Guide to Dynamic Positioning of Vessels/Руководство по динамическому позиционированию судов

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Издание на английском языке The basic purpose of dynamic positioning of a vessel is the automatic control of the vessel position and heading. A more sophisticated definition is to maintain variations in vessel position and heading within acceptable limits, while achieving minimum thruster activity. This chapter considers the factors: - Vessel motion This is the dynamics of a free floating vessel in an offshore marine environment. - Control system This is a review of the control loop of force and moments: sensing counteraction to force. The forces and moments are environmental plus task related i.e. pipe tension. - Operational modes Each vessel is supplied with several different modes of operation. The difference between the modes is the level of control available and how the position, heading speed and set points are generated. The combination of modes provided for a vessel depends upon its role. Thus, a cable laying vessel will need Auto Track mode, which will not be required for a drilling platform. A DP system is usually a combination of a position control system and a heading control system. A position control system uses the vessel's position measurement equipment (PMEs) and operator commands as inputs. The control system then provides commands to the thrusters to maintain the position of the vessel at the desired location. This is a feedback control system. A heading control system uses the vessel's compass as the input to maintain the heading of the vessel in response to the environmental elements (forces) and operator commands. Contents 1 Chapter 1 Dynamic Positioning of Vessels (DP) - Principles Introduction Vessel Motion Forces Counterforces Thruster Configurations Minimum Thrusters Other Thruster Configurations Control System Operational Modes Joystick Manual Heading (JSMH) Joystick Auto Heading (JSAH) Dynamic Positioning (DP) Dynamic Positioning, Minimum Power Remotely Operated Vehicle Follow (ROV Follow) Auto Track Auto Pilot Auto Sail Auto Speed Shuttle Tanker Pickup Shuttle Tanker Approach Shuttle Tanker Loading Shuttle Tanker Fixed Loading Riser Follow Heading Control for Anchor Moored Vessels Manual Assist Auto Assist Damped Assist Simulation Model Control 2 Chapter 2 Equipment Selection Introduction Thrusters General Thruster Configuration Advice Thruster Size Thruster Response and Accuracy Prediction of Output Thrust Thruster Modes Bias Mode Fixed Mode Push/Pull Modes Types of Thrusters Propellers Rudders Tunnel Thrusters Azimuth Thrusters Other Thruster Systems Sensors Gyrocompass Vertical Reference Unit (VRU) Anemometer Doppler Log Position Measurement Equipment (PME) Introduction Taut Wire Radio Systems Artemis Global Positioning System (GPS) Differential GPS Relative GPS Other Satellite Systems Other Radio Position Systems Syledis Microfix Trisponder Argo Hydro Acoustics Basic Features Long Baseline Short Baseline Ultra Short Baseline Long and Ultra Short Baseline Specific Applications for Acoustics Drilling ROVs Laser Systems CyScan Fanbeam™ Navigational Systems NMEA Messages 3 Chapter 3 Vessel DP Solutions IntroductionCommon DP Needs Common ICS Needs The DP Requirements of Standard Vessel Types Cable Laying Diving Support Dredger Drilling Fire Fighting Floating Production Storage and Offloading Units (FPSO) Lifting Vessels Passenger Vessels Pipelay Shuttle Tankers Surveying Utility - tugs, supply 4 Chapter 4 A Series A Series Product Range Typical ADP System Supply ADP Console Display Unit Control Panel Control Processor PME Console AOT (Operator Terminal) Portable Joystick Sensors PMEs Outstations Hardware Configurations Simplex non-redundant control (ADP11 or ADP12) Duplex redundant control (ADP21 or ADP22) Triple voting (ADP32 or ADP32) IMO Class 3 (ADP31 or ADP32) ADP Operational Facilities Operator Interface Control Indicators Data Input Display Structure Motion Display Vessel, PME and Weather Displays Movement Control Display Options Mimic Indices Control Modes Thruster Control Thruster Feedback Thruster Demands Thruster Select Barred Zones Gain Control Fast Learn Power Management Sensors PME Handling Lat/Long Setup PME Data COR Select PME Weightings Coordinate Setup Taut Wire PME Data Position Fix Repeatability PME Median Check Alarms, Logging and Trending Alarms Real Time Trends Power Trends Consequence Analysis Training Trialling Facilities Capability Plot Trial of Conditions for Consequence Analysis Facilities for Special Vessel Types Drilling Platforms Cable and Pipelaying Vessels Auto Slowdown Shuttle Tankers Anchor Moored Vessels Anchor Setup Force Vectors Anchor Measurements Anchor Tensions Glossary Index