Control Your World ! DSME & Honeywell DP System : MAPS

1

The Development of the DSME & Honeywell DP System for a

Submerged Heavy Lift Carrier

Daewoo Shipbuilding and Marine EngineeringFluid Dynamics R&D

KIM SE WONdain@dsme.co.kr

Control your world !

DSME & Honeywell 2

The Aim of Presentation

Introduce submerged heavy lift carrierDynamic Positioning System development Experience

Control your world !

DSME & Honeywell 3

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

Control your world !

DSME & Honeywell 4

• Seeds– 2000 DP Capability Program– 2002 Floating Body DP Time Domain Simulation– 2004~2010 Eight (8) LNG RV DP System Development

Projects

Control your world !

DSME & Honeywell 5

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)

Control your world !

DSME & Honeywell 6

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

Control your world !

DSME & Honeywell 7

Operation Area : Yellow sea (between China and Korea)

Yantai in China

Okpo Korea

Control your world !

DSME & Honeywell 8

1. Submerging Mode2. Arbitrary Cargo3. Operator Characteristics

Heavy Lift Characteristics

Control your world !

DSME & Honeywell 9

Submerging Mode

Draft Variation : from 6m to 22mHydro-dynamic Characteristics are changed due to draft change

Control your world !

DSME & Honeywell 10

Arbitrary Cargo

Control your world !

DSME & Honeywell 11

Crew Experience

DP Operator in DP Vessel Heavy Lift Carrierw/o DP operator

Control your world !

DSME & Honeywell 12

DP Controller Design key point

Submerging Mode ?Arbitrary Cargo ?Operator ?

Hydrodynamic Analysis ! Adaptable PID Controller !

Easy& Intelligent HMI !

Control your world !

DSME & Honeywell 13

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

Control your world !

DSME & Honeywell 14

Environmental Conditions

Environment* Condition

Wind 10m/sec

Current 0.51 m/sec (1knot)

Wave H:4m, Period : 10 sec

*Based on owner requirement

Control your world !

DSME & Honeywell 15

Hydrodynamic Analysis : Wind /Current Analysis

Wind ProfileUsing FLUENT 2.4

Control your world !

DSME & Honeywell 16

Hydrodynamic Analysis : Wind /Current Analysis (2)

Control your world !

DSME & Honeywell 17

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

Control your world !

DSME & Honeywell 18

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

Control your world !

DSME & Honeywell 19

Human Machine Interface Design

• Objectivity

– Make User Friendly and Intuitive HMI

• Expected Effect

– Cost Down, Training Period Minimize

– Human Error and Risk Minimize

Control your world !

DSME & Honeywell 20

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

Control your world !

DSME & Honeywell 21

Human Machine Interface Design (3)

• Customer Needs– DP Capability Check for Submerged Heavy Lift Carrier

– Electronic Navigation Chart

– User Defined Cargo Dimension

Control your world !

DSME & Honeywell 22

Electronic Navigation Chart Easy Command Flow

Using Icon

Heavy Lift Carrier HMI

Control your world !

DSME & Honeywell 23

Human Machine Interface Design (4)

• DP Capability Check Program

User Defined Cargo Dimension

Intuitive DP Check

Control your world !

DSME & Honeywell 24

H/W Configuration

Control your world !

DSME & Honeywell 25

Commissioning

UPS & PC Compact PLC

Control your world !

DSME & Honeywell 26

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

Control your world !

DSME & Honeywell 27

Sea Trial Results at Seagoing Condition

Average wind speed : 13 m/sec

Control your world !

DSME & Honeywell 28

Sea Trial Results at Submerged Condition

Average wind speed : 14.3 m/sec

Control your world !

DSME & Honeywell 29

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

Control your world !

DSME & Honeywell 30

Q /A