DP

The Main Components of DP Systems

Set up DP from A to Z?
(UPS)Uninterruptible Power Supply
(PRS)Position reference system
Consequence Analysis Alarm Messages
Consequence analysis drift off warning
Mathematical model
Thruster allocation
Drift off
Drive off
Kalman filter
Consequence Analysis
(CAM)Critical Activity Mode
(CAMO)Critical Activity Mode of Operation
(TAM)Task Appropriate Mode
TAGOS Thruster and Generator Operating Strategy
(SMO)Safe Mode of Operation
ASOG
DP capability plot
DP1, DP2, DP3
DP foot print
(FMEA)Failure Modes and Effects Analysis
Single point failure
Hidden failure
(WCF) Worst case failure
(WCFDI)Worst Case Failure Design Intent
(WCF) in your vessel
Redundancy
TTT time to terminate
The Main Components of DP Systems
Test on position measurements
Freeze test
Variance test
Prediction test
Divergence test
Median test

Aramco approved 2nd officer DPO / Mahmoud Matar

You are supply vessel at rig location you observe drift off when on DP action to e
taken?
I will check the thrusters and position reference sensors
The Main Components of DP Systems
Computers / Controllers

Sensors
Positioning Reference Systems (PRS)

Operator Station (OS)

Operator (DPO)

Power Management System (PMS)

Thrusters

• Sensors
1. Heading Sensors ►Gyro compass
2. Vertical Motion Sensors (VRS) / Motion Reference Unit (MRU)
3. Environmental Sensor ►Wind Sensor (Anemometer / Ultrasonic wind sensor)
4. Tension Sensors ►Hawser Monitoring Tension Indicator System
►SPM & Tanker Mooring Hawser
►Plough Cable Tension
Set up DP from A to Z?
Drift test
Check lists
Escape route
Rate of turn 9`/min
Centre of rotation
Setting alarm warning for position and heading
Adjust speed in 500 m Zone 1.5 knots & speed in 200 zone 0.3 knots
(UPS)Uninterruptible Power Supply
*provided for each DP computer system
* UPS battery capacity should provide a minimum of 30 minutes operation following
main supply failure
(PRS)Position reference system
*To keep the vessel in a desired position it must utilize a position reference system
*The PRS identifies the vessel current`s position.
*This position can be▲ Absolute position ▲Relative position
Relative Absolute
Relative to target Geographic position
Laser Satellite
*Fan beam*Cyscan*spot track *DGPS *DGNSS
Microwave Underwater Acoustic
Artemis*Radascan*RADius (HPR) Hyrdoacoustic Position-
Reference
Taut wire

Aramco approved 2nd officer DPO / Mahmoud Matar

 Absolute = Geographic position
1. GNSS Global Navigation Satellite System
*GPS (United States).*GLONASS (Russia).*Galileo (European Union).
*BeiDou (China).*Anonymous (India).
2. Acoustics
*HPR Hyrdoacoustic Position Reference
*HiPAP High Precision Acoustic Positioning
*HAIN Hydroacoustic Aided Inertial Navigation
*Sonardyne
Relative = Relative to target
2. Laser
*Fan beam*Cyscan
3. Microwave
*Artemis*Radascan*RADius
5. Taut wire
Consequence Analysis Alarm Messages
If an analysis detects that a given worst-case single equipment failure will result in
insufficient thrust or power to maintain the vessel’s position and heading
an alarm message is displayed: Consequence analysis drift off warning
Consequence analysis drift off warning
If the message indicates that thrust is critical *you should enable more thrusters.
If the message indicates that power is critical *you should make more power
available.or*change to a more favourable heading.
Mathematical model
Dynamic Positioning requires a mathematical model
*to account for the wind, current and wave forces acting on a vessel
*and to calculate the forces applied by the vessel thrusters
to position the vessel at the required position.
Thruster allocation
Controller of DP system calculates the force demand and turning moment demand
And 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
Drift off
Insufficient thrust to maintain position and/or heading
Drive off
Excess thrust or thrust in the wrong direction
caused by thruster failure or DP control system error
Leading to
* Loss of position and/or heading
* Or an unacceptably large position Excursion
Kalman filter
Take data from PRS and sensors
Provides noise filtering of heading and position measurements
Build model of estimation of the effect of Forces current and waves
Give data to DP controller which calculates the force demand and turning moment
demand And thruster allocation distributes these demands as pitch/rpm/force/load and
Azimuth control signals to each thruster/propeller

Aramco approved 2nd officer DPO / Mahmoud Matar

 Consequence Analysis
*These is applied to class 2 and 3 systems
*This function continually performs analysis of the vessel's ability to maintain its
position and heading after a predefined, worst case failure during operation.
*Possible consequences are based on the actual
*weather conditions*enabled thrusters*power plant status.
(CAM)Critical Activity Mode
*Configuration that vessel`s dp system should be set up and operated so that no single
failure should result in exceeding the worst case failure
*Each DP vessel has only one CAM
(TAM)Task Appropriate Mode
*Configuration that vessel`s DP system may be set up and operated in accepting that a
single failure could result in exceeding the worst case failure and could result in black
out or loss of position.
(TAGOS) Thruster and Generator Operating Strategy
A document provides
informed guidance from the review of the FMEA and specific information
on configurations of
*thrusters*generators and power distribution*and associated constraints
To enable correct choices to be made to provide optimum level of redundancy.
(CAMO)Critical Activity Mode of Operation
*Tabulated presentation of how to configure the vessel `s DP system including
Power generation
Power distribution
Propulsion
Position reference systems
To deliver the intent of vessel`s DP class notation
*Set out the operator actions when the required configuration not be met
(SMO)Safe Mode of Operation
*The SMO sets out how the vessel’s DP system is to be configured so that it delivers
the intent of its DP Class 2 notations.
*The SMO is valid for all DP operations
There is any deviation from the SMO the vessel is no longer in a fully compliant state.
The SMO has two levels of response:*GREEN (normal) *BLUE (advisory)
Green
Definition
Normal operations
All systems and equipment fully operational
Response
For DP operations to commence and continue the conditions in the green column
must be met.
Blue
Definition
Advisory status
Green conditions are not met.
Response
DPO to notify the Master and the Client Rep.
Risk assessment used to determine if the operation will continue or be suspended

Aramco approved 2nd officer DPO / Mahmoud Matar

 ASOG
*sets out the operational, environmental and equipment performance limits considered
necessary for safe DP operations while carrying out a specific activity at a specific
location
*presented in tabulated format
*ASOG table gives the operator responses as these performance limits are approached
or exceeded.
*The ASOG has four levels of response
▬Green (normal), ▬Blue (advisory), ▬ Yellow (degraded) ▬Red (abandon).
Green
Definition
*Normal operations
*All systems fully functional and Operating within acceptable performance limits.
Response
For DP operations to commence and continue the conditions in the GREEN column
must be met.
Blue
Definition
*Advisory status
*approaching performance limits or reportable alarm status.
*Operations may continue while risks are detected
*DP equipment class 2 configuration is maintained.
* A failure has occurred that does not affect DP Redundancy.
Response
DPO should notify the Master and the Client Representative
Determine by risk assessment if the operation will continue or be suspended.
Yellow
Definition
*Degraded status
* reach Performance limits
*System failure cause loss of redundancy.
*The vessel maintains position although the DP system has been degraded.
Response
*DPO to notify the Master and the Client Representative
*Cease operations or move to a safe location.
*The operation should not be resumed until all risks have been fully assessed
Red
Definition
*Emergency status
* exceed performance limits,
* System failure causes loss of control or position
Response
*The DPO should take immediate action to ensure
The safety of *people*the environment*the operation of the vessel.
*DPO should notify the Master and the Client Representative.
*No DP operation recommenced until failure resolved and tested.
*posted at the main DP control location and be clearly visible to the DPO at all times.

Aramco approved 2nd officer DPO / Mahmoud Matar

 DP capability plot
*DP Capability Plots define by
Theoretical calculation for the vessel’s capability to maintain position in various
environmental conditions, (i.e. wind, sea state and current)
and, taking into account external forces, such as pipe tension and,
in various thruster/ power configurations, including all thrusters running, loss of most
effective thruster and following worst case failure.
- used in the risk assessment process
- Used to determine the safe working limits at offshore installations.
DP1, DP2, DP3
DP Class 1:
*has no redundancy.
*at least two position references systems should be available during operations.
*Loss of position may occur in the event of a single fault.
DP Class 2:
*Has redundancy
*at least two position reference systems should be available during operations.
*No single fault in active system will cause Loss of position
the system failure to fail.
*Loss of position should not occur from a single fault in active component or system
such as generators, thruster, switchboards, remote controlled valves etc.
* Loss of position may occur after failure of a static component as cables, pipes,..etc
*Two independent computer systems
DP Class 3:
*withstand fire or flood in any one compartment without the system failing.
*at least two position reference systems should be available during operations.
*at least one of the position reference systems should be connected directly to the
back up control system and separated by an A-60 class division from the other
position reference systems.
*Loss of position should not occur from any single failure including a complete fire in
sub division or flooding in watertight compartment.
*At least two independent computer systems with a separate back-up system
separated by A60 class division
DP foot print
*Shows the vessel`s observed excursions
in various environmental conditions
and in various thruster configurations
DP capability plot
*DP Capability Plots define by
Theoretical calculation for the vessel’s capability to maintain position
In various environmental conditions, (i.e. wind, sea state and current)
In various thruster/ power configurations, including all thrusters running, loss of most
effective thruster and following worst case failure.
and, taking into account external forces, such as pipe tension and,
DP foot print plots show
* the vessel`s position keeping "foot print " from the selected target position.
* Show the environmental limits at which the vessel is unable to maintain position.

Aramco approved 2nd officer DPO / Mahmoud Matar

 (FMEA)Failure Modes and Effects Analysis
Systematic analysis of the systems to whatever level of detail is required to
demonstrate that no single failure will cause undesired event.
The main purpose
Determine by analysis
*Effects of single failures on the DP system
*Effects on the ability of the vessel to maintain position and heading
In DP vessels class 2 and 3 DP FMEA should
*Determine the worst case failure mode
*Confirm the redundancy capability of the DP system
FMEA objectives
1. Identify potential design and process failures before they occur
2. Minimize the risk of failure by proposing design changes or operational procedures
3. Identify failure modes and their causes
4. Identify measures for eliminating or reducing the risks of each failure mode
5. Provide information for the operators to understand the capabilities and the
limitations of the system to achieve best performance
Single point failure
Any failure that causes the loss of position
There are three scenarios of position loss *Drive off *Drift off *Large excursion
design should be such that no single failure can cause any of the above position losses
Any single act of human error should be considered as a single point failure
DP System Classic Single Point Failure Examples
* Power Generation Failures * Thruster Failure * Position Reference System Failures
* Operator Error
Hidden failure
Dormant fault in a backup system not be realized until
*the first failure occurs
*the backup fails to take over and perform the required operations
(WCF) Worst case failure
The identified single failure mode in the DP system causes maximum effect on DP
capability as FMEA study
(WCFDI)Worst Case Failure Design Intent
*The single failure with the maximum consequences that has been the basis of the
design and operational conditions. This usually relates to a number of thrusters and
generators that can simultaneously fail.
*The worst-case failure design intent defines the minimum amount of machinery
(thrust capacity) that should remain operational and under control of the DP control
system following worst case failure.
(WCF) in your vessel
▲No single failure as defined for ABS DP notation dps-2
should have a greater effect on the vessel’s ability to maintain position and heading
than
*the loss of one main engine, *the loss of one shaft generator,
*the loss of one bow tunnel thruster *the loss of one main propulsion thruster
When the vessel’s power plant and Control system are configured for DP class 2
operations.
▲The failure modes and effects analysis found the worst case failure would be
*Loss of one main engine

Aramco approved 2nd officer DPO / Mahmoud Matar

 (Equivalently, loss of cooling sea water or cooling fresh water to one main engine,
QCV maloperation),
*Results in loss of one shaft generator, one bow tunnel thruster and one main
propulsion thruster.
Redundancy
Ability of system to maintain its function when a single failure occurred
TTT time to terminate
The amount of time required in an emergency to physically free the DP vessel from
its operational activity following DP abort status and allowing it to be maneuvered
clear and to proceed to safety
Time to terminate isnot fixed for the duration of a DP operation but will vary
according to the circumstances
The amount of time required in an emergency to physically free the DP vessel from
its operational activity following DP abort status and allowing it to be maneuvered
clear and to proceed to safety
Time to terminate isnot fixed for the duration of a DP operation but will vary
according to the circumstances
Test on position measurements
*DP system performs series of tests on each position reference system
*TO check that their positon measurements are accurate enough for use
1. Freeze test 2.Variance test 3. Prediction test 4. Divergence test 5. Median test
Prediction test
*Detects sudden jumps or large deviations in the measured position.
*The limit for the prediction test is function of the estimated position in the Vessel
Model and the actual measurement accuracy.
Median test
The median test performed when
*Three or more position-reference systems are in use.
*Detects position measurements that differ from the median position value with more
than a predefined limit.
*The test is mainly designed to detect slowly drifting position-reference systems.
*The Median Test Limit is taken as 80 % of the Minimum Prediction Error Limit.
Freeze test
Rejects repeated measurements
If the variation in the measured position is less than a system set limit over a given
period of time the position reference system is rejected
Variance test
*monitors the measurement variance
*Compares the variance value with a calculated limit
Divergence test
*When two or more position-reference systems are in use,
*This slow drift test detects when measurements from one Position-reference system
differ from the other(s).
*The limit is taken as 70 % of the prediction error limit.
*Gives a warning of systematic deviations and/or slow-drift before the system is
rejected by the prediction test

Aramco approved 2nd officer DPO / Mahmoud Matar