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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.
1 Chapter 1 Dynamic Positioning of Vessels (DP) - Principles
Other Thruster Configurations
Joystick Manual Heading (JSMH)
Joystick Auto Heading (JSAH)
Dynamic Positioning (DP)
Dynamic Positioning, Minimum Power
Remotely Operated Vehicle Follow (ROV Follow)
Shuttle Tanker Pickup
Shuttle Tanker Approach
Shuttle Tanker Loading
Shuttle Tanker Fixed Loading
Heading Control for Anchor Moored Vessels
2 Chapter 2 Equipment Selection
General Thruster Configuration Advice
Thruster Response and Accuracy
Prediction of Output Thrust
Types of Thrusters
Other Thruster Systems
Vertical Reference Unit (VRU)
Position Measurement Equipment (PME)
Global Positioning System (GPS)
Other Satellite Systems
Other Radio Position Systems
Ultra Short Baseline
Long and Ultra Short Baseline
Specific Applications for Acoustics
3 Chapter 3 Vessel DP Solutions
IntroductionCommon DP Needs
Common ICS Needs
The DP Requirements of Standard Vessel Types
Floating Production Storage and Offloading Units (FPSO)
Utility - tugs, supply
4 Chapter 4 A Series
A Series Product Range
Typical ADP System Supply
AOT (Operator Terminal) Portable Joystick
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
Vessel, PME and Weather Displays
Position Fix Repeatability
PME Median Check
Alarms, Logging and Trending
Real Time Trends
Trial of Conditions for Consequence Analysis
Facilities for Special Vessel Types
Cable and Pipelaying Vessels
Anchor Moored Vessels