动力定位系统DPS研讨一(DNV培训资料)
内部培训-动力定位系统在OSV中的应用
COSCO(Dalian) TECHNICAL INSTITUTE Dynamic Positioning System Dynamic Positioning SystemIn OSVSimon Wang 王树山大连中远船务工程有限公司COSCO(Dalian) TECHNICAL INSTITUTE1.Brief description of DP system2.Relevant Regulation and Class Notation3.Configuration of DP System4.ERN and DP Capacity5.FMEA and HIL大1. Brief description of DPCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE1. Brief description of DPApplication of DP system.•Offshore support vessel pp y•Windmill installation vessel .•Cable laying vessel.•Piping laying vessel.p g ay g vesse .•Drilling vessel•Semi-submersible unit大连中远船务工程有限公司COSCO(Dalian) TECHNICAL INSTITUTE1. Brief description of DPSuppliers of DP system.•Congsberg •pp yConver team•Marine technology •Rolls Rocye y •Navis •L3大连中远船务工程有限公司1. Brief description of DPCOSCO(Dalian) TECHNICAL INSTITUTE Operation mode•Joystick Mode•Mixed Joystick/Auto Mode•Auto Heading Mode•Auto Position Mode•Auto Track(low-speed)Mode大连中远船务工程有限公司COSCO(Dalian) TECHNICAL INSTITUTE1.Brief description of DP system2.Relevant Regulation and Class Notation3.Configuration of DP System4.ERN and DP Capacity5.FMEA and HIL大2. Regulation and Class NotationCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE2. Regulation and Class NotationIMO equipment classDNVABSLRNot applicable DPS 0DPS 0DP (CM)DYNPOS-AUTS IMO equipment class 1DPS 1DP (AM)IMO equipment class 1(No redundancy)DPS 1DP (AM)DYNPOS-AUT IMO equipment class 2DPS 2DP (AA)q p(Redundancy in technical design)DYNPOS-ERDPS 2DP (AA)DYNPOS-AUTR OS IMO equipment class 3(Redundancy in technical design and physical separation of systems)DPS 3DPS 3DP (AAA)DYNPOS-AUTRO大连中远船务工程有限公司2. Regulation and Class NotationCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE1.Brief description of DP system2.Relevant Regulation and Class Notation3.Configuration of DP System4.ERN and DP Capacity5.FMEA and HIL大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE1.Brief description of DP system2.Relevant Regulation and Class Notation3.Configuration of DP System4.ERN and DP Capacity5.FMEA and HIL大4. ERN and DP CapacityCOSCO(Dalian) TECHNICAL INSTITUTE大4. ERN and DP CapacityCOSCO(Dalian) TECHNICAL INSTITUTE大4. ERN and DP CapacityCOSCO(Dalian) TECHNICAL INSTITUTE大4. ERN and DP CapacityCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE1.Brief description of DP system2.Relevant Regulation and Class Notation3.Configuration of DP System4.ERN and DP Capacity5.FMEA and HIL大5. FMEA and HILCOSCO(Dalian) TECHNICAL INSTITUTE1.Redundancy2.Redundancy group3.Stand by4.Spare part5.Reliability大5. FMEA and HILCOSCO(Dalian) TECHNICAL INSTITUTE大5. FMEA and HILCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE大6. THE ENDCOSCO(Dalian) TECHNICAL INSTITUTETHE END问题解答QUESTION and ANSWER ?大。
DP systems - DNV rule
RULES FOR CLASSIFICATION OFD ET N ORSKE V ERITASVeritasveien 1, NO-1322 Høvik, Norway Tel.: +47 67 57 99 00 Fax: +47 67 57 99 11SHIPSNEWBUILDINGSSPECIAL EQUIPMENT AND SYSTEMSADDITIONAL CLASS PART 6 CHAPTER 7DYNAMIC POSITIONING SYSTEMSJANUARY 2008CONTENTS PAGESec.1General Requirements (5)Sec.2General Arrangement (11)Sec.3Control System (15)Sec.4Thruster Systems (18)Sec.5Power Systems (19)Sec.6Environmental Regularity Numbers (21)CHANGES IN THE RULESComments to the rules may be sent by e-mail to rules@For subscription orders or information about subscription terms, please use distribution@Comprehensive information about DNV and the Society's services is found at the Web site © Det Norske VeritasComputer Typesetting (Adobe FrameMaker) by Det Norske Veritas Printed in NorwayIf any person suffers loss or damage which is proved to have been caused by any negligent act or omission of Det Norske Veritas, then Det Norske Veritas shall pay compensation to such person for his proved direct loss or damage. However, the compensation shall not exceed an amount equal to ten times the fee charged for the service in question, provided that the maximum compen-sation shall never exceed USD 2 million.In this provision "Det Norske Veritas" shall mean the Foundation Det Norske Veritas as well as all its subsidiaries, directors, officers, employees, agents and any other acting on behalf of Det Norske Veritas.General.The present edition of the rules includes additions and amendments decided by the Board as of December 2007, and supersedes the Janu-ary 2004 edition of the same chapter, including later amendments.The rule changes come into force as indicated below.This chapter is valid until superseded by a revised chapter. Supple-ments will not be issued except for an updated list of minor amend-ments and corrections presented in Pt.0 Ch.1 Sec.3. Pt.0 Ch.1 is normally revised in January and July each year.Revised chapters will be forwarded to all subscribers to the rules.Buyers of reprints are advised to check the updated list of rule chap-ters printed in Pt.0 Ch.1 Sec.1 to ensure that the chapter is current.Main changes coming into force 1 July 2008•GeneralThe following amendments have been undertaken:— A new optional qualifier (A) requiring full annual survey scopeequal to 5-yearly renewals for class notations DYNPOS-AUTR and DYNPOS-AUTRO has been introduced, i.e.:—full scope including technical condition, functional verifica-tion, failure response and FMEA testing — a DP sea trial is to be performed.—Separation requirements concerning pneumatic systems havebeen introduced for notation DYNPOS-AUTR .—For DYNPOS-AUT , the requirement for two different measur-ing principles for the position reference systems may (upon spe-cial considerations) be waived when considered not practicable during DP-operation.Corrections and ClarificationsIn addition to the above stated rule requirements, a number of correc-tions and clarifications have been made in the existing rule text.Rules for Ships, January 2008Pt.6 Ch.7 Contents – Page 3D ET N ORSKE V ERITASCONTENTSSEC. 1GENERAL REQUIREMENTS.......................... 5A.The Rules. (5)A 100Rule application................................................................5A 200Class notations..................................................................5A 300Environmental regularity number, ern .. (5)B.Definitions (5)B 100General..............................................................................5C.Certification...........................................................................6C 100General (6)D.Documentation (6)D 100General..............................................................................6D 200ern calculation..................................................................6D 300Instrumentation and automation .......................................6D 400Thruster documentation....................................................7D 500Electric power system documentation..............................7D600DP-Control centre arrangement andlayout documentation........................................................7D 700Failure mode and effect analysis (FMEA)........................7D 800Operation manuals............................................................8D 900Programme for tests and trials (9)E.Survey and Test upon Completion (9)E 100General..............................................................................9E 200Measuring system.............................................................9E 300Thrusters ...........................................................................9E 400Electric power supply........................................................9E 500Independent joystick thruster control system....................9E 600Complete DP-system test..................................................9E 700Redundancy tests for DYNPOS-AUTR andDYNPOS-AUTRO ..........................................................9F.Alterations. (10)F 100Owner obligations (10)SEC. 2GENERAL ARRANGEMENT......................... 11A.General (11)A 100General (11)B.Redundancy and Failure Modes (11)B 100General............................................................................11B 200Redundancy.....................................................................11B 300Failure modes..................................................................11B 400Independence..................................................................11B500General separation requirements forDYNPOS-AUTRO (12)C.System Arrangement (12)C 100General............................................................................12C 200DP-control centre............................................................13C 300Arrangement of positioning control systems..................13C 400Arrangement and layout of control panels......................13C 500Arrangement and layout of data communication links (14)D.Internal Communication (14)D 100General (14)SEC. 3CONTROL SYSTEM ....................................... 15A. General Requirements (15)A 100General (15)B.System Arrangement (15)B 100Independent joystick thruster control system.................15B 200DP-control system...........................................................15B 300Thruster control mode selection.. (15)C.Positioning Reference System (16)C 100General (16)D.Sensors (17)D 100General............................................................................17E.Display Units.. (17)E 100General (17)F.Monitoring (17)F 100Alarm system..................................................................17F 200Consequence analysis (17)SEC. 4THRUSTER SYSTEMS.................................... 18A.General.. (18)A 100Rule application..............................................................18A 200Thruster configuration....................................................18A 300Thruster control...............................................................18A 400Indication (18)SEC. 5POWER SYSTEMS........................................... 19A.General.. (19)A 100General............................................................................19A 200Number and capacity of generators................................19A 300Power management (for DYNPOS-AUTR andDYNPOS-AUTRO ).......................................................19A 400Main and distribution switchboards arrangement (19)B.Control System Power Supply (applies to DYNPOS-AUT , DYNPOS-AUTR and DYNPOS-AUTRO ) (20)B 100General (20)C.Auxiliary Systems (Applies toDYNPOS-AUTR and DYNPOS-AUTRO ) (20)C 100General............................................................................20C 200Fuel oil............................................................................20C 300Cooling water..................................................................20C 400Pneumatic systems (20)SEC. 6ENVIRONMENTAL REGULARITYNUMBERS.......................................................... 21A.Concept Description.. (21)A 100General (21)Rules for Ships, January 2008Pt.6 Ch.7 Contents – Page 4D ET N ORSKE V ERITASRules for Ships, January 2008Pt.6 Ch.7 Sec.1 – Page 5D ET N ORSKE V ERITASSECTION 1GENERAL REQUIREMENTSA. The RulesA 100Rule application101 The rules in this chapter apply to systems for dynamic positioning of ships and mobile offshore units, termed hereaf-ter as, vessels. These rules do not include requirements or rec-ommendations in regard to the vessels operation or other characteristics.Guidance note:Requirements, additional to these rules may be imposed by the national authority with whom the vessel is registered and/or by the administration within whose territorial jurisdiction it is in-tended to operate. Where national legislative requirements exist,compliance with such regulations shall also be necessary.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---102 The requirements in these rules are additional to the rules for main class.Guidance note:In particular see the relevant sections of:Pt.4 Ch.1 Machinery Systems, General Pt.4 Ch.2 Rotating Machinery, General Pt.4 Ch.3 Rotating Machinery, DriversPt.4 Ch.4 Rotating Machinery, Power Transmissions Pt.4 Ch.5 Rotating Machinery, Driven Units Pt.4 Ch.8 Electrical InstallationsPt.4 Ch.9 Instrumentation and Automation.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---A 200Class notations201 Vessels built and tested in compliance with the require-ments in this chapter and the requirements of the rules for main class may be assigned one of the class notations given in Table A1.Guidance note:IMO MSC/Circ.645 "Guidelines for vessels with dynamic posi-tioning systems", dated 6 June 1994, has defined equipment classes with the following correlation to these rules:---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---202 A qualifier (A) can when requested by the vessel owner,be assigned to vessels with notation DYNPOS-AUTR or DYNPOS-AUTRO which then shall undergo annual survey according to the applicable 5 yearly complete survey scope.Guidance note:Example of notation: DYNPOS-AUTR(A)---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---A 300Environmental regularity number, ern301 Vessels with one of the class notations listed in 201 will be given an environmental regularity number (ern). It will be entered as a notation in the "Register of vessels classed with DNV" as ern(a, b, c) where a, b, c are integer numbers re-flecting probable regularity for keeping position in a defined area. See Sec.6 for details on the ern concept.B. DefinitionsB 100General101 Consequence analysis: A monitoring function in the DP control system that issue an alarm if the vessel (in its current operating mode) in the current weather conditions would not be able to keep the heading and position in the case that any of the predefined worst case failures should occur.Guidance note:For detailed information and requirements to the consequence analysis function see Sec.3 F200.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---102 DP-control system: All control systems and compo-nents, hardware and software necessary to dynamically posi-tion the vessel. The DP-control system consists of the following:—dynamic positioning control system (computer system)—sensor system —display system —operator panels—positioning reference system—associated cabling and cable routing.Guidance note:The DP-control system will normally consist of one or more computers. This is often referred to as the DP-system, but is only a part of the DP-system by rule terminology.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---103 Dynamic positioning system (DP-system): The complete installation necessary for dynamically positioning a vessel comprises of the following systems:—power system —thruster system —DP-control system—independent joystick system (when applicable).104 Dynamically positioned vessel (DP-vessel): A vessel which automatically maintains its position and heading (fixed location or predetermined track) exclusively by means of thruster force.Guidance note:In this context transverse force generated by the combined use of propellers and rudders will not be considered. For DYNPOS-Table A1 Class notations Notation Scope DYNPOS-AUTS dynamic positioning system without redun-dancy DYNPOS-AUT dynamic positioning system with an inde-pendent joystick system back-up and a posi-tion reference back-upDYNPOS-AUTR dynamic positioning system with redundancyin technical design and with an independent joystick system back-upDYNPOS-AUTRO dynamic positioning system with redundancyin technical design and with an independent joystick system back-up. Plus a back-up dy-namic positioning control system in an emer-gency dynamic positioning control centre, designed with physical separation for compo-nents that provide redundancyDNV class notation IMO equipment class DYNPOS-AUTS Not applicableDYNPOS-AUT IMO equipment class 1DYNPOS-AUTR IMO equipment class 2DYNPOS-AUTROIMO equipment class 3Rules for Ships, January 2008Pt.6 Ch.7 Sec.1 – Page 6D ET N ORSKE V ERITASAUTR and DYNPOS-AUTRO thruster force may include pro-pulsion and steering (rudder) forces for back-up purposes only,see Sec.4.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---105 Failure: An occurrence in a component or system caus-ing one or both of the following effects:—loss of component or system function—deterioration of functional capability to such an extent thatthe safety of the vessel, personnel, or environment is sig-nificantly reduced.Guidance note:For vessels that shall comply with DYNPOS-AUTRO require-ments, the definition of single failure has no exceptions, and shall include incidents of fire and flooding, and all technical break-downs of systems and components, including all electrical and mechanical parts. Loss of stability (e.g. as a result of flooding) is not a relevant failure mode.For vessels that shall comply with DYNPOS-AUTR require-ments, certain exceptions will be allowed in the definition of sin-gle failure. Flooding and fire shall not be considered beyond main class requirements. Failure of non-moving components,e.g. pipes, manual valves, cables etc. may not need to be consid-ered if adequate reliability of a single component can be docu-mented, and the part is protected from mechanical damage.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---106 Joystick: A device for readily setting of vectorial thrust output including turning moment.107 Operational mode: The manner of control under which the DP-system may be operated, e. g.:—automatic mode (automatic position and heading control)—joystick mode (manual position control with selectable au-tomatic or manual heading control)—manual mode (individual control of thrust, azimuth, start/stop of each thruster)—autotrack mode (considered as a variant of automatic posi-tion control, with programmed movement of reference point).108 Position/heading keeping: Maintaining a desired posi-tion/heading within the normal excursions of the control sys-tem and the environmental conditions.109 Positioning/heading reference system: All hardware,software and sensors that supply information and or correc-tions necessary to give position/heading reference, including power supply.110 Power system: All components and systems necessary to supply the DP-system with power. The power system includes:—prime movers with necessary auxiliary systems includingpiping —generators —switchboards—uninterruptible power supplies (UPS) and batteries —distribution system including cabling and cable routing —for DYNPOS-AUTR and DYNPOS-AUTRO : powermanagement system (PMS).111 Redundancy: The ability of a component or system to maintain its function when one failure has occurred. Redun-dancy can be achieved, for instance, by installation of multiple components, systems or alternative means of performing a function.112 Reliability: The ability of a component or system to per-form its required function without failure during a specified time interval.113 Thruster system: All components and systems necessary to supply the DP-system with thrust force and direction. Thethruster system includes:—thruster with drive units and necessary auxiliary systemsincluding piping —thruster control—associated cabling and cable routing—main propellers and rudders if these are under the controlof the DP-system.114 Worst case failure: Failure modes related to the class no-tations as follows:—for DYNPOS-AUTS and DYNPOS-AUT , loss of posi-tion may occur in the event of a single fault—for DYNPOS-AUTR , loss of position is not to occur inthe event of a single failure as specified in Sec.2 B301—for DYNPOS-AUTRO , loss of position is not to occur inthe event of a single failure as specified in Sec.2 B302.C. CertificationC 100General101 The following equipment in the DP-system shall be cer-tified:—dynamic positioning control system—independent joystick control system with auto heading.Other equipment in the DP-system shall be certified according to relevant parts of Pt.4 as for main class.Guidance note:Additionally, components and systems should be certified according to main class requirements.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---D. DocumentationD 100General101 The documentation submitted, shall include descriptions and particulars of the vessel and cover the requirements given in 200 to 700, as appropriate.D 200ern calculation201 Calculation of the environmental regularity number evaluation, ern , shall be submitted for approval. The position holding performance shall be quantified according to the con-cept for ern , see Sec.6.D 300Instrumentation and automation301 For general requirements related to documentation of in-strumentation and automation, including computer based con-trol and monitoring, see Pt.4 Ch.9 Sec.1.Guidance note:For description of documentation types, see Pt.4 Ch.9 Sec.1. Ta-ble C1 and C2.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---302 For the control systems listed, documentation shall be submitted according to Table D1:DYN Dynamic positioning control and monitoring system JOY Independent joystick system TCM Thruster control mode selection PRS Position reference system(s)VEO Wind, VRS and gyroPMSPower Management System.Rules for Ships, January 2008Pt.6 Ch.7 Sec.1 – Page 7D ET N ORSKE V ERITASD 400Thruster documentation401 Documentation shall be submitted as required for main class.402 The following shall be submitted for information:—thrust output and power input curves —response time for thrust changes—response time for direction changes for azimuth thrusters —anticipated thrust reductions due to interaction effects.D 500Electric power system documentation501 Documentation shall be submitted as required for main class.502 Electrical load calculation during dynamic positioning operation shall be submitted for approval. For vessels with the notations DYNPOS-AUTR and DYNPOS-AUTRO the load calculations shall also reflect the situation after the maximum single failure(s).Guidance note:This documentation may be a part of the power consumption bal-ance as required in Pt.4 Ch.8 Electrical Installations.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---503 For vessels with the notation DYNPOS-AUTRO , the following shall be submitted for approval:—cable routing layout drawing—fire and flooding separation arrangement.Guidance note:For the cable routing layout drawing it is recommended that col-ours are used to indicate the cable routes that are designed and physically arranged to provide redundancy.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---Guidance note:The cable routing layout drawing shall indicate all cables rele-vant to the DP system, e.g. power cables, control cables, cables used for indication etc.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---D 600DP-Control centre arrangement and layout docu-mentation601 For notations DYNPOS-AUTS , DYNPOS-AUT ,DYNPOS-AUTR and DYNPOS-AUTRO drawings showing the physical arrangement and location of all key componentsin the DP-control centre shall be submitted.602 For notation DYNPOS-AUTRO drawings showing the physical arrangement and location of all key components in the emergency DP-control centre shall be submitted.D 700Failure mode and effect analysis (FMEA)701 For vessels with the notations DYNPOS-AUTR and DYNPOS-AUTRO , documentation of consequences of single failures in accordance with rule requirements is required in the form of a failure mode and effect analysis (FMEA).702 The purpose of the FMEA is to give a description of the different failure modes of the equipment when referred to its functional task. Special attention shall be paid to the analysis of systems that may enter a number of failure modes and thus induce a number of different effects on the dynamic position-ing system performance. The FMEA shall include at least the information specified in 703 to 705.703 A breakdown of the dynamic positioning system, into functional blocks shall be made. The functions of each block shall be described. The breakdown shall be performed to such a level of detail that the functional interfaces between the func-tional blocks are shown.704 A description of each physically and functionally inde-pendent item and the associated failure modes with their fail-ure causes related to normal operational modes of the item shall be furnished.705 A description of the effects of each failure mode alone on other items within the system and on the overall dynamic positioning system shall be made.Guidance note:Description of FMEA systematic may be found in IEC Publica-tion 60812 and IMO HSC Code, Annex 4.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---706 FMEA(s) and redundancy test program(s) shall be kept on board. The FMEA(s) and redundancy test program(s) shall at all times be updated to cover alterations to the DP-system hardware or software.Guidance note:This is not to be understood as a requirement for an FMEA for the software. However the FMEA (or other relevant documenta-tion) should include identification of the software version(s) in-stalled, and documentation giving this information should be updated when new versions are installed.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---Rules for Ships, January 2008Pt.6 Ch.7 Sec.1 – Page 8D ET N ORSKE V ERITASD 800Operation manuals801 Operation manuals according to Table D1 shall be kept on board. The manuals shall include information on the DP-system, its installation and structure as well as operation and maintenance.Guidance note:These manuals cover the technical systems. Manuals for DP op-erations are not normally included and may be produced sepa-rately, according to operational requirements.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---802 They shall at least cover the following:—definitions of symbols and nomenclature —functional description—operating instructions, normal conditions —operating instructions, failure conditions —man and machine communication systems —back-up systems —monitoring—maintenance and periodical performance test —fault-finding procedures.Functional description—different functions including back-up functions shall beexplained in detail.Operating instructions—description of the normal operation of the equipment, in-Table D1 Requirements for documentation of instrumentation systemsD010D020D030D040D050D060 3)D070D080D090D100D110D120D130D140D150D160For class notation DYNPOS-AUTS :DYN X X X X X X X 2)2)2)2)X X1),2)TCM X X X X X X 2)2)XPRS X X X X X1),2)VEO X X X X X For class notation DYNPOS-AUT :DYN X X X X X X X 2)2)2)2)X X1),2)JOY X X X X X 2)X X1),2)TCM X X X X X X 2)2)XPRS X X X X X1),2)VEO X X X X X For class notation DYNPOS-AUTR :DYN X X X X X X X X 2)2)2)2)X X1),2)JOY X X X X X 2)X X1),2)TCM X X X X X X X 2)2)XPRS X X X X X1),2)VEO X X X X XPMS4)1),2)For class notation DYNPOS-AUTRO :DYN X X X X X X X X X 2)2)2)2)X X1),2)JOY X X X X X 2)X X1),2)TCM X X X X X X X X 2)2)XPRS X X X X X X1),2)VEO X X X X X XPMS4)1),2)Instrumentation systems:Documentation types:DYN Dynamic positioning control and monitoring system JOY Independent joystick system TCM Thruster control mode selection PRS Position reference system(s)VEO Wind, VRS and gyro PMS Power Management System 4)D010 System philosophy (T)D020 Functional description D030 System block diagrams (T)D040 User interface documentation D050 Power supply arrangement (T)D060 Circuit diagramsD070 Instrument and equipment list (T)D080 Cable routing layout drawing (T)D090 Failure mode and effect analysis (FMEA) and redundancy test procedure (T)D100 Software quality plan, based upon life cycle activities D110 Installation manual D120 Maintenance manualD130 Data sheets with environmental specifications D140 Test program for testing at the manufacturer (T)D150 Test program for quay/sea trial (T)D160 Operation manual(T)Required also for type approved systems.1)One copy shall be submitted to approval centre for information only.2)Shall be available during certification and trials. Reference is made to Pt.4 Ch.9. Not to be submitted to the approval centre.3)For essential hardwired circuits (for emergency stop, shutdown, interlocking, mode selection systems, back-up selection systems,etc.). Details of input and output devices and power source for each circuit.4)FMEA for PMS systems is in addition to requirements given in Pt.4 Ch.9.Rules for Ships, January 2008Pt.6 Ch.7 Sec.1 – Page 9D ET N ORSKE V ERITAScluding adjustments and change of limit values, possible modes of presentation, starting and stopping systems —description of operation of the DP-system in different op-erational modes—description of transition from one operational mode to an-other.Fault-finding procedures—description of fault symptoms with explanation and rec-ommended corrective actions—instructions for tracing faults back to functional blocks orsystems.D 900Programme for tests and trials901 A programme for tests and trials including redundancy tests shall be submitted for approval. The requirements for the programme are described in E.E. Survey and Test upon CompletionE 100General101 Upon completion, the dynamic positioning system shall be subjected to final tests. The program shall contain test pro-cedures and acceptance criteria.Guidance note:It is assumed that prior to the DP-control system test, all systems and equipment included in the dynamic positioning system have been tested according to main class. This should at least include:-load test according to main class -transfer of thruster control-manual override of thruster control -emergencystop -“ready” signals-failure in thruster command/feedback signals -communication systems-main alarm system as for main class and E0 (if applicable).---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---102 When deemed necessary by the attending surveyor, tests additional to those specified by the test program may be re-quired.E 200Measuring system201 All sensors, peripheral equipment, and reference sys-tems shall be tested as part of the complete DP-system.202 Failures of sensors shall be simulated to check the alarm system and the switching logic.E 300Thrusters301 Functional tests of control and alarm systems of each thruster shall be carried out.302 All signals exchanged between each thruster and the DP-system computers shall be checked.303 The different modes of thruster control shall be tested.Proper operation of mode selection shall be verified.E 400Electric power supply401 The capacity of the UPS batteries shall be tested.E 500Independent joystick thruster control system 501 All functions of the independent joystick system shall be tested.E 600Complete DP-system test601 The complete DP-system shall be tested in all operation-al modes, with simulation of different failure conditions to try out switching modes, back-up systems and alarm systems.602 Positioning shall be performed on all possible combina-tions of position reference systems (PRS), and on each PRS as a single system. Selecting and de-selecting of PRS shall also be tested.603 During sea trials the offset inputs for each position ref-erence system and relevant sensors in the dynamic position control system should be verified and demonstrated to the at-tending surveyor by setting out the offsets on drawings. It should be verified that these fit with the actual placing of the equipment.604 Manual override, as required by Sec.3 B202 and Sec.4A302 shall be demonstrated during normal operation and fail-ure conditions.605 A duration test shall be carried out for at least 8 hours with the complete automatic system in operation. All failures shall be recorded and analysed.Guidance note:The time spent on DP operational tests may normally be deduct-ed from the time required for the duration test.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---606 A high seas trial shall be carried out with full system op-eration for at least 2 hours. The weather conditions must be such that an average load level on the thrusters of 50% or more is required.Guidance note:The test described in 606 is dependent on weather conditions and may be omitted if satisfactory results were obtained from the test described in 605.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---607 For steering gears included under DP-control a test shall be carried out verifying that maximum design temperature of actuator and all other steering gear components is not exceeded when the rudder is continuously put over from border to border within the limits set by the DP-control system, until tempera-ture is stabilized.Guidance note:The test should be carried out with the propeller(s) running with an average propulsion thrust of not less than 50%, unless the con-trol system ensures that rudder operation is performed at zero propulsion thrust only, upon which the test may be carried out without the propeller(s) running. The test may be carried out at the quay and in any steering gear control mode. Number of steer-ing gear pumps connected and rotation speed are to be the maxi-mum allowed during DP operation.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---E 700Redundancy tests for DYNPOS-AUTR and DYN-POS-AUTRO701 A selection of tests within each system analysed in the FMEA shall be carried out. Specific conclusions of the FMEA for the different systems shall be verified by tests when redun-dancy or independence is required.Guidance note:For DYNPOS-AUTRO this implies that loss of all systems in relevant fire zones should be tested.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---702 The test procedure for redundancy shall be based on the simulation of failures and shall be performed under as realistic conditions as practicable.。
动力定位系统讲座
DPS动力定位系统Offshore & DPS Presentation2008年07月28日1议程1. 动力定位的典型配置和系统 2. 介绍ABS动力定位系统规范 3. 动力定位在海洋工业中的应用 4. FMEA故障模型影响分析 5. 送审 6. 建造与检验 7. 问题和回答2动力定位系统动力定位系统(DPS)是当环境条 件发生变化时，由集控手操或自 动响应系统，通过水动力系统的 控制使船舶的位置和航向保持在 环境条件限定范围内。
3基本外力4典型动力定位控制系统操控台控制箱全回转推进器 控制线 侧推器舵 主推进器5典型动力定位系统的组成风速计Anemometer差分GPSDGPS控制器 DP Console 电罗经 Gyrocompass 垂直参照Vertical reference unit主动声纳系统Artemis激光参照Laser Reference侧推器PropellersTunnel Thruster全回转推进器Acoustic Positioning SystemAzimuth Thruster螺旋桨Rudders张紧绳定位测量系统WeightTaut Wire Position Measuring System声纳定位系统Tunnel Thrusters侧推器Acoustic Transponder舵重块声纳发射器6操控台液晶 显示器 操纵杆功能键7现代控制板液晶 显示器操纵杆 键盘8功能键盘9DP规范的介绍• NMD Guidelines for Dynamic Positioning Vessels, 1983 • IMO/MSC Circular 645 Guidelines for Vessel with DP, 1994 • ABS Guide for Thrusters and Dynamic Positioning System, 1994 (No Longer used) • ABS Steel Vessel Rules 2008 (Part 4, Chapter 3, Section 5/ Paragraph 15)10ABS DP Notations DPS-0 DPS-1 DPS-2 DPS-311DPS-0船舶装备一套集控手操和自动航向 保持的动力定位系统(DPS)，能在 最大环境条件下，使船舶的位置和 航向保持在限定范围。
DNV挪威船级社规范2003版_中文_6.7动力定位系统
第6篇第7章船舶入级规范新造船舶特殊设备和系统附加船级第6篇第7章动力定位系统2003年1月目录页码第一节通则 4第二节规划通则9第三节DP控制系统13第四节推进器系统16第五节电源18第六节环境规则参数19规范更改说明综述本章为上一版本的重版，也包含一些在2002年7月版本的第0部分第1章第3节列出的修改和勘误，除此之外，没有别的修改。
本章在被新的修订版替换之前有效，改版前对规范所作的少量修正和勘误，仅列表刊载在第0部分第1章第3节中，不会发行新的副刊。
第0部分第1章通常于每年1月及7月修订。
修正过的各章将发给本规范的所有订户，建议再版本的购买者核对刊印在第0篇第1章第1节规范各章的最新目录，以确认该章为现行版本。
目录第1节通则 4A．规则 4 A 100 范围 4 A 200 入级符号 4A 300 环境入级参数 4B. 定义 4 B 100 通则 4 C．证书 5 C 100 通则 5 D．送审文件 5 D 100 通则 5 D 200 ern计算 5 D 300 仪表与自动化 5 D 400 推进器文本 5 D 500 电源系统文本 5 D 600 故障模式响应分析（FMEA） 6 D 700 操作手册 7 D 800 试验和海试程序 7 E．完整的DP系统测试 7 E 70 通则 7 E 200 测量系统 7 E 300 推进器 7 E 400 电源 7 E 500 联合操纵 7 E 600 完整的DP系统测试 8 E 700 DYNPOS-AUTR和DYNPOS-AUTRO的冗余测试8 F．变更8 F 100 船东义务 8第2节规划通则9 A. 通则9A 100 通则 9B. 冗余和故障模式9 B 100 通则9 B 200 冗余9 B 300 故障模式9 B 400 独立性9B 500 对DYNPOS-AUTRO的一般要求10C. 系统规划10 C 100 通则10 C 200 DP控制中心 11 C 300 位置控制系统的规划 11 C 400 控制面板的规划和布置 11C 500 数据通讯链的规划与布置 12D. 内部通讯 12 D 100 通则 12 第3节 DP控制系统13A. 通用要求13A 100 通则13B. 系统规划13B 100 操纵杆推进器控制13B 200 推进器控制模式选择13C. 位置参照系统13C 100 通则13D. 传感器14D 100 通则14F. 监测14F 100 通则14F 200 因果分析15第4节推进器系统16A. 通则16A 100 适用范围16A 200 推进器配置16A 300 推进器控制16A 400 指示16第5节电源17A. 通则17A 100 通则17A 200 发电机的容量和数量17A 300 电源管理（对DYNPOS-AUTR和DYNPOS-AUTRO）17A 400 主配电板和分配电板的规划17B. 控制系统电源18B 100 通则18B 200 软件制造18C. 辅助系统（对DYNPOS-AUTR和DYNPOS-AUTRO）18C 100 通则18C 200 燃油18C 300 冷却水18第6节环境规则参数 19A. 内容描述19A 100 通则19第1节通则A规则A100范围101本节中的规范要求适用于船舶或移动海上平台（后称舰船）的动力定位系统。
DPS 5D 动态定位系统说明书
DPS 5DDesigned to be trustedDPS 5D is a position reference system especially developed for dynamically positioned (DP) vessels with a problematic infrastructure. When there is no single suitable GNSS antenna location without obstructions, the use of multi-sensor fusion techniques is required in order to obtain an accurate and reliable position solution.Sensors teaming upWhen outages due to masking are frequently experienced and a conventional set-up would not provide the required stability and reliability, a multi-receiver solution with IMU integration is the perfect solution. The dual GNSS receiver solution together with the IMU (MGC R3) integration ensures a continuous position solution. It bridges gaps in the GNSS reception and increasing position stability in periods with limited GNSS availability due to masking, scintillation and interference. GPS and I are perfectly matched as their error characteristics are different and they measure different quantities. They overcome each others limitations and using both systems is superior to using either system alone.Two antennas – two eyes to the skyA dual GNSS antenna solution, where the antennas are located at different locations on the vessel, minimizesthe risk of interference and improves the availability in periods with extensive signal blocking/shading. The NAV Engine® calculates multiple positions based on data fromthe two GNSS receivers and the IMU, ensuring a high level of robustness and integrity in the position solution output to the DP system. Both GNSS receivers are multi frequency receivers and allow for real-time compensation of errors introduced by high ionospheric activity. Trust and precisionDPS 5D provides position and velocity data with the best possible accuracy by combining all available GNSS signals from two separate GNSS antennas and a multitude of differential correction data simultaneously. It supports RTK corrections, global high precision services, standard RTCM corrections and free-to-air services such as SBAS and IALA. In High Precision mode a worldwide accuracy of 10 to 20 cm is possible. RAIM (Receiver Autonomous Integrity Monitoring) extended by data from the IMU provides ultimate reliability of the position and velocity data under difficult GNSS conditions.Heading beyond gyrosA GNSS based heading solution is available. It can be presented on a display or as signal output to external equipment. The IMU integration provides a high accuracy heading solution and precise lever arm compensation. There is no degradation of the heading solution at high latitudes as with traditional gyros or compasses.Active decision supportThe DPS has an intuitive and easy-to-use graphical user interface developed in close co-operation with experienced DP operators. This HMI enables the operators to assess the quality of their positioning quickly and effectively during operation. Multiple layers of information give the DP operator unmatched opportunities for a customized visual presentation.HYBRID GNSS BASED POSITION, ATTITUDE ANDHEADING SYSTEM FOR DPDPS 5D provides a superior solution to the most challenging installations. The unmatched all-in-one package addresses the extremes of accuracy and reliability. In addition to providing precise positioning, DPS 5D also offers precise GNSS based heading. The flexibility with regard to installation of the dual GNSS antennas ensures optimum tracking of multi-constellation satellite signals under all conditions.PERFORMANCERTK 1 cm + 1.6 ppm RMSHigh precision accuracy 10 cm, 95 % CEPDGNSS < 1 m, 95 % CEPSBAS accuracy < 1 m, 95 % CEPVelocity accuracy < 0.01 m/s, 95 % CEPAccuracy roll, pitch(for ±5° amplitude) 0.01° RMSUpdate frequency rate 1 to 20 HzLatency < 1 msAll accuracy specifications are based on real-life tests conducted in the North Sea under various conditions. Operation in other locations under different conditions may produce different results. INTERFACESSerial ports 8 isolated ports, 6 configurablebetween RS-232 and RS-422IMU RS-422Ethernet/LAN 4USB3DATA OUTPUTSMessage formats NMEA 0183 v. 3.0, ProprietaryMessage types ABBDP, ARABB, DPGGA, DTM,GBS, GGA, GLL, GNS, GRS, GSA,GST, GSV, RMC, VBW, VTG, ZDADATA INPUTSDGNSS corrections RTCM-SC104 v.2.2, 2.3, 3.0 and3.1, Seastar XP/XP2/G2/G2+RTK corrections RTCM-SC104 v. 2.3, 3.0, 3.1 and CMRGyro compass NMEA 0183 HEHDT, HEHRC,HETHS and Robertson LR22 BCDformatIMU SENSORSupported IMU MGC R3, MRU 5+(See dedicated datasheets fortechnicalinformation)WEIGHTS AND DIMENSIONSDPS 5D Processing Unit 5.4 kg, 89 x 485 x 357 mmDPS 5D HMI Unit 3.8 kg, 44 x 485 x 330 mmGNSS antennas 0.5 kg, 69 mm x 185 mmIALA beacon antenna 1 kg, 1000 mm POWER SPECIFICATIONSDPS 5D Processing Unit 100 - 240 V AC, 50/60 Hz, max 75 W DPS 5D HMI Unit 100 - 240 V AC, 50/60 Hz, max 40 W GNSS antennas 5 V DC from Processing UnitIALA beacon antenna 10.2 V DC from Processing Unit ENVIRONMENTAL SPECIFICATIONSOperating temperature rangeDPS 5D Processing Unit -15 to +55 ºC (*)DPS 5D HMI Unit -15 to +55 ºC (*)GNSS antennas -40 to +85 ºCIALA beacon antenna -55 to +55 ºC(*) Recommended +5 to +40 ºCHumidityDPS 5D Processing Unit Max 95 % non-condensingDPS 5D HMI Unit Max 95 % non-condensingGNSS antennas IP66IALA beacon antenna IP66MechanicalVibration IEC 60945/EN 60945Electromagnetic compatibilityCompliance to EMCD,immunity/emission IEC 60945/EN 60945Product safetyCompliance to LVD,standard used IEC 61010-1/EN 61010-1PRODUCT STANDARDSIMO regulations MSC.112(73)MSC.113(73)MSC.114(73)MSC.115(73)IEC standards IEC 61108-1IEC 61162-1IEC60945UKOOA compliantSpecifications subject to change without any further notice.KONGSBERG SEATEXSwitchboard: +47 73 54 55 00Global support 24/7: +47 33 03 24 07E-mailsales:****************************.comE-mailsupport:******************************.com /maritime A p r i l 2 0 2 1。
概述海上钻井平台的动力定位系统
概述海上钻井平台的动力定位系统动力定位（Dynamic Positioning）系统已经广泛应用于海洋作业船、海洋科考船、深海半潜式钻井平台以及为钻井平台服务的穿梭油轮、储油加工等船舶，目前建造的海洋工程船如风车安装船、穿梭油轮、MPF1000FDPSO和半潜式钻井平台如Sevan650、GM4000等都装备了动力定位系统，这些船根据用途装备的动力定位设备等级不同，因此设备的配置和入级标志也不同，下面作个简单的介绍。
1 动力定位功能及系统组成1.1 动力定位功能动力定位（以下简称DP）是完全依靠推进力方式而不是锚泊方式保持船位（固定位置或预定航线）。
其基本工作原理是利用计算机对接收的卫星定位信号（DGPS）、环境参数（风、浪、流）以及船舶传感器输入的船舶位置信号，自动地与计算机中模拟的预定船位进行比较，推算出保持这一位置需要的各推进器的推力、速度和方向，自动控制推进器工作。
反复地进行比较判断计算和执行控制，使船舶在规定的环境条件下，位置保持在精度允许的范围内。
1.2 DP系统组成DP主要有3大系统组成：电力系统；控制系统；推进系统。
1.2.1 DP电力系统：发电机组；配电系统；功率管理系统。
1.2.2 DP控制系统：计算机及自动控制系统；独立操纵杆系统（手动控制）；传感器系统[电罗经、移动参照传感器（MRU）、风向风速传感器]；位置参照系统[卫星参照系统GPS、激光参照系统（Laser）、雷达参照系统、无线电参照系统、水声参照系统、张紧索参照系统（Tautwire）]。
2 DP设备等级国际海事组织（IMO）通过的《海上移动式钻井平台构造和设备规则1989修正案》中详细地规定了DP设备等级，其文Msc./Cire.645《采用动力定位系统船舶导则》中规定了DP系统的设备等级分别为3级，即：Class1、Class2、Class3（为叙述方便，本文用DP1、DP2、DP3代表3个动力定位设备等级）。
海工船DPS动力定位系统与故障模式与影响分析
二 、动 力定 位 系 统
近几年来随着全球发展海洋战略；抢 占海洋资源 ；国家也 大力发展海洋经济。中国造船能力达到迅猛发展 ；海工项 目在 全世界 占据的份额越来越大。 动力定位系统应用前景越来越广 。 动力定位系统 ＤＰ Ｓ主要应用在石油平 台供应船、 海 上装 载船、 电缆铺设 船、铺管和重 吊船、挖沟船、挖泥船 、钻井
定范 围。
以产生推力使船尽可能靠近所希望 的位置
３ ． 推 力 系统
一
般 由数 个 推 力 器 组 成 。推 力 器 系 统 是 动 力 定位 系统 的
一
个组成部分 ，用于产 生力和力矩 ，来抗衡作 用于船 上的干
三 、Ｄ Ｐ Ｓ 一 ２＆Ｄ Ｐ Ｓ 一 ３的结 果 分 析 和 Ｄ Ｐ 报 警 系 统
影响分析 （ Ｆ ＭＥ Ａ）作 了分 析 。
关键词 ：动力定位 ；故障模 式与影响分析
中图 分 类 号 ：Ｔ Ｐ ２ ７ ３ 文献标识码：Ａ 文 章 编 号 ：１ ０ ０ ６ － ７ ９ ７ ３（ ２ ０ １ ３ ）１ １ － Ｏ １ ５ ８ 一 Ｏ ２
表 １
Ａ ＢＳ船 级 社
ＤＰ Ｓ 一 ０
Ｓ ＡＭ
Ｄ Ｐ Ｓ －Ｉ
ＡＭ ／ Ａ Ｔ
ＤＰ Ｓ 一 ２
ＡＭ ／ ＡＴ Ｒ
ＤＰ Ｓ 一 ３
ＡＭ ／ Ａ Ｔ ＲＳ
ＤＮＶ 船 级 社 ＤＹＮＰ ＯＳ — Ａ ＵＴ Ｓ ＤＹＮＰ Ｏ￥ 一 Ａ ＵＴＤＹ ＮＰＯＳ － Ａ ＵＴＲＤＹＮＰ ＯＳ — Ａ ＵＴ Ｒ Ｏ
定位系统 ＤＰ Ｓ，能在最大环境条件 下 ，使船舶 的位置和航向
保 持 在 限定 范 围 。
动力定位PPT
罗经的基本原理
结构及原理（测量系统）
• 位置参考系统：
全球定位（GPS） 过接收卫星所发射的信号，得到卫星所处的位簧并计算出卫星与 用户的相对位置，从而最终确定接收机本身的位置。 世界上的卫星系统：GPS，俄罗斯的GLONASS卫星定位系统 ， 北斗卫星导航定位系统，伽利略卫星导航定位系统。
结构及原理（动力系统）
• 主要由动力机、分配网络和控制系统组成 ，提供执行部分对抗环境
扰动需要的能量。
• 动力机主要是柴油机、燃气轮机。 • 动力定位系统通常还配备一个不间断电源来预防电力故障，该电源
具有不受船舶交流电短期终端或波动影响，可以为动力定位系统中 的计算机、控制台、报警器和测量系统供电。
发展及现状
•
第1代动力定位系统的控制器有模拟式和数字式两种，一般无冗 余技术和风前馈控制技术，位置传感器单一。
环境因素： 风、浪、流 位置与艏 向指令
控制器
推力器
船舶特性
位置测量系统
动力定位系统原理图
发展及现状
•
发展及现状
•
第2代动力定位系统，主要采用16位数字计算机作为数字控制器， 系统中普遍采用了抗风前馈控制和冗余技术，位置传感器由单一型 发展成综合型，增加了多个测量装置。
动方法将转速/螺距设置到零。
• 对于DP-2，当船舶出现严重故障，控制系统应自动转换至备用计算机系统。 • 对于DP-3 系统应设有一个自动备用系统，该备用系统的位置与主系统之间
采用A-60级分隔隔离。至少应有一个位置参照系统和一台罗经与备用系统 相连接，并独立于主控制系统。备用系统应由操作者在主动力定位控制站 或备用控制站启动，这种转换应确保任何单个故障不会使主控制系统和备 用系统都不能工作。（也就是说，DP-3可以简单的理解为，2套系统，如果 一套系统失效，另外一套系统可以继续工作）
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– Redundancy in technical design – Independent joystick backup with auto heading – UPS power supply – Manual levers
• DYNPOS AUTRO (Class 3):
Correlation IMO / Class notations DNV
T
AUTS
IMO
-
LRS
-
ABS
-
AUT
AUTR AUTRO
Class 1
Class 2 Class 3
DP A
DP AA DP AAA
DPS-1
DPS-2 DPS-3
DNV DP Class notations
• DYNPOS T: (Old notation. 1 vessel in class: “Lady Cyntia”).
• Class 3: Loss of position may cause major damages, severe pollution, large fatal accidents with danger of loss of human life.
IMO and class societies DP notations
• July 1989: The first ordinary平常的 rules • January 2001: Major upgrade • January 2005: Latest edition
History, rules and regulations
Consequence classes
• 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 操作模式 • Description of DP System DP系统的描述 • Notation requirements 符号要求
Basic definition
Dynamically positioned vessel: S u rg e A vessel which automatically maintains position and heading Y aw (or track) by controlling the Sw ay three horizontal motions (surge, sway, yaw) exclusive by means of thruster force. Fig.1 Surge, sway and yaw motions of a vessel
All control systems and components, hardware and software necessary to dynamically position the vessel.
• Thruster System
All components and systems necessary to supply the DP-system with thrust force and direction.
• Joystick mode: - Control by using joystick - Selectable auto control of surge/sway/yaw
DP operation modes
• Automatic mode: - Auto position, 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
• 动力定位船舶: • 指仅用推力器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
• 1960’s - 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
• Power System
All components and systems necessary to supply the DP-system with power.
DP Control System
- Computer system
- Operator system
- Positioning reference system
Day 2
• AUTR (Class 2) and AUTRO (Class 3): - Failure modes - Redundancy - Separation (AUTRO) - General arrangement • Failure Modes and Effect Analysis (FMEA) • Consequence analysis • Environmental Regularity Number (ERN) • Preparations before DP operations • Documentation
DYNPOS-AUTR (Class 2):
- Marine operations < 500 from an installation - Subsea well stimulation - Unmanned subsea interventions with ROV
Typical operations vs. class notation
DP operation modes
• Standby mode: 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.
NMD guidelines based on consequence classes:
• Class 1: Loss of position may cause some pollution and 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.
• Autopilot mode:
- Automatic steering on predefined course - Using propeller(s) and rudder(s) or azimuth thrusters - Additional requirements if used for normal navigation
DYNPOS-AUTRO (Class 3): - Critical manned subsea interventions (diving) - Drilling / production of hydrocarbons
DP 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
• Offshore loading mode:
- Shuttle tankers performing loading on OLT - Keep bow at fixed distance from loading buoy - “Weathervane mode”, keep heading into weather
– Semiautomatic (joystick操纵杆 with auto heading) – Without any redundancy冗余 – Manual levers
• DYNPOS AUTS:
– WitLeabharlann out any redundancy – Manual levers
• DYNPOS AUT (Class 1):
Seminar 研讨会 Dynamic Positioning Systems 动力定位系统
Tianjin 14-15 Dec. 2005
Day 1
• Basic definition 基本定义 • History / development of rules and regulations • 规范法规的历史及发展
– – – – Independent joystick backup with auto heading Positioning reference system back-up UPS power supply Manual levers