GE Maint Part 02 Basics

GE Energy Power Conversion
We’re at work making change happen

Agenda
 SYSTEMS, CLASS & TERMINOLOGY
 SENSORS
 POSITON REFERENCES
 GE ENERGY HARDWARE
DP SYSTEMS & CLASS
3
GE Proprietary Information
GE © 2012 – All Rights Reserved
Part 2 – System & Class
ABS
4
Position DP Joystick Manual Back-up
Notation Gyro Wind Motion Ref System System system System Printer
IMO No notation
LR DP-CM 1 1 * 1 1 0 1 0 0
DNV AUTS 1 1 1 1 1 0 1 0 0
ABS DPS-0 1 1 * 1 1 0 1 0 0
BV Dynapos SAM 1 1 1 1 1 0 1 0 0
IRS No Notation - - - - - - - - -
Class 1 Joystick Manual Back-up

Systems Notation Gyro Wind Motion Position Ref DP System System system System Printer
IMO Class-1 1 1 * 1 1 1 1 0 1
LR DP-AM 2 2 * 2 1 1 1 0 1
DNV AUT 1 1 1 1 1 1 1 0 1
ABS DPS-1 2 2 * 2 1 1 1 0 1
BV Dynapos AM/AT 2 2 2 2 1 1 1 0 1
IRS DP(1) 2 2 2 2 1 1 1 0

Systems Gyro Wind Motion Position Ref DP System System system System Printer
IMO Class-2 3 2 * 3 2 1 1 0 1
LR DP-AA 3 2 * 3 2 1 1 0 1
DNV AUTR 3 2 3 3 2 1 1 0 1
ABS DPS-2 3 3 * 3 2 1 1 0 1
BV Dynapos AM/AT R 3 2 2 3 2 1 1 0 1
IRS DP(2) 2 2 2 3 2 1 1 0

Systems Gyro Wind Motion Position Ref DP System System system System Printer
IMO Class-3 2+1 3 * 2+1 2 1 1 1 1
LR DP-AAA 2+1 1+1 * 2+1 2 1 1 1 1
DNV AUTRO 2+1 1+1 2+1 2+1 2 1 1 1 1
ABS DPS-3 2+1 2+1 * 2+1 2 1 1 1 1
BV Dynapos AT/AM RS 2+1 2 2 2+1 2 1 1 1 1
IRS DP(3) - - - - - - - - -
* Motion sensors are only required if they are needed to correct reference systems e.g. DGPS Antenas. If so then each reference system requires one.
5
DP OPERATOR
DP1 CONSOLE
UPS
CONTROLLER
PITCH / SPEED PITCH / SPEED ANGLE

PITCH / SPEED
AZIMUTH
6
DP2
PITCH / SPEED ANGLE

PITCH / SPEED
AZIMUTH
PITCH / SPEED
7
ANEMOMETERS CYSCAN
DGPS ACOUSTICS
VRU GYRO
PRINTER
• DP3
WS01 WS02 WS04 WS03
Controller Controller Controller Controller

Cabinet CC01 Cabinet CC02 Cabinet CC04 Cabinet CC03
UPS
UPS DUAL ETHERNET

NETWORK
AFS30 AFS30 AFS30 AFS30 AFS30
UPS
Switchboards
A60
Protection
8
 What is DP Capability?
 A Rosette of maximum weed speed, showing a static force balance between the
forces generated by the environment (wind, wave and current) and the forces
available on the vessel by the thrusters, propellers and rudders.
Capability Plot for Hallin Vessel SOV Ullswater
July 26, 2007 13:19
July 26, 2007 13:20
Capability Plot for Hallin Vessel SOV Ullswater: Wind Speed in knots
0
345 90.00 15 0
330 80.00 30 345 90.00 15
70.00 330 80.00 30

315 45
60.00 70.00
315 45
50.00 60.00
300 60
50.00
40.00 300 60
40.00
30.00
285 75 30.00
20.00 285 75
20.00
10.00
10.00
270 0.00 90 Wind Speed in knots
255 105
255 105
240 120
240 120
225 135
225 135
210 150
210 150
195 165
195 165
180
180
Wind Angle is stepped from 0 to 360 deg. Wind Speed is Set Automatically. Wind Angle is stepped from 0 to 360 deg. Wind Speed is Set Automatically.
Wave Angle is stepped from 0 to 360 deg. Wave Height is Derived from Wind Speed. Wave Angle is stepped from 0 to 360 deg. Wave Height is Derived from Wind Speed.
Current Angle is fixed at 0 deg. Current Speed is 3 knots. Current Angle is stepped from 0 to 360 deg. Current Speed is 3 knots.
Results for Capability Plot Varying Wind. 3 Tunnel Results for Capability Plot Varying Wind. 3 Tunnel Thrusters,
Thrusters, 2 Azimuth Thrusters. 3 knot Current at 0 deg. 2 Azimuth Thrusters. 3 knot Current Stepped.
9
July 26, 2007 13:25
0
345 90.00 15
330 80.00 30
70.00
315 45
60.00
50.00
300
40.00
60
Results for Capability Plot Varying Wind. 2 Tunnel
30.00 Thrusters, 2 Azimuth Thrusters. 2 knot Current Stepped.
285 75
20.00
10.00
255 105
240 120
225 135
210 150
195 165
180
Wind Angle is stepped from 0 to 360 deg. Wind Speed is Set Automatically.
Wave Angle is stepped from 0 to 360 deg. Wave Height is Derived from Wind Speed.
Current Angle is stepped from 0 to 360 deg. Current Speed is 2 knots.
10
 What is DP Capability?
 Tabulated Data
Weather Thruster
Data
Forces Dirn Mag Surge X Sway Y Yaw N Thr Pcn Thrust Angle X Y N Power
t
(deg) (knots Force Force Moment No (%) (kN) (deg) Thrust Thrust Moment Used
or M) (kN) (kN) (kN-m) (kN) (kN) (kN-m) (kW)
Wind 90 33.4 0.0 -129.9 -805.0 1 100 132 90 0.0 131.5 4234.3 1000.0
Wave 90 4.7 0.0 -118.6 -624.9 2 0 0 90 0.0 0.0 0.0 0.0
Current 90 2.0 6.7 -213.2 590.6 3 100 132 90 0.0 131.5 3734.6 1000.0
External 0.0 0.0 0.0 4 71 168 44 121.5 115.6 -3478.3 954.8
Gust Mgn 0.0 -32.5 -201.3 5 73 173 138 -128.2 115.6 -3450.0 989.4
Total 6.7 -494.2 -1040.6 -6.7 494.2 1040.6 3944.2
11
 What is Vessel DP Footprint?
 The DP Footprint is the expected area that the vessel is able to stay within under a specified
environment.
 What are the controlling factors?

 Response of the thrusters
 Rate of change
 Accuracy of response
 Dead bands
 Hysteresis
 Repeatability of the Sensors
 Rate of change
 Dead bands
 Hysteresis
 Repeatability of the Position References
 Rate of change
 Dead bands
 Hysteresis
12
 Defining Dynamic Positioning Failure Modes?
 DP2 and higher require an FMEA.
 What does that mean?

 Failure Modes and Effects Analysis
 In what way can a system fail?
 If it does fail in that way what are the results of that failure?
 Are there any further consequences as a result of that
failure?
13
 Defining Dynamic Positioning Failure Modes?

 For the DP System.
 For the Vessel – C-Mar document
 Auditing the Vessel
 IMCA
 ABS
14
SENSORS
15
Part 2 –Sensors
 Gyrocompasses
 Typical Types
 Spinning Mass (conventional) Navigat
 Ring Laser / Fibre Optic Ring Laser
SG Brown
‘Meridian’ Litton Mk180
Anschutz
Anshutz -DK
16
Spinning Mass Gyros
17
Part 2 –Sensors
Anemometers
Young Gill
Munro
Impeller Type Ultrasonic Type
Cup Type
Munro -DK
18
Part 2 –Sensors
Motion Reference Units SMC
TSS
19
Part 2 –Sensors
Doppler Speed Logs

• Bottom Lock
• Water Lock
20
POSITION REFERENCE SYSTEMS
21
Part 2 – References
GNSS
 Suppliers
 Veripos
 Seatex
 Trimble
 Fugro
 C-Nav
22
GNSS Terrestrial Corrections (via Radio)
UHF (40km Range) HF (600-700km Range)
UHF -DK
L Band (via Satellite)

Inmarsat-Low Power
(3 satellites Worldwide)
Spotbeam-High Power
(NOW - All Areas)
23
GNSS Errors
Main Errors
Satellite orbit error (O) • What are we trying to
Satellite clocks (C) measure?
• Errors in satellite
Atmospheric effects
navigation can be
Signal delay due ionosphere (I) divided in to 2 broad
Signal delay due troposphere (T) categories:
Signal reflections at user receiver (M) O
Calc SV Pos True SV Pos
• Temporal – those that
change with time
Errors in user equipment C
• Spatial – those that
change with location
I • Furthermore errors can
relate to:
T
• The satellites
• The radio signal in
space
• The receiver on the
M ground
we need to remove this

24
GNSS
 Orbit and Clock - Corrections
The Vessel Receiver is

sent the Corrections for
Orbit and Clock for each
satellite.
Generally the units are
Dual Frequency and so
the errors due to the
Ionospheric and
Tropospheric delays can
be minimised
25
 Traditional Acoustics
 Three Main operating methods
 Long Base Line (LBL) – used mainly in the survey market
 Ultra Short Baseline (USBL or SSBL)
 Long and Ultra Short Base Line (LUSBL) – positioning in

deep water
26
Acoustic Positioning Techniques (courtesy Sonardyne)
Ultra-Short Baseline
Long Baseline
Short Baseline
27
LUSBL
Long Short
Baseline
28
Transponder
Operation
29
ROV following
Responder
Operation
30
Acoustic Technology – Drivers of
Change
The Solution: Wideband Acoustics
Expansion of the Cellular Telephone industry has led
to development of low power DSP (Digital Signal
Processor) devices.
Previously these devices were very power hungry and
unsuitable for battery powered offshore applications.
This has enabled new wideband signalling techniques
to be adopted, providing hundreds of independent
acoustic channels for positioning.
Overcrowding of the acoustic spectrum now a thing
of the past .
Acoustic data communication has undergone a
similar step change in performance
31
Wideband Acoustics - Terminology
 Wideband Systems are variously described as:
 Wideband acoustics
 Digital acoustics
 Spread spectrum acoustics
 Combinations of these terms
 These terms are often used interchangeably to describe acoustic systems that use
various phase shift keying (PSK) schemes to write digital data onto an acoustic carrier
signal.
 Detection & decoding are carried out using DSP processors to perform correlation
processing in the receiver.
32
Wideband Acoustics - Terminology
SONA RDYNE
MF BAND
TRACKING
1 2 3 4 5 6 7 8 9 10 11 12 13 14 1 2 3 4 5 6 7 8 9 10 11 12 13 14
C
COMPATT 5 COMPATT 5
Wideband Wideband
Wideband Interrogations (C5+) Wideband Replies
Carrier Frequency
0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 0012 0013 0014
0001 IRS 1502 IRS 1403 IRS 1304 IRS 1205 IRS 1106 IRS 1007 IRS 0908 IRS 0809 IRS 0710 IRS 0611 IRS 0512 IRS 0413 IRS 0314
224 0002
0003
IRS 0101
IRS 0201 IRS 0102

IRS 1503 IRS 1404 IRS 1305 IRS 1206 IRS 1107 IRS 1008 IRS 0909 IRS 0810 IRS 0711 IRS 0612 IRS 0513 IRS 0414
IRS 1504 IRS 1405 IRS 1306 IRS 1207 IRS 1108 IRS 1009 IRS 0910 IRS 0811 IRS 0712 IRS 0613 IRS 0514
TRUE 0004
0005
IRS 0301 IRS 0202 IRS 0103
IRS 0401 IRS 0302 IRS 0203 IRS 0104

IRS 1505 IRS 1406 IRS 1307 IRS 1208 IRS 1109 IRS 1010 IRS 0911 IRS 0812 IRS 0713 IRS 0614
IRS 1506 IRS 1407 IRS 1308 IRS 1209 IRS 1110 IRS 1011 IRS 0912 IRS 0813 IRS 0714
Navigation Codes
simultaneous 0007
0008
IRS 0601 IRS 0502 IRS 0403 IRS 0304 IRS 0205 IRS 0106
IRS 0701 IRS 0602 IRS 0503 IRS 0404 IRS 0305 IRS 0206 IRS 0107
IRS 1508 IRS 1409 IRS 1310 IRS 1211 IRS 1112 IRS 1013 IRS 0914
IRS 1509 IRS 1410 IRS 1311 IRS 1212 IRS 1113 IRS 1014
receive 0009
0010
IRS 0801 IRS 0702 IRS 0603 IRS 0504 IRS 0405 IRS 0306 IRS 0207 IRS 0108
IRS 0901 IRS 0802 IRS 0703 IRS 0604 IRS 0505 IRS 0406 IRS 0307 IRS 0208 IRS 0109
IRS 1510 IRS 1411 IRS 1312 IRS 1213 IRS 1114
IRS 1511 IRS 1412 IRS 1313 IRS 1214
channels
0015 IRS 1401 IRS 1302 IRS 1203 IRS 1104 IRS 1005 IRS 0906 IRS 0807 IRS 0708 IRS 0609 IRS 0510 IRS 0411 IRS 0312 IRS 0213 IRS 0114
0016 IRS 1501 IRS 1402 IRS 1303 IRS 1204 IRS 1105 IRS 1006 IRS 0907 IRS 0808 IRS 0709 IRS 0610 IRS 0511 IRS 0412 IRS 0313 IRS 0214
33
Tone Based Acoustics
Simple tone signal
Single Frequency,
No modulation
Frequencies must have sufficient separation to provide
separate channels
This severely limits the number of channels that can fit
within the available bandwidth.
Tone signals are subject to multi-path interference
Performance gradually degrades with increasing noise
34
Wideband Multipath Resolution
Direct path
Multipath
35
Multi-Path Effects
 Signal fade due to destructive

interference. Direct Path
 Can cause detection failure even Multipath

with good S/N ratio.
Destructive
Interference
 Constructive interference can cause Direct Path

data errors.
 Several reflected pulses can Multipath

combine constructively to give a
larger signal than the direct signal.
Constructive
Interference
 Can cause data errors in extreme
circumstances.
36
Wideband Signals
Phase Shift Keying (PSK)
0 01 0 1 0 1 0 0 0 10 0 0 0
 Single carrier Frequency
 Phase modulation to write digital data onto signal
 Phase changes identify:
 Channel code, for positioning systems.
 Data content, for data telemetry systems
 Large numbers of codes can be generated
 Not all are suitable for use due to correlation properties
37
Wideband Detection – Correlation Processing
• Replica of the transmitted signal is stored in the receiver.

• Incoming signal is correlated with the replica.
• Correlation function generates a well defined detection peak
• Timing of the correlation peak is very precise
• Other codes and frequencies (i.e. other channels) do not result in a correlation and hence
are rejected
38
Code Correlation 1
Same code four orthogonal carriers
0.9
0.8
Correlation function generates a well
defined detection peak 0.7
0.6
Timing of the correlation peak is very
precise 0.5
0.4
Other codes and frequencies do not
correlate and hence are rejected 0.3
0.2
0.1
0
700 800 900 1000 1100 1200 1300 1400 1500 1600
39
Effects of Multi-path 1
8ms tone plus noise and multipath 1.0176ms delay
0.9
0.8
 Tone Signal 0.7
0.6
Destructive interference has largely destroyed the

signal.
0.5
Either no detection or large timing errors.

0.4
Result is data errors or dropouts.

0.3
0.2
0.1
0
450 500 550 600 650 700 750 800
8ms wideband plus noise and 1.0176ms multipath
1
 Wideband Signal 0.9
0.8
Detection is still accurate. 0.7
Both direct and multipath signals can be clearly 0.6
seen. 0.5
Multi-path can be recognised and mitigated 0.4
0.3
0.2
0.1
0
450 500 550 600 650 700 750 800
40
Part 2 – References - Laser
• Laser
• TWO MAIN SUPPLIERS
– Guidance Navigation (Cyscan)
– MDL (Fan Beam)
41
Basic Principles for Laser
42
Part 2 – References - Radar
• Radar
• TWO Manufacturers
– Guidance Navigation
– (Radscan & Mini RadaScan)
– Kongsberg (Radius)
43
Principle of Radar
44
• TAUT WIRE
• Several Manufacturers
– GE Energy Power Conversion
– Kongsberg
– DPS
– NTD
45
• TAUT WIRE
TAUT WIRE
TEN SIO N IN G SYSTEM
Inclinometers
Wire Length
O2
O1
Sinker Weight
46
OTHER INPUTS
47
Part 2 – Other Inputs
• Tension Measurement
• Rigid or Flexible tension feed back into the DP system
48
• Riser angles
49
• Fire Monitor
• Sometimes azimuth and elevation feed backs given to DP
• More often only ‘running’ signal (to reduce power available)
50
• Electrical power system
– Generator % Load
– Bus tie CB status
• UPS Alarms
– On Bypass
– Low Battery volts
– etc
51
DATA FORMAT
52
Part 2 – Data Format & Input
 Sensor and Position information (Heading, wind, pitch & roll,

position etc)
 Serial Data in NMEA 0183 format
 Normally RS422
 Typical standard formats
 $HEHDT
 $GPGGA
 $GPGLL
 Etc
 Some are moving toward ethernet comms.
 Some risks from virus attack
53
Part 2 – Data Format & Input
54
GE DP HARDWARE
55
Part 2 – GE PC DP Components
• HMI
 DP Workstation
 HMI Monitor fitted with 1600x1200

resolution touchscreen, designed for
future widescreen
 New Joystick Operator Panel (8.4”

touchscreen LCD display)
 Ergonomically improved glidepad
 High quality 3 axis joystick
56
Part 2 – CVT DP Components
• Joystick Operator Panel
 JOP provides main operator interface
 It is intended become a mini-DP HMI

and autopilot in its own right.
 Key Features
 8.4” LCD touch-screen computer
 Only 4 physical buttons
 - Enable, Alarm Mute and LCD brightness
control
 - All other ‘keys’ provided by soft-keys on
LCD
 Only 2 indicator lamps
 - ‘System Alarm’ and ‘Comms Alarm’
 - Other ‘lamps’ provided by JOP
 Graphics backlight level preset by trimpot
on underside of panel
57
• Controller
 The AMC Controller is:
 central to correct functioning of DPS
 responsible for all systems functionality
 responsible for dictating how the DP System

responds to:
 plant inputs
 operator commands
 the ‘BRAINS’ of the DP System
 Online and hot standby pair used for redundant control

 Real Time Operating system (VX Works Tornado)
 Application program built in IEC 61131-3 compliant
language (ISaGRAPH)
 Connection to Field Stations & HMI via 100Mbit/s
Redundant Industrial Ethernet
 Second Redundant Industrial Ethernert network
available (e.g., propulsion network)
 Advanced Micro Controller technology used for VCS
Controllers & Field Stations. Uses industry standard PC
104 technology.
58
• Controller
59
• Controller
60
• Controller
61
Input Output Modules etc
62
Part 2 – GE PC DP Components
• Input / Output
 uses slice I/O, only 2 channels per
module
 Small footprint hence space saving
 no interposing terminals hence direct
wiring
 spring cage clamp terminals
 24vdc Digital inputs
 4-20mA & 0-10vdc analogue
inputs & Outputs
 RTD & Thermocouple inputs
 Volt free c/o contact digital
outputs
 RS 485 Modbus serial links
 Many others available
 All I/O is short circuit and
ground fault protected
 Faults reported locally and to
VCS operator stations
 Intrinsically safe I/O available
63
• Input / Output
64
• Input / Output
65
• Input / Output
66
• Input / Output
67
• Input / Output
68
• Input / Output
69
70

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GE Maint Part 02 Basics

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GE Energy Power Conversion

We’re at work making change happen

 SYSTEMS, CLASS & TERMINOLOGY

Class 1 Joystick Manual Back-up

Class 2 Joystick Manual Back-up

Class 3 Joystick Manual Back-up

PITCH / SPEED PITCH / SPEED ANGLE

PITCH / SPEED ANGLE

Controller Controller Controller Controller

UPS DUAL ETHERNET

AFS30 AFS30 AFS30 AFS30 AFS30

July 26, 2007 13:20

70.00 330 80.00 30

July 26, 2007 13:25

or M) (kN) (kN) (kN-m) (kN) (kN) (kN-m) (kW)

Wave 90 4.7 0.0 -118.6 -624.9 2 0 0 90 0.0 0.0 0.0 0.0

External 0.0 0.0 0.0 4 71 168 44 121.5 115.6 -3478.3 954.8

Total 6.7 -494.2 -1040.6 -6.7 494.2 1040.6 3944.2

 What are the controlling factors?

 Defining Dynamic Positioning Failure Modes?

 DP2 and higher require an FMEA.

 What does that mean?

 Defining Dynamic Positioning Failure Modes?

 Auditing the Vessel

Doppler Speed Logs

L Band (via Satellite)

we need to remove this

The Vessel Receiver is

 Three Main operating methods

 Long Base Line (LBL) – used mainly in the survey market

 Ultra Short Baseline (USBL or SSBL)

 Long and Ultra Short Base Line (LUSBL) – positioning in

 Wideband Systems are variously described as:

IRS 0201 IRS 0102

IRS 0401 IRS 0302 IRS 0203 IRS 0104

IRS 1511 IRS 1412 IRS 1313 IRS 1214

Simple tone signal

 Signal fade due to destructive

 Can cause detection failure even Multipath

 Constructive interference can cause Direct Path

 Several reflected pulses can Multipath

 Phase modulation to write digital data onto signal

 Phase changes identify:

 Channel code, for positioning systems.

 Data content, for data telemetry systems

 Large numbers of codes can be generated

 Not all are suitable for use due to correlation properties

• Replica of the transmitted signal is stored in the receiver.

 Tone Signal 0.7

Destructive interference has largely destroyed the

Either no detection or large timing errors.

Result is data errors or dropouts.

 Wideband Signal 0.9

Detection is still accurate. 0.7

Both direct and multipath signals can be clearly 0.6

Multi-path can be recognised and mitigated 0.4

– MDL (Fan Beam)

 Sensor and Position information (Heading, wind, pitch & roll,

 HMI Monitor fitted with 1600x1200

 New Joystick Operator Panel (8.4”

 Ergonomically improved glidepad

 High quality 3 axis joystick

 It is intended become a mini-DP HMI