Dynamic Positioning for Engineers/Динамическое позиционирование для инженеров

Издание на английском языке
The book is dedicated to teaching the basics of dynamic positioning (DP) in the offshore industry. The author shares his experience of teaching and interacting with professionals in this field, explaining the importance of a deep understanding of DP systems for their effective operation and maintenance. The book examines the historical aspects of the development of DP systems, their components and subsystems, as well as the principles of automation and integration. Key concepts such as six degrees of freedom and motion control are explained in simple and accessible language, making the material understandable even for beginners. The author expresses his gratitude to his students, colleagues and family for their support in writing the book.

Contents
Foreword (by Capt. Rajesh Tandon).
Foreword (by Venkatraman Sheshashayee)
Preface
Author
Chapter 1 Introduction to Offshore.
1.1 Drilling Operations
1.2 Offshore Structures
1.2.1 Fixed/Stationary Platforms
1.2.2 Jacket Platforms
1.2.3 STAR Platforms
1.2.4 Compliant Towers
1.2.5 Semi-Submersible Platforms
1.2.6 Single Point Anchor Reservoir (SPAR) Platforms
1.2.7 Tension-Leg Platforms (TLPs)
1.2.8 Jack-Up Platforms
1.2.9 Floating Production Systems
1.2.10 Subsea Production Systems
1.3 Control System Used in Subsea Production
Chapter 2 Historical Background to Development of Dynamic Positioning
2.1 Background and History of Dynamic Positioning Development
Chapter 3 The Seven Components of a DP System
3.1 Subsystems and Grouping
3.1.1 Power
3.1.2 Thrusters
3.1.3 Environmental Sensors
3.1.4 Position Reference Sensors
3.1.5 Computer (RTC/DPC/Controller)
3.1.6 MMI/HMI
3.1.7 Operator
Chapter 4 Six Degrees of Freedom - Basics of Dynamic Positioning.
4.1 Ship Movement
4.1.1 Roll
4.1.2 Pitch
4.1.3 Heave
4.1.4 Surge
4.1.5 Sway
4.1.6 Yaw
4.2 Movements Controlled and Monitored by DP
4.3 Mathematical Model
4.4 DP System
4.5 Advantages and Disadvantages of the Dynamic
Positioning System
4.6 Wind Feed Forward.
4.7 Excursion or Feedback of Ship Position
4.8 Current Feedback
4.9 Thruster Allocation Logic
4.10 Quick Current or Fast Learn
4.11 Kalman Filter
4.11.1 Wave Filter
4.11.2 Advantages of the Mathematical Model
4.11.3 Model Control or Dead Reckoning (DR)
4.11.4 Limitations of Kalman Filter
4.12 DP Operational Modes
Chapter 5 Different Types of DP Vessels and Their Applications
5.1 Types and Applications of DP-Enabled Ships
5.1.1 Anchor Handling Tug Supply
5.1.2 Diving and Underwater Support Vessels
5.1.3 Heavy Lift Vessel
5.1.4 Cruise Liners
5.1.5 Other Specialised Vessels
5.1.6 DP Advantages
Chapter 6 DP Class/Equipment Class.
6.1 Introduction to DP Class
6.2 Major Class DP Notations
6.3 DP Vessel Class/IMO DP Class
6.3.1 DP Class 1
6.3.2 DP Class 2
6.3.3 DP Class 3
6.3.4 DP Class 0
6.4 Basic/Hardwired DP System
6.5 Integrated/Networked DP System
Chapter 7 Basics of Electrical Propulsion and Thruster Types
7.1 Basics of Electrical Propulsion and Thruster Types
7.2 Diesel Electric Propulsion for DP Vessels.
7.2.1 Power Generation and Distribution
7.3 Thruster Response and Accuracy
7.4 Thruster Modes
7.4.1 Fixed Mode
7.4.2 Thruster Biasing
7.4.3 Push/Pull Modes
7.5 Different Types of Propulsion Units and Thrusters
7.5.1 Tunnel Thrusters
7.5.2 Azimuth Thrusters
7.5.3 Azipods
7.5.4 Diesel-Mechanical (DM) Pros and Cons
7.5.5 Diesel-Electric (DE) Pros and Cons
7.5.6 Hybrid DM/DE Pros and Cons
7.5.7 Precautions while working on CPP drives
Chapter 8 Thruster Controls and Automation
8.1 Introduction
8.2 Thruster Response and Accuracy
8.3 Thruster Control and Automation
8.3.1 Wartsila Thruster Control
8.3.2 Kongsberg Thruster Control System
8.3.3 Siemens Thruster Control Systems
8.3.4 CAT (Caterpillar) Marine
8.3.5 Emergency Stop for Thrusters
8.4 Thruster Monitoring and Alarm
Chapter 9 Power Management System (PMS)
9.1 Introduction
9.2 Estimation of DP Power Requirements
9.3 Power Management System
9.4 Power Blackouts - Causes.
9.5 Power Blackout Avoidance Strategies
9.6 Functions of PMS
9.6.1 User Interface
9.7 Load Sharing
9.7.1 Power Limits
9.8 Uninterruptible Power Supply
Chapter 10 Harmonics in Power System
10.1 Introduction.
10.1.1 What are Harmonics?.
10.1.2 Current Harmonics
10.1.3 Voltage Harmonics
10.2 Base Frequency.
10.3 What is “Triplen” in Harmonics?
10.3.1 Sequencing pattern of harmonics
10.4 Effects of Harmonics
10.5 Finding and Measuring Harmonics in Power System.
10.6 Correcting Harmonics in Power System
Chapter 11 Introduction to Environmental Sensors
11.1 Introduction
11.2 Sensor Redundancy
11.2.1 Sensor Redundancy in Triple Systems
11.2.2 Sensor Redundancy in Dual Systems.
11.2.3 Sensor Redundancy in Single Systems
11.3 VRU/VRS/MRU’
11.4 Gyro Compass in a DP System
11.4.1 Gyro Compass Faults
11.5 Wind Sensors
11.5.1 Types of Wind Sensors
11.5.2 Wind Feed Forward Function
Chapter 12 Introduction to Position Reference Sensors.
12.1 Introduction
12.2 Basic Working Principles of the PRS/PME
12.3 Radar/Microwave-Based Systems
12.3.1 Artemis
12.3.2 Global Navigation Satellite System (GNSS)
12.3.3 Measuring of Position
12.3.4 GPS Masking
12.3.5 Differential GPS
12.3.5.1 Global Positioning System (GPS)
12.3.5.2 GLObal NAvigation Satellite System (GLONASS)
12.3.5.3 Galileo
12.3.5.4 BeiDou/Compass
12.3.5.5 The Quasi-Zenith Satellite System.
12.3.5.6 IRNSS
12.3.5.7 GPS Augmentation Services
12.3.6 Relative GPS.
12.3.6.1 Absolute Techniques
12.3.7 Criteria for Selection of GNSS
12.4 Laser
12.4.1 Fanbeam
12.4.2 CyScan.
12.4.3 SpotTrack.
12.4.4 Target Reflectors for Laser Sensors
12.4.5 SceneScan
12.5 Acoustics
12.5.1 Hydroacoustic Position Reference (HPR) or High Precision Acoustic Positioning (HiPAP)
12.5.2 Ultra-Short Baseline or Super-Short Baseline (USBL or SSBL) System
12.5.3 Short Baseline (SBL) Systems
12.5.4 Long Baseline (LBL) Systems.
12.6 Mechanical PRS - Taut Wire Position Reference System
12.7 Frequency Modulated Continuous Wave (FMCW) Radars
12.7.1 RadaScan
12.7.1.1 RadaScan General Care and Maintenance
12.7.2 RADius
12.8 RangeGuard
Chapter 13 Handling of PRS/PME and Various Tests on PRS/PME
13.1 Introduction
13.2 Various Tests on PRS
13.2.1 Freeze Test (“Live” Assessment Test).
13.2.2 Variance Test (Long-Term Accuracy Assessment)
13.2.3 Prediction Test.
13.2.4 Slow Drift Tests
13.2.4.1 Divergence Test.
13.2.4.2 Median Test
13.3 Processing of Data From PRS/PME
13.4 Conclusion
Chapter 14 Architecture of a DP System
14.1 Introduction
14.2 System Architecture for a DP Class 1 System
14.3 System Architecture for a DP Class 2 System
14.3.1 Dual Redundant DP System.
14.4 System Architecture for a DP Class 3 System
14.4.1 Triple Redundant DP Systems
Chapter 15 Basics of Networking in DP
15.1 Introduction to Communications in DP Systems
15.2 Networking in DP Systems
15.2.1 Need for Networking in DP Systems.
15.3 Basics of Networking
15.3.1 Networking Used in DP systems
15.4 Common Troubles and Their Remedies
15.5 General Troubleshooting Steps for Network Problems
15.5.1 Ping Command.
15.5.2 Ipconfig Command
Chapter 16 Types of Signals Used in DP Automation
16.1 Introduction - Different Types of Signals in Marine Automation
16.2 Serial Line Interface
16.2.1 What is Serial Line?
16.2.2 Data Speed - Bit Rate and Baud Rate
16.2.2.1 Data Bits
16.2.2.2 Parity
16.3 NMEA 0183
16.4 Position Reference System (PRS) Interfaces
16.5 Signals Used for Environmental Sensor Interfaces
16.6 Signals for Thruster Interfaces.
16.7 Signals for Power Plant Interfaces
16.8 Other Interfaces
Chapter 17 Consequence Analysis. Capability Plot. Footprints and Motion Prediction
17.1 Introduction
17.2 Capability Plot
17.3 Footprints
17.4 Motion Prediction
Chapter 18 DP Trials and Documentation
18.1 Introduction
18.2 IMCA Guidance on DP Trials
18.3 DP FMEA/FMECA Proving Trials
18.4 The Objective of the FMEA
18.5 Contents of the FMEA Report
18.6 Uses of FMEA
18.7 Third Party Audit
18.8 Annual Proving Trials
18.9 Mobilisation Trials
18.10 DP Vendor Reports
18.11 DP Correspondence/Communication.
18.12 DP Fault Log
18.13 DP Incident Log
18.14 Operational Issues
Chapter 19 Circuit Tracing and Fault Finding on DP Equipment.
19.1 Introduction
19.2 How to Read Single-Line Diagrams/Schematics
19.3 Fault Finding Procedures
19.4 Software Faults and Related Issues
Chapter 20 Roles and Responsibilities
20.1 Introduction
20.2 Captain/Master
20.3 Senior DP Operator (SDPO)/ DP Operator (DPO).
20.4 Chief Engineer
20.5 Engineer of the Watch
20.6 Electrical Technical Officer (ETO)
20.7 DP Training for Engineers and ETOs
Glossary and Abbreviations Used in Dynamic Positioning
Bibliography
Index