Kongsberg Maritime

Kongsberg Maritime

Dynamic Positioning

Sense

Assess

Respond

Dynamic
Positioning
Kongsberg Maritime

Six degrees of freedom

SURGE SWAY YAW

Measured by means of position reference systems Measured by means of gyro
Controlled by means of thrusters

H
L
E

PITCH ROLL HEAVE

Measured by means of vertical reference sensor.
VRS, VRU, MRU
Kongsberg Maritime

Forces

Three degrees of freedom

— Surge, Sway and Yaw

Environmental forces

— Wind, Waves and Current

Thrusters forces

— Tunnel thrusters
— Azimuth thrusters
— Propulsion / rudders

21/11/2008 Dynamic Positioning

4
Kongsberg Maritime

Measurements

Position measurements

— Satellite systems
— Radio systems
— Acoustic systems
— Taut Wire

Sensors

— Gyro
— Wind/Anemometer
— Log
— Vertical references
— Riser angles
— Draught
— External Forces
21/11/2008 Dynamic Positioning
5
Kongsberg Maritime

Basic DP Control

Kalman filtering

— Mathematical model of
vessel and thruster
— Estimation of position,
heading, speed and
environmental forces
— Dead Reckoning

Control forces

— Environmental compensation
— Restoring & damping

Thruster allocation

— Distribute commands to
thrusters
21/11/2008 Dynamic Positioning
6
Kongsberg Maritime

Operational Modes

Joystick
Auto Heading
Station & Area Keeping
Auto Pilot

— Course pilot
— Speed pilot
— Track pilot (ANTS)

Auto Track

— Low speed
— High speed

Follow Target (ROV)

21/11/2008 Dynamic Positioning
7
Kongsberg Maritime

SDP Modes - standard:

• Stand by Standby Manual

Auto
Pos

No output
Default setting
Sensor input
Built-in-trainer
Kongsberg Maritime

SDP Modes - standard:

Auto
• Manual Standby Manual
Pos

Thrusters enabled
PRS not necessary
Joystick control
Kongsberg Maritime

SDP Modes - standard:

• Manual Standby Manual

Auto
Pos

- with automatic heading control

(Auto: Yaw)

Surge & Sway

Kongsberg Maritime

SDP Modes - standard:

• Manual Standby Manual

Auto
Pos

- with automatic position control

(Auto: Surge & Sway)

Yaw
Kongsberg Maritime

SDP Modes - standard:

• Manual Standby Manual

Auto
Pos

- with automatic stabilization

(Auto: Surge + Yaw)

Sway
Kongsberg Maritime

SDP Modes - standard:

• Manual Auto
Standby Manual
Pos
- with automatic stabilization
(Auto: Sway + Yaw)

Surge
Kongsberg Maritime

SDP Modes - standard:

• Auto Position Auto

Standby Manual
Pos
(Auto: Surge + Sway + Yaw)
 Kongsberg Maritime

SDP Modes - standard:

• STAND BY

• MANUAL
– Manual with automatic heading control (A: YAW)
– Manual with automatic position control (A: SURGE + SWAY)
– Manual with automatic stabilization (A: YAW + SURGE or SWAY)

• AUTO POSITION
(A: SURGE + SWAY + YAW)
Kongsberg Maritime

SDP Modes - optional:

• AUTO TRACK

• FOLLOW TARGET
• AUTO AREA POSITION
• AUTO PILOT
• ANCHOR WATCH MODE
Kongsberg Maritime

IMO definition - Redundancy:

Redundancy means ability of a component

or system to maintain or restore its
function, when a single failure has occurred.
Kongsberg Maritime

IMO definition - Redundancy:

Redundancy can be achieved for instance by

installation of multiple components, systems
or alternative means of performing a
function.
Kongsberg Maritime

SDP 11 layout

ƒ Single stand-alone
ƒ One computer - DPC-11
ƒ Simple network
ƒ IMO Equipment class 1
Kongsberg Maritime

SDP 21 layout

ƒ Stand-alone system
ƒ Dual-redundant system
ƒ Two separate computers - DPC-21
ƒ Dual network
ƒ IMO Equipment class 2
Kongsberg Maritime

SDP 22 principles

Double set of sensors

Operator Operator A B
Station 1 Station 2 computer computer

Double data net

Online select Online select Online select Online select Online select Online select

Process Process Process Process Process Process

station station station station station station

Fore Bow Middle bow Aft bow Aft azimuth Port main Starboard main
thruster thruster thruster thruster propeller propeller
Kongsberg Maritime

SDP 31 layout

ƒ Stand-alone system
ƒ Triple-redundant system
ƒ Three separate computers - DPC-31
ƒ Dual network
ƒ IMO Equipment class 2
Kongsberg Maritime

Triple Modular Redundant Input Voting

First-level voting - detects interface errors between computers

A-computer B-computer C-computer

070 071 079 049 050 056 048 049 056

049
050
056

The three computers report their readings to the others, they

vote and selects the median value of each compass

AB DIFF A - message reported

Kongsberg Maritime

Triple Modular Redundant Input Voting

Second-level voting - detects errors in compass

A-computer B-computer C-computer

070 071 079 049 050 056 048 049 056

049
050
056

Rejected
050
The median of all the medians from
the first-level voting, is selected
Kongsberg Maritime

IMO Equipment Class 3 systems

ƒ SDP 21 or SDP 31 as main system

ƒ SDP 11 as backup system
ƒ Separate input from sensors and PRS
ƒ Separate output
ƒ Separated with A60 division
ƒ Manual switchover
Kongsberg Maritime

SDP in IAS Context

ƒ Integrated Automation
System (IAS)
ƒ SDP12, SDP22 and SDP32
ƒ Integrated system
ƒ SVC, STC and SDP
Kongsberg Maritime

Class 3 for integrated systems….

ƒ SDP 22 or SDP 32 as main

system
ƒ SDP 12 as backup system
Kongsberg Maritime

SJS01 - Independent Joystick System

Kongsberg Maritime

IMO DP Class Solutions

DP class 1

— Single system
— Independent joystick

DP class 2

— Redundant system
— Independent joystick

DP class 3

— Redundant main system

— Single backup system
— Fire & Flooding
— Independent joystick
Kongsberg Maritime
Kongsberg Maritime

DP System development

1977 ADP501 1 KS500 64k computer, HPR display

ADP502 1 KS500 64k computer, display processor
ADP503 3 KS500 64 k computers, 2 display processors
1979 ADP503 MkII 3 KS500 128k computers, 2 colour displays
ADP311 1 KS500 128k computer, 1 colour display, 1 cabinet
1983 APM3000 2 KS500 256k computers, 1 display
ADP100 3 SBC1000, 1 display
1987 ADP703 rev. 0 9 SBC1000, voting, 2 displays
1990 ADP701 rev. 0 2 SBC2000, 1 display
ADP700 1 SBC2000 with joystick terminal
1992 ADP701 MkI & II 1 SBC3000, 1 display
ADP702 MkI & II 2 SBC3000, 2 displays
ADP703 MkI & II 3 SBC3000, 3 displays
1996 SDP11 & 12 SBC400 I/O processor and std. NT workstation
SDP21 & 22 SBC400 I/O processor and std. NT workstation
SDP31 & 32 SBC400 I/O processor and std. NT workstation
SPM SBC400 I/O processor and std. NT workstation
SJS01/SDP01 Joystick/Compact DP (replace Robertson products)
Kongsberg Maritime

ADP 502

Seaway
Sandpiper
Kongsberg Maritime

ADP 503 MkII

Wilchief
Kongsberg Maritime

ADP 311

Big Orange
Kongsberg Maritime

ADP 503 + ADP 311

Lorelay
Kongsberg Maritime

APM

Polar Pioneer
Kongsberg Maritime

ADP 100

Polyviking
Kongsberg Maritime

ADP 703 rev 0

Discoverer 534
Kongsberg Maritime

DPC-21 Layout
Kongsberg Maritime

K-Pos DP Controllers
Kongsberg Maritime

RCU510 Technical data

Remote Controller Unit (RCU) is a real-time

single board computer and remote IO bus driver
and IO handling controller.

RCU 510 is based on PowerPC Host Processor

MPC 8245 running at 400MHz.

32 MByte SDRAM (133MHz), 16 Mbyte Flash

memory.