5.13 - Comparative Investigation on Influence of the Positioning...
Transcript of 5.13 - Comparative Investigation on Influence of the Positioning...
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DYNAMIC POSITIONING CONFERENCEOctober 9-10, 2012
THRUSTERS SESSION
Comparative Investigation on Influence of the Positioning Time of Azimuthg
Dirk Jürgens M Palm A BrandnerDirk Jürgens, M. Palm, A BrandnerVoith Turbo Marine
Comparative Investigation on Influence of the
Positioning Time of Azimuth Thrusters on the Accuracy of DP
D Jürgens M Palm AD. Jürgens, M. Palm, A. Brandner
Content
- Principle of the Voith Schneider Propeller (VSP)- Special hydrodynamic effects of the VSPSpecial hydrodynamic effects of the VSP
- Voith Roll Stabilization- DP with VSP- Avoiding Forbidden Zones for DP
- Remote Control and VSP- OSVs propelled by VSPs
Voith Schneider Propeller (VSP)
Voith Schneider Propeller for PSVVoith Schneider Propeller for PSV
Voith Schneider Propeller
1 rotor casing2 blade3 cinematic4 control rod4 control rod5 servomotor6 bevel gear7 reduction gear7 reduction gear8 driving sleeve9 propeller housing
10 thrust plate10 thrust plate11 roller bearing12 gear pump
VOITH SCHNEIDER PROPELLER (VSP)
VOITH SCHNEIDER PROPELLER (VSP)VOITH SCHNEIDER PROPELLER (VSP)Mechanical System
CYCLOIDAL PROPULSOR
KINEMATICAL PRINCIPLEiVSP !!
Research and Development
CFD-Calculation results
Thrust
Blade - Rotor - Channel
N i l l iNumerical propulsion tests
Content
- Principle of the Voith Schneider Propeller (VSP)- Special hydrodynamic effects of the VSPSpecial hydrodynamic effects of the VSP
- Voith Roll Stabilization- DP with VSP- Avoiding Forbidden Zones for DP
- Remote Control and VSP- OSVs propelled by VSPs
V ith R ll St bili ti (VRS)M wave - Exciting wave moment
Voith Roll Stabilization (VRS)
VSP Thrust
M VSP - Stabilizing Moment by the VSP
Vs = 5 kn, hs = 1.5 m; Roll Reduction = 69 %
V ith R ll St bili ti (VRS)Voith Roll Stabilization (VRS)
DP P fDP PerformanceKeeping the Watch BoxMARIN Calualtion October 2008 - DP ConferenceVessel motions in bow quartering wavesComparison study of an z-drive propelled PSV and a VSP propelled PSV, four units each ship, hs = 3 m, Lpp = 120 mpp
z-drive VSP
X/Y Steering logicg gof the VSP
Ideal for DPIdeal for DP
Dynamic Positioning (DP) The importance of accuracyDynamic Positioning (DP) – The importance of accuracy
DP Work at the PlatformDP-Work at the Platform
Dynamic Positioning (DP) The importance of accuracyDynamic Positioning (DP) – The importance of accuracy
DP Work at the PlatformDP-Work at the Platform
Dynamic Positioning (DP) The importance of accuracyDynamic Positioning (DP) – The importance of accuracy
Tracking error: statedesiredstatee • PID Controller
deIeDePforcet
PID )(0
Tracking error: statedesiredstatee
The calculations of the simulations as well
• Thruster Allocation Modul
The calculations of the simulations as well as the applied supply vessel refer to:
Handbook of Marine Craft Hydrodynamics and Motion Control (Thor I. Fossen)
Matlab Toolbox MSS GNC (guidance, navigation and control) (Development Team: Prof. Thor I . Fossen and Prof. Tristan Perez)
Vessel Data supply vessel
Dynamic Positioning (DP) – The importance of accuracy
Lpp: 82 m T: 6 m
B 19 B: 19 m m: 6362 t
thruster thruster location of the thrusters: stern max. power: 3600 kW per thruster
Calulations – ExamplesDynamic Positioning (DP) – The importance of accuracy
Example 1: 0-75-90p
Example 2: 0-100-45
Example 3: cyclic-100-0-60
Example 4: cyclic 400 0 60Example 4: cyclic-400-0-60
Dynamic PositioningExperience
Statement from Captain of Edda Fram
Voith Offshore Shuttle (VOS)
• Maintenance Vessel for Windpark Services.
• S perior station keeping• Superior station keeping capabilities due to the Voith Schneider Propeller.
V ith Off h Sh ttlVoith Offshore ShuttleConceptual Design by Voith Turbo Marine Engineering
Loa: 39.00 mBeam: 8.75 mDepth: 3 90 mDepth: 3.90 mSpeed: 14.00 knCrew: 3 personsPAX’: 12 persons
2 Voith Schneider Propellers with Roll StabilizationWindturbine access systemWindturbine access system
V ith Shi Si l tVoith Ship Simulator
V ith Off h Sh ttlVoith Offshore ShuttlePosition Control
( f )By hand (left)und automatic (right)
0m m
10 4
I t ti f Th t Th tInteraction of Thruster-Thruster –Target: Minimize forbidden zones
Calculation - Data
•Advanced coeffcient = 0
•VSP-Diameter D = 3.2 m
•Pitch λ0 = 80%
•Blade length L = 3m
Pit h l•α1/2 – Pitch-angle
•ϕ1/2 – Blade-angle
Distance: 11.2 m (3.5 D); 8 m (2.5 D)
and 4.8 m (1.5 D)
a=4,8m
α1 = -90°1
α2 = 0°
a=4,8m
α1 = -85°1
α2 = 0°
a=4,8m
α1 = -80°1
α2 = 0°
a=4,8m
α1 = -75°1
α2 = 0°
a=4,8m
α1 = -70°1
α2 = 0°
a=4,8m
α1 = -65°1
α2 = 0°
a=4,8m
α1 = -60°1
α2 = 0°
a=4,8m
α1 = -55°1
α2 = 0°
a=4,8m
α1 = -50°1
α2 = 0°
a=4,8m
α1 = -45°1
α2 = 0°
a=4,8m
α1 = -40°1
α2 = 0°
a=4,8m
α1 = -35°1
α2 = 0°
a=4,8m
α1 = -30°1
α2 = 0°
a=4,8m
α1 = -25°1
α2 = 0°
a=4,8m
α1 = -20°1
α2 = 0°
a=4,8m
α1 = -15°1
α2 = 0°
a=4,8m
α1 = -10°1
α2 = 0°
a=4,8m
α1 = -5°1
α2 = 0°
a=4,8m
α1 = 0°1
α2 = 0°
a=4,8m
α1 = 5°1
α2 = 0°
a=4,8m
α1 = 10°1
α2 = 0°
a=4,8m
α1 = 15°1
α2 = 0°
a=4,8m
α1 = 20°1
α2 = 0°
a=4,8m
α1 = 25°1
α2 = 0°
a=4,8m
α1 = 30°1
α2 = 0°
a=4,8m
α1 = 35°1
α2 = 0°
a=4,8m
α1 = 40°1
α2 = 0°
a=4,8m
α1 = 45°1
α2 = 0°
a=4,8m
α1 = 50°1
α2 = 0°
a=4,8m
α1 = 55°1
α2 = 0°
a=4,8m
α1 = 60°1
α2 = 0°
a=4,8m
α1 = 65°1
α2 = 0°
a=4,8m
α1 = 70°1
α2 = 0°
a=4,8m
α1 = 75°1
α2 = 0°
a=4,8m
α1 = 80°1
α2 = 0°
a=4,8m
α1 = 85°1
α2 = 0°
a=4,8m
α1 = 90°1
α2 = 0°
I t ti f Th t Th tInteraction of Thruster-Thruster –Target: Minimize forbidden zones
toe
ffici
ent
0.5 seconds VSP steering to overcame the interaction losses
Thru
stc
Thrustangle
Content
- Principle of the Voith Schneider Propeller (VSP)- Special hydrodynamic effects of the VSPSpecial hydrodynamic effects of the VSP
- Voith Roll Stabilization- DP with VSP- Avoiding Forbidden Zones for DP
- Remote Control and VSP- OSVs propelled by VSPs
C t lli t VTSHControlling competence VTSHAims of the new control system ITS 2012
Stand 102One control system for all drive systems Stand 102
Voith Control SystemSystem
Steuerungskompetenz VTSH | wegek | 2011-10-04
VTSH C lliVTSH–ControllingHardware – Control station
ITS 2012St d 102
Status VTSH - Steuerung | wegek | 2012-05-24
Stand 102
Content
- Principle of the Voith Schneider Propeller (VSP)- Special hydrodynamic effects of the VSPSpecial hydrodynamic effects of the VSP
- Voith Roll Stabilization- DP with VSP- Avoiding Forbidden Zones for DP
- Remote Control and VSP- OSVs propelled by VSPs
V ith S h id P ll i Off h A li tiVoith Schneider Propeller in Offshore ApplicationsArrangement of the VSPs with Optimized Hull Form
F th R f
Loa: 95 00 m
Further ReferencesInspection Maintenance + Repair Vessel Edda Flora
Loa: 95.00 mBeam: 20.00 mDraft max: 7.50 mVSP: 2 x 36R6 EC/300-2
Voith Roll Stabilization + DP3
Class: DNVDeadweight: 4800 tsDelivery: 2008Delivery: 2008Owner: Østensjø / NorwayConcept: Skipsteknisk A.S.Yard: Karmsund Maritime
Services
Further ReferencesTwo Windfarm Installation Vessels for Windcarrier and one for A2SEALoa: 130.80 mBeam: 39.00 mPayload: 5300 t
and one for A2SEA
Payload: 5300 tVSP: 3 x 36R6 EC/285-2 with VRSClass: DNV / DP2Owners: Fred. Olsen Windcarrier / Norway
A2Sea / DenmarkConcept: Gusto MSC / NetherlandspYards: Lamprell / Dubai and Cosco / ChinaDelivery: 2Q + 3Q 2012
F th R fFurther ReferencesDeep Recovery Vessel “Seabed Worker”
LWL: 91.60 mBeam: 16.00 mDraft: 5 75 mDraft: 5.75 mVSP: 2 x 32R5 EC/265-2
Voith Roll Stabilization + DP2Class: DNVOwner: Seabed A.S. / NorwayConcept: Multi Maritime & SAWICON / Norwayp & yYard: Fjellstrand / Norway
Further ReferencesOne Diving Support Vessel “Windermere”LWL 77 00LWL: 77.00 mBeam: 20.4 mDraft: 5.50 mVSP: 2 x 32R5 EC/265-2
Voith Roll Stabilization + DP2Class: ABSClass: ABSOwner: Hallin Marine Systems Ltd.Yard: Drydocks World-Singapore, SingaporeCommissioned 2nd quarter 2010Commissioned 2nd quarter 2010
F th R fFurther ReferencesOne Platform Assist Vessel „Forte“
LWL: 48.16 mBeam: 15.85 mDraft: 6.50 mBollard pull: 100 tVSP: 2 x 36R6 EC/285-2
Voith Roll Stabilization +Voith Roll Stabilization + DP2
Class: ABSOwner: Edison Chouest Offshore
/ USAYard: North American
Shipbuilders / USA
F th R fFurther ReferencesTwo IMR Vessels “Polar King” and “Polar Queen”
LWL: 110.00 mBeam: 20.00 mDraft: 6 00 mDraft: 6.00 mVSP: 2 x 36R6 EC/300-2
Voith Roll Stabilization + DP2Class: DNVOwner: GC Rieber Shipping / NorwayConcept: Skipsteknisk / Norwayp p yYard: Con. Navales P. Freire S.A. / Spain
L 130 00
Accommodation and Service VesselLpp: 130.00 mBeam: 27.00 mDraft: 7.00 mVSP: 5 x 32R5 EC/265-2
Voith Roll Stabilization + DP3Stabilization + DP3
Class: DNVDeadweight: 7500 tsD li 2010Delivery: 2010Owner: Østensjø / NorwayConcept: Vik-Sandvik A.S.Yard: Astilleros Barrera /
Spain
F th R fFurther ReferencesOffshore Construction + Repair Vessel Giant
Loa: 160.00 mBeam: 30.00 mDraft: 7.00 mVSP: 5 x 36R6 EC/300-2
Voith Roll Stabilization+ DP3+ DP3
Class: DNVOwner: North Sea Shipping /
NorwayConcept: Sawicon A.S.Yard: Astilleros Metalship / p
Spain
V ith S h id P ll i Off h A li tiVoith Schneider Propellers in Offshore ApplicationsConclusions
Safe station keeping due to excellent DP behavior Roll stabilization for safe operationsRoll stabilization for safe operations Minimum interaction losses (Thruster-Thruster) Fast reaction and X/Y logic of the VSP for
optimum DPoptimum DP Maximum operational availability of the vessel Voith is offering designs for service vessels for
windparks Voith is offering a new remote control system