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MODULE 3 - Elements of Dynamic Positioning Systems

The document provides information about the key elements of a dynamic positioning (DP) system, including: 1. The three main sub-systems of a DP system are the power system, thruster system, and DP control system. 2. Triple modular redundancy (TMR) is used in Kongsberg K-Pos DP31 systems, with three identical computers performing the same tasks and majority voting to detect and isolate faults. 3. Advantages of TMR include fault tolerance, failure detection and isolation, and the ability to perform "hot repair" by replacing a failed computer while the other two continue operating.

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214 views

MODULE 3 - Elements of Dynamic Positioning Systems

The document provides information about the key elements of a dynamic positioning (DP) system, including: 1. The three main sub-systems of a DP system are the power system, thruster system, and DP control system. 2. Triple modular redundancy (TMR) is used in Kongsberg K-Pos DP31 systems, with three identical computers performing the same tasks and majority voting to detect and isolate faults. 3. Advantages of TMR include fault tolerance, failure detection and isolation, and the ability to perform "hot repair" by replacing a failed computer while the other two continue operating.

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gavin.vedder1980
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© © All Rights Reserved
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OFFICER TRAINIG CENTRE

of
Gdynia Maritime University

DP OPERATOR BASIC COURSE

MODULE 3:
Elements of Dynamic Positioning
Systems

Copyright © 2008 by Jaroslaw Cydejko


Dynamic Positioning System Elements
(IMO MSC/Circ. 645 Guidelines for Vessels with Dynamic Positioning System)

Dynamic positioning systems (DP-system) means the complete installation


necessary for dynamically positioning a vessel comprising the following sub-
systems:

1. power system 2. thruster system 3. DP-control


system.
system

Power system means all components and systems necessary to supply the
DP-system with power. The power system includes:
1) prime movers with necessary auxiliary systems including piping,
2) generators,
3) switchboards, and
4) distributing system (cabling and cable routeing).
Dynamic Positioning System Elements (2)
(IMO MSC/Circ. 645 Guidelines for Vessels with Dynamic Positioning System)
Thruster system means all components and systems necessary to supply the DP
system with thrust force and direction. The thruster system includes:
1) thrusters with drive units and necessary auxiliary systems including piping,
2) main propellers and rudders if these are under the control of the DP-system,
3) thruster control electronics,
4) manual thruster controls, and
5) associated cabling and cable routeing.

DP-control system means all control components and systems, hardware and
software necessary to dynamically position the vessel. The DP-control system
consists of the following:
1) computer system/joystick system,
2) sensor system,
3) display system (operator panels),
DP OPERATOR ???
4) position reference system, and
5) associated cabling and cable routeing.
Areas comprised by Dynamic Positioning System
(IMCA M 103 Guidelines for The Design and Operation
of Dynamically Positioned Vessels)

Position Environment Vessel attitude


REFERENCES: information information information

Position Control System


(DP computer)
CONTROL
Power Management System
(automatic or manual)

Consumption
POWER Generation Distribution (by propolution
system)
THRUSTER TYPES
MAIN PROPELLERS AND RUDDERS
TUNNEL THRUSTERS
AZIMUTH THRUSTERS
Kongsberg SDP MMI- Man Machine Interface:
• Operator station (OS)
• Dedicated DP panel
• Joystick
• Trackball
• Keyboard
• Monitor

Alstom A-series
(ConverTeam) Kongsberg K-pos
COMPUTERS (controllers)

DPC - 2 cabinet
(Dual)

RCU 501 controller

DPC - 2 cabinet
with SBC-400 controllers
DP Control Configuration:
external units

DPC - 2 cabinet
(Dual)
external units
Basic systems: DPC-21 Integrated systems: DPC-22
External units are coupled The external units are coupled to
directly to the computer the system through a computer network
ARTEMIS
DGPS
FANBEAM
Hydro Acoustic Position Reference System - HPR
TAUT WIRE
ENVIRONMENTAL SENSORS
GYROCOMPASSES
Vertical Reference Sensors - VRS
WIND SENSORS
Other Sensors
Sea current and waves are not
measured for DP purposes
DP Eqiupment Redundancy
„Redundancy means ability of a component or system to maintain or restore its
function, when a single failure has occurred. Redundancy can be achieved for
instance by installation of multiple components, systems or alternative means of
performing a function.”
(IMO MSC/Circ. 645 Guidelines for Vessels with Dynamic Positioning System)

SDP/ GreenDP - configurations K-Pos DP - configurations


DP Eqiupment SDP/ GreenDP
Redundancy
and IMO Classes

K-Pos DP
SDP System
various
configurations
K-pos DP 11 K-pos DP 21

x2

x2

x2
K-pos DP 31
Triple Modular Redundancy (TMR)
The three DP control computers perform the same
positioning tasks. Each individual computer uses
the same data from each of the sensors and
position-reference systems to calculate the
command signals to the thrusters/propellers.

The concept of majority voting is used to detect


x3 and isolate faults in the sensors and in the K-Pos
system itself. Once the voting has taken place, the
x3
failed (incorrect) computer will, if possible, correct
itself automatically, based on the values of the
x3
other computers.

All three control computers perform voting, but only


one of the control computers (the “master”
computer) communicates with the operator stations
and outputs serial-line information. The operator
can explicitly select the computer that is to be the
master.
Triple Modular Redundancy (TMR)
FEEDBACK
SIGNALS
THREE
SENSORS

COMPUTER COMPUTER COMPUTER


A B C

OUTPUTS

• THREE IDENTICAL ON-LINE COMPUTERS


• ALL THERE PERFORM THE SAME TASK AND ARE FED WITH THE SAME SENSOR DATA, RESULTS ARE
COMPARED
• IF ONE COMPUTER FAILS, THEN FAILURE IS AUTOMATICALLY DETECTED AND ISOLATED, THE SYSTEM
CONTINOUES UNAFFECTED
• FAILUTRE DETECTION BASED UPON MAJORITY (2 OUT OF 3) VOTING
• AFTER FAILURE THE INCORRECT PROCESSOR WILL BE AUTOMATICALLY CORRECTED FROM THE MAJORITY
VALUE FROM THE OTHER PROCESSORS
• IF CORRECTION (ABOVE) NOT POSSIBLE, THEN PROCESSOR CAN BE REPLACED WHILST THE OTHER TWO
CONTINUE (HOT REPAIR)
Triple Modular Redundancy (TMR)
The main advantages of triple redundancy are:

• Voting of sensor input signals


The voting is performed between tightly synchronised computers to:
- Detect sensor errors such as compass drift and sensor breakdown.
- Ensure that all three computers use the same data as a basis for calculation of
command signals.

• Software Implemented Fault Tolerance (SIFT)


The Triple Modular Redundancy (TMR) detects an error in the processing elements and
corrects the error by employing voting algorithms. The system represents a
Software Implemented Fault Tolerance (SIFT) concept.

• Voting on command (output) signals


- DP-31: The thruster commands from the three control computers are compared by the
“master” computer and the median command is selected to be the final output.
- DP-32: The voting of the thruster commands is performed in the thruster control field
station.
Triple Modular Redundancy (TMR)
Avantages (contd.):

• No single-point failure
The system is designed to avoid total system failure if single failure occurs.

• Failure detection
The system will detect a failure, allowing corrective action to be taken.

• Fault isolation
If one system component fails, the other components will not be affected.

• No standby unit, all computers are “hot”


If one DP control computer fails in a triple-redundancy system, the two other
computers continue working and perform dual-redundancy procedures in the same
way as a dual system. Should a second computer failure take place, there is an
automatic switchover to the remaining computer.

• Hot repair
It is possible to replace a computer while the other computers continue the operation.
What system is it?
K-pos
DP 22/ DP12

IMO Class III

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