1

What is dynamic Positioning?

It is a method to automatically maintain a vessel on its position and/ or heading or predefined track
by use of its thrusters and/or rudders
2
What elements involved in a DP System?
Environment, position, Operator and actual DP System (consisting of the ship, the DP control system
and DP Interface)
3
What are the pros of DP compared to a mooring system?
Mooring to seabed in deep water is troublesome DP is suitable for track keeping (pipe laying,
dredging, etc.) DP is often a quick disconnect able system DP is very suitable for short lasting
operations in which station keeping is required (people transfer, Firefighting etc.) Cost and
performance are independent of the water depth
4
DP Systems are divided into classes
There are three classes;
1) Automatic and manual position and heading control under specified maximum environmental
conditions;
2) #1 plus redundancy for a single fault (excluding loss of a compartment), so two independent
computer systems.
3) #2 plus loss a compartment due to a fire or a flood. So at least two computer systems with a
separate backup system.
5
DP Consist of
Sensors, actuators, a power system and the DP control system;
6
Define of a single point failure
It is any failure that results in the loss of position
7
Define three possible scenarios of position loss
Drive off;
Drift off;
Large excursion
8
Define Drive Off
Abnormal thruster forces driving vessel away from its target position. - Wrong target
Position in DP-control; one or several failed thrusters
 9
Define Equipment class 2
It’s required to have redundancy so that no single point in active system will cause the system to fail.
Loss of position should not occur from a single point fault of an active component - generators,
thrusters, switch boards, remote controlled valves, etc.
10
What is necessary to achieve class 2 redundancy?
It requires two computers and controllers on dual networks one active controlling and the other
passive and monitoring. Also required to have 3 PRS, 3 Gyro, 3 MRU and 2 wind sensors.
11
What is required to Equipment class 3?
Therefore in addition to the requirements of a class 2 to comply with class 3 requirements for
redundancy a DP vessel is required to have a fully remote DP System isolated from the main duplex or
triplex system by a class A60 bulkhead.
12
What is mathematical modelling?
It is a method of simulating real-life situations with mathematical algorithm or equations to predict
their future behaviour.
13
What is FMEA definition?
Failures Modes and Effect Analysis - tool used to identify, quantify, prioritize, and evaluate risk.goals:
reduce risk; ensure failures are detectible; prevent failure from happening.
14
Define DP Cability
Defines a DP vessel's station-keeping ability under given environmental and operational conditions.
DP capability analysis are used to establish the maximum weather conditions in which DP vessel can
maintain its position and heading for proposed thruster configuration.
15
Power system;
Thrusters and propulsion; environmental reference; position and heading reference.
16
Define weathervaning DP
Is the use of dynamic positioning to keep the vessel at fixed position while allowing the heading to
change to get heading with the least environmental load? This function is similar to single point
mooring systems and results into minimum power requirements.
17
Explain DGPS Sea Star XP correction
It has a combined dual-frequency GPS and SBAS receiver. This enables the system to both
compensate for errors introduced by high ionospheric activity and utilise the free of charge SBAS
corrections. Perfect system in the outskirts of SBAS coverage areas. Utilizes Seastar XP correction
service giving accuracy non decimetre level.
18
Explain find propeller drive
A speed controlled drive system is necessary for fixed-pitch propellers in order to control
the trust. Electrical drive systems with frequency converter units provide most efficient, reliable and
precisely controllable power for fixed-pitch propeller drives.
19
Explain CPP - controllable pitch propeller
It is driven by a constant speed induction motor
20
Explain FPP ( Fixed Pitch Propeller ) Thruster
The speed is variable by a SCR (Silicon Controlled Rectifier) - controlled DC motor. it must be driven
21
Explain Acoustic System
An underwater acoustic positioning system is a system for tracking and navigation of underwater
vehicles or divers by means of acoustic distance / or direction measurements, and subsequent
position triangulation. Underwater acoustic positioning systems are commonly used in a wide variety
of underwater work, including oil and gas exploration, ocean sciences, salvage operations, marine
archaeology, law enforcement and military activities.
22
Ultra short baseline
The ultra short Base line (USBL), principle is popular as it has the advantage that it only requires the
installation of one Hull mounted transducer and one Subsea transponder on the seabed or mobile
unit to establish a three-dimensional position. This is achieved by measuring the horizontal and
vertical angles together with the range to the transponder.
23
Explain Power Generation
The Generators are driven by Diesel engines, each of which should be provided with independent
services such as fuel, cooling and lubrication. In a diesel-electric installation, a number of generators
provide power to a switchboard on a "power station" basis.
24
Switchboards
Beside the direct propellers all power generated on board has to go through a Switchboard. Different
equipment is connected to either side of the main switchboards and one emergency switchboard. For
each equipment there is a automatic circuit breaker protecting the switchboard if there is a shortcuit
somewhere in the system.
25
Bearing
the horizontal direction of one terrestrial point from another, expressed as the angular distance from
a reference direction, clockwise through 360°.
 26
Crab angle
The angle between the vessel heading and the track.
27
Datum
Mathematical description of the shape of the earth (represented by flattening and semi-major axis as
well as the origin and orientation of the coordinate systems used to map the earth).
28
Dead reckoning
the process of determining the position of a vessel at any instant by applying to last well- determined
position the run that has since been made, based on the recent history of speed and heading
measurements.
29
Feedback
Signals returned from the process (vessel) and used as input signals to the Vessel Model.
30
Kalman filter
The Kalman filter is a set of mathematical equations that provides an efficient computational
(recursive) solution of the least-squares method. The filter is very powerful in several aspects; it
supports estimations of past, present and even future states, and it can also do so, even when the
precise nature of the modelled system is unknown.
31
Rate of Turn
Measurements from ROT sensors can be used to improve the heading control of the vessel. This is
useful to improve the heading control of the vessel. This is useful when very accurate heading control
is required during high-speed sailing, or when the vessel has a Hull shape that makes it difficult to
control the heading.
32
What is the Controller in DP for?
He controller calculates the resulting force to be produced by the thrusters/propellers in order for the
vessel to remain on station.
33
Which special characteristics the K-Pos DP controller be high precision control working with?
Relaxed control green control
34
Explain Wind Feed-Forward
In order to counteract the wind forces as quickly as possible, the feed-forward concept is used. This
means that the K-Pos DP System will not allow the vessel to drift away from the required position, but
counteracts the wind-induced forces as soon as they are detected.
 35
Current Feedback
The excursion feedback and wind feed-forward are not sufficient to bring the vessel back to the desire
set points due to unmeasured external forces (such as waves and current). The system estimates these
forces over time and calculates the force set point required to counteract them.
36
Thruster Allocation
The K-Pos DP System's controller continuously calculates the actual force requirements in the
alongships and
athwartships directions (the force setpoint), and the required rotational moment (the turning moment
setpoint).The Thruster Allocation distributes thes setpoints as pitch/RPM/force/load and azimuth
control signals to each thrister/ propeller, thus obtaining the force and moment required for the
position and heading control.
37
Define Thruster Allocation
It distributes these force demands as pitch and/ or RPM control signals to each thruster/ propeller,
thus obtaining the directional force and rotational moment required for the position and heading
control.
38
Reference System and Sensor Data Processing
Several different position-reference systems are normally used with the SDP system. The first position-
reference selected and accepted for use with the SDP system becomes the reference origin (the origin
ofthe internal co-ordinate system).
39
which configuration The Power Load Monitoring and- Diesel generators supplying thruster/
Blackout Prevention is prepared for? propeller electro-motors;
- Shaft generators supplying thruster electro-motors;
- A combination of Diesel generators and shaft Generators.
40
Define DP capability Analysis System
It predicts the maximum weather conditions in which the vessel is able to continue DP operations.
41
Online Consequence Analysis
It is a function that continuously performs an analysis of the vessel's ability to maintain its position
after a predefined, worst-case failure during operations. It is based on the actual weather conditions,
enabled thrusters and
power plant status.
42
Data Logger
It's available for SDP Systems. These functions may be used to record operational data or to
investigate reasons for an incident.
43
What is UPS for?
It’s to provide backup battery power for the system during the time of blackout.
44
What factors affect thruster efficiency during dynamic positioning?
1.Thruster - Hull interaction
2.Thruster - Thruster interaction
3.Wave effects + vessel motion
4.Current effects + forward speed
5.Free surface effects (air ventilation), Thrusters too close to the sea surface
45
What is the difference between DP current and real current?
'DP current' is the current value that the DP system shows on the DP screen. It is equal to: 'DP
current''=Thruster force - Wind LoadThus, DP is the total of external forces minus the wind load. It
includes: Current load, Wave load, External forces, All non-model phenomena (hydraudynamic effects
etc.)
46
What is a DP capability curve?
A DP capability curve shows the maximum wind speeds at each direction for which the vessel can
maintain position. The capability curves allows to find the limiting wind speed for safe DP operation of
the vessel.
47
Describe two approaches to "Weather Vaning DP", what are
System optimized heading: 3 fixed axes, the drawbacks of using such a DP systems? active heading
controlBi axial control: 2 fixed axes, passive heading
control
48
Redundancy
the existence of more than one means of performing a required function
49
Thruster phaseback
A method utilized to temporarily reduce power consumption following an event, to stabilize the
power plant and avoid a black-out
50
Critical activity mode of
This is generally a tabulated presentation of operation (CAMO) how to configure the vessel's DP
system, including power generation and distribution, propulsion and position reference systems, so
that the DP system, as a whole is fault tolerant and fault resistant. The CAMO table also sets out the
operator actions should the required configuration fail to be met. The term Safest Mode of operation
(SMO) has been previously used to describe CAMO.
51
What are seven desirable elements in any DP REDUNDANCY?
Independence; Segregation; Autonomy; Fault concept? Tolerance; Fault Resistance; Fault ride
through capability; Differentiation
52
A single failure includes:
1) Items listed for class 2, and any normally static component are assumed to fail.
2) All components in any watertight compartment, from fire or flooding.
3) All components in any one fire subdivision from fire or flooding.
53
There are two key elements in DP performance
1) holding capability
2) reliability.
54
Station keeping capability:
Is the ability of the vessel to maintain position and heading in defined environmental conditions.
55
Equipment Class 1:
Loss of position may occur in the event of a single fault. A single fault includes a single inadvertent act
by any person on board the DP Vessel.
56
Equipment class 2:
Loss of position should not occur from a single fault of an active component or system such as
generators, thrusters, switchboard, remote controlled valves, etc. But may occur after a failure of a
static component such as cables, pipes, manual valves, etc.
57
Equipment class 3:
Loss of position should not occur from any single failure including a completely burnt firesub division
or flooded watertight compartment.
58
How does HPR work?
HPR works with a reference point on the seabed and on the vessel. By measuring the distance
between these points, the position
of the vessel can be determined. Accuracy (0.1-5m).
59
Define Power Management System
- All components and systems necessary to supply the DP-system with power, which include:
- Prime movers with necessary auxiliary systems, piping; generators, switchboards, distribution system
(cabling and cable routing)
60
Define Thruster System
All components and systems necessary to supply the DP-system with thrust force and direction, which
include: Thrusters with drive units and necessary auxiliary systems; including piping; Main propellers
and rudders; Thruster control electronics; Manual thruster controls; Associated cabling.
61
Define DP-control system
All control components and systems, hardware and software necessary to dynamically position the
vessel, which include;
- computer system/ joystick system;
- Sensor System (wind, motions, etc).
- Display System (operator panels)
- Position Reference System
- Associated cabling.
62
Why is it beneficial to measure wind, and how is this Wind measurements can be used as feed
measurement used in a DP control system? forward control. The wind needs some
time to create the forces on the vessel.
63
Explain how DGPS can produce more accurate position than
For DGPS a reference point is used. The exact GPS location of this reference point is known and by
this means the error can be reduced compared to GPS.
64
Advantage of operating with open bus tie
Open bus-ties are often used when rapid recovery is inadequate to meet operational needs and
retention of thrusters is necessary. Operating with open bus tie reduces overall power plant reliability
but maintains the availability of thrusters during any equipment fault.
65
What does DQI stands for and its use in DGPS equipment?
Differential Quality Indicator - Indicates the quality of the position. If the quality of the
position is less than 5, the background color of the bar changes from grey to yellow. If it is less than 2,
then it is red.
66
Which factors can influence the Hydro acoustics?
- Noise; thruster, ship, drilling, waves, other hydro acoustic activity;
 Reflection: sea bottom, vessel, surface, subsea structures;
- Ray bending; Temperature layers, Salinity;
- Transmission losses: Spreading, Absortion
67
Thruster feedback
Availability of current/load measurement on a thruster, gives the DP System possibility to determine;
68
What is the purpose of Optimum Controller
Is to calculate the force which is to be exerted by the thrusters/ propellers in order to keep the vessel
at the required position or on the desired track.
69
What is FORCE DEMAND consist of?
Excursion Feedback; Wind Feed Forward Current Feedback.
70
Say five types of PRS in common use in DP Vessels
Hydro acoustic Position Reference; Taut Wire;
Differential Global Positioning (DGPS); Laser-
based Systems (Fanbeam and CyScan); Artemis
71
How many position reference is necessary to DP
Three position references. redundancy for operation?
72
What HPR consist of?
This system consists of one or more transponders placed on the seabed and a transducer placed in
the ship´s hull. The transducer sends an acoustic signal (by means of piezoelectric elements) to the
transponder, which is triggered to reply. As the velocity of sound is known, the distance is known.
Because there are many elements on the transducer, the direction of the signal from the transponder
can be determined. Now the position of the ship relative to the transponder can be calculated.
73
Name the three types of acoustic position reference system
USBL or SSBL, SBL and LBL. in common use
74
Common mode failure definition
A failure in which redundancy is defeated because all apparently separate and redundant elements
react adversely to a common stimulus.
75
Consequence analysis Definition
A monitoring function in the DP control system that issues an alarm if the vessel (in its current
operation mode) in the current weather conditions would not be able to keep the heading and
position in the case that the predefined worst case failure should occur.
 76
Control mode
Possible control modes of a DP-control system may be: automatic mode (automatic position and
heading control) joystick mode (manual position control with selectable automatic or manual heading
control) auto track mode (considered as a variant of automatic position control, with programmed
movement of reference point)manual mode (individual control of pitch and speed, azimuth, start and
stop of each thruster)
77
DP capability analysis
A theoretical calculation and presented as a polar plot of the vessel's capability to keep the position
for particular conditions of wind, waves and current from different directions. These should be
determined for different thruster combinations, e.g. all thrusters, loss of most effective thrusters, WCF.
78
DP control system
All control components and systems, hardware and software necessary to dynamically position the
vessel.The DP control system consists of the following: computer system / joystick system,
sensor system, (e.g. motion reference unit,
gyro, anemometer)
display system (operator panels),
position reference system and
associated cabling and cable routeing.
79
Dynamically positioned vessel (DP vessel)
A unit or a vessel which automatically maintains its position (fixed location or predetermined track)
exclusively by means of controlled thrust.
80
Failure/fault
The loss of ability to carry out a function within required limits.
81
Positioning reference system
All hardware, software and sensors that supply information and/or corrections necessary to give
position and heading reference, including its power supply.
82
Power system
All components and systems necessary to supply the DP system with power. The power system may
include:prime movers or main and auxiliary engines with necessary auxiliary systems (e.g. fuel-,
lubricating oil- , cooling water-, control air
systems) including piping, generators switchboards distributing system (cabling and cable routing)
UPS power management for DP 2 and DP 3
83
Redundancy
Ability of a component or system to maintain or restore its function immediately or in an acceptable
time for the task of the ship, when a single failure has occurred. Redundancy can be achieved for
instance by installation of multiple components, multiple systems or alternative means of performing
a required function.
84
Reliability
The ability of a component or system to perform its required function without failure during a
specified period of time.
85
Single failure concept
The single failure concept assumes that only one (single) failure is the initiating event for an undesired
occurrence. The simultaneous occurrence of independent failures is not considered. However,
common mode failures are to be examined
86
Thruster system
All components and systems necessary to the DP system with thrust force and thrust direction.The
thruster system includes:Thrusters with prime movers and necessary auxiliary systems including piping
(e.g. lateral thrust systems, rudder propeller) Main propellers and rudders if these are under the
control of the DP control systemThruster control electronicsManual thruster controls Associated
cabling and cable routeing
87
Worst case failure (WCF)
The identified single failure mode in the DP system resulting in maximum effect on DP capability as
determined through FMEA study
88
Which systems is FMEA performed on?
DP control system architecture, computers and consoles
•Position reference systems and sensors.
•Power generation and power management and distribution system
•Thrusters and Propulsion systems
•DP alert and other communication systems
•Human Factors are done at the same time in line with classification societies
89
reliability
the probability that an item can perform a required function under given conditions for a given time
interval
90
partial redundancy
system containing three of more redundant elements which are capable of performing the function in
combination (e.g. any two-out-of-three)
91
availability
the ratio of the total time a functional unit is capable of being used during a given interval to the
length of the interval
92
independence
with reference to main machinery such as generators and thrustersAuxiliary and control functions
should be provided in a manner that makes the machinery
as independent as practical to minimize the number of failures that can lead to the loss ofmore than
one main item of machinery.
93
separation
with reference to systems or equipment intended to provide redundancyReduce the number of
connections between systems to reduce the risk that failureeffectsmay propagate from one
redundant system to the other.
94
differentiation a method to avoid common mode failures by
introducing a change in personality ofredundant systems based on the same principle e.g. use of
Inertial Aided Navigation (IAN) on one of the two redundant GNSS systems)
95
loss of position
the vessel's position is outside the limits set for carrying out the industrial activity in progress as
defined in the WSOG/ASOG
96
thruster phaseback
a method utilized to temporarily reduce power consumption following an event, to stabilize the
power plant and avoid a black-out
97
critical activity mode of
this is generally a tabulated presentation of operation (CAMO) how to configure the vessel's DP
system, including power generation and distribution,
propulsion and position reference systems, so that the DP system, as a whole is fault tolerant and fault
resistant. The CAMO table also sets out the operator
actions should the required configuration fail to be met. The term Safest Mode of operation (SMO)
has been previously used to describe CAMO.
98
There are two key elements in DP performance:
1) holding capability
2) reliability.
99
Station keeping capability
Is the ability of the vessel to maintain position and heading in defined environmental conditions
100
Component reliability
As used in this document is the choice of individual elements of equipment or software for
prolonging mean time between failure (MTBF)
101
There are three key elements in any redundancy concept
1) performance
2) protection
3) detection
102
Performance
Holding capacity is fundamental to the design process. Appropriate engineering studies establish the
amount of installed thrust and power generation for the environmental ranges the vessel is designed
to operate in.
103
What is a DP capability plot? What is the use of such a plot
A polar diagram with a number of envelops position in a certain environment with a certain
combination of thrusters. - Scale of increasing wind speed - Fixed
current speed - Fixed relation wind speed and wave height. It depicts for a certain heading, the vessels
capability to withstand a certain wind speed coupled to a wave height and a current speed
104
Define Specified Operating Envelope
The specified operating envelope is the area within which the vessel is required to stay in order to
satisfactorily perform the intended operations under the specified maximum environmental
conditions.
105
Worst Case Failure (WCF)
The identified single fault in the DP system resulting in maximum effect on DP capability as
determined through the FMEA study. This worst case failure is to be used in the consequence analysis.
106
Closed Bus
Closed bus often describes an operational configuration where all or most sections and all or most
switchboards are connected together, that is, the bus-tie breakers between switchboards are closed.
The alternative to closed bus is open bus, sometimes called split bus or split ring. Closed bus is also
called joined bus, tied bus or closed-ring
107
Redundancy
Ability of a component or system to maintain or restore its function, when a single fault has occurred.
Redundancy can be achieved for instance by installation of multiple components, systems or
alternative means of performing a function.
108
Spinning reserve
the difference between online generator capacity and consumed power, is to be displayed in the DP
control station. The display is to be continuously available and is to be provided for individual bus
sections for split bus power arrangements.
109
Power Management System
The power management system is to be capable of operating with both open and closed bus-tie
breakers where applicable. For a DPS-2 or a DPS-3 notation, where DP operations are configured with
diesel electric driven thrusters, power management systems are to be provided. Power management
systems may be of an individual designed type or integrated with other switchboard/generator
control systems.
110
Thruster Configuration
The thruster arrangement is to provide adequate maneuverability under all operating conditions. The
layout of the multiple thrusters is to take into account the need for continued operation with the loss
of the most effective or critical thruster(s) (i.e., Worst Case Failure).
111
Thruster Auxiliary System
Auxiliary systems whose functions have a direct effect on the thruster system, for example, lubrication
oil, cooling water, control air and uninterrupted power supply systems, are to be provided for each
thruster system in a manner that supports the worst case failure design intent.
112
Emergency Stop
An emergency stop facility for each thruster is to be provided at the main DP control station. The
emergency stop facility is to be independent of the DP control systems, manual position control
system and manual thruster control system. The emergency stop
facility is to be arranged to shut down each thruster individually.
113
External Force
If there are external forces from other equipment that can affect the vessel positioning such as from
pipe tensioners, hawser tension, or fire monitors; then a careful system engineering approach is to be
implemented for automatic or manual feed forward compensation. This is to consider the
external sensor redundancy and failure modes. In addition to error checking acceptable signal ranges
are to be carefully bounded to be within a realistic range.
114
What is the Reference Origin?
The reference origin is determined by the first reference put into the system after a position dropout.
It's annotated by an asterisk on the ref system page.
115
What is the purpose of the diverter?
The diverter is a safety device designed to direct mud and gas overboard in an emergency.
116
What organizations publish guidance on DP operations?
MTS DP Committee and IMCA.
117
What is a nautical mile based on?
The circumference of the earth at the equator. Since the earth is 360 degrees of longitude around, and
degrees are broken into 60 so-called minutes", that means there are 360 * 60 =21,600 "minutes" of
longitude around the earth. This was taken as the basis for the nautical mile; thus, by definition, 1
minute of longitude at the equator is equal to 1 nautical mile.
118
What are the 4 main systems used for measuring relative position?
FanBeam, Cyscan, Radascan and Radius.
119
What does the 'differential' part of DGNSS do?
Provides a correction for clock and orbit errors from a fixed geographic location to make the GNSS
position calculated more accurate and to work around the deliberately added noise, aka 'selective
availability' should it be reintroduced.
120
What was 'selective availability'?
This is where the USA government can make GPS less accurate by deliberately introducing a noise
function that is only revealed to its military.
121
What can be done with two or more DGNSS to protect?
Set each DGNSS to different elevations against position jumps on both systems as a satellite comes
masks. Any jump in position that may occur in or out of both the constellations they are using? When
a satellite come in and out of view will hit one DGNSS system before the next and give the operator
some time to act.
122
In simple terms how does a short baseline acoustic system Measures the difference in arrival
time of an measure beacon position? Acoustic pulse at an orthogonal
array of hydrophones fitted on the vessel.
123
In simple terms how does a super short or ultra- short?
Measures the phase difference in arrival time baseline calculate transponder position? Of an acoustic
pulse at an orthogonal array of hydrophones fitted in a single transducer fitted on the vessel.
124
What activity on an 11 years cycle affects GPS and over what area of the globe?
Sunspots affecting mainly the magnetic equator that happens to run through most of the key
deepwater oil exploration areas - Brazil, West Africa and the Far East.
125
What does DARPs stand for and where is it used?
Differential Absolute and Relative Positioning System used by offtake tankers to know where they are
both in absolute position and relative to the FPSO's position and heading that it is offloading from.
126
What is an Artemis system and what is its main use recently?
A microwave system that measures the range and bearing of the vessels mobile unit from a fixed unit.
It is a relative system that has now been superseded by laser and radar relative systems? It is still used
by offtake tankers.
127
What is HDOP and PDOP?
HDOP (horizontal dilution of position) and PDOP (precision dilution of position) are a function of the
distribution of satellites in the sky. For the best HDOP and PDOP values, your satellites should be
evenly distributed in all four quadrants and at varying degrees of elevation from the horizon.
128
What are the 4 statistical position sensor tests?
Freeze Test, Prediction Test, Variance Test, and Slow Drift Test.
129
What are four failure modes that can cause a blackout on a DP vessel operating closed bus tie?
1) Governor failure
2) AVR failure
3) Short circuit and circuit bus tie(s) fail to open due to hidden a fault
4) Insufficient capacity in the remaining plant after worse case failure as the DP control system
immediately increases the load on the remaining thrusters and thereby generators and one of them
trips on overload.
130
What failure mode can cause a blackout on DP vessel regardless of whether its bus tie(s) are
open or closed bus?
Insufficient capacity in the remaining plant after worse case failure. This because the DP control
system immediately increases the load on the remaining thrusters, and thereby generators. The vessel
can black out if the remaining generators can't take the load and trip.
131
What are the Vertical/Motion Reference Units used for?
To remove roll and pitch related noise from the position reference systems measurements.
132
What environmental factor can be measured and control system?
The wind as measured the wind sensors compensated for directly a feed forward term by the DP
133
What action might a thruster variable frequency drive take autonomously take to avoid a black
out?
Phase back of thrust when it detects a reduction in bus bar frequency and or voltage.
134
What are the key pros and cons of controllable pitch fixed speed propellers?
Pros - Simple and inexpensive drive. Cons -complication is mechanical and hydraulic parts in sea water
that require dry-docking to fix, plus prone to failure to full pitch.
135
What are the key pro and cons of fix pitch fixed speed propellers?
Pro - simple propeller and the drive for it is on the vessel. Con - complicated drive electronics that
need specialized training to troubleshoot.
136
What is the main method of showing the station keeping capabilities of a DP vessel?
The capability plot.
137
What is a capability plot?
A polar plot or number of polar plots or envelopes on the same plot, depicting a DP vessel's
theoretical capability in various environmental conditions, for various thruster and power generation
combinations at various thrust and power system limits.
138
What is the main guidance on how to produce capability plots?
IMCA I 140.
139
What does a capability plot show?
The kind of environment in which a vessel can hold station.
140
Wind feed forward
In order to counteract the wind forces as quickly as possible, the feed forward concept is used. This
means that the DP system does not feed measured wind demand into the Kalman filter, but rather
counteracts the wind forces as soon as they are detected.
141
How does Thruster Allocation work?
The controller of the K-Pos DP system continuously calculates the actual force requirements in the
along ships and athwart ships directions (the force demand), and the required rotational moment (the
turning moment demand).The Thruster Allocation distributes these demands as pitch/rpm/force/load
and azimuth control signals to each thruster/propeller, thus obtaining the force and moment required
for the position and heading control.
142
What is the Median Test is for on DP System?
When three or more reference systems are in use, the median test detects when measurements from
one reference system differ from the others. The accuracy of the median test relies upon the presence
of three systems which have unique and discrete failure modes.

143
Define Station keeping capability
It is the ability of the vessel to maintain position and heading in defined environmental conditions.
144
Heading Reference
The DP vessel's heading is provided by one or more gyro compasses, which transmit data to the DP
control system. In vessels where redundancy is necessary, then two or three gyros are fitted.
145
How does the voting work for gyro in the DP system?
If three gyros are fitted, then the DP system may use two-out-of-three voting to detect a gyro failure,
and give an appropriate warning to the DPO. Three gyros are typically fitted in vessels complying with
equipment Class 2 or 3.
146
How does the feature quick ´current update', or 'fast learn' work?
This is a function which reduces the time constant of the integral term and allows the mathematical
model build-period to be radically reduced. This is intended to allow the system to better react to
rapidly changing tidal conditions or the new conditions after a large change of heading.
147
How does the wave drift is presented on DP system?
Wave drift forces build slowly and appear in the DP control system as current or sea force.
148
What does the VRU/MRU is used for?
This is to allow compensation to be applied to all the various position reference sensor inputs for
their offset from the centre of gravity of the vessel.
149
What does the VRS/MRU/VRU measures?
The MRU measures accelerations by the use of linear accelerometers and calculates inclination angles.
 150
Explain what the wind sensor data is used for is
This data is used to calculate wind-induced forces acting upon the vessel's hull and structure, allowing
these forces to be compensated before they cause a position or heading change.
151
What is the wind feed-forward for?
The wind feed-forward allows an immediate compensatory thrust to be applied in direct proportion
to the change detected in the wind speed and/or direction.
152
How the DP control system is protected against mains power failure?
The DP control system is protected against a mains power failure by the inclusion of an
uninterruptible power supply (UPS).
153
What is the use of the UPS?
This system provides a stabilised power supply that is not affected by short-term interruptions or
fluctuations of the ship's AC power supply.
154
What kind of energy supply is expected from UPS?
It supplies the computers, control consoles, displays, alarms and reference systems. In the event of an
interruption to the ship's main AC supply,
155
What is minimum time is expected to last the UPS supply?
Batteries will supply power these systems fora minimum of 30 minutes.
156
Three main types of thruster are fitted in DP vessels
Main propellers, tunnel thrusters and azimuth thrusters
157
What is the Variable Frequency Drive is for?
DC motors or frequency-converter systems
enable variable speed to be used with fixed-pitch propellers.
158
Controller gain - Explain the usage
Operation and weather dependent setting. Medium gain has proven to work fine in most conditions,
but during operations that require higher position accuracy or when increased footprint are
experienced, high gain setting might be used. During periods with calm wind and current conditions,
low gain might be used. (To be used with due care). Customized controller gain is not recommended.
159
In case of consequence analysis is received what is the procedure?
If a consequence analysis alarm is received, the DPO shall take corrective action by either: add more
thrust, power or reduce environmental loads. If he cannot take any corrective actions and the alarm
remains active, he shall initiate yellow status.
160
How many segments consist of GNSS System and which one is used by DP vessels?
A GNSS system consists of three segments: The space segment, the control segment andthe user
segment. It is the user segment that is widely used by DP vessels.
161
DP vessel design guidance is based on the 'seven pillars of Independence. Wisdom' in relation to the
design of fault tolerant dynamic position systems. The following attributes are intended to create a DP
system with 'predictable' failure modes:
• Segregation.• Autonomy.• Differentiation.• Fault tolerance. • Fault resistance.• Fault ride-through.
162
Define Precise Point Positioning' (PPP)
Can be used to describe various augmentation services and techniques. The term is ambiguous, but
usually describes a positioning methodoffering about 10cm accuracy via satellite signals offered by a
commercial service provider.
163
What other name for Precise Point Positioning?
Such solutions are sometimes called "orbit and clock" solutions.
164
Reliability of station keeping
Reliability is a product of the quality of the equipment and suppliers selected, the competence of the
engineers who design and build the DP vessel and the competence of the crew and management
who maintain and operate it.
165
Describe Independence:
Main machinery should be made as independent as possible. All reasonable measures should be
taken to limit the number
of failures that can lead to the loss of more
than one generator or one thruster to an absolute minimum.
166
Segregation:
Systems intended to provide redundancy should have as few common points connecting them as
possible. Dual supplies based on crude autochangeovers or diode isolation are typical examples of
well intentioned design features that can allow failure effects to propagate from one redundant
system to another.Physical separation is encouraged to prevent internal and external common cause
failures from succeeding in defeating the redundancy concept.
167
Autonomy:
Control and automation functions should bedecentralized to the point that each item of
mainmachinery (generators and thrusters) is capable of making itself ready for DP operations
independently of any centralized or hierarchical control system.
168
Fault tolerance:
DP systems of equipment classes 2 and 3 are required to be fault tolerant in respect of defined single
failure criteria appropriate to each DP class notation. It is essential that a comprehensive range of
failure modes is considered when evaluating the fault tolerance of a DP system.
169
Fault resistance:
DP related equipment should be selected on the basis of high reliability and resistance to internal and
external influences which may reduce that reliability.
170
Fault ride through capability:
The ability of redundant systems to continue in operating without malfunction when subjected to the
effect of failures in other systems to which the surviving systems are connected.
171
Differentiation:
The principles of differentiation, diversity and orthogonality in the design of redundant systems
should be used to best advantage. Where control systems depend on measurements from a number
of sources, consideration should be given to using a diversity of measurement methods to reduce the
risk of common mode failures.
172
Key elements of DP system performance
1) Holding capability
2) Reliability.
173
Station keeping capability:
It is the ability of the vessel to maintain position and heading in defined environmental conditions.
174
Component reliability
As used in this document is the choice of individual elements of equipment or software for prolonging
Mean Time Between
Failure (MTBF).
175
Key elements of redundant systems
1) Performance
2) Protection
3) Detection
176
Thrusters
The thrusters generate the counter forces necessary to establish the force equilibrium. A realistic
assessment of the actual thruster net forces acting on the vessel is a prerequisite for accurate polar
plots.
177
This system provides a stabilised power supply that is not affected by short-term
Interruptions or fluctuations of the ship's AC power supply.