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SYSTEM-
AN OVERVIEW
PRESENTATION FOR
IMSTITUTION OF MARINE
ENGINEERS(INDIA)- SAPTARSHI BASU
Definition of DPS
The prime function of DP system is to allow the vessel to
maintain position and lauding by automatic control of
surge, sway and yaw.
Both of these are controlled about the desired ‘set-point’
values input by the operator. In each case, the variable
must be measured to obtain ‘feedback’ values.
Dynamic Positioning can be described as an integration
of a number of shipboard systems to obtain the ability of
accurate maneuverability. DP can be defined as: A
system which automatically controls a vessel's position
and heading exclusively by means of active thrust. The
above definition includes remaining at a fixed location
(POSITION KEEPING), but also precision maneuvering,
tracking and other specialist positioning abilities.
DP SYSTEM ARCHITECHTURE
1. Computer system;
2. Control console;
3. Sensor system;
4. Display system;
5. Associated Cabling and Cable
routing
DP CONTROL SYSTEM
Selectable Wind Feedforward
individually in surge, sway and
yaw.
• Selectable Low, Medium and
High gain in all operational
modes.
• Selectable reference
velocities in tracking
operations
• Selection of arbitrarily
rotation point.
• Automatic or manual sea
state selection for improved
performance in varying
environmental conditions.
KALMAN FILTER
Kalman filter is a set of
mathematical equations that
provide an efficient computational
(recursive solutions) of the least
square method. The filter is very
powerful in several aspects: it
supports the estimations of past,
present and future states an it can
do so even when precise nature of
the modeled systems is known .
The extended Kalman filter uses a
mathematical model of the vessel. The
mathematical model is never a 100%
representation of the real vessel. The
vessels heading and position is
calculated from the HRS and PRS and is
compared with the estimated and
calculated data from the mathematical
model. The differences are used to
update the mathematical model to the
actual situation. Hence, the controls
system ADAPTS to the surrounding
environments after the models have
been allowed sufficient (about 30 mins)
settling time.
Optimum self adaptive noise filtering of
the heading and position measurements
INERTIAL NAVIGATION SYSTEM.
• An inertial navigation system (INS)
is a navigation aid that uses a
computer, motion sensors (
accelerometers) and rotation sensors (
gyroscopes) to continuously calculate
via dead reckoning the position,
orientation, and velocity (direction and
speed of movement) of a moving
object without the need for external
references. It is used on vehicles such
as ships.
• This INS kernel generates the
estimated position, velocity and
acceleration for the extended Kalman
filter.
• This supplies the controller position
reference through the DR mode when
the PRS system has a problem and is
disabled or is being changed over to
more reliable unit during operation.
Position reference system
• Position Reference Systems are of two types
absolute and relative
• For equipments of DPS class 2 & 3, at least
three position reference systems should be
installed and simultaneously available to the DP
control system during the operations .
• When two or more position reference
system are required, they should not all be
of the same type, but based on different
principles and suitable for the operating
condition
ASOLUTE AND RELATIVE PRS
Absolute Position Reference Relative Position Reference
System System
Main Propellers
and Rudders
Azimuth Thrusters
Azipoid thrusters
Tunnel Thruster
Thruster control system
Typically, there will
be three status
indicators for
thrusters within the
DP,’ “Running”,
“Ready” and
“Enable”.
“Thruster Bias”
AUTOMATIC
THRUSTER
START
Thruster allocation modes
VARIABLE
Fix 1
Fix 2
AUTOPILOT
HEAVE REDUCTION
POSITION/HEADING PRIORITY
FREE RUN
INCREASED POWER
ANGLE FACTOR
Redundancy
A DP failure may result in a simple positional
excursion (a “drift off”) or a powered drive
off. Second is regarded as catastrophic
failures.
The consequence of such a catastrophic failure
can be categorized in three ways; risk of death
or injury to personnel, risk of damage to
property and risk of pollution.
By the term “redundancy” we mean the ability
of the vessel to withstand the loss of any
component within the DP system without
loosing position and/or heading.
POSTION LOSS CHART
Limits of Physical
operational
limit
deviation Red
Limit
illustrated. Yellow
limit
For more
Of Position
Critical Loss
Excursions
Large
loss
Position
Advisory
critical limit
Normal
footprint
operation the
diameter of the Barriers loss
of position