Systems overview – Ocean Rig Corcovado

Main systems covered in this course

K-Pos DP-22
• K-Pos DP-22 (DP Main control system)
• K-Pos DP-12 (DP Backup control system)
• iJoy system (Independent Joystick system)
• K-Thrust (Manual lever control of thrusters)

K-Pos DP-12

iJoy
K-Thrust

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Main purpose of K-Pos DP system on Corcovado

• Maintain position and heading of the vessel by automatic control of

thrusters
• Change position and heading by automatic control of thrusters
• Provide single Joystick control of all thrusters
• Maintain heading of vessel while sailing (Auto Pilot on TC-OS)
• Provide Consequence Analysis, DP Capability and Motion Prediction
• Provide Riser Angle Monitoring and special drilling functionality
• Provide stand alone Simulator Functions (DP-OS9 Simulator)

K-Pos Operational modes on Corcovado

• Standby – All Operator stations

• Joystick – All Operator stations
• Auto Position – All Operator stations
• Auto Pilot – TC-OS5 and DP-OS9 Simulator

• (Drilling functionality on DP-OS1 & 2 and DP-OS9 Simulator)

• (iJoy: Only Joystick mode with Auto Heading)

2
Panel Lay out Corcovado DP OS1 and OS2

Panel Lay out Corcovado DP BU OS4

3
Panel Lay out Corcovado TC OS5

Panel Lay out Corcovado iJoy

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Position Reference Systems and Sensors on Corcovado

DP Main: DP OS 1 & 2 and TC OS5

• 2 x DGPS (DPS 132 and DPS 200)
• 2 x HiPAP
• 2 x HAIN
• 3 x Gyros
• 3 x Wind sensors
• 3 x VRS
• 1 x Speed (GPS speed)
• 4 x Draught

Position Reference Systems and Sensors on Corcovado

DP Backup: DP OS 4
• 2 x DGPS (DPS 132 and DPS 200)
• 1 x HiPAP (HPR-2)
• 1 x HAIN (HAIN-2)
• 1 x Gyro (Gyro-3)
• 1 x Wind sensor (Wind-3)
• 1 x VRS (VRS-3)
• 4 x Draught

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Position Reference Systems and Sensors on Corcovado

iJoy:
• 1 x Gyro (Gyro-1)
• 1 x Wind sensor (Wind-1)

DP-system requirements

Subsystem or component Minimum requirements for group designation

IMO Equipment Class 1 2 3
DNV AUT AUTR AUTRO
Class notations LR DP(AM) DP(AA) DP(AAA)
ABS DPS-1 DPS-2 DPS-3
Power Generators and non- redundant redundant, separate
system Prime movers Redundant compartments

Main Switchboard 1 2 with bus tie 2 with normally

open bus-ties in
separate
compartments

Bus Tie Breaker 0 1 2

Distribution system non-redundant redundant redundant, separate

compartments

Power management no yes yes

Thrusters Arrangement of thrusters non-redundant redundant redundant, in
separate
compartments
Control Auto control: no.of control 1 2 2 + 1 in alternative
computers control station

Manual control: joystick yes yes yes

with auto heading

Single levers for each thruster yes yes yes

Sensors Pos.ref. systems 2 3 3, inc. 1 in alternat.
control station

External Sensors
Wind 1 2 2 (1 of which
VRS 1 3 3 in alternative
Gyro 1 3 3 control
other 1 2 2 station).
UPS 1 2 2+1 in separate
compartment
Alternate control station for back-up unit No No Yes

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Hardware and Interfaces

Overview
Operator station
PC, display and panel

Controller cabinet

Data network

Inputs

Electrical command
and feedback signals

Thrusters

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 SDP DPC 21 vs K-Pos DPC-2

DPC-2

RCU 501
Main processor

RHUB: I/O HUB

RSER:Serial lines

RMP: IO modules

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K-Pos DP I/O modules

RSER200 - serial line interface:

RHUB200 – IO HUB:
• Typically for interfacing sensors and PRS
• Link between RMP
modules and Controller • RS232, RS422/RS423, RS485, NMEA 0183

RMP200 – IO module:
• AI/AO/DI/DO
• Typically for interfacing
thrusters and power

K-Pos DP controller concept – Integrated solution

Dual process LAN

RCU 501 Main processors

Dedicated dual processor

synchronisation network – Red Net

I/O modules snapped on to

rails with dual power and bus
signal connectors

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 K-Pos controller Process Station - RCU 501

• 400 MHz Power PC • Dual Synch. Net

• Optimised for less Controller A & B
internal cabling
• 32 serial channels -
• Dual Process LAN 8 RSER modules
NET A & B

• (Dual CAN bus)

• (Dual Profibus)
• Dual RBUS -
RHUB modules,
I/O-HUB for RMP
modules

K-Pos DP 22

Sensors etc.

Dual
Red-net
Operator Operator A B
Station 1 Station 2 computer computer

Double data net

Online select Online select Online select Online select Online select Online select

Field Field Field Field Field Field

station station station station station station

Fore Bow Midle bow Aft bow Aft azimuth Port main Starboard main
thruster thruster thruster thruster propeller propeller

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K-Pos
Introduction to Dynamic Positioning

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DP definitions - IMO

DP-
DP-vessel:
Dynamically positioned vessel (DP-vessel) means a unit or a vessel,
which automatically maintains its position, (fixed location or
predetermined track), exclusively by means of thruster force.

DP System - IMO:

Dynamic positioning system (DP-system) means the complete installation

necessary for dynamically positioning a vessel comprising the following
sub-systems:

1. Power system
2. Thruster system
3. DP control system, with:
- Computers
- Joystick systems
- Sensors
- Position Reference-systems
- Display system
- Operator panels
- Cabling and cable routing

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Forces and Motions

The Six Degrees of Freedom

SURGE SWAY YAW/

Heading

Measured by means of position reference systems Measured by means of gyro

Controlled by means of thrusters

H
L
E

PITCH ROLL HEAVE

Measured by means of vertical reference sensor. VRS, VRU, MRU

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VRS Purpose: Pitch & Roll compensation

Position
measured by Vessel centre
GPS position

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