strong>and</strong> <strong>monitoring</strong> <strong>systems</strong><br />
MH robotic motion <strong>control</strong><br />
The MH robotic motion contro (RMC) makes it<br />
possible to move large machines safely <strong>and</strong> efficiently<br />
using a joystick h<strong>and</strong>le. RMC moves the machines<br />
along paths.<br />
Available for the following pipe h<strong>and</strong>lers:<br />
• Vertical pipe h<strong>and</strong>ling (bridge crane system <strong>and</strong><br />
2-arm system) - synchro <strong>control</strong> system<br />
• Eagle/eagle light<br />
• Pipe racking machine<br />
• Triplex crane<br />
RMC contains continuous <strong>monitoring</strong> of all sensors<br />
<strong>and</strong> of the <strong>control</strong> system itself. This well-proven<br />
system detects <strong>and</strong> reacts to a large number of critical<br />
situations:<br />
• Sensor failures<br />
• Computer failures<br />
• Operator failures<br />
• Valve failures<br />
• Calculation failures<br />
RMC can easily be included in a zone management<br />
system to ensure inter-machine safety.<br />
User interface<br />
RMC is integrated into the user interface of the <strong>control</strong><br />
system.<br />
Advantages<br />
• Easy to use; joystick operated<br />
• Efficient <strong>and</strong> safe movement<br />
• Minimal crew training required<br />
• Movement in narrow areas is done quickly <strong>and</strong><br />
safely<br />
• All cylinders <strong>and</strong> motors move in an optimal<br />
manner<br />
• Controlled oil consumption<br />
• Vertical pipe h<strong>and</strong>ling: The two racking arms <strong>and</strong><br />
fingerboard are one-man operated allowing for<br />
simultaneous roughneck operation<br />
Technology<br />
RMC utilises mathematics from the world of robot<br />
<strong>control</strong> to calculate the optimal movement of pipe<br />
h<strong>and</strong>ling <strong>systems</strong>. Cylinders <strong>and</strong> motors are equipped<br />
with absolute position sensors <strong>and</strong> the RMC uses<br />
these sensors to achieve the correct positioning. The<br />
RMC <strong>control</strong>led machines move along calculated<br />
six axis paths. The first three axes (X, Y, Z) define the<br />
position of the load. The last three axes (a, b, l) define<br />
the orientation of the load. This gives a great flexibility<br />
with respect to requirements given by the rig layout.<br />
Safety<br />
• RMC ensures that no cylinders or motors are<br />
moved in such a manner that load can be<br />
dropped<br />
• The path that is calculated considers all<br />
hindrances along the way to the destination<br />
• The load is kept as low as possible above deck<br />
• Running pattern repeated<br />
• Vertical pipe h<strong>and</strong>ling: the two machines are<br />
synchronised, hence safer operation<br />
• Eagle/eagle light moves outside working area of<br />
travelling assembly/top drive when transporting<br />
tubulars to vertical position<br />
• Triplex crane: the yoke is under full <strong>control</strong> <strong>and</strong> is<br />
kept horisontal <strong>and</strong> correctly aligned at all times
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