DP BASIC COURSE

WHAT IS DYNAMIC POSITIONING?

DP is a computer based system that actively controls thusters to maintain a vessel at a
defined heading/position setpoint against the enviromental forces (wind forces and
calculated current forces).

WHAT ARE DE SIX DEGREES OF FREEDOM OF A VESSEL?

A) At first 3 horizontal degrees of freedom that DP System is trying to control.
• Auto Yaw Control ( Heading )
You need a gyro compass imput before engaging Auto Yaw
• Auto Sway Control : lateral movement
• Auto Surge Control : Fore and aft movements
You need a calibrated an accepted Position Reference System (PRS); before you
can select either Auto Surge and/or Auto Sway controls.Defined Position
Setpoint against enviromental forces.

B) The 3 vertical degreees of freedom that is important for a DP System to

measure.
• Pitch
• Roll
• Heave
The sensor that measures pitch, roll and heave motions is called as follows
• VRS Vertical Reference System (kongsberg)
• MRU Motion Reference Unit
• VRU Vertical Reference Unit
All position Measurements are based from CG (Center of Gravity)

WHY IS SUCH IMPORTANT FOR A VRS IMPUT TO THE DP SYSTEM?

VRS measure pitch and roll motions to correct for the PRS locations example:
1.- GPS ANTENNA
2.- FANBEAM
3.-TAUT WIRE
4.- HPR
Heave is importan for drilling vessels for heave conditions

WHAT IS THE TERM VESSEL MODEL?

The vessel model is a mathematical program that predicts the vessel motions against the
external forces. The vessel model predicts how the vessel is going to react to those
external forces. The vessel model has de hydrodynamic description of the vessel´s hull
form.
WHAT IS THE WIND MODEL PROGRAM ?
Is the program that averages and filters measured wind. Applies average wind to a set of
wind coefficient table in order to calculated wind force in Yaw sway and surge.

WHAT IS WIND FEED FORCES?

Is when the wind forces signal is sent directly to the thrusters in order for the thrusters
inmediately compesate for the wind and any changes in wind and/or wind speed.

WHAT IS THE KALMAN FILTER?

Is the program that updates the vessel model and after 30 min of updating no diference
between the measure and predicted position most be.
Sea current and seawaves not measured but caculated that is called ERROR

COMPESATION FORCES.
The ERROR COMPENSATION FORCE is the calculated currrent forces (sea waves,
sea current) based on the difference between predicted heading and position from
measured Heading (gyro) and measured position (PRS); also any error input to the DP
System example: Wind sensors, thusters forces errors.

WORK SITE APPROACHE PROCEDURES

1. STAND BY MODE: DPO is using a DP check list to prepare DP System for

operating. Example enabling gyro compass, wind sensors, thrusters for DP
control.
2. MANUAL MODE: DPO has control of the Joystick (check joystick view ).
Manual auto yaw, Surge, Sway to beacome AUTO POSITION.
In this mode the DPO can begain calibrating the 1sth PRS, once the PRS is accepted
and calibrated the vessel model begains to recive its up dates and the error
compensation force begains to calculate.
3. AUTO POSITION MODE OR AUTO DP MODE
There are two ways of entering this mode wich are dependant on the vessel speed.
You can select each Automatic Control Axis until you reach Auto Position Mode or if
the vessel speed is below 0.3 kts you can double press Auto Position Mode botton.
Once in Auto Position Mode the vessel model is stabilizing at a deffined position
setpiont and heading setpiont DP System is updating and building the vessel model;
during this time allow for 30 min to build before changing positon and /or heading.

RULES
• Recommend the vessel to be slowed down to a speed of between 0 to 0.3 kts
( max ), before enabling either Auto Sway and/or Auto Surge.
• Make heading changes and position moves in incremental steps.
• First change course to the working course to start moving distance.
WHAT MAKES A TIPICAL DP VESSEL?
The 7 main elements to a tipical dp vessel:
• UPS
• OS
• POWER SYSTEM
• DPC
• PROPULSION OR THUSTERS
• SENSORS
• PRS

If there is a mis match between thruster setpoint and thruster feedback signal you may
recive the following warning message THRUSTER PREDICTION ERROR.

THRUSTER ALLOCATION PROGRAM

Generates thruster setpoint signal going to the power overload control program. If
thruster signals area demanding whole power than what is available, the thruster sepoint
signal are reduced to prevent a black out situation from happening.
Power overload control program is active when the DP System is on Auto Position
Mode and Joystick mode as well.