Maritime Electrical Installations

Diesel Electric Propulsion

NTNU
A. K. dnanes, ABB Marine

Integrated Control System

Control Hierarchy
User Interface
- Operator Stations

System Level Control

- Controllers / PLCs

Low Level Control

- Governors, AVR, Protection

System Level Control Functions

Energy / Power Managmen System

To keep power system running at optimal
conditions under constraints for the actual
operation

Vessel Management System

Manual / Semi- / Automatic remote and
local control of vessel systems

Propulsion and Positioning Control

Sub Systems
OS

Controllers

Local Control
I/O
Auxilliaries

VMS

Propulsion

PMS

Real System

Auxilliaries

VMS

Propulsion

PMS

Power Plant

Vessel Loads
Propulsion Auxilliaries

Energy Management System

Energy
Production
and
Distribution

Energy
Consumers
Thrusters
Pumps

Prime
movers

Energy Management System

Generators
Switchboards
Transformers

Compressors
Separators

Propulsion
Control
System

Vessel
Management

System

Other
Control
Systems

Safety Systems, F&G, ESD, PSD

Winches
...
HVAC

Power Management System

Propulsion reduction, critical situation
t

Propulsion reduction, non-critical

Auto start

PA,normal
Load
Reduction/
Shedding

Auto stop

Tstop
Tstart
PA,1 - PA,N

PA,start

PA,stop

Pavailable

Low Level Control and Protection

Engine Protection and Governing

Protect diesel engine from damage,
monitoring and shut-down
Speed control and load sharing

Automatic Voltage Regulators (AVR)

Voltage control and reactive load sharing

Protection Relays
Protect el. System from overloads etc.

Motor Drive Controllers

Variable Speed Drives (VSD)

The most commonly used converters for motor drives are:
Voltage source inverter (VSI) type converters
for AC motors, normally asynchronous motors
Current source inverter type (CSI) converters
for AC motors, normally synchronous motors
Cycloconverters (Cyclo) for AC motors,
normally for synchronous motors
DC converters, or SCR (Silicon Controlled Rectifier)
for DC motors

DOL Asynchronous Motor

Stator current

Torque

Load curves
- full pitch
- zero pitch
Speed

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1
Slip

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

n
ns
ns n
ns

DOL
asynchronous
motor + CPP

SCR DC
motor drive

Cycloconverter

CSI (LCI)

Typ. 5 x rated
current

0
(transformer
inrush)
0

0
(transformer
inrush)
0

0
(transformer
inrush)

Up to 50% of
rated torque
0

F(torque)

F(torque)

F(torque)

Power Factor - full load

45-55%
of nominal
0.85

> 0.9

> 0.76

> 0.9

> 0.95

Power factor variation with

load (cos)

0.15 .. 0.85
(non-linear)

0 .. 0.9
(prop. speed)

0 .. 0.76
(prop. speed)

0 .. 0.9
(prop. speed)

> 0.95

( constant)

Dynamic response (power,

torque)

3-5 sec
(pitch control)

< 100 ms

< 100 ms

Slower

< 50 ms

None

Smooth

Smooth

Pulsating

Smooth

Smooth if
negative thrust
allowed

Discontinuous

Smooth

Pulsating

Smooth

Efficiency at full load

High

Lower

High

High

High

Harmonic distortion:
- at low speed /thrust
- at full speed /thrust

None
None

F(torque)
F(torque)

F(torque)
F(torque)

F(torque)
F(torque)

0
F(power)

Short circuit contribution

Typ. 5 x
nominal
power

No

No

No

No

Motor matching required

Some

Some

Yes

No

No

Yes

No (sliprings)

No (sliprings)

No

Start-up amps

Start-up torque transients

Power consumption, low
thrust
Amps at low thrust

Torque ripple
Zero-thrust crossing

Commutator

Typ. 2-3 x
rated torque
15% of
nominal
power

VSI PWM

0
(transformer
inrush)
0
0

Schematics of a VSD with DC Link

Interface to control systems, commands and monitoring

Controller
Controls signals

Rectifier
(AC to DC)
Network

Measurements

Inverter
(DC to AC)
DC Link

Motor
Motor supply

3.3kV Motor drive for AM(IM)

Generic Control Block Diagram

Torque
reference
Speed
limitation

Speed
control

Torque
limitation

Speed
reference

Torque
reference

Motor
controller

Control
signals

Frequency
Converter

Flux
reference

PI
Flux
Control

Flux
estimate

Torque
estimate

Measurement
and
motor model

Speed
feedback

Currents

Speed

Motor

Simulation and Control Diagram

Torque
reference
Speed
limitation
Speed
reference

Speed
control
PI

Kp

Torque
limitation

Torque
reference

Motor
inertia

Torque
control loop
Torque

Speed

(1 + Tis)

Ti S

1 + Ts

Js

Load
curve

Real Motor Controller (ABB)

ACS 6000 SD/AD

Fieldbus Adapter
to other systems

AMC3 /
DDCS -Optic
Links
CDP
312

Control Configuration

Application and Motor

Controller, AMC3

To the Advant
Controller

Door panel
PC Link/
Remote diag

INT
Interface

S800
WCU supervision
charging/discharging
emergency stop
emergency OFF
MCB Control

DI/O

Option

AI/O

S800
AI/O
DI/O

ABB Automation
13. 06.2000, ACS 6000SD Hardware Descr ipti on
P age 35

Speed feed back (op t)

Posit ion feed back ( op t)

GU
Ga te
Units

Ga te
Units

GU
Ga te
Units

Te mpe rat ure m easurem ent

PT100

Transf ormer supervision

Motor surervision
ON, RUN, STOP
RDY_O N, RDY_REF

$ %%

Real Motor Controller (ABB)

ACS 6000

Control Unit
AMC
Application and
Motor Controller

S800 I/O
Modules
COU in Swing
frame

ABB Automation
13. 06.2000, ACS 6000SD Hardware Descr ipti on
P age 34

$ %%

Control of Power Semiconductors

ON

Conduction
Losses

OFF

Switching
Losses

Off-state
Losses

Power Semiconductors

Uncontrolled devices
The diode is an uncontrolled device. It will conduct current if positively
biased, and block for currents when negatively biased, depending on the
surrounding conditions.

Turn-on controllable devices

The thyristor is a device that without a gate firing signal will block currents
in both directions. If positively biased and in blocking mode, a gate firing
signal (current pulse) is given, the thyristor will conduct until the
surrounding circuits force the current to reverse. The thyristor will then
enter blocking mode by itself, until positively biased and a new gate firing
signal is given.

Turn-on and turn-off controllable devices

The transistor is the most known component. If positively biased, the
transistor can be turned on from a blocking condition by giving a gate
firing signal (continuous current). If removing the gate firing signal, the
transistor will re-enter blocking mode, even if positively biased. A
transistor is normally not designed to tolerate negative voltage bias, or
special concerns must be taken.

Power Semiconductors

IGBT

IGCT

Voltage Source Inverters (VSI)

t
cos = 0.95
(constant)

constant voltage

t
t
near sinusoidal
currents

PM

12-pulse Rectifier

Vdc =
1.35xVll
Vdc =
2x1.35xVll

Ddy
transformer
Series connection

Ddy
transformer
Parallel connection

Current and Voltage Distortion, VSI

Harmonic Distortion
6-Pulse

h = 6 xn 1,n = 1,2 ,..

h = 5,7 ,11,13,...

25 %
20 %
15 %

Ih(6-p)
Ih(12p)

10 %
5%
0%
1

12-Pulse

h = 12 xn 1, n = 1,2,...
h = 11,13,23,25,...

10

11

12

THD = 100 %

i
h=2

i (1 )

(h)

Generation of ON-OFF signals

Pulse Width Modulation
On
Off 0

10

15

20

Upper and lower switching

elements are switched in opposite orders:
- ON: Upper = on, Lower = off
- OFF: Upper = off, Lower = on

10

15

20

10

15

Three-level, Zero Voltage Clamped

a)

b)
+

Positive Current:
+

Vdc/2

Phase

Phase

Phase

Negative Current:

Vdc/2

Phase 1

Phase 2

Phase 3

Phase

Phase

Phase

Motor Voltage, Current, Torque

Torque

Line to line voltage

Current

Control Strategies for AM (IM)

Scalar Control
Rotor Flux Vector Control
Stator Flux Vector Control

Rs Ls
Vs

Rm

Lr R r / s
Lm

R s Ls
Vs

n:1

Rm

L*r R*r / s
Lm

Operation Boundaries VSD IM(AM)

Constant torque
region

Field weakening
region

Maximum stator current boundary

Maximum torque boundary

Magnetic flux level

Stator voltage

Stator frequency

Pitching moment
limitation

Speed

Operation Boundaries VSD IM(AM)

Constant torque
region

Maximum torque boundary

Field weakening
region

Bollard Pull, V=0

Sailing, V>0

Speed

Quadrants of Operation
Torque
Quadrant II
Breaking
Speed<0, Torque >0

Quadrant I
Motoring
Speed>0, Torque >0

P<0

P>0

Speed
P>0

P<0

Quadrant III
Motoring
Speed<0, Torque <0

Quadrant IV
Breaking
Speed>0, Torque <0

Conceptual Design Considerations

Life Cycle Cost, LCC = CapEx + OpEx
Capital Expenditures
Design and
administration
cost

The total engineering and project

administration cost from the project start to
operation.

Operational Expenditures
Man-hour cost

The total purchase cost associated with the

Equipment and
material purchase system.
cost
Fabrication cost

The total fabrication cost associated with the

system.

Installation cost

The total cost of installing the systems and

equipment.

Commissioning
cost

The total cost to commission, and when

necessary certify, the installed systems and
equipment.

Insurance spares
cost

The total purchase cost for the initial spares

holding for the systems and equipment,
necessary to obtain the required system
regularity.

Reinvestment cost The total cost to remove, refurbish or

purchase, install and commission systems
and equipment that is predicted to exceed its
design life during the life of the facility.
Finance costs

Finance costs during construction

Man-hour cost is defined as the cost of the

needed man-hours per year to operate and
maintain the facility/equipment:
Fixed crew.
Workload dependent crew.
Contractors.
Vendors.

The total cost of spare parts and

Spare parts
consumption cost consumables over the design life of the
facility and systems, necessary to complete
the predicted work load for all maintenance
actions (i.e. preventive maintenance,
corrective maintenance and servicing).
Logistic support
cost

The total logistic support cost necessary to

support operation and maintenance
requirements for the facility and system (e.g.
supply boat, diving support vessel,
helicopters)

The total energy consumption cost for the

Energy
consumption cost facility and systems. It shall include the cost
of fuel required to generate the power and
associated CO 2 tax.
Insurance cost
Onshore support
cost
Cost of deferred
production

The total cost related to insurance for the

production facility.
The total cost of the required onshore support
services and administration.
The total cost of deferred production due to
probability of failure of system and
equipment.

Operation Profile
OPERATION PROFILE
2500

2000

1500
kW
1000

500

0
0

50

100

150

200

DAYS 1990

250

300

350

Fuel Consumption
3000

350

2500

300

2000

250

1500

[g/kWh]

Pow er, kW

200

Fixed speed
CP propeller

1000

150

Variable speed
FP propeller

500

100
100

50
0
0%

100

20 %

40 %

60 %
[%MCR]

80 %

100 %

120 %

200

300

400

500

Thrust, kN

200
300
Days

Cum ulative
thrust demand

Detailed Design
During the detailed design and engineering phase, several analytical and numerical calculations
must be performed in order to achieve safe and reliable operation, in common described as
network analysis or electrical power system studies:
-

Load flow calculation

Short circuit calculations
Ground fault calculations
Relay coordination study
Harmonic analysis
Voltage drop calculation of inrush of transformers and starting of motors

Dependent on system configuration and vessel application the following analysis can also be
necessary:
- Transient analysis of network behavior after disturbance, e.g. short circuit
- Reliability or failure mode analysis
A thorough and precise work in this phase is essential for safe, reliable, and cost efficient
operations, and flexibility for future upgrades and modifications of the system later during the life
time of the vessel.

Example - old Shuttle Tanker

4000kW

4000kW

4000kW

4000kW

11kV / 60Hz

11kV/690V

f2

f1

Pumps

f2

f1

f2

f1

Cycloconverter

Cycloconverter

f2

f1

f2

f1

PM
1700kW
750RPM

3000kW
750RPM

PM

12000kW
90RPM

3000kW
750RPM

1700kW
750RPM

f2

f1

Pumps

11kV/69

Example - new Shuttle Tanker

Summary

Electric Installations in
all Vessels
Electric Propulsion in
Cruise, Special and DP
Other Applications will
follow
Cost, Income, LCC
Varying Operating
Profile or Other
Requirements

Concepts
Electric Power System
Overview
Components
Prime Mover to Propeller
Variable Speed Drives
Control Systems
Harmonic Distortion
Class Requirements
Example Configurations