Dinamic Positioning

COMMERCIAL IN CONFIDENCE
GLOBAL INDUSTRIES OFFSHORE LLC
GLOBAL 1200, 1201 DERRICK PIPELAY VESSELS
DP SYSTEM INTRODUCTION
DPS21 - Duplex DP+IJS
ISSUED TO :
MO Operations Guy Glendinning

Class ABS
Customer Via MO Operations
AUTHORISED FOR ISSUE:

(Signature and Date)
A 26 Feb 09 MBE First Issue

Ar1 15Aug08 Georgi Donev Review Issue
Version Date Author Reason for new issue (see last page for modification record)
THIS DOCUMENT CONTAINS COMMERCIALLY CONFIDENTIAL INFORMATION AND ITS CONTENTS

MUST NOT BE DISCLOSED TO ANY OTHER PERSON NOR COPIED IN WHOLE OR PART EXCEPT
WITH THE PRIOR WRITTEN CONSENT OF CONVERTEAM UK LTD
Customer : Global Industries Offshore LLC Ref : DV1P1C1
Project : Global 1200, 1201 Derrick Pipelay Vessels Version :A
Document : DP System Introduction Date : 26 Feb 09
File : CG00928 / DV1P01C01_A_Introduction.doc Page : 1/15
©2008 Converteam UK Ltd Converteam UK Ltd
CONTENTS
1. INTRODUCTION ........................................................................................................................3
2. BASIC TERMINOLOGY.............................................................................................................4
2.1 VESSEL AXES.................................................................................................................4
2.2 SYSTEM NOMENCLATURE ...........................................................................................5
3. EQUIPMENT ARCHITECTURE.................................................................................................6
3.1 VESSEL DP EQUIPMENT ...............................................................................................6
3.2 TYPICAL DP SYSTEM BLOCK DIAGRAM......................................................................7
3.3 DUPLEX DP SYSTEM WITH INDEPENDENT JOYSTICK..............................................8
4. CONTROL EQUIPMENT ...........................................................................................................9
4.1 INDEPENDENT JOYSTICK SYSTEM (IJS).....................................................................9
4.2 MANUAL THRUSTER CONTROL (MTC) ........................................................................9
4.3 DYNAMIC POSITIONING (DP)......................................................................................11
4.3.1 Joystick Panel ..........................................................................................................11
4.3.2 DP Workstation ........................................................................................................12
4.3.3 Position Measurement Equipment (PME) Workstation ............................................13
4.4 CONTROL CABINET .....................................................................................................14
5. MODIFICATION RECORD.......................................................................................................15
1. INTRODUCTION
This document introduces the basic terminology, architecture and functionality of a typical
Converteam dynamic positioning system. It deliberately gives a generic overview to introduce the
Converteam systems to a new user.
Please refer to the Functional Specification for the specific details for this vessel.
2. BASIC TERMINOLOGY
2.1 VESSEL AXES
The DP system fitted to this vessel controls it in three of its six axes of movement.
• Surge (X axis).
• Sway (Y axis).
• Yaw (N axis).
The thrusters act to move the vessel in the X, Y and N axes to maintain the desired
position/heading. Sensors measure the environmental forces acting on the vessel such as wind
direction and speed, roll, pitch and sometimes heave.
Note: pitch and roll sign convention in figure below.
CONTROLLED
AXES
Sway Starboard Surge Aft

+Y -X
-Y
+N +X Sway Port
Surge
Fwd
+
Heave
-
Yaw +
-N
Roll
+
-
NON-CONTROLLED Pitch
AXES -
Figure 2.1-1 Vessel Axes of Movement
2.2 SYSTEM NOMENCLATURE
Joystick Panel Operator panel for manual operations using a joystick.

Workstation Provides the necessary information and control to operate the
vessel.
Controller Cabinet Provides the interface to the sensors and position reference
systems and executes the control functionality for vessel
operations.
Anemometer Provides measured wind speed and direction relative to vessel
bow.
Gyrocompass Provides measured vessel heading relative to true north.
Vertical Reference Unit Provides measured pitch, roll and heave (optional) of the vessel.
(VRU) Motion Sensor Unit (MRU) is another name for this unit.
Doppler Log Provides measured speed of the vessel in fore/aft and
port/starboard axes with respect to water or bottom lock.
DGPS Differential Global Positioning System or Global Positioning
System - Provides absolute position measurements in latitude,
GPS
longitude and altitude.
Acoustic System This system consists of a navigation computer, transceiver,
deployment system and transponders. The system provides
fixed measurements from the seabed or relative measurements
from mobile transponders.
Laser System Provides range and bearing information relative to single or
multiple reflective targets. Multiple target operation allows the
vessel’s heading to be calculated in the laser unit.
Taut Wire System Provides a position fix relative to a weight on the seabed.
Radar System Provides range and bearing information relative to single or
multiple reflective targets. Does not require line of sight
between vessel and target.
3. EQUIPMENT ARCHITECTURE
The following paragraphs give an overview of typical Converteam DP system.
Note that the illustrations below show a variety of equipment available, some of which may
not be fitted to this vessel.
3.1 VESSEL DP EQUIPMENT
DGPS
Tautwire
Anemometer
Gyrocompass
DP Workstation
Laser
MTC
Controller Workstation
Vertical
Reference
unit
Portable PME Workstation
Joystick Hydro
Acoustics
Figure 3.1-1 Vessel DP Equipment
3.2 TYPICAL DP SYSTEM BLOCK DIAGRAM
GYRO
DGPS
UPS
DP CONSOLE
SHIP'S SUPPLY MODULE 230V FIELD STATION
PME CONSOLE
SENSORS PME
HYDRO
ANEMOMETER GYRO COMPASS VRU DGPS LASER SYSTEM ACOUSTIC
SYSTEM
ROLL & PITCH

HEADING
TRUE HEAVE POSITION POSITION
WIND SPEED NORTH ROLL (SEABED)
& DIRECTION PITCH
RANGE
&
BEARING
DP GYRO PME
CONTROL CABINET
WORKSTATION WORKSTATION
DP
FIELD
STATIONS
PROPELLERS & TUNNEL AZIMUTH

RUDDERS THRUSTERS THRUSTERS
Figure 3.2-1 Typical DP System Block Diagram
3.3 DUPLEX DP SYSTEM WITH INDEPENDENT JOYSTICK

The duplex system generally comprises two of every component with system redundancy. There is
one field station per thruster. Therefore, should a field station malfunction or power to the
corresponding thruster be lost, the DP system retains vessel control via the remaining thrusters.
The system is designed as two identical, yet independent systems, one of which is online and the
other on standby. The standby system is in constant communication with the online system and is
kept fully updated with vessel position, heading and environmental information. In the event of a
failure or problem with the online system the standby is always ready to take over without
interruption of control. The changeover is bumpless and can be achieved either automatically or
manually on operator request.
As a back-up to the DP System, the Independent Joystick provides an alternative method of
controlling the thrusters. It has its own Controller Cabinet serial links providing an independent
interface with the field stations. The Independent Joystick receives inputs from the Gyrocompass
only (no other sensors or position measurement equipment) so has a restricted number of control
modes.
Anemometers
VRUs Gyrocompasses
Hydro-acoustics DGPS
Workstation Taut Laser
Wire
Independent
Joystick
Portable
DP Joystick
Workstations
Controller
Cabinets
UPS
Azimuth
Thrusters Field
Stations
Tunnell
Thrusters
Figure 3.3-1 Typical Duplex DP System with Independent Joystick
4. CONTROL EQUIPMENT
This vessel incorporates the following basic equipment, the following is a brief summary to aid in
recognition.
Please refer to DV1P2 for more details for this vessel.
4.1 INDEPENDENT JOYSTICK SYSTEM (IJS)

When in IJS control the operator can only control the vessel thrusters from the IJS workstation
which is a fixed joystick that has no associated main screen but has a local touch panel instead
and looks like this:
Fixed IJS Joystick (top view)
When using the IJS control the operator has limited modes available and tends to be controlling
most of the vessel’s axes using manual commands from the joystick and heading selection control;
however some aspects of the thruster control may be under automatic control e.g. control of
heading. Where a fixed joystick exists then it is solely dedicated to the IJS and the same location
cannot be used for DP control.
4.2 MANUAL THRUSTER CONTROL (MTC)

Manual thruster controls consist of a touch screen panel and levers and pushbuttons per thruster, a
typical layout is shown below:
Typical Manual Thruster controls.
The manual thruster controls typically include:
• Start/Stop per thruster
• Lever Control per thruster
• Emergency Stop per thruster
Typically, the operator can monitor the vessel thrusters, power and alarms from this workstation.
4.3 DYNAMIC POSITIONING (DP)

When in DP control the operator can work from DP workstations to control the vessel, in addition
the operator can choose to work from a joystick panel with reduced functions.
4.3.1 Joystick Panel

When required the operator can control the vessel thrusters from the DP joystick workstation(s)
which is portable joystick that has no associated main screen but includes a small touch screen
and looks like this:
DP Portable Joystick and Docking Station
When using the joystick control the operator has limited modes available and tends to be
controlling most of the vessel’s axes using manual commands from the joystick and heading
selection control; however some aspects of the thruster control may be under automatic control
e.g. control of heading. A portable DP joystick is solely dedicated to the DP system and the same
location cannot be used for IJS control.
4.3.2 DP Workstation
The Dynamic Positioning (DP) workstation provides the operator with combined joystick control
with automatic modes for heading and position control. A typical DP workstation is shown below,
note on some vessels where the equipment has been retrofitted into existing vessel consoles the
shape may not be exactly the same:
4.3.3 Position Measurement Equipment (PME) Workstation

The Position Measurement Equipment (PME) Workstation is used to configure and activate the
necessary position measuring equipment required for a control mode before it is selected for use at
the DP Workstation.
Figure 4.3-1 Typical PME Workstation
4.4 CONTROL CABINET

The controller cabinet comprises the following equipment and functionality:
• Advanced Micro Controller (AMC) – the AMC processor provides an interface to all serial
communications (sensors, position reference systems and waypoint systems). The
processor is connected to the workstations and field stations via an Ethernet network. The
processor is configured to meet all the control requirements necessary for vessel operation.
• Serial Link Termination Panels - RS232 or RS485
• Ethernet Switches
• Single or Dual (optional) Input Power
• Field Stations – included in controller cabinet, these then use the AMC rail (IPC) controller to
control the field station I/O.
Figure 4.4-1 Typical Controller Cabinet
5. MODIFICATION RECORD
Version Date Author Details

Ar1 15Aug08 Georgi Donev Initial Issue
A 26 Feb 09 MBE

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COMMERCIAL IN CONFIDENCE

GLOBAL INDUSTRIES OFFSHORE LLC

GLOBAL 1200, 1201 DERRICK PIPELAY VESSELS

DPS21 - Duplex DP+IJS

MO Operations Guy Glendinning

AUTHORISED FOR ISSUE:

A 26 Feb 09 MBE First Issue

THIS DOCUMENT CONTAINS COMMERCIALLY CONFIDENTIAL INFORMATION AND ITS CONTENTS

Note: pitch and roll sign convention in figure below.

Sway Starboard Surge Aft

Figure 2.1-1 Vessel Axes of Movement

2.2 SYSTEM NOMENCLATURE

Joystick Panel Operator panel for manual operations using a joystick.

3.1 VESSEL DP EQUIPMENT

Figure 3.1-1 Vessel DP Equipment

3.2 TYPICAL DP SYSTEM BLOCK DIAGRAM

ROLL & PITCH

PROPELLERS & TUNNEL AZIMUTH

Figure 3.2-1 Typical DP System Block Diagram

3.3 DUPLEX DP SYSTEM WITH INDEPENDENT JOYSTICK

Figure 3.3-1 Typical Duplex DP System with Independent Joystick

4.1 INDEPENDENT JOYSTICK SYSTEM (IJS)

Fixed IJS Joystick (top view)

4.2 MANUAL THRUSTER CONTROL (MTC)

Typical Manual Thruster controls.

The manual thruster controls typically include:

• Start/Stop per thruster

• Lever Control per thruster

• Emergency Stop per thruster

4.3 DYNAMIC POSITIONING (DP)

4.3.1 Joystick Panel

DP Portable Joystick and Docking Station

4.3.3 Position Measurement Equipment (PME) Workstation

Figure 4.3-1 Typical PME Workstation

4.4 CONTROL CABINET

• Serial Link Termination Panels - RS232 or RS485

• Single or Dual (optional) Input Power

Figure 4.4-1 Typical Controller Cabinet

Version Date Author Details

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