动力定位系统DPS研讨一(DNV培训资料)
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ຫໍສະໝຸດ Baidu
• Autopilot mode:
- Automatic steering on predefined course - Using propeller(s) and rudder(s) or azimuth thrusters - Additional requirements if used for normal navigation
• 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
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
• 1984 – First DP Guidelines by Norwegian Maritime Directorate (NMD)
History, rules and regulations
DNV DP Rules history
• 1977: The first tentative试用的 rules
– Semiautomatic (joystick操纵杆 with auto heading) – Without any redundancy冗余 – Manual levers
• DYNPOS AUTS:
– Without any redundancy – Manual levers
• DYNPOS AUT (Class 1):
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.
Dynamic Positioning System
The complete installation on the vessel necessary for dynamically positioning a vessel
Dynamic Positioning System
• DP Control System
• 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
– Redundancy and separation in technical design – Independent joystick backup with auto heading – Backup DP-control system, in a separate compartment – UPS power supply – Manual levers
DP operation modes
• Autotrack mode:
- Movement between predetermined way points - Two modes, high-speed and low-speed - Additional requirements if used for normal navigation
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
Typical operations vs. class notation
DYNPOS-AUT (Class 1):
- Bow loading - Marine operations > 500m from an installation
Typical operations vs. class notation
- Sensor system 传感器 - Associated cabling 联结电缆
DP Control System
– – – – Independent joystick backup with auto heading Positioning reference system back-up UPS power supply Manual levers
IMO and class societies DP notations
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
• Power System
All components and systems necessary to supply the DP-system with power.
DP Control System
- Computer system
- Operator system
- Positioning reference system
DYNPOS-AUTR (Class 2):
- Marine operations < 500 from an installation - Subsea well stimulation - Unmanned subsea interventions with ROV
Typical operations vs. class notation
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”).
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.
• 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
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
• DYNPOS AUTR (Class 2):
– Redundancy in technical design – Independent joystick backup with auto heading – UPS power supply – Manual levers
• DYNPOS AUTRO (Class 3):
• July 1989: The first ordinary平常的 rules • January 2001: Major upgrade • January 2005: Latest edition
History, rules and regulations
Consequence classes
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.
• 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
• Autopilot mode:
- Automatic steering on predefined course - Using propeller(s) and rudder(s) or azimuth thrusters - Additional requirements if used for normal navigation
• 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
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
• 1984 – First DP Guidelines by Norwegian Maritime Directorate (NMD)
History, rules and regulations
DNV DP Rules history
• 1977: The first tentative试用的 rules
– Semiautomatic (joystick操纵杆 with auto heading) – Without any redundancy冗余 – Manual levers
• DYNPOS AUTS:
– Without any redundancy – Manual levers
• DYNPOS AUT (Class 1):
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.
Dynamic Positioning System
The complete installation on the vessel necessary for dynamically positioning a vessel
Dynamic Positioning System
• DP Control System
• 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
– Redundancy and separation in technical design – Independent joystick backup with auto heading – Backup DP-control system, in a separate compartment – UPS power supply – Manual levers
DP operation modes
• Autotrack mode:
- Movement between predetermined way points - Two modes, high-speed and low-speed - Additional requirements if used for normal navigation
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
Typical operations vs. class notation
DYNPOS-AUT (Class 1):
- Bow loading - Marine operations > 500m from an installation
Typical operations vs. class notation
- Sensor system 传感器 - Associated cabling 联结电缆
DP Control System
– – – – Independent joystick backup with auto heading Positioning reference system back-up UPS power supply Manual levers
IMO and class societies DP notations
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
• Power System
All components and systems necessary to supply the DP-system with power.
DP Control System
- Computer system
- Operator system
- Positioning reference system
DYNPOS-AUTR (Class 2):
- Marine operations < 500 from an installation - Subsea well stimulation - Unmanned subsea interventions with ROV
Typical operations vs. class notation
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”).
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.
• 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
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
• DYNPOS AUTR (Class 2):
– Redundancy in technical design – Independent joystick backup with auto heading – UPS power supply – Manual levers
• DYNPOS AUTRO (Class 3):
• July 1989: The first ordinary平常的 rules • January 2001: Major upgrade • January 2005: Latest edition
History, rules and regulations
Consequence classes
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.
• 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