Control Your World ! DSME & Honeywell DP System : MAPS
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The Development of the DSME & Honeywell DP System for a
Submerged Heavy Lift Carrier
Daewoo Shipbuilding and Marine EngineeringFluid Dynamics R&D
KIM SE [email protected]
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The Aim of Presentation
Introduce submerged heavy lift carrierDynamic Positioning System development Experience
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1. How to design DP controller for submerged mode ? 2. How to consider the arbitrary cargo for DP operation?3. How to make the intuitive Interface?
Your advantages
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• Seeds– 2000 DP Capability Program– 2002 Floating Body DP Time Domain Simulation– 2004~2010 Eight (8) LNG RV DP System Development
Projects
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2008 Submerged heavy lift carrier DP System Development Project
Vessel Name : MEGA PassionOperation Goal: Multi-purpose Heavy Structure CarrierCapacity : 63,000 DWT (World 2nd largest Heavy Lift Carrier)
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Submerged heavy lift carrierPrincipal DimensionLength: 191 m, Breadth: 63m, Design draft: 6.6m, Submerged draft: 22.0m
Control Device Bow tunnel thruster(1) , Stern tunnel thruster (1), Twin electric propulsion
Sensor DGPS, GYRO, Radar, Anemoemter
Operation AreaChina(Yantai, Block shop) <-> Korea (DSME Yard)
Project Period2008.12 ~2010.05 : 18 Months
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Operation Area : Yellow sea (between China and Korea)
Yantai in China
Okpo Korea
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1. Submerging Mode2. Arbitrary Cargo3. Operator Characteristics
Heavy Lift Characteristics
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Submerging Mode
Draft Variation : from 6m to 22mHydro-dynamic Characteristics are changed due to draft change
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Arbitrary Cargo
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Crew Experience
DP Operator in DP Vessel Heavy Lift Carrierw/o DP operator
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DP Controller Design key point
Submerging Mode ?Arbitrary Cargo ?Operator ?
Hydrodynamic Analysis ! Adaptable PID Controller !
Easy& Intelligent HMI !
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Operation Scenarios
Scenario Draft Cargo
Sea Going 6.6m
Non-Cargo
Half Ship Block
Arbitrary Cargo
During Submerging 6.6m~21m*
Non-Cargo
Half Ship Block
Arbitrary Cargo
After Submerging 21m Non-Cargo
*Submerging Conditions are divided into 5 step
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Environmental Conditions
Environment* Condition
Wind 10m/sec
Current 0.51 m/sec (1knot)
Wave H:4m, Period : 10 sec
*Based on owner requirement
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Hydrodynamic Analysis : Wind /Current Analysis
Wind ProfileUsing FLUENT 2.4
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Hydrodynamic Analysis : Wind /Current Analysis (2)
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Wave Load Analysis
Wave Load AnalysisUsing WADAM
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2-1200
-1000
-800
-600
-400
-200
0QTF-Y (Full Condition)
ω
Forc
e / W
aveH
eigh
t (kN
/ m
)
0 degree30 degree60 degree90 degree120 degree150 degree180 degree
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.60
2000
4000
6000
8000
10000
12000
14000
16000
18000ForceRAO-Y (Full Condition)
ω
Forc
e / W
aveH
eigh
t (kN
/ m
)
0 degree30 degree60 degree90 degree120 degree150 degree180 degree
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Controller Design
• Estimator : Extended Kalman Filter
• Feed Back Control – Based on ship characteristic which due to draft change – Adaptive PID Controller
• Feed Forward Control – Based on Hydrodynamic Analysis– Wind Load : Default– Current Load : Optional
• Thrust Allocation – Minimize Power Consumption
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Human Machine Interface Design
• Objectivity
– Make User Friendly and Intuitive HMI
• Expected Effect
– Cost Down, Training Period Minimize
– Human Error and Risk Minimize
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Human Machine Interface Design (2)
• User Profile & Solution
User Profile Solution
Age : 40~50 Use Big Font, Easy Icon
DP Experience : XCategorize similar Function
Easy Command Flow
Friendly Program: Windows
HMI is similar to Windows
Operation Day & Night Mode
Operator
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Human Machine Interface Design (3)
• Customer Needs– DP Capability Check for Submerged Heavy Lift Carrier
– Electronic Navigation Chart
– User Defined Cargo Dimension
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Electronic Navigation Chart Easy Command Flow
Using Icon
Heavy Lift Carrier HMI
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Human Machine Interface Design (4)
• DP Capability Check Program
User Defined Cargo Dimension
Intuitive DP Check
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H/W Configuration
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Commissioning
UPS & PC Compact PLC
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Sea Trial Period : 2010. 05. 05~05.07
PID gain pre-tuning
Communication Test
Manual Mode Test
Automatic Mode Test
Submerged DP Test
Sea Trial
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Sea Trial Results at Seagoing Condition
Average wind speed : 13 m/sec
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Sea Trial Results at Submerged Condition
Average wind speed : 14.3 m/sec
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Conclusion
To develop more smart DP system for submerged heavy lift carrier,
• Consider hydro-dynamic effect from cargo and draft change.
• Model test and Hydro-dynamic analysis are very very very important in design stage.
• During submerged DP operation, thruster load grows higher
• The Intuitive user interface minimize human error and risk
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Q /A
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