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Converteam Adp21 DP
Converteam Adp21 DP
Converteam Adp21 DP
DP Operator Interface
DP 操作员界面
INTRODUCTION 介绍
DP Basic Interface
DP 基本接口
INTRODUCTION 介绍
Controller Cabinet
控制箱
PROCESSOR
处理器
Thruster Interface
Propeller, Rudder, Thrusters
推进器接口 螺旋桨,舵,推进器
Typical DP 1 Controller
典型的DP1控制箱
用NMEA字符标示位置 “控制”占用空间
导管推力器控制箱 DP 控制柜
CALL SIGNAL DIGITAL OUTPUT
(CLOSED = CALL) VOLT FREE CONTACT RATING:
呼叫信号 1A/250VAC-30VDC
数字输出
READY SIGNAL means:-
SWITCHED TO DP CONTROL (关闭=呼叫) 触点容量:
&
NO SYSTEM FAILURE 1A/250VAC~30VDC
& READY SIGNAL
DIGITAL INPUT
数字输入
BRIDGE CONTROL
就绪信号
(CLOSED = READY)
&
PITCH PUMPS RUNNING
& (关闭=就绪)
MOTOR RUNNING
就绪信号 –转到DP 控制 mA
ANALOGUE OUTPUT
& 无系统失效 PITCH ORDER (ISOLATED)
ANALOGUE INPUT
mA
PITCH FEEDBACK
模拟输入(
模拟输入(集成)
(ISOLATED)
集成)
4-20mA = +/-100%
mA 螺距反馈
4-20mA=+/-100%
Typical Interface to a Main Propeller
典型的与主推进器连接接口
典型的与主推进器连接接口
Generally Fixed Speed with Controllable Pitch Propeller (CPP)
通常来讲恒定速度带有可控螺旋桨
What does the DP system do? DP 系统做什么呢?
1 - It ‘Calls’ the Pitch Control (1 x Digital to Local Controller)
1- 它“称为” 螺距控制(1X送至就地控制器的数字信号
称为” 螺距控制( 送至就地控制器的数字信号)
送至就地控制器的数字信号)
控制柜
PROPELLER PITCH CONTROL BOX DP CONTROLLER CUBICLE
螺旋桨控制箱 DP
呼叫信号 1A/250VAC-30VDC
数字输出
READY SIGNAL means:-
SWITCHED TO DP CONTROL (关闭=呼叫) 触点容量:
&
NO SYSTEM FAILURE 1A/250VAC~30VDC
& READY SIGNAL
数字输入
DIGITAL INPUT
就绪信号
BRIDGE CONTROL (CLOSED = READY)
&
PITCH PUMPS RUNNING
& (关闭=就绪)
MOTOR RUNNING
就绪信号 –转到DP 控制 mA
& 无系统失效 PITCH ORDER
ANALOGUE OUTPUT
& 驾驶台控制
(ISOLATED)
螺距需要 模拟输出(
模拟输出(集成)
集成)
4-20mA = +/-100%
mA
& 螺旋桨泵运转 4-20mA=+/-100%
& 电机运转
ANALOGUE INPUT
mA
PITCH FEEDBACK
模拟输入(
模拟输入(集成) 螺距反馈
(ISOLATED)
集成)
4-20mA = +/-100%
mA 4-20mA=+/-100%
UPS Anemometer Gyrocompass MRU
Operator 风速风向仪 电罗经 位置参照单元
Console
控制台
DP Basic Pinciples
DP 基本原理
INTRODUCTION 介绍
3 Orthogonal directions
3个正交方向
个正交方向
X = Surge 纵荡
Y = Sway 横摇
Z = Heave垂举
垂举
+ 3 Rotations around
each Axis
+3 个轴向的旋转
Roll 摇摆
Pitch 倾斜
YAW 偏航
YAW 偏航
SURGE
纵荡
SWAY
横摇
For DP We Control only Three
DP系统我们仅控制三个
系统我们仅控制三个
`N'
In Broad Terms
DP主要控制系统
`Y'
ASSESS IN TERMS OF
MEASURE DEVIATION
FROM HEADING TARGET X FORCES
Y FORCES
N TURNING MOMENTUM
TRANSFORM INTO
COMMANDS TO THRUSTERS
动力定位系统的主要要素
– A suitable and adequate thruster installation
– 合适及足够的推进器
– Suitable position measurement equipment
– 合适的位置测量设备
– Suitable gyrocompass
– 合适的电罗经
– A control system which interfaces to the points mentioned
– 一套连接以上各点的控制系统
Critical Factors关键因素
典型DP系统的主要构成
DP Console Artemis
Laser Reference
Gyrocompass
Tunnel Azimuth
Thruster Thruster
Rudders
Weight
Acoustic Transponder
Dynamic Positioning 动力定位
动力定位就是使用船舶所配备的推进器来抵抗风,流及
浪等产生的位移力,以保持船舶的航向及船位(固定的或
移动的)
ADP01/ADP11 System Features
ADP01/ADP11系统要素
WIND MODEL
=3 TERM CONTROLLER
ERROR
P
POS. KALMAN VELOCITY STATE THRUSTER
D
REF FILTER CONTROLLER TRANSFORM
UMODELLED
I
FORCE
INVERSE
THRUSTER FORCE
THRUSTER
TRANSFORM
FEEDBACK POSITION
SHIP THRUSTER
MEASUREMENT
Converteam A Series
Converteam A 系列
SIMPLEX - MIKA 1 SIMPLEX - QM2
Converteam A Series
Converteam A 系列
Typical AHT / Supply Triplex - Q4000
Marine & Offshore 船舶和海洋工程
Dynamic Positioning Systems
动力定位系统
Marine & Offshore 船舶和海洋工程 July 2006
2006年年7月月
Dynamic Positioning Systems 动力定位系统
DP Class Rules
DP 船级社规范
INTRODUCTION 介绍
UPS
CONTROLLER
UPS
UPS
Switchboards
A60
Protection
Marine & Offshore
Dynamic Positioning Systems
Marine & Offshore 船舶和海洋工程 July 2006
Dynamic Positioning Systems 动力定位系统 2006年年7
DP Control Modes
DP 控制模式
INTRODUCTION
Manual manoeuvring of
vessel B
手动操纵船舶
Uses whatever thrust is
available
用任何的推进器均可行
A
Control Modes - JSAH (Joystick Auto Heading)
控制方式-JSAH(操纵手柄自动定向)
Manual manoeuvring on Moving Vessel from A to B
Under Joystick Control
fore/aft, port/stbd axes with Constant Heading
在前/后,左/右轴向上手动操纵
B
Automatic heading control
自动航向控制
Requires Bow and Stern thrust
要求艏艉侧推
Below 4 knts
在4KNTS以下
Requires a minimum of one
gyrocompass to be selected A
要求最少选择一个电罗经
Control Modes - DP (Dynamic Positioning)
控制模式-DP(动力定位)
Automatic control of heading,
fore/aft and port/stbd axes
在前/后,左/右轴向上自动控制航
向
左/右航向。
•Requires bow, stern,ahead and
astern thrust
4
要求艏推,艉推,顺推,倒推
3
•Vessel can travel along track at
any heading.
• 船可以根据任何航向航行
PME (DG PS) Gyrocompass
• Reduces thruster activity as the ROV is allowed to move while the vessel is
stationary. 减弱推进器的活性,ROV可以在船静止的时候移动
• Reaction radius size can be defined by the operator.
操作员可定义感应半径的大小
Anemometer 风速风向仪
Gyrocompass 电罗经
Munro -DK
Sensor – Gyrocompass 传感器 –电罗经
电罗经
Measurement of Vessels Heading 测量船舶航向
Location - typically on bridge 位置-一般在驾驶室
Interface to DP System 与DP系统的接口
– Synchro/Serial -同步/串行
SG Brown Anschutz
‘Meridian’ Litton Mk180
Anshutz -DK
Sensor - Motion Reference Units (MRU)
传感器-位置参照单元(MRU)
Measurement of Pitch, Roll and Heave
测量船的纵摇,横摇和垂荡
Location - ideally on the vessels centre of roll and pitch
位置- 理想装于船舶的横摇和纵摇中心
Interface to DP System 与DP系统接口
– Serial 串行
Type of VRU depends on the application 位置参照单元型号取决于系统要求
(i.e. Accuracy required) (比如精确性要求)
比如精确性要求)
TSS Watson
Position Measurement Equipment (PME)
位置测量装置(PME)
Measurement of vessel position, systems include:-
测量船舶位置,系统包括:
– Seatex
– Trimble
– Thales
PME – DGPS Differential GPS - Accuracy 1-2 metre
位置测量设备- DGPS 差分GPS – 精度1-2米
UHF超高频 (40km Range40公里范围) HF高频 (600-700km 600-700公里范围Range)
UHF -DK
GPS Correction
RECEIVER RECEIVER (s)
PME – DGPS Inmarsat (Low Power) Coverage
位置测量设备- DGPS Inmarsat(低功率)覆盖
PME – DGPS Inmarsat (Low Power) Coverage
位置测量设备- DGPS Inmarsat(低功率)覆盖
PME – DGPS Typical Base Stations and High Power Coverage showing
位置测量设备- DGPS
Distance Contours from Base Stations
典型的基站和大功率覆盖显示从基站的距离轮廓
PME – Acoustics位置测量装置
Measurement of Vessel
Position Relative to the
Transponder 测
量船舶相对于收发机的位置
Suppliers 供应商
– Sonardyne
– Simrad
– Nautronix
New Technology新技术
– Wideband宽带
PME – Acoustics位置测量装置-声学 Ultra--Short Baseline
Ultra
Short Baseline 超短基线
Long Baseline 短基线
长基线
PME – Acoustics位置测量装置-声学
LUSBL长、超短基线
LUSBL 长、超短基线 SLUSBL段、长、超短基线
SLUSBL 段、长、超短基线
Transponder
Operation
收发操作
收发 操作
PME - Acoustics
ROV USBL
Responder
Operation
PME - Acoustics 位置测
量装置 – 声学ROV LBL
ROV长基线
Measurement of Vessel
Position Relative to the Fixed
Station测量船舶相对于固定基站
Advantages优点
– short to medium range
– 中、短距离
– high accuracy at short range
– 短距离精度高
Disadvantages缺点
– line of sight 光线
– fixed end requires setup 需
要建立固定端站
– Reflections反射
– interference from radar 受雷
达干扰
PME – CyScan位置测量设备
Wire Length
O2
O1
Sinker Weight
Marine & Offshore
Dynamic Positioning Systems