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ABS Guide for Dynamic Positioning Systems
Sue Wang Senior Managing Principal Engineer, Offshore Singapore 1 March 2013
ABS SEMINAR: ABS GUIDE FOR DYNAMIC POSITIONING SYSTEMS
Objective and Agenda
Introduce ABS Guide for DP systems to industry
Seek industry s and comments
Part 1: Overview of
DP system
ABS Guide for DP systems
Part 2: New optional Notations for
Enhanced DP system (EHS)
Station keeping performance (SKP)
2
2012 up
2011
2010
2009
2008
2007
2006
2004
2003
Advancement of technology
2002
2001
Wider range of application
2000
96-99
More complex field development
90-95
80s
Deep-water activity
upto 70s
2005
Rapid Expansion of DP Demand
3
Dynamic Positioning Applications
MODUs (drillships and semisubmersibles)
Offshore , installation and maintenance vessels
Pipe- and cable laying
Dredging
Offloading shuttle tankers
Cruise ships, large motor yachts
DP-assisted mooring
FPSOs in deepwater
Others
4
Basic DP Principles
A dynamic positioning (DP) control system automatically calculates the forces that the thrusters, propulsors and steering gear must produce in order to control the vessel’s position and heading
The DP control systems algorithm's will generate control signals to the thrusters, propulsors and steering gear to obtain the force and moment required for the requested position and heading control
5
What Do We Need for DP?
Power
Thrusters and rudders
Position measurement
Position filtering (LF)
Control algorithm (positive required force)
Thruster and rudder allocation
6
Elements of a DP System Human-Machine Interface Computer Operator Display Screen DP Operator
Position Reference Systems (PRS)
Sensors Com Wind Vertical Reference Draft Tension
DGPS Underwater Acoustics Laser Microwave Tautwire
DP Controller (DPC)
Power Syste m
Thrusters 7
7
Typical DP System Layout Operator Station
Controller Azimuth Thruster Hardwire or LAN
Tunnel Thruster Rudder Propulsion Thruster
8
How DP System Work
2
β = 0.05 β = 0.1
1.8
(- βω t)
1.6
1+e
1.4
X /X0 [ -]
EKF
1
o
β = 0.3
1.2
PID
β = 0.5 X0
β = 0.7 β=1
0.8 0.6
(-βω t)
1-e
0.4
o
0.2 0
Measured Position
VESSEL
0
1
2
3
4
5 time/ T0 [-]
6
7
8
9
10
(T,α)1..n ALLOC = f(Fx, Fy, Mz)
THRUST
Wind Waves Current 9
Basic Elements DP Control System
Power, Sensors, Position References
Thrusters 10
Common Position Measurement Equipment
Fan Beam (Laser Technique)
Taut Wire (Vertical Angle)
DGPS (Satellite)
HPR (Long and Short Base, Hydro-acoustic, Transponders)
Atriums (Radio Wave, Landmark, Specific-Site)
Others
11
DP System Vendors
Kongsberg Maritime
Converteam (GE)
L-3
Marine Technologies
Navis Engineering
Rolls-Royce
Nautronix
Others
12
Basic Elements of a Power System
13
Thrusters & Rudders
Main propellers
Bow and stern thrusters
Azimuthing thrusters
Retractable thrusters
Rudders
14
DP Guidelines from Related Organizations
IMO MSC Circular 645
IMO MODU Code
ISO 19901-7 Stationkeeping
US Coast Guard
Norwegian Maritime Directorate (NMD)
Flag State
International Marine Contractors Association (IMCA)
Marine Technology Society (MTS)
American Petroleum Institute (API)
Class Societies 15
IMO & ABS DP Equipment Class
IMO Class 1
For equipment class 1, loss of position may occur in the event of a single fault
ABS DPS-1
For vessels which are fitted with a dynamic positioning system which is capable of automatically maintaining the position and heading of the vessel under specified maximum environmental conditions having an independent centralized manual position control with automatic heading control
16
IMO & ABS DP Equipment Class
IMO Equipment Class 2
A loss of position is not to occur in the event of a single fault in any active component or system (generators, thrusters, switchboards, remote controlled valves, etc.) Normally static components will not be considered to fail
ABS DPS-2
For vessels which are fitted with a dynamic positioning system which is capable of automatically maintaining the position and heading of the vessel within a specified operating envelope under specified maximum environmental conditions during and following any single fault, excluding a loss of compartment or compartments
17
IMO & ABS DP Equipment Class
IMO Class 3
For equipment Class 3, a single failure includes items listed previous for Class 2, and any normally static component is assumed to fail All components in any watertight and fire protected compartment
ABS DPS-3
For vessels which are fitted with a dynamic positioning system which is capable of automatically maintaining the position and heading of the vessel within a specified operating envelope under specified maximum environmental conditions during and following any single fault, including complete loss of a compartment due to fire or flood
18
Selection of DP Equipment Class
DP equipment class governed by the type of operations
Norwegian Maritime Directorate (NMD) has specified
DP units of Class 1 should be used during operations where loss of position is not considered to endanger human lives, cause significant damage or cause more than minimal pollution DP units of Class 2 should be used during operations where loss of position could cause personnel injury, pollution or damage with great economic consequences DP units of Class 3 should be used during operations where loss of position could cause fatal accidents, severe pollution or damage with major economic consequences
19
Guidelines for DP Equipment Class
NORSOK
MTS
One Oil Company
Drilling Diving inside structures Diving in open water
3 3 2
2 2 2
3 3 3
Pipelay/umbilical lay Lifting Shuttle Offtake ROV (Open water) ROV (Close Proximity - Surface/Subsea) Floating Production (HC production)
2 2 2
2 2 2 1 2 2
3 3 2
1
2
3
2
1
2
2
3 3
Operation
Well intervention
2 3 2
Logistics Operations Subsea well workover Accomodation (ganway connection to installation) Accomodation (outside 500m safety zone) Construction activies inside 500m general Construction activies outside 500m general
3 3 2 2 1
2
2
3
2
Remark 1
Vessels of lesser Class may be used with the appropriate structured risk identification and mitigation measures in place
2
Class 2 acceptable with extra fire watch and engine control watch routines
3
2
2
Class 3 for Norwegian Continental Shelf. For others, Class 2 accetable with Extra fire watch and engine control watch routines USCG: Class 2 or above for MODU according to IMO MODU Code
20
ABS DPS Rules & Guides & Notations
ABS Guide for Thrusters and Dynamic Positioning System (1994) was incorporated in the Rules for Building and Classing Steel Vessels, 4-3-5/15 in 2000
ABS Guide for Dynamic Positioning Systems (December 2012)
DPS Basic Notations
DPS-0, DPS-1, DPS-2, DPS-3 Inline with IMO Guidelines for Vessels with Dynamic Positioning Systems (1994)
Supplement Notations
EHS-P, EHS-C, EHS-F
SKP, SKP(a,b,c,d,e,f)
Incorporate new development
Provide flexibility 21
DPS Notations
Notation DPS-0
Most basic system
No redundancy
Centralized manual position control with automatic heading control (joystick)
Notation DPS-1
No redundancy
One automatic position and heading control computer
Independent manual position control with automatic heading control (joystick)
22
DPS Notations
Notation DPS-2
Redundancy design and able to maintain position and heading with a single fault Redundant(2) automatic position and heading control computers Independent manual position control with automatic heading control (joystick)
Notation DPS-3
Redundancy design with physical separation and able to maintain position and heading with a single fault and loss of a compartment due to fire or flood Redundant(3) automatic position and heading control computers Independent manual position control with automatic heading control (joystick)
23
Dynamic Positioning Systems Items Power System Power management UPS Thruster System Automatic Control Computers Manual Position Control with Auto heading Manual Independent Thruster Control at Bridge Position Reference Gyro Com MRU Wind Sensors Consequence Analyzer FMEA
0 No Redundancy No No No Redundancy 0
DPS Notation 1 2 No Redundancy Redundancy No Yes Yes Yes No Redundancy Redundancy 1 2
3 Redundancy Yes Yes Redundancy 3
1
1
1
1
Yes
Yes
Yes
Yes
1 1 0 1 No
2 2 2 2 No
3 3 3 3 Yes
3 3 3 3 Yes
No
No
Yes
Yes
24
Other ABS Rules Related to DP Components
ABS Steel Vessels Rules
ABS MODU Rules
Diesel Engines – Section 4-2-1 Gas Turbines – Section 4-2-3 Electric Motors and Motor Controllers – Section 4-8-3 Gears – Section 4-3-1 Shafting – Section 4-3-2 Propellers – Section 4-3-3 Piping System – Chapter 4-6 Thrusters 4-3-5 Control Equipment and Systems – Section 4-9-7 Pumps and Piping Systems – Chapter 4-2 Electrical Installation – Chapter 4-3 Rules for Equipment and Machinery Certification – Part 6 Surveys – Part 7
ABS Rules for Survey After Construction
Machinery Surveys – Chapter 7-6 Shipboard Automatic and Remote-control Systems – Chapter 7-8 Survey Requirements for Additional Systems and Services – Chapter 7-9 25
Guide Development Background
ABS updating Rules as routine process
Industry demanding
Wide range application of DP systems
Flexibility
Stationkeeping performance
Reflect industry advancement
Robust redundancy design concept
Enhanced generator protection technology
Rapid automatic blackout recovery
26
Innovation & New Technology
Robust redundancy concept
Advanced computing technology
Enhanced FMEA process
Advancement of sensor technology
Advanced generator protection
Advanced thruster control and protection
Quick black-out recovery
Comprehensive operation monitoring
27 27
Gap Analysis
Level of details
Lack of specifications
Closed bus design
Criteria for stationkeeping performance
Enhanced features
Advanced generator protection and control
Blackout prevention and automatic quick recovery
Robust redundancy concept
Fire and flood protection of machinery space (for DPS-2)
Higher availability and reliability of position reference systems and sensors
28
Overview DPS Guide Development
Major update for current ABS DPS Notations
DPS-1
DPS-2
DPS-3
Development of new optional notations
DP system enhancement notation (EHS)
Stationkeeping performance notation (SKP)
Objective
Reflect Industry advancement
Provide flexibility
Encourage higher design standards and consistent assessment
29
Highlight of DPS Guide
Definitions to form a common basis of understanding
Requirements on documentations for quality and completeness
Increased level of details on technical requirements
New enhanced system notations (EHS)
Recognition of design features beyond DPS-series notations
Encourage higher safe design standard
Provide flexibility to owners and operators
New stationkeeping performance notation (SKP)
Recognition of DP capability
Encourage robust design and consistent assessment
Increased level of details on testing
Vessel type and activity specifics 30
Content of DPS Guide
General
DP System Design
Power System
Thruster System
Control System
Marine Auxiliary System
Initial Test of DP System
Enhanced DP System
Stationkeeping Performance
Specific Vessel Types
Other Optional DP System Notations 31
Section 1-3: Definitions
Specified maximum environmental condition Specified operating envelope Single fault Dynamically positioned vessel Dynamic positioning system Industry mission Power system Thruster system DP control system Position reference system Joystick system Static component Active component Worst case failure Worst case failure design intent
Consequence analysis DP capability analysis Redundancy concept Critical redundancy Redundant groups Autonomous system Closed bus Common mod failure Single fault tolerance Independence Loss of position Stationkeeping
32
Section 1-4: Documentations
List of documentation (level of detail)
Dynamic positioning system
Power system
Thruster system
DP control system
Documentation type (level of detail)
R: Documentation for review I: Documentation for information and verification for consistency with related review OB: Documentation needs to be kept onboard
Added documents
Basic design of DP system redundancy (R DPS-2 and DPS-3)
Planned inspection and maintenance (I) 33
Section 2: Dynamic Positioning System Design
1 General
3 DP System Technical Requirements 3.1 Basic requirement 3.3 Redundancy design 3.5 Physical separation 3.7 DP system equipment requirements 3.9 Stationkeeping performance
5 Essential non-DP Systems 5.1 General 5.2 Emergency shut down system and DP redundancy 5.3 Fire protection and DP redundancy 5.4 Fuel quick closing valves and DP redundancy
7 Alarms and Instrumentation
9 Communications and DP Alter System 9.1 Communications 9.2 DP alter system
11 Failure Mode and Effects Analysis 11.1 Failure mode analysis 11.2 FMEA report
13 DP Operations Manual 34
Section 2: Dynamic Positioning System Design
Increased level of details for easy use
Content of documents
FMEA – Failure modes – FMEA analysis report – FMEA proving trial report
DP Operations Manual
Stationkeeping performance analysis
FMEA and Proving Trial Report (OB)
After completion of DP proving sea trials, the final version of DP FMEA and DP proving trial report, including final analysis and conclusions based on actual results from DP testing, are to be submitted Updated after major modifications
35
Section 3: Power System
1
General
3
Power Generation System
5
Power Distribution System
7
Power Management System
9
Uninterruptible Power Systems (UPS)
36
Section 3: Power System
Level of details for easy use
Closed bus tie breaker (DPS-2 and DPS-3)
Coordinated in relation to generator breakers to avoid total loss of main power (blackout) Two bus tie breakers are to be provided between bus sections
Closed bus for DPS-3
Capable of breaking the maximum short circuit current in the combined system
Consideration of EHS-P requirements
If all thrusters are direct diesel drive, no need for a power management system
37
Section 4: Thruster System
1
General
3
Thruster Capacity
5
Thruster Configuration
7
Thruster Auxiliary System
9
Thruster Control
11 Thruster Monitoring and Alarm
Level of details for easy use
38
Section 5: DP Control System
1
General
3
DP Control Station
5
DP Control System
7
Manual Position Control System
9
Control Mode Selection
11 Position Reference System and Environment Sensor
13 Consequence Analysis (For DPS-2/3)
15 Display and Monitoring
Level of details for easy use
39
Section 5: DP Control System
DP Control Station
Backup DP control station, a night vision, closed-circuit TV (CCTV) system is acceptable for viewing the external surrounding area
Data Communication Networks
Main DP control station with good viewing of the external surrounding area and all activities relevant to the DP operation
Communication network for DP control system is to be duplicated for DPS-2 and also separated for DPS-3 Manual position control system is not to share the same communication network with the DP control system
Control Mode Selection
Easy operational device to be provided in the DP control station for the selection of the thruster control modes Transfer of control to the backup DP control station to be initiated at backup control station and performed manually 40
Section 5/11: Position Reference System & Wind Sensor
One set of position reference system
GPS (others, position measurement devices)
Gyro (heading measurement device)
MRU (others, roll and pitch measurement for position correction)
MRU: where position reference systems are dependent on correction of roll and pitch effect, MRU or equivalent is to be provided
Position reference systems and wind sensors to be powered by UPSs and follow group redundancy concept
41
Section 6: Marine Auxiliary System (DPS 2/3)
1
General
3
Fuel Oil
5
Cooling Water
7
Compressed Air
9
Lubrication Oil Systems
11 HVAC and Ventilation
13 Piping
15 Pneumatic Systems
17
Level of details for easy use
Power Supply to Auxiliary Systems
42
Section 6: Marine Auxiliary System (DPS 2/3)
Auxiliary systems to be arranged in accordance with the redundancy concept
A single failure effect analysis for auxiliary systems to be included in the DP system FMEA
Fuel water content monitoring with remote alarms is to be installed
Power for auxiliary systems associated with DP systems is to be taken from within the redundancy group
43
Section 7: DP System Initial Test
1
General
3
DP System Performance Test
5
FMEA Proving Trial for DPS-2/DPS-3
Level of details
44
Section 7: System Performance Test
30 minute UPS Test
Position Reference Systems and Sensors
Manual Position Control System
Manual Thruster Control System
Thruster Emergency Stop
DP Control System
Control and Alarms
Standby Changeover
Protection equipment are to be tested if they are designed to provide essential redundancy of the DP system
6-hour Performance Endurance Test 45
Section 7: FMEA Proving Trial for DPS-2/DPS-3
FMEA tests to confirm the findings from FMEA analysis
Test procedures are to be developed in the FMEA analysis
Vessel is to operate in configurations analyzed in DP system FMEA
Submit final version of DP FMEA including conclusions from the testing
46
Section 8: Enhanced System
New Notations
EHS-P for enhanced power plant and thruster system
EHS-C for enhanced control system
EHS-F for fire and flood tolerance design
Supplement information for DPS-2/DPS-3 Notations
Provide three groups for flexibility and easy recognition
Can be combined as EHS-PC, etc.
Objective Improve reliability, operability and maintainability
Recognize safety features that beyond minimum requirements
Encourage higher safe design standard 47
Enhanced Propulsion System EHS-P
Applicable to DPS-2 and DPS-3 system
Features on power plant protection and quick blackout recovery
High safety measurement against closed bus operation
Targeting reduced consequence of failure
48
EHS-P Requirement
Enhanced generator protection
Failure detection and discrimination of failed components before a full or partial black-out situation occurs
Open bus-tie if the faulty generator fails to trip
One protection system per generator
Robust redundancy design
Autonomous generator sets
Autonomous thruster sets
Blackout prevention and automatic recovery (60s)
Power management system
Thruster phase back
System ride through capability (short circuit)
49
EHS-P Requirement
Autonomous
Control and automation – to be decentralized to the point that each item of main machinery (generators and thrusters) is capable of making itself ready for DP operations independently of any centralized control system Auxiliary – to be provided in a manner that makes the machinery (generators and thrusters) as independent as practical to minimize the number of failures that can lead to the loss of more than one main item of machinery
50
Enhanced Control System EHS-C
Applicable to DPS-2 and DPS-3 system
Aiming for higher availability and reliability of input data to the control system
Statistics point to the necessary of improvement
Encourage for higher design standard Incidents that led to loss of position 1994-2007
DP Computer Environment Power Generation Operator Error References Thruster Electrical Total
62 40 50 89 103 76 22 442
DP Computer Environment Power Generation Operator Error References Thruster Electrical
51
EHS-C Requirement
Three position reference systems and sensors available at any given time and location
Four position reference systems and four sensors with combination of different systems
Redundancy of relative reference system for offshore vessels
Three DP control computers (one backup)
Equipment from different suppliers or using different principles of operation
DP Data Logger
Integration of the centralized control system with sub-control systems 52
Fire & Flood Tolerance Design EHS-F
Applicable to DPS-2 system
Provide another level of measurement for fire and flood tolerance design
Focus on fire risk spaces
Flexibility for diversified market needs
53
EHS-F Requirement
DPS-3 automatically meets EHS-F requirements
A-0 separation along boundary of redundancy groups
No A-0 separation required between main and backup DP control station
A-60 separation for high fire risk spaces
The high fire risk area is the area defined by SVR 4-8-4/1.11 including Machinery spaces as defined by 4-7-1/11.15 and 4-7-1/11.17 Spaces containing fuel treatment equipment and other highly flammable substances
54
Summary of Enhanced DP Systems EHS-P
EHS-C
EHS-F
Autonomous Generator Set
2+1 Backup DP Control computers and controllers
Generators and Prime Movers
Bus Tie Breaker Wind Sensors redundantly configured 3 + 1 in back up control station between each bus segment
Separate compartments, A60 for high fire risk area. Watertight below damage waterline.
Gyros 3 + 1 in backup control station
Power Distribution System A0 between redundant groups. Watertight below damage waterline.
Enhanced Power Management
MRU 3 + 1 in backup control station
Thruster System A0 between redundant groups. Watertight below damage waterline.
Autonomous Thruster Set
Position Reference Systems 3 + 1 in backup control station
Controller Space A0 between redundant groups.
Enhanced Generator Protection
55
Closed Bus
Enhanced system design (EHS-P)
Improvement of active redundancy
Reduce consequence after failure
At least two or more generators running and they are connected to two or more sections of the main bus
The worst case failure of the configuration is not to result to a blackout
Spinning reserve is to be able to make up at least 50% lost capacity after the worst case failure of the operating mode in consideration
Other 50% lost capacity can be provided from the standby units
56
Standby Start
Changeover is to be automatic
Position and heading of the vessel are within the specified limits and DP performance is not degrading
Maximum allowed changeover time is 45s
Single fault does not cause total blackout including loss of entire compartment for DPS-3
A failure in one redundancy group is not to cause failure of more than one redundancy groups
A failure in the system being changed over to is not to cause failure of more than one redundancy groups
Changeover is not to cause failure of the redundancy group that is being connected to
At least, one standby generator is to be considered not available when needed 57
FMEA & Test (EHS)
Operation of protection systems (breakers, bus ties, etc.) related to short circuit
Severe voltage dips associated with short circuit faults in power plant configured as a common power system
Failure to excess and insufficient fuel
Over and under-excitation
Governor and AVR failure modes
Failure modes related to standby start and changeover
Power management failure on load sharing, malfunction, etc.
Phase back thrust and large load
Blackout recovery 58
Documentation (EHS)
Description of protection design philosophy and protection systems the redundancy concept of DP system depends on
Analysis of effects of severe voltage transients on power system stability
Short circuit analysis
Simulation of severe over/under voltage and over/under frequency
Protection coordination analysis
Protection settings
Description of automatic blackout recovery
59
Section 9: Stationkeeping Performance
New notations
SKP: verification for given design environmental conditions through analysis SKP(a,b,c,d,e,f): determine limiting environments for a given environment site through analysis
Supplement for DPS-series notations
Objective
Recognition of DP capability
Encourage robust design and consistent assessment
60
SKP Notation
Owner specify design environment conditions
Design wind speed and directions
Design wave height, related period and directions
Design current speed and directions
Station keeping performance assessment
Environmental load calculation Available thrust calculation including effect due to thruster interference with others
Analysis results demonstrate the capability of stationkeeping for the specified environment conditions
61
Result Presentation for SKP
Total Thrust Utilization Plot for given Environment Condition 62
Environmental Load
Wind and current
1-minute mean wind speed at 10-meter above water surface
Model test data to be used whenever possible
For non-ship shape unit, wind and current forces according to ABS Rules for MODU, FPI or API 2SK For a ship shape unit, wind and forces according to ABS Rules for MODU, FPI, API RP 2SK or OCIMF publication
Wave
Significant wave heights and characteristic periods (frequencies)
JONSWAP for North Sea and locations with limited fetch
Bretschneider for open seas
Model test data for wave drift force if available
Drift force calculation using appropriate hydrodynamic analysis computer program 63
Available Thrust
Manufacturer’s test data of full scale or suitable model test for the thrust output of thrusters to be used
This Guide provides method for determining available thrust
Thruster-Thruster Interaction
Thruster-Hull Interaction
Thruster-Current Interaction
64
DP Capability
Real Capability
Predicted Capability Courtesy: MTS/Shell
65
SKP(a,b,c,d,e,f) Notation
a: the probability that the vessel can remain on station with all thrusters operating for location f and current speed e
b: the probability that the vessel can remain on station with the failure of minimum effect of single thruster for location f and current speed e
c: the probability that the vessel can remain on station with the failure of maximum effect single thruster for location f and current speed e
d: the probability that the vessel can remain on station with the worst case failure condition for location f and current speed e
e: current speed in knot (owner specify or typical 1.5 kt)
f: environment location (owner specify or typical North Sea) 66
SKP(a,b,c,d,e,f) Notation
Same analysis procedures for load and thrust calculation
May cover SKP if design environments are given and are within the limit
Require for the relationship between wind speeds and wave heights
Require probability of non-exceedance of wind speed
67
Wind & Wave Relationship (North Sea)
68
Result Presentation for SKP(a,b,c,d)
Typical DP Capability Plot 69
Section 9: Sub-sections
1 General
9 Other External Load
1.1 Definition
11 Available Thrust
1.1.1 SKP
11.1 Available Thrust for Thrusters
1.1.2 SKP (a,b,c,d)
11.3 Thruster-Thruster Interaction
1.1.3 Normal Operation Condition
11.5 Thruster-Hull Interaction
1.1.4 Standby Condition
11.7 Thruster-Current Interaction
11.9 Available Thrust for Transverse Tunnel Thrusters
3 Environmental Condition
3.1 Wind
3.3 Wave
13 Rudder Force
3.5 Current
15 SKP Calculation
3.7 Environment for SKP
15.1 SKP Notation
3.9 Environment for SKP (a,b,c,d)
15.3 SKP (a,b,c,d) Notation
5 Analysis Conditions
5.1 DP System Configurations
5.3 Operation Conditions
17 Documentation
7 Environmental Load Calculation
7.1 Wind and current force
7.3 Wave force 70
Documentation
Where the DP system is to be supplemented with a stationkeeping performance notation, the following information is to be submitted for review
General arrangement and lines plan
Thruster arrangement
Thruster power and thrust
Thruster interactions
Analysis procedures
Capability plots
Documentation on the environment conditions long term distribution (any area for intended service) Owner specified limiting environments
71
Section 10: Specific Vessel Types
1 Introduction
3 Mobile Offshore Drilling Units
Effect of drilling
Effect of emergency shutdown system
Effect of emergency disconnect system
Maintenance plan
5 Project or Construction Vessels
Suitable DP Control modes
Redundancy of relative position reference system
7 Logistics Vessels
Redundancy of relative position reference system
72
DPS Guide Development Milestones Jan 2012
Project Kickoff Divisions Technology TBDs Previous DP Consultant work
Jun 2012
Aug 2012
Oct 2012
Dec 2012
Review Initial development work
Project Plan
DPS draft guide development
Industry workshop
Consultant
DPS Guide Internal and external review
Rough Draft for DP consultants review and improvement 73
Summary
DPS Guide to reduce the gaps between industry practices and class requirements
New notations for enhanced system (EHS) and stationkeeping performance (SKP)
Provide systematic measurement
Provide more flexibility for owners and operators
Need industry s for further improvement
Shipbuilder Classification Society
Charterer
SHIP OWNER Shipping Financier
Underwriter
Flag State
Port State
74
www.eagle.org
Sue Wang Senior Managing Principal Engineer, Offshore Singapore 1 March 2013
ABS SEMINAR: ABS GUIDE FOR DYNAMIC POSITIONING SYSTEMS
Objective and Agenda
Introduce ABS Guide for DP systems to industry
Seek industry s and comments
Part 1: Overview of
DP system
ABS Guide for DP systems
Part 2: New optional Notations for
Enhanced DP system (EHS)
Station keeping performance (SKP)
2
2012 up
2011
2010
2009
2008
2007
2006
2004
2003
Advancement of technology
2002
2001
Wider range of application
2000
96-99
More complex field development
90-95
80s
Deep-water activity
upto 70s
2005
Rapid Expansion of DP Demand
3
Dynamic Positioning Applications
MODUs (drillships and semisubmersibles)
Offshore , installation and maintenance vessels
Pipe- and cable laying
Dredging
Offloading shuttle tankers
Cruise ships, large motor yachts
DP-assisted mooring
FPSOs in deepwater
Others
4
Basic DP Principles
A dynamic positioning (DP) control system automatically calculates the forces that the thrusters, propulsors and steering gear must produce in order to control the vessel’s position and heading
The DP control systems algorithm's will generate control signals to the thrusters, propulsors and steering gear to obtain the force and moment required for the requested position and heading control
5
What Do We Need for DP?
Power
Thrusters and rudders
Position measurement
Position filtering (LF)
Control algorithm (positive required force)
Thruster and rudder allocation
6
Elements of a DP System Human-Machine Interface Computer Operator Display Screen DP Operator
Position Reference Systems (PRS)
Sensors Com Wind Vertical Reference Draft Tension
DGPS Underwater Acoustics Laser Microwave Tautwire
DP Controller (DPC)
Power Syste m
Thrusters 7
7
Typical DP System Layout Operator Station
Controller Azimuth Thruster Hardwire or LAN
Tunnel Thruster Rudder Propulsion Thruster
8
How DP System Work
2
β = 0.05 β = 0.1
1.8
(- βω t)
1.6
1+e
1.4
X /X0 [ -]
EKF
1
o
β = 0.3
1.2
PID
β = 0.5 X0
β = 0.7 β=1
0.8 0.6
(-βω t)
1-e
0.4
o
0.2 0
Measured Position
VESSEL
0
1
2
3
4
5 time/ T0 [-]
6
7
8
9
10
(T,α)1..n ALLOC = f(Fx, Fy, Mz)
THRUST
Wind Waves Current 9
Basic Elements DP Control System
Power, Sensors, Position References
Thrusters 10
Common Position Measurement Equipment
Fan Beam (Laser Technique)
Taut Wire (Vertical Angle)
DGPS (Satellite)
HPR (Long and Short Base, Hydro-acoustic, Transponders)
Atriums (Radio Wave, Landmark, Specific-Site)
Others
11
DP System Vendors
Kongsberg Maritime
Converteam (GE)
L-3
Marine Technologies
Navis Engineering
Rolls-Royce
Nautronix
Others
12
Basic Elements of a Power System
13
Thrusters & Rudders
Main propellers
Bow and stern thrusters
Azimuthing thrusters
Retractable thrusters
Rudders
14
DP Guidelines from Related Organizations
IMO MSC Circular 645
IMO MODU Code
ISO 19901-7 Stationkeeping
US Coast Guard
Norwegian Maritime Directorate (NMD)
Flag State
International Marine Contractors Association (IMCA)
Marine Technology Society (MTS)
American Petroleum Institute (API)
Class Societies 15
IMO & ABS DP Equipment Class
IMO Class 1
For equipment class 1, loss of position may occur in the event of a single fault
ABS DPS-1
For vessels which are fitted with a dynamic positioning system which is capable of automatically maintaining the position and heading of the vessel under specified maximum environmental conditions having an independent centralized manual position control with automatic heading control
16
IMO & ABS DP Equipment Class
IMO Equipment Class 2
A loss of position is not to occur in the event of a single fault in any active component or system (generators, thrusters, switchboards, remote controlled valves, etc.) Normally static components will not be considered to fail
ABS DPS-2
For vessels which are fitted with a dynamic positioning system which is capable of automatically maintaining the position and heading of the vessel within a specified operating envelope under specified maximum environmental conditions during and following any single fault, excluding a loss of compartment or compartments
17
IMO & ABS DP Equipment Class
IMO Class 3
For equipment Class 3, a single failure includes items listed previous for Class 2, and any normally static component is assumed to fail All components in any watertight and fire protected compartment
ABS DPS-3
For vessels which are fitted with a dynamic positioning system which is capable of automatically maintaining the position and heading of the vessel within a specified operating envelope under specified maximum environmental conditions during and following any single fault, including complete loss of a compartment due to fire or flood
18
Selection of DP Equipment Class
DP equipment class governed by the type of operations
Norwegian Maritime Directorate (NMD) has specified
DP units of Class 1 should be used during operations where loss of position is not considered to endanger human lives, cause significant damage or cause more than minimal pollution DP units of Class 2 should be used during operations where loss of position could cause personnel injury, pollution or damage with great economic consequences DP units of Class 3 should be used during operations where loss of position could cause fatal accidents, severe pollution or damage with major economic consequences
19
Guidelines for DP Equipment Class
NORSOK
MTS
One Oil Company
Drilling Diving inside structures Diving in open water
3 3 2
2 2 2
3 3 3
Pipelay/umbilical lay Lifting Shuttle Offtake ROV (Open water) ROV (Close Proximity - Surface/Subsea) Floating Production (HC production)
2 2 2
2 2 2 1 2 2
3 3 2
1
2
3
2
1
2
2
3 3
Operation
Well intervention
2 3 2
Logistics Operations Subsea well workover Accomodation (ganway connection to installation) Accomodation (outside 500m safety zone) Construction activies inside 500m general Construction activies outside 500m general
3 3 2 2 1
2
2
3
2
Remark 1
Vessels of lesser Class may be used with the appropriate structured risk identification and mitigation measures in place
2
Class 2 acceptable with extra fire watch and engine control watch routines
3
2
2
Class 3 for Norwegian Continental Shelf. For others, Class 2 accetable with Extra fire watch and engine control watch routines USCG: Class 2 or above for MODU according to IMO MODU Code
20
ABS DPS Rules & Guides & Notations
ABS Guide for Thrusters and Dynamic Positioning System (1994) was incorporated in the Rules for Building and Classing Steel Vessels, 4-3-5/15 in 2000
ABS Guide for Dynamic Positioning Systems (December 2012)
DPS Basic Notations
DPS-0, DPS-1, DPS-2, DPS-3 Inline with IMO Guidelines for Vessels with Dynamic Positioning Systems (1994)
Supplement Notations
EHS-P, EHS-C, EHS-F
SKP, SKP(a,b,c,d,e,f)
Incorporate new development
Provide flexibility 21
DPS Notations
Notation DPS-0
Most basic system
No redundancy
Centralized manual position control with automatic heading control (joystick)
Notation DPS-1
No redundancy
One automatic position and heading control computer
Independent manual position control with automatic heading control (joystick)
22
DPS Notations
Notation DPS-2
Redundancy design and able to maintain position and heading with a single fault Redundant(2) automatic position and heading control computers Independent manual position control with automatic heading control (joystick)
Notation DPS-3
Redundancy design with physical separation and able to maintain position and heading with a single fault and loss of a compartment due to fire or flood Redundant(3) automatic position and heading control computers Independent manual position control with automatic heading control (joystick)
23
Dynamic Positioning Systems Items Power System Power management UPS Thruster System Automatic Control Computers Manual Position Control with Auto heading Manual Independent Thruster Control at Bridge Position Reference Gyro Com MRU Wind Sensors Consequence Analyzer FMEA
0 No Redundancy No No No Redundancy 0
DPS Notation 1 2 No Redundancy Redundancy No Yes Yes Yes No Redundancy Redundancy 1 2
3 Redundancy Yes Yes Redundancy 3
1
1
1
1
Yes
Yes
Yes
Yes
1 1 0 1 No
2 2 2 2 No
3 3 3 3 Yes
3 3 3 3 Yes
No
No
Yes
Yes
24
Other ABS Rules Related to DP Components
ABS Steel Vessels Rules
ABS MODU Rules
Diesel Engines – Section 4-2-1 Gas Turbines – Section 4-2-3 Electric Motors and Motor Controllers – Section 4-8-3 Gears – Section 4-3-1 Shafting – Section 4-3-2 Propellers – Section 4-3-3 Piping System – Chapter 4-6 Thrusters 4-3-5 Control Equipment and Systems – Section 4-9-7 Pumps and Piping Systems – Chapter 4-2 Electrical Installation – Chapter 4-3 Rules for Equipment and Machinery Certification – Part 6 Surveys – Part 7
ABS Rules for Survey After Construction
Machinery Surveys – Chapter 7-6 Shipboard Automatic and Remote-control Systems – Chapter 7-8 Survey Requirements for Additional Systems and Services – Chapter 7-9 25
Guide Development Background
ABS updating Rules as routine process
Industry demanding
Wide range application of DP systems
Flexibility
Stationkeeping performance
Reflect industry advancement
Robust redundancy design concept
Enhanced generator protection technology
Rapid automatic blackout recovery
26
Innovation & New Technology
Robust redundancy concept
Advanced computing technology
Enhanced FMEA process
Advancement of sensor technology
Advanced generator protection
Advanced thruster control and protection
Quick black-out recovery
Comprehensive operation monitoring
27 27
Gap Analysis
Level of details
Lack of specifications
Closed bus design
Criteria for stationkeeping performance
Enhanced features
Advanced generator protection and control
Blackout prevention and automatic quick recovery
Robust redundancy concept
Fire and flood protection of machinery space (for DPS-2)
Higher availability and reliability of position reference systems and sensors
28
Overview DPS Guide Development
Major update for current ABS DPS Notations
DPS-1
DPS-2
DPS-3
Development of new optional notations
DP system enhancement notation (EHS)
Stationkeeping performance notation (SKP)
Objective
Reflect Industry advancement
Provide flexibility
Encourage higher design standards and consistent assessment
29
Highlight of DPS Guide
Definitions to form a common basis of understanding
Requirements on documentations for quality and completeness
Increased level of details on technical requirements
New enhanced system notations (EHS)
Recognition of design features beyond DPS-series notations
Encourage higher safe design standard
Provide flexibility to owners and operators
New stationkeeping performance notation (SKP)
Recognition of DP capability
Encourage robust design and consistent assessment
Increased level of details on testing
Vessel type and activity specifics 30
Content of DPS Guide
General
DP System Design
Power System
Thruster System
Control System
Marine Auxiliary System
Initial Test of DP System
Enhanced DP System
Stationkeeping Performance
Specific Vessel Types
Other Optional DP System Notations 31
Section 1-3: Definitions
Specified maximum environmental condition Specified operating envelope Single fault Dynamically positioned vessel Dynamic positioning system Industry mission Power system Thruster system DP control system Position reference system Joystick system Static component Active component Worst case failure Worst case failure design intent
Consequence analysis DP capability analysis Redundancy concept Critical redundancy Redundant groups Autonomous system Closed bus Common mod failure Single fault tolerance Independence Loss of position Stationkeeping
32
Section 1-4: Documentations
List of documentation (level of detail)
Dynamic positioning system
Power system
Thruster system
DP control system
Documentation type (level of detail)
R: Documentation for review I: Documentation for information and verification for consistency with related review OB: Documentation needs to be kept onboard
Added documents
Basic design of DP system redundancy (R DPS-2 and DPS-3)
Planned inspection and maintenance (I) 33
Section 2: Dynamic Positioning System Design
1 General
3 DP System Technical Requirements 3.1 Basic requirement 3.3 Redundancy design 3.5 Physical separation 3.7 DP system equipment requirements 3.9 Stationkeeping performance
5 Essential non-DP Systems 5.1 General 5.2 Emergency shut down system and DP redundancy 5.3 Fire protection and DP redundancy 5.4 Fuel quick closing valves and DP redundancy
7 Alarms and Instrumentation
9 Communications and DP Alter System 9.1 Communications 9.2 DP alter system
11 Failure Mode and Effects Analysis 11.1 Failure mode analysis 11.2 FMEA report
13 DP Operations Manual 34
Section 2: Dynamic Positioning System Design
Increased level of details for easy use
Content of documents
FMEA – Failure modes – FMEA analysis report – FMEA proving trial report
DP Operations Manual
Stationkeeping performance analysis
FMEA and Proving Trial Report (OB)
After completion of DP proving sea trials, the final version of DP FMEA and DP proving trial report, including final analysis and conclusions based on actual results from DP testing, are to be submitted Updated after major modifications
35
Section 3: Power System
1
General
3
Power Generation System
5
Power Distribution System
7
Power Management System
9
Uninterruptible Power Systems (UPS)
36
Section 3: Power System
Level of details for easy use
Closed bus tie breaker (DPS-2 and DPS-3)
Coordinated in relation to generator breakers to avoid total loss of main power (blackout) Two bus tie breakers are to be provided between bus sections
Closed bus for DPS-3
Capable of breaking the maximum short circuit current in the combined system
Consideration of EHS-P requirements
If all thrusters are direct diesel drive, no need for a power management system
37
Section 4: Thruster System
1
General
3
Thruster Capacity
5
Thruster Configuration
7
Thruster Auxiliary System
9
Thruster Control
11 Thruster Monitoring and Alarm
Level of details for easy use
38
Section 5: DP Control System
1
General
3
DP Control Station
5
DP Control System
7
Manual Position Control System
9
Control Mode Selection
11 Position Reference System and Environment Sensor
13 Consequence Analysis (For DPS-2/3)
15 Display and Monitoring
Level of details for easy use
39
Section 5: DP Control System
DP Control Station
Backup DP control station, a night vision, closed-circuit TV (CCTV) system is acceptable for viewing the external surrounding area
Data Communication Networks
Main DP control station with good viewing of the external surrounding area and all activities relevant to the DP operation
Communication network for DP control system is to be duplicated for DPS-2 and also separated for DPS-3 Manual position control system is not to share the same communication network with the DP control system
Control Mode Selection
Easy operational device to be provided in the DP control station for the selection of the thruster control modes Transfer of control to the backup DP control station to be initiated at backup control station and performed manually 40
Section 5/11: Position Reference System & Wind Sensor
One set of position reference system
GPS (others, position measurement devices)
Gyro (heading measurement device)
MRU (others, roll and pitch measurement for position correction)
MRU: where position reference systems are dependent on correction of roll and pitch effect, MRU or equivalent is to be provided
Position reference systems and wind sensors to be powered by UPSs and follow group redundancy concept
41
Section 6: Marine Auxiliary System (DPS 2/3)
1
General
3
Fuel Oil
5
Cooling Water
7
Compressed Air
9
Lubrication Oil Systems
11 HVAC and Ventilation
13 Piping
15 Pneumatic Systems
17
Level of details for easy use
Power Supply to Auxiliary Systems
42
Section 6: Marine Auxiliary System (DPS 2/3)
Auxiliary systems to be arranged in accordance with the redundancy concept
A single failure effect analysis for auxiliary systems to be included in the DP system FMEA
Fuel water content monitoring with remote alarms is to be installed
Power for auxiliary systems associated with DP systems is to be taken from within the redundancy group
43
Section 7: DP System Initial Test
1
General
3
DP System Performance Test
5
FMEA Proving Trial for DPS-2/DPS-3
Level of details
44
Section 7: System Performance Test
30 minute UPS Test
Position Reference Systems and Sensors
Manual Position Control System
Manual Thruster Control System
Thruster Emergency Stop
DP Control System
Control and Alarms
Standby Changeover
Protection equipment are to be tested if they are designed to provide essential redundancy of the DP system
6-hour Performance Endurance Test 45
Section 7: FMEA Proving Trial for DPS-2/DPS-3
FMEA tests to confirm the findings from FMEA analysis
Test procedures are to be developed in the FMEA analysis
Vessel is to operate in configurations analyzed in DP system FMEA
Submit final version of DP FMEA including conclusions from the testing
46
Section 8: Enhanced System
New Notations
EHS-P for enhanced power plant and thruster system
EHS-C for enhanced control system
EHS-F for fire and flood tolerance design
Supplement information for DPS-2/DPS-3 Notations
Provide three groups for flexibility and easy recognition
Can be combined as EHS-PC, etc.
Objective Improve reliability, operability and maintainability
Recognize safety features that beyond minimum requirements
Encourage higher safe design standard 47
Enhanced Propulsion System EHS-P
Applicable to DPS-2 and DPS-3 system
Features on power plant protection and quick blackout recovery
High safety measurement against closed bus operation
Targeting reduced consequence of failure
48
EHS-P Requirement
Enhanced generator protection
Failure detection and discrimination of failed components before a full or partial black-out situation occurs
Open bus-tie if the faulty generator fails to trip
One protection system per generator
Robust redundancy design
Autonomous generator sets
Autonomous thruster sets
Blackout prevention and automatic recovery (60s)
Power management system
Thruster phase back
System ride through capability (short circuit)
49
EHS-P Requirement
Autonomous
Control and automation – to be decentralized to the point that each item of main machinery (generators and thrusters) is capable of making itself ready for DP operations independently of any centralized control system Auxiliary – to be provided in a manner that makes the machinery (generators and thrusters) as independent as practical to minimize the number of failures that can lead to the loss of more than one main item of machinery
50
Enhanced Control System EHS-C
Applicable to DPS-2 and DPS-3 system
Aiming for higher availability and reliability of input data to the control system
Statistics point to the necessary of improvement
Encourage for higher design standard Incidents that led to loss of position 1994-2007
DP Computer Environment Power Generation Operator Error References Thruster Electrical Total
62 40 50 89 103 76 22 442
DP Computer Environment Power Generation Operator Error References Thruster Electrical
51
EHS-C Requirement
Three position reference systems and sensors available at any given time and location
Four position reference systems and four sensors with combination of different systems
Redundancy of relative reference system for offshore vessels
Three DP control computers (one backup)
Equipment from different suppliers or using different principles of operation
DP Data Logger
Integration of the centralized control system with sub-control systems 52
Fire & Flood Tolerance Design EHS-F
Applicable to DPS-2 system
Provide another level of measurement for fire and flood tolerance design
Focus on fire risk spaces
Flexibility for diversified market needs
53
EHS-F Requirement
DPS-3 automatically meets EHS-F requirements
A-0 separation along boundary of redundancy groups
No A-0 separation required between main and backup DP control station
A-60 separation for high fire risk spaces
The high fire risk area is the area defined by SVR 4-8-4/1.11 including Machinery spaces as defined by 4-7-1/11.15 and 4-7-1/11.17 Spaces containing fuel treatment equipment and other highly flammable substances
54
Summary of Enhanced DP Systems EHS-P
EHS-C
EHS-F
Autonomous Generator Set
2+1 Backup DP Control computers and controllers
Generators and Prime Movers
Bus Tie Breaker Wind Sensors redundantly configured 3 + 1 in back up control station between each bus segment
Separate compartments, A60 for high fire risk area. Watertight below damage waterline.
Gyros 3 + 1 in backup control station
Power Distribution System A0 between redundant groups. Watertight below damage waterline.
Enhanced Power Management
MRU 3 + 1 in backup control station
Thruster System A0 between redundant groups. Watertight below damage waterline.
Autonomous Thruster Set
Position Reference Systems 3 + 1 in backup control station
Controller Space A0 between redundant groups.
Enhanced Generator Protection
55
Closed Bus
Enhanced system design (EHS-P)
Improvement of active redundancy
Reduce consequence after failure
At least two or more generators running and they are connected to two or more sections of the main bus
The worst case failure of the configuration is not to result to a blackout
Spinning reserve is to be able to make up at least 50% lost capacity after the worst case failure of the operating mode in consideration
Other 50% lost capacity can be provided from the standby units
56
Standby Start
Changeover is to be automatic
Position and heading of the vessel are within the specified limits and DP performance is not degrading
Maximum allowed changeover time is 45s
Single fault does not cause total blackout including loss of entire compartment for DPS-3
A failure in one redundancy group is not to cause failure of more than one redundancy groups
A failure in the system being changed over to is not to cause failure of more than one redundancy groups
Changeover is not to cause failure of the redundancy group that is being connected to
At least, one standby generator is to be considered not available when needed 57
FMEA & Test (EHS)
Operation of protection systems (breakers, bus ties, etc.) related to short circuit
Severe voltage dips associated with short circuit faults in power plant configured as a common power system
Failure to excess and insufficient fuel
Over and under-excitation
Governor and AVR failure modes
Failure modes related to standby start and changeover
Power management failure on load sharing, malfunction, etc.
Phase back thrust and large load
Blackout recovery 58
Documentation (EHS)
Description of protection design philosophy and protection systems the redundancy concept of DP system depends on
Analysis of effects of severe voltage transients on power system stability
Short circuit analysis
Simulation of severe over/under voltage and over/under frequency
Protection coordination analysis
Protection settings
Description of automatic blackout recovery
59
Section 9: Stationkeeping Performance
New notations
SKP: verification for given design environmental conditions through analysis SKP(a,b,c,d,e,f): determine limiting environments for a given environment site through analysis
Supplement for DPS-series notations
Objective
Recognition of DP capability
Encourage robust design and consistent assessment
60
SKP Notation
Owner specify design environment conditions
Design wind speed and directions
Design wave height, related period and directions
Design current speed and directions
Station keeping performance assessment
Environmental load calculation Available thrust calculation including effect due to thruster interference with others
Analysis results demonstrate the capability of stationkeeping for the specified environment conditions
61
Result Presentation for SKP
Total Thrust Utilization Plot for given Environment Condition 62
Environmental Load
Wind and current
1-minute mean wind speed at 10-meter above water surface
Model test data to be used whenever possible
For non-ship shape unit, wind and current forces according to ABS Rules for MODU, FPI or API 2SK For a ship shape unit, wind and forces according to ABS Rules for MODU, FPI, API RP 2SK or OCIMF publication
Wave
Significant wave heights and characteristic periods (frequencies)
JONSWAP for North Sea and locations with limited fetch
Bretschneider for open seas
Model test data for wave drift force if available
Drift force calculation using appropriate hydrodynamic analysis computer program 63
Available Thrust
Manufacturer’s test data of full scale or suitable model test for the thrust output of thrusters to be used
This Guide provides method for determining available thrust
Thruster-Thruster Interaction
Thruster-Hull Interaction
Thruster-Current Interaction
64
DP Capability
Real Capability
Predicted Capability Courtesy: MTS/Shell
65
SKP(a,b,c,d,e,f) Notation
a: the probability that the vessel can remain on station with all thrusters operating for location f and current speed e
b: the probability that the vessel can remain on station with the failure of minimum effect of single thruster for location f and current speed e
c: the probability that the vessel can remain on station with the failure of maximum effect single thruster for location f and current speed e
d: the probability that the vessel can remain on station with the worst case failure condition for location f and current speed e
e: current speed in knot (owner specify or typical 1.5 kt)
f: environment location (owner specify or typical North Sea) 66
SKP(a,b,c,d,e,f) Notation
Same analysis procedures for load and thrust calculation
May cover SKP if design environments are given and are within the limit
Require for the relationship between wind speeds and wave heights
Require probability of non-exceedance of wind speed
67
Wind & Wave Relationship (North Sea)
68
Result Presentation for SKP(a,b,c,d)
Typical DP Capability Plot 69
Section 9: Sub-sections
1 General
9 Other External Load
1.1 Definition
11 Available Thrust
1.1.1 SKP
11.1 Available Thrust for Thrusters
1.1.2 SKP (a,b,c,d)
11.3 Thruster-Thruster Interaction
1.1.3 Normal Operation Condition
11.5 Thruster-Hull Interaction
1.1.4 Standby Condition
11.7 Thruster-Current Interaction
11.9 Available Thrust for Transverse Tunnel Thrusters
3 Environmental Condition
3.1 Wind
3.3 Wave
13 Rudder Force
3.5 Current
15 SKP Calculation
3.7 Environment for SKP
15.1 SKP Notation
3.9 Environment for SKP (a,b,c,d)
15.3 SKP (a,b,c,d) Notation
5 Analysis Conditions
5.1 DP System Configurations
5.3 Operation Conditions
17 Documentation
7 Environmental Load Calculation
7.1 Wind and current force
7.3 Wave force 70
Documentation
Where the DP system is to be supplemented with a stationkeeping performance notation, the following information is to be submitted for review
General arrangement and lines plan
Thruster arrangement
Thruster power and thrust
Thruster interactions
Analysis procedures
Capability plots
Documentation on the environment conditions long term distribution (any area for intended service) Owner specified limiting environments
71
Section 10: Specific Vessel Types
1 Introduction
3 Mobile Offshore Drilling Units
Effect of drilling
Effect of emergency shutdown system
Effect of emergency disconnect system
Maintenance plan
5 Project or Construction Vessels
Suitable DP Control modes
Redundancy of relative position reference system
7 Logistics Vessels
Redundancy of relative position reference system
72
DPS Guide Development Milestones Jan 2012
Project Kickoff Divisions Technology TBDs Previous DP Consultant work
Jun 2012
Aug 2012
Oct 2012
Dec 2012
Review Initial development work
Project Plan
DPS draft guide development
Industry workshop
Consultant
DPS Guide Internal and external review
Rough Draft for DP consultants review and improvement 73
Summary
DPS Guide to reduce the gaps between industry practices and class requirements
New notations for enhanced system (EHS) and stationkeeping performance (SKP)
Provide systematic measurement
Provide more flexibility for owners and operators
Need industry s for further improvement
Shipbuilder Classification Society
Charterer
SHIP OWNER Shipping Financier
Underwriter
Flag State
Port State
74
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