Year: 2022 Language: English Author: Pawel Zalewski, Maritime University of Szczecin Genre: Training courses Publisher: Maritime University of Szczecin Edition: 5.9 Format: PDF Quality: eBook Pages count: 232 Description: Dynamic Positioning (DP) Operator’s Induction Course in Maritime University of Szczecin is provided solely on Norwegian Kongsberg’s simulators and trainers. Therefore all lectures, theory and practical exercises are based on Kongsberg’s DP philosophy. The main source for this manual are Capt. D. J. Bray publication, IMCA guidelines, NI guidelines and certification scheme and Kongsberg’s manuals. During the course participants will have their own Kongsberg operator stations with generic DP software (class C simulator equipment). The topics to be covered on the Induction course will include: • General principles of dynamic positioning. • The elements of a DP system: i. Computers and control elements ii. Position reference systems iii. Heading reference systems iv. Wind sensors and other environment reference systems v. Power generation elements. The UPS vi. Thrusters and manoeuvring systems • Position reference systems and other sensors; their principles of operation, their use, operational merits and limitations. • Practical demonstration and operation of a typical DP system. • DP vessel operations. Hazards associated with certain types of operation, e.g. shallow water and strong tides. • Power generation, distribution and management. • DP watch keeping and watch handover procedures. Documentation. Communications. At the end of the course the student should: • Have acquired knowledge of the principles of DP. • Have acquired a basic understanding of how to set up a DP system. • Have an understanding of the practical operation of associated equipment, including position reference systems. • Be able to recognise the various alarm, warning and information messages. • Be able to relate the DP installation to the ship system, including (but not limited to) power supply, manoeuvring facility, available position reference systems and nature of work. • Be able to relate DP operations to the existing environmental conditions of wind, sea state, current/tidal stream and vessel movement.
Contents
Contents ................................................................. 5 Foreword ................................................................. 11 1. Course Aims and Objectives ............................................ 12 2. Course Assessment ..................................................... 17 3. Course Timetable ...................................................... 18 4. Health and safety information ......................................... 20 5. Student’s complaint / appeal procedure................................. 21 6. DP Principles ......................................................... 22 6.1. Historical Background to DP Development ............................. 23 6.2. Comparison of DP and Anchoring Techniques............................ 24 6.3. Vessel Movement ..................................................... 25 6.4. Heading Priority .................................................... 27 6.5. Centre of Rotation .................................................. 27 7. DP Practice & Procedures .............................................. 29 7.1. CAM ................................................................. 29 7.2. TAM ................................................................. 29 7.3. ASOG ................................................................ 30 7.4. Operational Planning ................................................ 32 7.5. Contingency Planning ................................................ 34 7.6. Problems in deep water locations .................................... 35 7.7. DP operations in shallow waters ..................................... 36 7.8. Solitons ............................................................ 39 7.9. Watchkeeping ........................................................ 40 7.10. Checklists ......................................................... 41 7.11. Risk Assessment and Safety Cases ................................... 44 7.12. FMEA ............................................................... 48 8. DP System Elements and Equipment ...................................... 51 8.1. Control elements .................................................... 51 8.2. Position Reference................................................... 52 8.3. Taut Wire System .................................................... 53 8.4. ARTEMIS Microwave System ............................................ 53 8.5. HPR ................................................................. 53 8.6. DGPS ................................................................ 53 8.7. Heading Reference ................................................... 54 8.7.1. Operation and Selection of Heading Sensor ......................... 54 8.8. Environment Reference Systems or Sensors ............................ 55 8.8.1. Operation and Selection of Wind Sensor ............................ 57 8.8.2. Operation and Selection of VRS .................................... 58 8.8.3. Operation and Selection of Draught Sensor ......................... 59 8.8.4. Operation and Selection of Speed Sensor ........................... 60 8.8.5. Operation and Selection of ROT Sensor ............................. 61 8.9. Heading and Motion Sensor in One..................................... 62 9. DP Control System...................................................... 66 9.1. Compensation for wind forces ........................................ 66 9.2. The Mathematical Model .............................................. 67 9.2.1. Thruster Allocation ............................................... 69 9.2.2. Reference System and Sensor Data Processing ....................... 69 9.2.3. Power Load Monitoring and Blackout Prevention ..................... 70 9.2.4. Built-in Trainer .................................................. 70 9.2.5. Online Consequence Analysis ....................................... 71 9.2.6. Data Logging System ............................................... 71 9.3. Human Machine Interface (HMI) ....................................... 71 9.4. Operational Modes ................................................... 73 9.4.1. Standby Mode ...................................................... 73 9.4.2. Manual Mode ....................................................... 73 9.4.3. Auto Position Modes ............................................... 73 10. System Redundancy and Equipment Classes............................... 76 11. K-Pos Systems ........................................................ 79 11.1. The K-Pos Family of DP Systems ..................................... 79 11.2. Integrated Automation System (IAS) ................................. 80 11.3. K-Chief - Marine Automation ........................................ 80 11.4. K-Thrust - Thruster Control ........................................ 80 11.5. The K-Pos OS (Operator Station) .................................... 80 11.6. The cJoy DP-OT and the cWing ....................................... 81 11.7. The K-Pos DPC (DP Controller) ...................................... 81 11.8. Network ............................................................ 83 11.9. K-Pos DP-11 and DP-12 .............................................. 83 11.10. K-Pos DP-21 and DP-22 ............................................. 84 11.11. K-Pos DP-31 and DP-32 ............................................. 85 11.12. K-Pos in Integrated Automation System Context ..................... 87 11.13. K-Pos IMO Equipment Class 3 Systems ............................... 87 11.13.1. K-Pos DP-21/31 and DP-11 Standard Configuration ................. 88 11.13.2. K-Pos DP-22/32 and DP-12 Standard Configuration ................. 89 11.14. K-Pos Extensions and Upgrades ..................................... 89 11.15. Hybrid propulsion ................................................. 91 12. Position Reference Inputs – Pooling of Data........................... 98 13. Satellite Systems .................................................... 100 13.1. GPS................................................................. 100 13.1.1. Control segment .................................................. 101 13.1.2. User segment ..................................................... 102 13.1.3. GPS Services ..................................................... 103 13.1.4. Satellite Signal ................................................. 103 13.1.5. Positioning Principle ............................................ 104 13.1.6. Travel Time ...................................................... 105 13.1.7. Sources of GPS Error ............................................. 105 13.1.8. GPS Error Source Budget .......................................... 107 13.1.9. Dilution of Precision (DOP) ...................................... 107 13.2. DGPS (Differential GPS) ............................................ 107 13.2.1. DGPS Error Source Budget ......................................... 108 13.3. Relative Positioning - DARPS ....................................... 109 13.4. GLONASS ............................................................ 109 13.5. DPS 5D ............................................................. 110 13.6. DPS i4 ............................................................. 112 14. Acoustics systems - HPR .............................................. 115 14.1. Sound in Water ..................................................... 115 14.1.1. Ray Bending ...................................................... 116 14.1.2. Sound Profile .................................................... 116 14.1.3. Signal Loss ...................................................... 117 14.1.4. Noise ............................................................ 117 14.2. Operational Principles - LBL / SBL / SSBL .......................... 118 14.2.1. SSBL Principle (Super Short Base Line) ........................... 119 14.2.2. LBL Principle (Long Base Line) ................................... 119 14.3. Transducers and Transducer Elements ................................ 120 14.4. Transponders ....................................................... 120 14.4.1. Transponder Deployment ........................................... 121 14.4.2. Transponder Models ............................................... 123 15. Acoustics systems - HiPAP ............................................ 125 15.1. Models of the HiPAP family ......................................... 134 16. Acoustic systems - HAIN .............................................. 138 16.1. The nature of an Inertial Navigation System ........................ 138 17. Artemis .............................................................. 143 17.1. System Specifications .............................................. 144 17.2. Absolute Positioning Alignment...................................... 145 17.3. Relative Positioning Alignment ..................................... 145 17.4. Antenna Tracking ................................................... 146 17.5. Distance Measurement (Range) ....................................... 147 17.6. Dip Zones .......................................................... 147 17.7. Artemis Mk III System .............................................. 148 17.8. Artemis Mk IV and Mk V System ...................................... 148 17.9. Antenna Indicator Display .......................................... 149 17.10. Operation ......................................................... 150 17.11. Artemis Mk IV / V Beacon .......................................... 151 17.12. Operation of Two Systems .......................................... 152 18. RADius................................................................ 154 18.1. Transponder Types .................................................. 154 18.2. Operator Interface ................................................. 155 18.3. Operational Use .................................................... 156 18.4. Positioning Principle .............................................. 158 18.4.1. Range – Measurement Principle..................................... 158 18.4.2. Relative Bearing – Measurement Principle ......................... 158 18.4.3. Velocity – Measurement Principle ................................. 159 18.4.4. Operational Ranges ............................................... 159 18.5. Advantages ......................................................... 160 18.6. Disadvantages ...................................................... 160 19. Fanbeam .............................................................. 160 19.1. Targets ............................................................ 161 19.2. Range Measurements ................................................. 161 19.3. Bearing Measurements ............................................... 162 19.4. Operation .......................................................... 162 19.4.1. Searching and Selecting a Target ................................. 163 19.4.2. Possible Problems................................................. 164 19.4.3. Data Shown on the Display ........................................ 164 19.5. Maintenance ........................................................ 165 20. Taut Wire ............................................................ 166 20.1. Light Weight Taut Wire (LTW) ....................................... 167 20.2. Moon Pool Taut Wire ................................................ 168 20.3. Surface Taut Wire .................................................. 169 20.4. Limitations of the System .......................................... 170 21. The UTM Co-ordinate System ........................................... 171 22. DP Operational Modes and Applications ................................ 175 22.1. Auto Track Modes ................................................... 175 22.1.1. Auto Track Mode - low speed ...................................... 175 22.1.2. Auto Track Mode - high speed ..................................... 178 22.1.3. Autopilot Mode ................................................... 179 22.1.4. Follow Target Mode ............................................... 180 22.2. Offshore Loading ................................................... 181 22.2.1. Weather Vaning ................................................... 181 22.3. Offshore Logistics ................................................. 186 22.4. Dive Support Operations ............................................ 187 22.5. Survey and ROV support vessels ..................................... 189 22.6. FPV and FPSO ....................................................... 189 22.7. Pipelaying ......................................................... 190 22.8. Trenching and Burying Operations ................................... 191 22.9. Cable Lay and Repair Operations .................................... 192 22.10. Dredging .......................................................... 193 22.11. Rock Dumping ...................................................... 193 22.12. Crane Barges ...................................................... 194 22.13. Offshore Drilling ................................................. 195 22.14. Cargo and Cruise Vessels .......................................... 196 22.15. Military Vessels................................................... 196 23. Thrusters ............................................................ 197 23.1. Thruster Allocation Modes........................................... 198 23.2. Thruster Failure Modes ............................................. 200 24. Power ................................................................ 201 24.1. Power Generation ................................................... 201 24.2. Switchboards ....................................................... 201 24.3. Power Management ................................................... 201 24.4. UPS Uninterruptible Power Supplies ................................. 202 25. Rules and Regulations ................................................ 203 25.1. The IMO Guidelines for Vessels with Dynamic Positioning Systems .... 203 25.2. The IMCA Guidelines ................................................ 205 25.3. The Norwegian Guidelines............................................ 209 26. Equipment Requirements ............................................... 211
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Offshore DP Induction Course Manual - Pawel Zalewski, Maritime University of Szczecin [2022].pdf
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Offshore DP Induction Course Manual
Language: English
Author: Pawel Zalewski, Maritime University of Szczecin
Genre: Training courses
Publisher: Maritime University of Szczecin
Edition: 5.9
Format: PDF
Quality: eBook
Pages count: 232
Description: Dynamic Positioning (DP) Operator’s Induction Course in Maritime University of Szczecin is provided solely on Norwegian Kongsberg’s simulators and trainers. Therefore all lectures, theory and practical exercises are based on Kongsberg’s DP philosophy. The main source for this manual are Capt. D. J. Bray publication, IMCA guidelines, NI guidelines and certification scheme and Kongsberg’s manuals. During the course participants will have their own Kongsberg operator stations with generic DP software (class C simulator equipment).
The topics to be covered on the Induction course will include:
• General principles of dynamic positioning.
• The elements of a DP system:
i. Computers and control elements
ii. Position reference systems
iii. Heading reference systems
iv. Wind sensors and other environment reference systems
v. Power generation elements. The UPS
vi. Thrusters and manoeuvring systems
• Position reference systems and other sensors; their principles of operation, their use, operational merits and limitations.
• Practical demonstration and operation of a typical DP system.
• DP vessel operations. Hazards associated with certain types of operation, e.g. shallow water and strong tides.
• Power generation, distribution and management.
• DP watch keeping and watch handover procedures. Documentation. Communications.
At the end of the course the student should:
• Have acquired knowledge of the principles of DP.
• Have acquired a basic understanding of how to set up a DP system.
• Have an understanding of the practical operation of associated equipment, including position reference systems.
• Be able to recognise the various alarm, warning and information messages.
• Be able to relate the DP installation to the ship system, including (but not limited to) power supply, manoeuvring facility, available position reference systems and nature of work.
• Be able to relate DP operations to the existing environmental conditions of wind, sea state, current/tidal stream and vessel movement.
Contents
Foreword ................................................................. 11
1. Course Aims and Objectives ............................................ 12
2. Course Assessment ..................................................... 17
3. Course Timetable ...................................................... 18
4. Health and safety information ......................................... 20
5. Student’s complaint / appeal procedure................................. 21
6. DP Principles ......................................................... 22
6.1. Historical Background to DP Development ............................. 23
6.2. Comparison of DP and Anchoring Techniques............................ 24
6.3. Vessel Movement ..................................................... 25
6.4. Heading Priority .................................................... 27
6.5. Centre of Rotation .................................................. 27
7. DP Practice & Procedures .............................................. 29
7.1. CAM ................................................................. 29
7.2. TAM ................................................................. 29
7.3. ASOG ................................................................ 30
7.4. Operational Planning ................................................ 32
7.5. Contingency Planning ................................................ 34
7.6. Problems in deep water locations .................................... 35
7.7. DP operations in shallow waters ..................................... 36
7.8. Solitons ............................................................ 39
7.9. Watchkeeping ........................................................ 40
7.10. Checklists ......................................................... 41
7.11. Risk Assessment and Safety Cases ................................... 44
7.12. FMEA ............................................................... 48
8. DP System Elements and Equipment ...................................... 51
8.1. Control elements .................................................... 51
8.2. Position Reference................................................... 52
8.3. Taut Wire System .................................................... 53
8.4. ARTEMIS Microwave System ............................................ 53
8.5. HPR ................................................................. 53
8.6. DGPS ................................................................ 53
8.7. Heading Reference ................................................... 54
8.7.1. Operation and Selection of Heading Sensor ......................... 54
8.8. Environment Reference Systems or Sensors ............................ 55
8.8.1. Operation and Selection of Wind Sensor ............................ 57
8.8.2. Operation and Selection of VRS .................................... 58
8.8.3. Operation and Selection of Draught Sensor ......................... 59
8.8.4. Operation and Selection of Speed Sensor ........................... 60
8.8.5. Operation and Selection of ROT Sensor ............................. 61
8.9. Heading and Motion Sensor in One..................................... 62
9. DP Control System...................................................... 66
9.1. Compensation for wind forces ........................................ 66
9.2. The Mathematical Model .............................................. 67
9.2.1. Thruster Allocation ............................................... 69
9.2.2. Reference System and Sensor Data Processing ....................... 69
9.2.3. Power Load Monitoring and Blackout Prevention ..................... 70
9.2.4. Built-in Trainer .................................................. 70
9.2.5. Online Consequence Analysis ....................................... 71
9.2.6. Data Logging System ............................................... 71
9.3. Human Machine Interface (HMI) ....................................... 71
9.4. Operational Modes ................................................... 73
9.4.1. Standby Mode ...................................................... 73
9.4.2. Manual Mode ....................................................... 73
9.4.3. Auto Position Modes ............................................... 73
10. System Redundancy and Equipment Classes............................... 76
11. K-Pos Systems ........................................................ 79
11.1. The K-Pos Family of DP Systems ..................................... 79
11.2. Integrated Automation System (IAS) ................................. 80
11.3. K-Chief - Marine Automation ........................................ 80
11.4. K-Thrust - Thruster Control ........................................ 80
11.5. The K-Pos OS (Operator Station) .................................... 80
11.6. The cJoy DP-OT and the cWing ....................................... 81
11.7. The K-Pos DPC (DP Controller) ...................................... 81
11.8. Network ............................................................ 83
11.9. K-Pos DP-11 and DP-12 .............................................. 83
11.10. K-Pos DP-21 and DP-22 ............................................. 84
11.11. K-Pos DP-31 and DP-32 ............................................. 85
11.12. K-Pos in Integrated Automation System Context ..................... 87
11.13. K-Pos IMO Equipment Class 3 Systems ............................... 87
11.13.1. K-Pos DP-21/31 and DP-11 Standard Configuration ................. 88
11.13.2. K-Pos DP-22/32 and DP-12 Standard Configuration ................. 89
11.14. K-Pos Extensions and Upgrades ..................................... 89
11.15. Hybrid propulsion ................................................. 91
12. Position Reference Inputs – Pooling of Data........................... 98
13. Satellite Systems .................................................... 100
13.1. GPS................................................................. 100
13.1.1. Control segment .................................................. 101
13.1.2. User segment ..................................................... 102
13.1.3. GPS Services ..................................................... 103
13.1.4. Satellite Signal ................................................. 103
13.1.5. Positioning Principle ............................................ 104
13.1.6. Travel Time ...................................................... 105
13.1.7. Sources of GPS Error ............................................. 105
13.1.8. GPS Error Source Budget .......................................... 107
13.1.9. Dilution of Precision (DOP) ...................................... 107
13.2. DGPS (Differential GPS) ............................................ 107
13.2.1. DGPS Error Source Budget ......................................... 108
13.3. Relative Positioning - DARPS ....................................... 109
13.4. GLONASS ............................................................ 109
13.5. DPS 5D ............................................................. 110
13.6. DPS i4 ............................................................. 112
14. Acoustics systems - HPR .............................................. 115
14.1. Sound in Water ..................................................... 115
14.1.1. Ray Bending ...................................................... 116
14.1.2. Sound Profile .................................................... 116
14.1.3. Signal Loss ...................................................... 117
14.1.4. Noise ............................................................ 117
14.2. Operational Principles - LBL / SBL / SSBL .......................... 118
14.2.1. SSBL Principle (Super Short Base Line) ........................... 119
14.2.2. LBL Principle (Long Base Line) ................................... 119
14.3. Transducers and Transducer Elements ................................ 120
14.4. Transponders ....................................................... 120
14.4.1. Transponder Deployment ........................................... 121
14.4.2. Transponder Models ............................................... 123
15. Acoustics systems - HiPAP ............................................ 125
15.1. Models of the HiPAP family ......................................... 134
16. Acoustic systems - HAIN .............................................. 138
16.1. The nature of an Inertial Navigation System ........................ 138
17. Artemis .............................................................. 143
17.1. System Specifications .............................................. 144
17.2. Absolute Positioning Alignment...................................... 145
17.3. Relative Positioning Alignment ..................................... 145
17.4. Antenna Tracking ................................................... 146
17.5. Distance Measurement (Range) ....................................... 147
17.6. Dip Zones .......................................................... 147
17.7. Artemis Mk III System .............................................. 148
17.8. Artemis Mk IV and Mk V System ...................................... 148
17.9. Antenna Indicator Display .......................................... 149
17.10. Operation ......................................................... 150
17.11. Artemis Mk IV / V Beacon .......................................... 151
17.12. Operation of Two Systems .......................................... 152
18. RADius................................................................ 154
18.1. Transponder Types .................................................. 154
18.2. Operator Interface ................................................. 155
18.3. Operational Use .................................................... 156
18.4. Positioning Principle .............................................. 158
18.4.1. Range – Measurement Principle..................................... 158
18.4.2. Relative Bearing – Measurement Principle ......................... 158
18.4.3. Velocity – Measurement Principle ................................. 159
18.4.4. Operational Ranges ............................................... 159
18.5. Advantages ......................................................... 160
18.6. Disadvantages ...................................................... 160
19. Fanbeam .............................................................. 160
19.1. Targets ............................................................ 161
19.2. Range Measurements ................................................. 161
19.3. Bearing Measurements ............................................... 162
19.4. Operation .......................................................... 162
19.4.1. Searching and Selecting a Target ................................. 163
19.4.2. Possible Problems................................................. 164
19.4.3. Data Shown on the Display ........................................ 164
19.5. Maintenance ........................................................ 165
20. Taut Wire ............................................................ 166
20.1. Light Weight Taut Wire (LTW) ....................................... 167
20.2. Moon Pool Taut Wire ................................................ 168
20.3. Surface Taut Wire .................................................. 169
20.4. Limitations of the System .......................................... 170
21. The UTM Co-ordinate System ........................................... 171
22. DP Operational Modes and Applications ................................ 175
22.1. Auto Track Modes ................................................... 175
22.1.1. Auto Track Mode - low speed ...................................... 175
22.1.2. Auto Track Mode - high speed ..................................... 178
22.1.3. Autopilot Mode ................................................... 179
22.1.4. Follow Target Mode ............................................... 180
22.2. Offshore Loading ................................................... 181
22.2.1. Weather Vaning ................................................... 181
22.3. Offshore Logistics ................................................. 186
22.4. Dive Support Operations ............................................ 187
22.5. Survey and ROV support vessels ..................................... 189
22.6. FPV and FPSO ....................................................... 189
22.7. Pipelaying ......................................................... 190
22.8. Trenching and Burying Operations ................................... 191
22.9. Cable Lay and Repair Operations .................................... 192
22.10. Dredging .......................................................... 193
22.11. Rock Dumping ...................................................... 193
22.12. Crane Barges ...................................................... 194
22.13. Offshore Drilling ................................................. 195
22.14. Cargo and Cruise Vessels .......................................... 196
22.15. Military Vessels................................................... 196
23. Thrusters ............................................................ 197
23.1. Thruster Allocation Modes........................................... 198
23.2. Thruster Failure Modes ............................................. 200
24. Power ................................................................ 201
24.1. Power Generation ................................................... 201
24.2. Switchboards ....................................................... 201
24.3. Power Management ................................................... 201
24.4. UPS Uninterruptible Power Supplies ................................. 202
25. Rules and Regulations ................................................ 203
25.1. The IMO Guidelines for Vessels with Dynamic Positioning Systems .... 203
25.2. The IMCA Guidelines ................................................ 205
25.3. The Norwegian Guidelines............................................ 209
26. Equipment Requirements ............................................... 211
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