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Optimization of Power and
Station Keeping Installations by a
Total System Design Approach
Dynamic Positioning Conference
DPC
October 1999, Houston
Alf Kre dnanes
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Introduction Outline
Integrated Systems
Total Integration
Total Simulation
New Technologies for Functional Integration
Energy Management
Thrust Allocation
Weather Optimal Positioning
Passive Non-Linear Observer
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Total Integration
Power, Automation, and Positioning System
The exacting requirements as to vessel performance, environmental aspects and overall
safety have resulted in an increased focus on the total vessel concept and the interactions
between the different equipment and systems installed. Flexibility in operation has enabled
electric power generation and distribution systems for propulsion, positioning, oil
production, drilling, and loading, where all equipment and control systems are integrated
into a common power plant network and automation network.
Positioning systems have been commercially available for marine vessels since the 1960s.
However, it is only in the 1990s that fully integrated electric power, automation and
positioning systems have become commercially available. In the international marine, oil
and gas markets, there is a few vendors able to offer such solutions. ABB is unique as a
total supplier with uniform in-house products, and this uniqueness is applied to create the
optimum solution for the environment and customer with respect to vessel mission, energy
consumption and safety.
However, there is still a potential for substantial cost savings and energy optimization for
such vessels by applying new solutions based on so-called in-between technology within the
fields of control, electric power and marine technology. ABB is addressing these issues
with substantial R&D efforts. Some of the results will be presented.
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Sub Systems
OS
Controllers
Local Control
I/O
Drilling VMS Positioning PMS
System
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Sub Sea Systems (continued)
The power and automation installation for a vessel with station keeping capability
is a complex system, and any engineering approach will start to split up in sub-
systems for design, engineering, testing, etc.
Simplified, the approaches are either, or in combination:
Vertical:
Positioning system, Vessel Management System, Power Management System,
Drilling control systems, Cargo handling control system, etc.
Horizontal:
Operator station (MMI), Controllers, Local controllers (PLCs, motor controllers,
governors, drilling controllers), etc.
Regardless of how one select to split system, horizontally or vertically, or
combination of these, one will always find that there is a large extent of
interaction between the systems, influencing the total functionality of the
installation.
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Real System
Drilling VMS Positioning PMS
System
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11kV / 60Hz
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Energy Management System
Energy Energy
Production Consumers
and Distribution
Thrusters
Pumps
Prime movers
Compressor
Energy Management System
s
Generators Separators
Positionin Vessel Oil & Gas
g Control Management Process Winches
Switchboards System System Control
...
Transformers Safety Systems, F&G, ESD, PSD HVAC
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Sub Systems
Characteristics Typical problems
Separate: Interfaces
Purchasing Scaling and interpretation
Specification Communication protocols
Design and Simulation Control and sequences
Engineering Functionality
Testing Power Management
Commissioning Load reduction/shedding
Operation, Maintenance Integrity
Interfaces Testing, Commissioning
Hardwired
Maintenance, Upgrading
Bus / Serial
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Integration - and Functional
Physical
Uniform training and
Reduced risk for yard and
documentation
shipowner
Financing
Simplified engineering
and installation Better overall performance
and system stability
Fieldbus with single point
of process signal I/F Intelligent and predictive
blackout prevention
Reduced spare and
maintenance costs Auto / remote control of
motor starters
System integrity
Sleeping mode
Safe and ergonomic
operation with unified Optimal Energy Management
Man-Machine Interface Condition monitoring
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The Total Integrated Automation System
- Information Management
- Simulation
- Remote Diagnostics
Plant Network - Integrated Monitoring & Control
- Integrated Alarm System
- Integrated Thruster Control
- Dynamic Positioning
- Positioning/Mooring
- Autosail
- Thruster Control
- Integrated Operator Workplace
Control Network - Cargo Control
- Drilling Control
- Safety Systems
- Process Shut Down
- Emergency Shut Down
- Fire & Gas
- Energy Management
- Power Management
Fieldbus Network - Distributed Control
- Local Engine Control and Safety
- Drives
- Power Generation & Distribution
- Thrusters
- Propulsion
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The Total Integrated System for Marine
Automation & DP - Power Generation & Distribution - Propulsion & Drives
PLANT NETWORK
CONTROL NETWORK
INFORMATION MANAGEMENT
REMOTE DIAGNOSTICS
SIMULATION
SAFETY SYSTEM
INTEGRATED MONITORING & CONTROL
DYNAMIC POSITIONING
POSMOOR
AUTOSAIL
INTEGRATED OPERATOR CONSOLES
FIELDBUS NETWORK
DRILLING
CONTROL
AZIPOD CARGO CONTROL
PROPULSION ENGINE CONTROL
DRIVES
POWER GENERATION& DISTRIBUTION
ENERGY MANAGEMENT
LOCAL ENGINE CONTROL & SAFETY SYSTEM
THRUSTER CONTROL
ABB Industri AS
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Integrated System on FPSO
UHF LINK MRU
ARTEMIS
WIND SENSORS
DARPS
TURRET
DYNAMIC POSITIONING
POSITIONING/ MOORING
GYRO
PROPULSION
AZIPOD
MASTERBUS SAFETY SYSTEM
NETWORK
DRAUGHT
SENSORS
PROPULSION
AZIPOD
ABB Industri AS
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Applications - Posmoor FPSO
Balder
Varg
ABB Industri AS
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Applications - DP 3 Drilling
West Venture
ABB Industri AS
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Total Simulation
Simulation of Complete Vessel,
Power, Automation, and Positioning
System
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Simulator Characteristics
Dynamic Vessel Model
6 DOF model
Thruster / propeller model with dynamic losses
Dynamic Power Model
Generators
Distribution
Thrusters and propulsion
Drilling, etc..
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Total Simulation
Simulation of Complete Vessel,
Power, Automation, and Positioning
System
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Capability Plots
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Thruster Dynamic Model
Verification
Comparison of measured and simulated thruster RPM
1000
900
800 Measured RPM
700
Simulated RPM
600
500
400
RPM
300
200
100
0
940 960 980 1000 1020 1040 1060
Time [s]
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Thruster Power Model
Verification
Comparison of measured and simulated thruster power
2.2
2
1.8
1.6
1.4 Measured MW
1.2
Simulated MW
1
0.8
0.6
0.4
0.2
0
940 960 980 1000 1020 1040 1060 1080
Time [s]
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Why Total Simulation?
Design
Test new concepts, simple and unrestricted
Constraints in thruster and power system
Engineering and Commissioning
Static analysis - Dynamic verification
Pre-tuned by simulation, extreme conditions
Sea Trial
Reduced time for tuning
Training
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Applied State-of-the-art Control
Theory
Using state-of-the-art non-linear theories and
methods for control and estimation, optimal solutions
have replaced ad-hoc solutions
Examples:
Thrust Allocation
Weather Optimal Positioning
Passive non-linear Observer
True optimal, generic and configurable control
algorithms, more robust and simpler to tune
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Thrust Allocation
Find optimal thruster angle and thruster force equal to
commanded forces (surge and sway) and moment (yaw)
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Thrust Allocation
Method:
Non-linear optimization with constraints
Features:
True optimal with respect to,
Fuel - Tear and Wear - Position
Generic, any vessel type configurable
Azimuth, Azipod, Tunnel, Propeller+rudder, ..
Forbidden / Restricted zones and speeds, ..
No of thruster running, Priority
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ABB Weather Optimal
Positioning
Gravity
Field ABB Introduces a
New Concept for Weather Optimal
Positioning of Ships using
mass
Virtual Circle Control
mass
Force Field Due to
Wind, Waves and Current
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Passive Non-Linear Observer
Method:
Passive non-linear control theories
Features:
Robust
Continuous, without gain scheduling
Based on physical models
Quick adaption
Replaces Kalman Filter
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Summary
Aspects of Total Integration
Physical Integration
Functional Integration
Functional Integration
Total System Simulation
Optimized Design and Control
Total System Simulation
Verification
Pre-Tuning
