动力定位系统DPS研讨二(DNV培训资料)

1、 Seminar研讨会研讨会Dynamic Positioning Systems动力定位系统动力定位系统Tianjin14-15 Dec. 2005Day 1 Basic definition 基本定义 History / development of rules and regulations 规范法规的历史及发展 IMO and class societies DP notations IMO和船级社 DP 符号 Typical operations vs. class notations 典型操作 vs 等级符号Day 1 cont. DP Operation modes DP 操作模

2、式 Description of DP System DP系统的描述 Notation requirements 符号要求Day 2AUTR (Class 2) and AUTRO (Class 3):- Failure modes - Redundancy- Separation (AUTRO)- General arrangementFailure Modes and Effect Analysis (FMEA)Consequence analysisEnvironmental Regularity Number (ERN)Preparations before DP operations

3、DocumentationBasic definitionDynamically positioned vessel:A vessel which automaticallymaintains position and heading(or track) by controlling thethree horizontal motions (surge, sway, yaw) exclusive by means of thruster force. SurgeSwayYawFig.1 Surge, sway and yaw motions of a vessel 动力定位船舶: 指仅用推力器

4、的推力保持其自身位置(固定的位置或预先确定的航迹)的船舶;History, rules and regulations 1960s - Development of DP-systems started,mainly driven by wishes and demands from the oil and gas industry 1977 Tentative试用的 DNV DP rules published 1984 First DP Guidelines by Norwegian Maritime Directorate (NMD)History, rules and regulati

5、ons 1977: The first tentative试用的 rules July 1989: The first ordinary平常的 rules January 2001: Major upgrade January 2005: Latest editionDNV DP Rules historyHistory, rules and regulationsNMD guidelines based on consequence classes:Consequence classes Class 1: Loss of position may cause some pollution a

6、nd minor economical damage, but excluding severe harm to people. Class 2: Loss of position may cause severe pollution, large economical damage, and accidents to people. Class 3: Loss of position may cause major damages, severe pollution, large fatal accidents with danger of loss of human life.IMO an

7、d class societies DP notationsDNVIMOLRSABST-AUTS-AUTClass 1DP ADPS-1AUTRClass 2DP AADPS-2AUTROClass 3DP AAADPS-3Correlation IMO / Class notationsDNV DP Class notations DYNPOS T: (Old notation. 1 vessel in class: “Lady Cyntia”). Semiautomatic (joystick操纵杆 with auto heading) Without any redundancy冗余 M

8、anual levers DYNPOS AUTS: Without any redundancy Manual levers DYNPOS AUT (Class 1): Independent joystick backup with auto heading Positioning reference system back-up UPS power supply Manual leversIMO and class societies DP notations DYNPOS AUTR (Class 2): Redundancy in technical design Independent

9、 joystick backup with auto heading UPS power supply Manual levers DYNPOS AUTRO (Class 3): Redundancy and separation in technical design Independent joystick backup with auto heading Backup DP-control system, in a separate compartment UPS power supply Manual leversTypical operations vs. class notatio

10、nDYNPOS-AUT (Class 1):- Marine operations 500m from an installation- Bow loadingTypical operations vs. class notationDYNPOS-AUTR (Class 2):- Marine operations 500 from an installation- Subsea well stimulation- Unmanned subsea interventions with ROVTypical operations vs. class notationDYNPOS-AUTRO (C

11、lass 3):- Critical manned subsea interventions (diving)- Drilling / production of hydrocarbonsDP operation modes Standby mode 待命 Manual mode 手动 Joystick mode 操纵杆 Automatic mode 自动 Follow target mode 跟踪目标 Autotrack mode 自动跟踪 Autopilot mode 自动驾驶 Offshore loading mode 海上装载DP operation modes Standby mod

12、e: 待命- Waiting and reset mode- DP system ready but not in control Manual mode:DP operator controls manually pitch, speed, azimuth方位角, start and stop of each thruster. Joystick mode:- Control by using joystick- Selectable auto control of surge/sway/yawDP operation modes Automatic mode:- Auto position

13、, auto heading or both Follow target mode:- Follows a moving target (e.g. ROV)- Constant position relative to target相对目标位置不变DP operation modes Autotrack mode:- Movement between predetermined way points- Two modes, high-speed and low-speed- Additional requirements if used for normal navigation Autopi

14、lot mode:- Automatic steering on predefined course- Using propeller(s) and rudder(s) or azimuth thrusters- Additional requirements if used for normal navigationDP operation modes Offshore loading mode:- Shuttle tankers performing loading on OLT- Keep bow at fixed distance from loading buoy- “Weather

15、vane mode”, keep heading into weatherDynamic Positioning SystemThe complete installation on the vessel necessary for dynamically positioning a vessel Dynamic Positioning System Power System DP Control System Thruster SystemAll components and systems necessary to supply the DP-system with power. All

16、components and systems necessary to supply the DP-system with thrust force and direction.All control systems and components, hardware and software necessary to dynamically position the vessel.DP Control System - Computer system- Operator system- Positioning referencesystem - Sensor system 传感器- Assoc

17、iated cabling 联结电缆DP Control System - Computer system- Operator system- Positioning referencesystem - Sensor system- Associated cablingDP Control System Computer system, “The brain”Gives command signals to thrusters based on:- Operator input signals - Position input signals- Sensor input signalsDP C

18、ontrol System - Computer system- Operator station- Positioning referencesystem - Sensor system- Associated cablingDP Control Systems( VI ) Operator station, “Human / Machine Interface界面”- Present the vessels position relative to the reference station- Receive operator commands and transfer these to

19、the computer system- Present warnings and alarms to the operatorDP Control System - Computer system- Operator station- Positioning referencesystem - Sensor system- Associated cablingDP Control System Position reference systems- Satellite navigation system- Hydro acoustic system 水声- Taut wire- Microw

20、ave system- Optical system 光学DP Control System Satellite navigation system (DGPS)- Minimum 4 satellites must be visible- Differential signal from fixed receiver on shore- GPS accuracy about 10m- DGPS accuracy 1-3mDP Control System Hydro acoustic position reference system (HPR)- Transducer on hull发送器

21、- Transponders on seabed 应答器- Range and direction measured DP Control System Taut Wire- Tension in wire kept constante- Wire length and angle measuredDP Control System Microwave system (Artemis)- One fix station (on shore)- One mob station (on vessel)- Track each other with continuous microwave link

22、- Position and azimuth of vessel computed Optical system (Fanbeam and CyScan)- Auto tracking laser on vessel- Reflector in fixed position (on Shore)- Position and azimuth of vessel computedDP Control System - Computer system- Operator station- Positioning referencesystem - Sensor system- Associated

23、cablingDP Control SystemDP Control System Sensor system:- Gyro compass (heading)陀螺仪- Motion Reference Unit (pitch, roll and heave) 纵摇，横摇，升沉- Wind sensorDP Control System Gyro compass- Measuring heading of vessel- Based on gyroscope giving “true north” directionDP Control SystemDP Control System Moti

24、on Reference Unit (MRU):位置参考系统- Measures pitch, roll and heave- Used to calibrate the measurements from the position reference systemsDP Control System Wind sensor- Measures speed and direction- Used to estimate wind forces on vesselCase I DP Control System interfaceOperatorThruster Reorganize the b

25、oxes and draw lines between them to indicate how they are connected (the signal between them (I/O), to make a DP control system. Key words: Demand, feedback, position measurements, indication. Thruster controllerPosition/Sensor MeasurementsDP ControllerCase I DP Control System interfaceThruster cont

26、rollerDemandDemandIndicationFeedbackPosition/Sensor MeasurementsIndicationDP ControllerDemandFeedback(Used for Indication and monitoring)IndicationDemandMeasurementsDynamic Positioning System Power System DP Control System Thruster SystemAll components and systems necessary to supply the DP-system w

27、ith power. All components and systems necessary to supply the DP-system with thrust force and direction.All control systems and components, hardware and software necessary to dynamically position the vessel.Thruster systemThruster Systems Configuration Must produce transverse and longitudinal thrust

28、, and a jawing moment For AUTR and AUTRO, transverse and longitudinal thrust, and a yawing moment after any single failureSurgeSwayYawT6T5T4T2T1T3T3T2T1Thruster System Thruster with drive units and necessary auxiliary辅助的 systems including piping Thruster control Cabling and cabling routing Main prop

29、ellers and rudders if these are under control of the DP-systemThruster System DesignDesigned for continuous operation: Increased safety factors on gear transmissions齿轮传动 Motor and cables to be rated for continuous operationThruster System Control Individual manual control of each thruster in the DP

30、control centre Emergency stop system at the DP control position Loop monitoring in the emergency stop system (AUTR and AUTRO) 环形监控Thruster Systems Indication 信号设备 Stop / Running / Available / In use (DP) Pitch, RPM and azimuth 可靠性能测定Dynamic Positioning System Power System DP Control System Thruster

31、SystemAll components and systems necessary to supply the DP-system with power. All components and systems necessary to supply the DP-system with thrust force and direction.All control systems and components, hardware and software necessary to dynamically position the vessel.Power Systems General Com

32、ply with the relevant rules for main class for all notations For AUTR and AUTRO additional requirements will apply with regard to redundancy冗余 and respect to maximum single failure To prevent overloading the power plant, interlocks or thrust limitations are to be arranged Power Systems Main and Dist

33、ribution Switchboards配电板 For notations AUTR (Class 2) and AUTRO (Class 3) no single failure shall give a total black-out停电. Single failure includes short-circuit of bus-bars 母线 A main bus-bar system consisting of at least two sections, with bus-tie or inter-connector breaker(s)汇流排断路器, are to be arra

34、nged Power Systems Power Management System Required for AUTR (Class 2) and AUTRO (Class 3) PMS failure not to cause alternations to the power generation, and is to initiate an alarm in the DP-control centre Possible to operate the switchboards in manual as required for the main class, with the PMS d

35、isconnected Overload, caused by the stopping of one of or more generators, shall not create a black-out停电 PMS functions Load dependent starting of additional generators Block starting of large consumers when there is not adequate running generator capacity, to start up generators as required, and he

36、nce to permit requested consumer start to proceed If load dependent stop of running generators is provided, facilities for disconnection of this function is to be arranged Power Systems Control System Power Supply The controller and measuring system are to be powered from UPS (Uninterruptible Power

37、Supply) The battery for each UPS is to be able to provide at maximum load output power for 30 minutes after loss of charger input power An alarm is to be initiated when the UPS loses input chargeClass Notation DYNPOS AUTSEquipment: 1 computer system 1 position reference system 1 wind sensor 1 MRU/VR

38、S 1 gyro compass 1 printer In addition (not shown): Manual leversClass Notation DYNPOS AUTEquipment: 1 computer system 2 position reference system 1 wind sensor 1 MRU/VRS 1 Gyro compass 1 printer In addition (not shown): 1 Joystick with automatic heading Manual levers 1 UPSClass Notation DYNPOS AUTR

39、Equipment: 2 computer system 3 position reference system 2 wind sensor 2 MRU/VRS 3 gyro compass 1 printer In addition (not shown): 1 Joystick with automatic heading Manual levers 2 UPSsClass Notation DYNPOS AUTROEquipment: 2 + 1 computer system 2 + 1 position reference system 1 + 1 wind sensor 2 + 1

40、 MRU/VRS 2 + 1 gyro compass 1 printer In addition (not shown): 1 Joystick with automatic heading Manual levers 3 UPSs Separation is NOT shown for all equipmentDP General ArrangementSubsystem or componentMinimum requirements for class notationsAUTSAUTAUTRAUTROElectricalpower systemElectrical systemNo

41、-redundancy*)No-redundancy*)Redundancy in technical designRedundancy in technical design and physical separation (separate compartments)Main switchboard1*)1*)1 2 in separate compartmentsBus-tie breaker0*)0*)12, 1 breaker in each MSBDistribution systemNon-redundant*)Non-redundant*)RedundantRedundant,

42、 through separate compartmentsPower managementNoNoYesYesThrustersArrangement of thrustersNo-redundancyNo-redundancyRedundancy in technical designRedundancy in technical design and physical separation (separate compartments)Single levers for each thruster at main DP-control centreYesYesYesYesPositioning Control SystemAutomatic control; no. of computer systems1122 + 1 in a