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COSCO(Dalian) TECHNICAL INSTITUTE Dynamic Positioning System Dynamic Positioning SystemIn OSVSimon Wang 王树山大连中远船务工程有限公司COSCO(Dalian) TECHNICAL INSTITUTE1.Brief description of DP system2.Relevant Regulation and Class Notation3.Configuration of DP System4.ERN and DP Capacity5.FMEA and HIL大1. Brief description of DPCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE1. Brief description of DPApplication of DP system.•Offshore support vessel pp y•Windmill installation vessel .•Cable laying vessel.•Piping laying vessel.p g ay g vesse .•Drilling vessel•Semi-submersible unit大连中远船务工程有限公司COSCO(Dalian) TECHNICAL INSTITUTE1. Brief description of DPSuppliers of DP system.•Congsberg •pp yConver team•Marine technology •Rolls Rocye y •Navis •L3大连中远船务工程有限公司1. Brief description of DPCOSCO(Dalian) TECHNICAL INSTITUTE Operation mode•Joystick Mode•Mixed Joystick/Auto Mode•Auto Heading Mode•Auto Position Mode•Auto Track(low-speed)Mode大连中远船务工程有限公司COSCO(Dalian) TECHNICAL INSTITUTE1.Brief description of DP system2.Relevant Regulation and Class Notation3.Configuration of DP System4.ERN and DP Capacity5.FMEA and HIL大2. Regulation and Class NotationCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE2. Regulation and Class NotationIMO equipment classDNVABSLRNot applicable DPS 0DPS 0DP (CM)DYNPOS-AUTS IMO equipment class 1DPS 1DP (AM)IMO equipment class 1(No redundancy)DPS 1DP (AM)DYNPOS-AUT IMO equipment class 2DPS 2DP (AA)q p(Redundancy in technical design)DYNPOS-ERDPS 2DP (AA)DYNPOS-AUTR OS IMO equipment class 3(Redundancy in technical design and physical separation of systems)DPS 3DPS 3DP (AAA)DYNPOS-AUTRO大连中远船务工程有限公司2. Regulation and Class NotationCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE1.Brief description of DP system2.Relevant Regulation and Class Notation3.Configuration of DP System4.ERN and DP Capacity5.FMEA and HIL大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大3. Configuration of DP SystemCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE1.Brief description of DP system2.Relevant Regulation and Class Notation3.Configuration of DP System4.ERN and DP Capacity5.FMEA and HIL大4. ERN and DP CapacityCOSCO(Dalian) TECHNICAL INSTITUTE大4. ERN and DP CapacityCOSCO(Dalian) TECHNICAL INSTITUTE大4. ERN and DP CapacityCOSCO(Dalian) TECHNICAL INSTITUTE大4. ERN and DP CapacityCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE1.Brief description of DP system2.Relevant Regulation and Class Notation3.Configuration of DP System4.ERN and DP Capacity5.FMEA and HIL大5. FMEA and HILCOSCO(Dalian) TECHNICAL INSTITUTE1.Redundancy2.Redundancy group3.Stand by4.Spare part5.Reliability大5. FMEA and HILCOSCO(Dalian) TECHNICAL INSTITUTE大5. FMEA and HILCOSCO(Dalian) TECHNICAL INSTITUTE大COSCO(Dalian) TECHNICAL INSTITUTE大6. THE ENDCOSCO(Dalian) TECHNICAL INSTITUTETHE END问题解答QUESTION and ANSWER ?大。
DPS动力定位系统Offshore & DPS Presentation2008年07月28日1议程1. 动力定位的典型配置和系统 2. 介绍ABS动力定位系统规范 3. 动力定位在海洋工业中的应用 4. FMEA故障模型影响分析 5. 送审 6. 建造与检验 7. 问题和回答2动力定位系统动力定位系统(DPS)是当环境条 件发生变化时，由集控手操或自 动响应系统，通过水动力系统的 控制使船舶的位置和航向保持在 环境条件限定范围内。
3基本外力4典型动力定位控制系统操控台控制箱全回转推进器 控制线 侧推器舵 主推进器5典型动力定位系统的组成风速计Anemometer差分GPSDGPS控制器 DP Console 电罗经 Gyrocompass 垂直参照Vertical reference unit主动声纳系统Artemis激光参照Laser Reference侧推器PropellersTunnel Thruster全回转推进器Acoustic Positioning SystemAzimuth Thruster螺旋桨Rudders张紧绳定位测量系统WeightTaut Wire Position Measuring System声纳定位系统Tunnel Thrusters侧推器Acoustic Transponder舵重块声纳发射器6操控台液晶 显示器 操纵杆功能键7现代控制板液晶 显示器操纵杆 键盘8功能键盘9DP规范的介绍• NMD Guidelines for Dynamic Positioning Vessels, 1983 • IMO/MSC Circular 645 Guidelines for Vessel with DP, 1994 • ABS Guide for Thrusters and Dynamic Positioning System, 1994 (No Longer used) • ABS Steel Vessel Rules 2008 (Part 4, Chapter 3, Section 5/ Paragraph 15)10ABS DP Notations DPS-0 DPS-1 DPS-2 DPS-311DPS-0船舶装备一套集控手操和自动航向 保持的动力定位系统(DPS)，能在 最大环境条件下，使船舶的位置和 航向保持在限定范围。
动力定位(D P)系统简介动力定位(DP)系统简介作者：王卫卫来源：《广东造船》2014年第01期摘要：随着海洋工程项目的蓬勃发展，动力定位系统(简称DP系统)的应用已越来越广泛。
本文对DP系统等级、工作原理以及根据船级社不同入级符号的设备配置等作了简单的介绍，希望能够对大家以后的开发设计及生产有所帮助。
关键词：DP；入级符号；特点；工作原理中图分类号：P751文献标识码：AInvestigation of Dynamic Positioning SystemWANG Weiwei( Guangzhou Shipyard International Co., Ltd. Guangzhou 510382 )Abstract: The application of Dynamic Positioning System (DP system) is more and more popular because of development of ocean project. The article introduce the level of DP system, work principle, the requirement of equipment according to different DP notations. I hope it is helpful to exploder, design and production in the future.Key words: DP;Classification notation;characteristic;work principle1前言动力定位系统（Dynamic Positioning System）简称DP系统，是从上个世纪70年代逐渐发展起来的，并逐步由浅水海域向深水海域发展，应用于各种海洋工程、海上科考、水下工程等领域。
随着船舶自动化程度越来越高，DP系统的定位能力以及自动化程度也越来越高，而以上各类领域的工程项目也越来越离不开带有DP系统的海上钻井平台和船舶。
动力辅助系统学习交流教案第一章：动力辅助系统概述1.1 教学目标让学生了解动力辅助系统的定义和作用。
让学生掌握动力辅助系统的基本组成和原理。
让学生了解动力辅助系统在不同领域的应用。
1.2 教学内容动力辅助系统的定义和作用。
动力辅助系统的基本组成和原理。
动力辅助系统在不同领域的应用。
1.3 教学方法采用讲授法，讲解动力辅助系统的相关概念和原理。
采用案例分析法，分析动力辅助系统在不同领域的应用。
采用互动讨论法，引导学生思考和探讨动力辅助系统的发展前景。
1.4 教学评估课堂问答：检查学生对动力辅助系统的基本概念的理解。
小组讨论：评估学生在案例分析中的表现和思考能力。
第二章：动力辅助系统的组成与工作原理2.1 教学目标让学生了解动力辅助系统的组成部件及其功能。
让学生掌握动力辅助系统的工作原理和运作机制。
2.2 教学内容动力辅助系统的组成部件及其功能。
动力辅助系统的工作原理和运作机制。
2.3 教学方法采用讲授法，讲解动力辅助系统的组成部件及其功能。
采用实验演示法，展示动力辅助系统的工作原理和运作机制。
采用互动讨论法，引导学生思考和探讨动力辅助系统的运作过程。
2.4 教学评估课堂问答：检查学生对动力辅助系统组成部件及其功能的理解。
实验报告：评估学生在实验演示中的观察和分析能力。
小组讨论：评估学生在互动讨论中的表现和思考能力。
第三章：动力辅助系统的应用案例分析3.1 教学目标让学生了解动力辅助系统在不同领域的应用案例。
让学生掌握动力辅助系统应用案例的分析方法。
3.2 教学内容动力辅助系统在不同领域的应用案例。
动力辅助系统应用案例的分析方法。
3.3 教学方法采用案例分析法，讲解动力辅助系统在不同领域的应用案例。
采用互动讨论法，引导学生思考和探讨动力辅助系统应用案例的优缺点。
3.4 教学评估课堂问答：检查学生对动力辅助系统应用案例的理解。
小组讨论：评估学生在互动讨论中的表现和思考能力。
第四章：动力辅助系统的未来发展4.1 教学目标让学生了解动力辅助系统的发展趋势和前景。
RULES FOR CLASSIFICATION OFD ET N ORSKE V ERITASVeritasveien 1, NO-1322 Høvik, Norway Tel.: +47 67 57 99 00 Fax: +47 67 57 99 11SHIPSNEWBUILDINGSSPECIAL EQUIPMENT AND SYSTEMSADDITIONAL CLASS PART 6 CHAPTER 7DYNAMIC POSITIONING SYSTEMSJANUARY 2004This booklet includes the relevant amendments and correctionsshown in the July 2007 version of Pt.0 Ch.1 Sec.3.CONTENTS PAGESec.1General Requirements (5)Sec.2General Arrangement (11)Sec.3Control System (15)Sec.4Thruster Systems (18)Sec.5Power Systems (19)Sec.6Environmental Regularity Numbers (21)CHANGES IN THE RULESComments to the rules may be sent by e-mail to rules@For subscription orders or information about subscription terms, please use distribution@Comprehensive information about DNV and the Society's services is found at the Web site © Det Norske VeritasComputer Typesetting (FM+SGML) by Det Norske Veritas Printed in NorwayIf any person suffers loss or damage which is proved to have been caused by any negligent act or omission of Det Norske Veritas, then Det Norske Veritas shall pay compensation to such person for his proved direct loss or damage. However, the compensation shall not exceed an amount equal to ten times the fee charged for the service in question, provided that the maximum compen-sation shall never exceed USD 2 million.In this provision "Det Norske Veritas" shall mean the Foundation Det Norske Veritas as well as all its subsidiaries, directors, officers, employees, agents and any other acting on behalf of Det Norske Veritas.General.The present edition of the rules includes additions and amendments decided by the board in November 2003, and supersedes the January 2003 edition of the same chapter.The rule changes come into force on 1 July 2004.This chapter is valid until superseded by a revised chapter. Supple-ments will not be issued except for an updated list of minor amend-ments and corrections presented in Pt.0 Ch.1 Sec.3. Pt.0 Ch.1 is normally revised in January and July each year.Revised chapters will be forwarded to all subscribers to the rules.Buyers of reprints are advised to check the updated list of rule chap-ters printed Pt.0 Ch.1 Sec.1 to ensure that the chapter is current.Main changes—Steering gears shall be designed for continuous operation whenthey form part of the DP-system. Testing requirements to steer-ing gear shall also be specified.—The specific requirement for certification of UPS used for DPcontrol systems is removed. Certification of UPSs now shall fol-low main class requirements in Pt.4 Ch.8 Electrical Systems.—Requirement for certification of the independent joystick systemrequired for notations DYNPOS-AUT , DYNPOS-AUTR and DYNPOS-AUTRO introduced.—The new rules give opening for one of the three gyros requiredfor notation DYNPOS-AUTR and DYNPOS-AUTRO to be re-placed by a heading device based upon another principle, as longas this heading device is type approved as a THD (Transmitting Heading Device) as specified in IMO Res. MSC.116 (73).—The possibility for letting the independent joystick system use the same redundant network as the DP control system is re-moved. In the new rules the independent joystick system may share the communication link with the manual control, but not with the DP-control system.—More specific requirements to the effect of failures in the inde-pendent joystick control system.—Power supply for the independent joystick system is now re-quired to be independent of the DP control system UPSs.—The input power supply to the redundant UPSs is now required derived from different sides of the main switchboard.—Specification of power supply arrangement for position reference systems (PRS). The requirement is now that the power supply shall be in line with the overall redundancy requirements. PRSs shall still be powered from UPS.—The requirement for full separation between fuel oil systems de-signed with redundancy for notation DYNPOS-AUTR is clari-fied.—The new rules require FMEAs for Power Management Systems.—Requirement for DP-Control centre arrangement and layout doc-umentation is introduced.Corrections and ClarificationsIn addition to the above stated rule requirements, a number of correc-tions and clarifications have been made in the existing rule text.Amended,Rules for Ships, January 2004see Pt.0 Ch.1 Sec.3, July 2007 Pt.6 Ch.7 Contents – Page 3D ET N ORSKE V ERITASCONTENTSSEC. 1GENERAL REQUIREMENTS.......................... 5A.The Rules. (5)A 100Rule application................................................................5A 200Class notations..................................................................5A 300Environmental regularity number, ern .. (5)B.Definitions (5)B 100General..............................................................................5C.Certification...........................................................................6C 100General (6)D.Documentation (6)D 100General..............................................................................6D 200ern calculation..................................................................6D 300Instrumentation and automation .......................................6D 400Thruster documentation....................................................7D 500Electric power system documentation..............................7D600DP-Control centre arrangement andlayout documentation........................................................7D 700Failure mode and effect analysis (FMEA)........................7D 800Operation manuals............................................................8D 900Programme for tests and trials (9)E.Survey and Test upon Completion (9)E 100General..............................................................................9E 200Measuring system.............................................................9E 300Thrusters ...........................................................................9E 400Electric power supply........................................................9E 500Independent joystick thruster control system....................9E 600Complete DP-system test..................................................9E 700Redundancy tests for DYNPOS-AUTR andDYNPOS-AUTRO ..........................................................9F.Alterations. (10)F 100Owner obligations (10)SEC. 2GENERAL ARRANGEMENT......................... 11A.General (11)A 100General (11)B.Redundancy and Failure Modes (11)B 100General............................................................................11B 200Redundancy.....................................................................11B 300Failure modes..................................................................11B 400Independence..................................................................11B500General separation requirements forDYNPOS-AUTRO (11)C.System Arrangement (12)C 100General............................................................................12C 200DP-control centre............................................................12C 300Arrangement of positioning control systems..................13C 400Arrangement and layout of control panels......................13C 500Arrangement and layout of data communication links (13)D.Internal Communication (14)D 100General (14)SEC. 3CONTROL SYSTEM ....................................... 15A. General Requirements (15)A 100General (15)B.System Arrangement (15)B 100Independent joystick thruster control system.................15B 200DP-control system...........................................................15B 300Thruster control mode selection.. (15)C.Positioning Reference System (15)C 100General (15)D.Sensors (16)D 100General............................................................................16E.Display Units.. (17)E 100General (17)F.Monitoring (17)F 100Alarm system..................................................................17F 200Consequence analysis (17)SEC. 4THRUSTER SYSTEMS.................................... 18A.General.. (18)A 100Rule application..............................................................18A 200Thruster configuration....................................................18A 300Thruster control...............................................................18A 400Indication (18)SEC. 5POWER SYSTEMS........................................... 19A.General.. (19)A 100General............................................................................19A 200Number and capacity of generators................................19A 300Power management (for DYNPOS-AUTR andDYNPOS-AUTRO ).......................................................19A 400Main and distribution switchboards arrangement (19)B.Control System Power Supply (applies to DYNPOS-AUT , DYNPOS-AUTR and DYNPOS-AUTRO ) (20)B 100General (20)C.Auxiliary Systems (Applies toDYNPOS-AUTR and DYNPOS-AUTRO ) (20)C 100General............................................................................20C 200Fuel oil............................................................................20C 300Cooling water (20)SEC. 6ENVIRONMENTAL REGULARITYNUMBERS.......................................................... 21A.Concept Description.. (21)A 100General (21)Rules for Ships, January 2004Amended, Pt.6 Ch.7 Contents – Page 4see Pt.0 Ch.1 Sec.3, July 2007D ET N ORSKE V ERITASAmended,Rules for Ships, January 2004see Pt.0 Ch.1 Sec.3, July 2007 Pt.6 Ch.7 Sec.1 – Page 5D ET N ORSKE V ERITASSECTION 1GENERAL REQUIREMENTSA. The RulesA 100Rule application101 The rules in this chapter apply to systems for dynamic positioning of ships and mobile offshore units, termed hereaf-ter as, vessels. These rules do not include requirements or rec-ommendations in regard to the vessels operation or other characteristics.Guidance note:Requirements, additional to these rules may be imposed by the national authority with whom the vessel is registered and/or by the administration within whose territorial jurisdiction it is in-tended to operate. Where national legislative requirements exist,compliance with such regulations shall also be necessary.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---102 The requirements in these rules are additional to the rules for main class.Guidance note:In particular see the relevant sections of:Pt.4 Ch.1 Machinery Systems, General Pt.4 Ch.2 Rotating Machinery, General Pt.4 Ch.3 Rotating Machinery, DriversPt.4 Ch.4 Rotating Machinery, Power Transmissions Pt.4 Ch.5 Rotating Machinery, Driven Units Pt.4 Ch.8 Electrical InstallationsPt.4 Ch.9 Instrumentation and Automation.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---A 200Class notations201 Vessels built and tested in compliance with the require-ments in this chapter and the requirements of the rules for main class may be assigned one of the class notations given in Table A1.Guidance note:IMO MSC/Circ.645 "Guidelines for vessels with dynamic posi-tioning systems", dated 6 June 1994, has defined equipment classes with the following correlation to these rules:---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---A 300Environmental regularity number, ern301 Vessels with one of the class notations listed in 201 will be given an environmental regularity number (ern). It will be entered as a notation in the "Register of vessels classed with DNV" as ern(a, b, c) where a, b, c are integer numbers re-flecting probable regularity for keeping position in a defined area. See Sec.6 for details on the ern concept.B. DefinitionsB 100General101 Consequence analysis: An automatic monitoring func-tion in the DP-control system, checking the ability of the vessel to maintain position under current weather conditions if the worst case single failure should occur.Guidance note:For detailed information and requirements to the consequence analysis function see Sec.3 F200.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---102 DP-control system: All control systems and compo-nents, hardware and software necessary to dynamically posi-tion the vessel. The DP-control system consists of the following:—dynamic positioning control system (computer system)—sensor system—display system (operator panels)—positioning reference system—associated cabling and cable routing.Guidance note:The DP-control system will normally consist of one or more computers. This is often referred to as the DP-system, but is only a part of the DP-system by rule terminology.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---103 Dynamic positioning system (DP-system): The complete installation necessary for dynamically positioning a vessel comprises of the following systems:—power system —thruster system —DP-control system—independent joystick system (when applicable).104 Dynamically positioned vessel (DP-vessel): A vessel which automatically maintains its position (fixed location or predetermined track) exclusively by means of thruster force.Guidance note:In this context thruster force may include propulsion and steeringTable A1 Class notations Notation Scope DYNPOS-AUTS dynamic positioning system without redun-dancy DYNPOS-AUT dynamic positioning system with an inde-pendent joystick system back-up and a posi-tion reference back-up DYNPOS-AUTR dynamic positioning system with redundancyin technical design and with an independent joystick system back-upDYNPOS-AUTRO dynamic positioning system with redundancyin technical design and with an independent joystick system back-up. Plus a back-up dy-namic positioning control system in an emer-gency dynamic positioning control centre, designed with physical separation for compo-nents that provide redundancyDNV class notation IMO equipment class DYNPOS-AUTS Not applicableDYNPOS-AUT IMO equipment class 1DYNPOS-AUTR IMO equipment class 2DYNPOS-AUTRO IMO equipment class 3Rules for Ships, January 2004Amended,Pt.6 Ch.7 Sec.1 – Page 6 see Pt.0 Ch.1 Sec.3, July 2007D ET N ORSKE V ERITAS(rudder) forces, see Sec.4.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---105 Failure: An occurrence in a component or system caus-ing one or both of the following effects:—loss of component or system function—deterioration of functional capability to such an extent thatthe safety of the vessel, personnel, or environment is sig-nificantly reduced.Guidance note:For vessels that shall comply with DYNPOS-AUTRO require-ments, the definition of single failure has no exceptions, and shall include incidents of fire and flooding, and all technical break-downs of systems and components, including all electrical and mechanical parts. Loss of stability (e.g. as a result of flooding) is not a relevant failure mode.For vessels that shall comply with DYNPOS-AUTR require-ments, certain exceptions will be allowed in the definition of sin-gle failure. Flooding and fire shall not be considered beyond main class requirements. Failure of non-moving components,e.g. pipes, manual valves, cables etc. may not need to be consid-ered if adequate reliability of a single component can be docu-mented, and the part is protected from mechanical damage.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---106 Joystick: A device for readily setting of vectorial thrust output including turning moment.107 Operational mode: The manner of control under which the DP-system may be operated, e. g.:—automatic mode (automatic position and heading control)—joystick mode (manual position control with selectable au-tomatic or manual heading control)—manual mode (individual control of pitch and speed, azi-muth, start and stop of each thruster)—autotrack mode (considered as a variant of automatic posi-tion control, with programmed movement of reference point).108 Position keeping: Maintaining a desired position within the normal excursions of the control system and the environ-mental conditions.109 Positioning reference system: All hardware, software and sensors that supply information and or corrections neces-sary to give position and heading reference, including power supply.110 Power system: All components and systems necessary to supply the DP-system with power. The power system includes:—prime movers with necessary auxiliary systems includingpiping —generators —switchboards—uninterruptible power supplies (UPS) and batteries —distribution system including cabling and cable routing —for DYNPOS-AUTR and DYNPOS-AUTRO : powermanagement system (PMS).111 Redundancy: The ability of a component or system to maintain or restore its function when one failure has occurred.Redundancy can be achieved, for instance, by installation of multiple components, systems or alternative means of per-forming a function.112 Reliability: The ability of a component or system to per-form its required function without failure during a specified time interval.113 Thruster system: All components and systems necessary to supply the DP-system with thrust force and direction. The thruster system includes:—thruster with drive units and necessary auxiliary systemsincluding piping —thruster control—associated cabling and cable routing—main propellers and rudders if these are under the controlof the DP-system.114 Worst case failure: Failure modes related to the class no-tations as follows:—for DYNPOS-AUTS and DYNPOS-AUT , loss of posi-tion may occur in the event of a single fault—for DYNPOS-AUTR , loss of position is not to occur inthe event of a single failure as specified in Sec.2 B301—for DYNPOS-AUTRO , loss of position is not to occur inthe event of a single failure as specified in Sec.2 B302.C. CertificationC 100General101 The following equipment in the DP-system shall be cer-tified:—dynamic positioning control system—independent joystick control system with auto heading.Other equipment in the DP-system shall be certified according to relevant parts of Pt.4 as for main class.Guidance note:Additionally, components and systems should be certified ac-cording to main class requirements.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---D. DocumentationD 100General101 The documentation submitted, shall include descriptions and particulars of the vessel and cover the requirements given in 200 to 700, as appropriate.D 200ern calculation201 Calculation of the environmental regularity number evaluation, ern , shall be submitted for approval. The position holding performance shall be quantified according to the con-cept for ern , see Sec.6.D 300Instrumentation and automation301 For general requirements related to documentation of in-strumentation and automation, including computer based con-trol and monitoring, see Pt.4 Ch.9 Sec.1.Guidance note:For description of documentation types, see Pt.4 Ch.9 Sec.1. Ta-ble C1 and C2.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---302 For the control systems listed, documentation shall be submitted according to Table D1:DYN Dynamic positioning control and monitoring system JOY Independent joystick system TCM Thruster control mode selection PRS Position reference system(s)VEO Wind, VRS and gyroPMSPower Management System.D 400Thruster documentation401 Documentation shall be submitted as required for mainAmended,Rules for Ships, January 2004see Pt.0 Ch.1 Sec.3, July 2007 Pt.6 Ch.7 Sec.1 – Page 7D ET N ORSKE V ERITASclass.402 The following shall be submitted for information:—thrust output and power input curves —response time for thrust changes—response time for direction changes for azimuth thrusters —anticipated thrust reductions due to interaction effects.D 500Electric power system documentation501 Documentation shall be submitted as required for main class.502 Electrical load calculation during dynamic positioning operation shall be submitted for approval. For vessels with the notations DYNPOS-AUTR and DYNPOS-AUTRO the load calculations shall also reflect the situation after the maximum single failure(s).Guidance note:This documentation may be a part of the power consumption bal-ance as required in Pt.4 Ch.8 Electrical Installations.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---503 For vessels with the notation DYNPOS-AUTRO , the following shall be submitted for approval:—cable routing layout drawing—fire and flooding separation arrangement.Guidance note:For the cable routing layout drawing it is recommended that col-ours are used to indicate the cable routes that are designed and physically arranged to provide redundancy.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---Guidance note:The cable routing layout drawing shall indicate all cables rele-vant to the DP system, e.g. power cables, control cables, cables used for indication etc.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---D 600DP-Control centre arrangement and layout docu-mentation601 For notations DYNPOS-AUTS , DYNPOS-AUT ,DYNPOS-AUTR and DYNPOS-AUTRO drawings showing the physical arrangement and location of all key components in the DP-control centre shall be submitted.602 For notation DYNPOS-AUTRO drawings showing the physical arrangement and location of all key components in the emergency DP-control centre shall be submitted.D 700Failure mode and effect analysis (FMEA)701 For vessels with the notations DYNPOS-AUTR and DYNPOS-AUTRO , documentation of the reliability of the dynamic positioning system is required in the form of a failure mode and effect analysis (FMEA).702 The purpose of the FMEA shall give a description of the different failure modes of the equipment when referred to its functional task. Special attention shall be paid to the analysis of systems that may enter a number of failure modes and thus induce a number of different effects on the dynamic position-ing system performance. The FMEA shall include at least the information specified in 703 to 705.703 A breakdown of the dynamic positioning system, into functional blocks shall be made. The functions of each block shall be described. The breakdown shall be performed to such a level of detail that the functional interfaces between the func-tional blocks are shown.704 A description of each physically and functionally inde-pendent item and the associated failure modes with their fail-ure causes related to normal operational modes of the item shall be furnished.705 A description of the effects of each failure mode alone on other items within the system and on the overall dynamic positioning system shall be made.Guidance note:Description of FMEA systematic may be found in IEC Publica-tion 60812 and IMO HSC Code, Annex 4.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---706 FMEA(s) and redundancy test program(s) shall be kept on board. The FMEA(s) and redundancy test program(s) shall at all times be updated to cover alterations to the DP-system hardware or software.Guidance note:This is not to be understood as a requirement for an FMEA for the software. However the FMEA (or other relevant documenta-tion) should include identification of the software version(s) in-stalled, and documentation giving this information should be updated when new versions are installed.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---Rules for Ships, January 2004Amended,Pt.6 Ch.7 Sec.1 – Page 8 see Pt.0 Ch.1 Sec.3, July 2007D ET N ORSKE V ERITASD 800Operation manuals801 Operation manuals according to Table D1 shall be kept on board. The manuals shall include information on the DP-system, its installation and structure as well as operation and maintenance.Guidance note:These manuals cover the technical systems. Manuals for DP op-erations are not normally included and may be produced sepa-rately, according to operational requirements.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---802 They shall at least cover the following:—definitions of symbols and nomenclature—functional description—operating instructions, normal conditions —operating instructions, failure conditions —man and machine communication systems —back-up systems —monitoring—maintenance and periodical performance test —fault-finding procedures.Functional description—different functions including back-up functions shall beexplained in detail.Table D1 Requirements for documentation of instrumentation systemsD010D020D030D040D050D060***)D070D080D090D100D110D120D130D140D150D160For class notation DYNPOS-AUTS :DYN X X X X X X X **)**)**)**)X X *),**)TCM X X X X X X **)**)X PRS X X X X X *),**)VEO X X X X X For class notation DYNPOS-AUT :DYN X X X X X X X **)**)**)**)X X *),**)JOY X X X X X **)X *),**)TCM X X X X X X **)**)X PRS X X X X X *),**)VEO X X X X X For class notation DYNPOS-AUTR :DYN X X X X X X X X **)**)**)**)X X *),**)JOY X X X X X **)X *),**)TCM X X X X X X X **)**)X PRS X X X X X *),**)VEO X X X X X PMS ****)*),**)For class notation DYNPOS-AUTRO :DYN X X X X X X X X X **)**)**)**)X X *),**)JOY X X X X X **)X *),**)TCM X X X X X X X X **)**)X PRS X X X X X X *),**)VEO X X X X X XPMS ****)*),**)Instrumentation systems:Documentation types:DYN Dynamic positioning control and monitoring system JOY Independent joystick system TCM Thruster control mode selection PRS Position reference system(s)VEO Wind, VRS and gyro PMS Power Management System ****)D010 System philosophy (T)D020 Functional description D030 System block diagrams (T)D040 User interface documentation D050 Power supply arrangement (T)D060 Circuit diagramsD070 Instrument and equipment list (T)D080 Cable routing layout drawing (T)D090 Failure mode and effect analysis (FMEA) and redundancy test procedure (T)D100 Software quality plan, based upon life cycle activities D110 Installation manual D120 Maintenance manualD130 Data sheets with environmental specifications D140 Test program for testing at the manufacturer (T)D150 Test program for quay/sea trial (T)D150 Operation manual(T)Required also for type approved systems.*)One copy shall be submitted to approval centre for information only.**)Shall be available during certification and trials. Reference is made to Pt.4 Ch.9. Not to be submitted to the approval centre.***)For essential hardwired circuits (for emergency stop, shutdown, interlocking, mode selection systems, back-up selection systems,etc.). Details of input and output devices and power source for each circuit.****)FMEA for PMS systems is in addition to requirements given in Pt.4 Ch.9.Amended,Rules for Ships, January 2004see Pt.0 Ch.1 Sec.3, July 2007 Pt.6 Ch.7 Sec.1 – Page 9D ET N ORSKE V ERITASOperating instructions—description of the normal operation of the equipment, in-cluding adjustments and change of limit values, possible modes of presentation, starting and stopping systems —description of operation of the DP-system in different op-erational modes—description of transition from one operational mode to an-other.Fault-finding procedures—description of fault symptoms with explanation and rec-ommended corrective actions—instructions for tracing faults back to functional blocks orsystems.D 900Programme for tests and trials901 A programme for tests and trials including redundancy tests shall be submitted for approval. The requirements for the programme are described in E.E. Survey and Test upon CompletionE 100General101 Upon completion, the dynamic positioning system shall be subjected to final tests. The program shall contain test pro-cedures and acceptance criteria.Guidance note:It is assumed that prior to the DP-control system test, all systems and equipment included in the dynamic positioning system have been tested according to main class. This should at least include:-load test according to main class -transfer of thruster control-manual override of thruster control -emergency stop -“ready” signals-failure in thruster command/feedback signals -communication systems-main alarm system as for main class and E0 (if applicable).---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---E 200Measuring system201 All sensors, peripheral equipment, and reference sys-tems shall be tested as part of the complete DP-system.202 Failures of sensors shall be simulated to check the alarm system and the switching logic.E 300Thrusters301 Functional tests of control and alarm systems of each thruster shall be carried out.302 All signals exchanged between each thruster and the DP-system computers shall be checked.303 The different modes of thruster control shall be tested.Proper operation of mode selection shall be verified.E 400Electric power supply401 The capacity of the UPS batteries shall be tested.E 500Independent joystick thruster control system501 All functions of the independent joystick system shall be tested.E 600Complete DP-system test601 The complete DP-system shall be tested in all operation-al modes, with simulation of different failure conditions to tryout switching modes, back-up systems and alarm systems.602 Positioning shall be performed on all possible combina-tions of position reference systems (PRS), and on each PRS as a single system. Selecting and de-selecting of PRS shall also be tested.603 During sea trials the offset inputs for each position ref-erence system and relevant sensors in the dynamic position control system should be verified and demonstrated to the at-tending surveyor by setting out the offsets on drawings. It should be verified that these fit with the actual placing of the equipment.604 Manual override, as required by Sec.3 B202 and Sec.4A302 shall be demonstrated during normal operation and fail-ure conditions.605 A duration test shall be carried out for at least 8 hours with the complete automatic system in operation. All failures shall be recorded and analysed.Guidance note:The time spent on DP operational tests may normally be deduct-ed from the time required for the duration test.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---606 A high seas trial shall be carried out with full system op-eration for at least 2 hours. The weather conditions must be such that an average load level on the thrusters of 50% or more is required.Guidance note:The test described in 606 is dependent on weather conditions and may be omitted if satisfactory results were obtained from the test described in 605.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---607 For steering gears included under DP-control a test shall be carried out verifying that maximum design temperature of actuator and all other steering gear components is not exceeded when the rudder is continuously put over from border to border within the limits set by the DP-control system, until tempera-ture is stabilized.Guidance note:The test should be carried out with the propeller(s) running with an average propulsion thrust of not less than 50%, unless the con-trol system ensures that rudder operation is performed at zero propulsion thrust only, upon which the test may be carried out without the propeller(s) running. The test may be carried out at the quay and in any steering gear control mode. Number of steer-ing gear pumps connected and rotation speed are to be the maxi-mum allowed during DP operation.---e-n-d---of---G-u-i-d-a-n-c-e---n-o-t-e---E 700Redundancy tests for DYNPOS-AUTR and DYN-POS-AUTRO701 A selection of tests within each system analysed in the FMEA shall be carried out. Specific conclusions of the FMEA for the different systems shall be verified by tests when redun-dancy or independence is required.702 The test procedure for redundancy shall be based on the simulation of failures and shall be performed under as realistic conditions as practicable.。
概述海上钻井平台的动力定位系统动力定位（Dynamic Positioning）系统已经广泛应用于海洋作业船、海洋科考船、深海半潜式钻井平台以及为钻井平台服务的穿梭油轮、储油加工等船舶，目前建造的海洋工程船如风车安装船、穿梭油轮、MPF1000FDPSO和半潜式钻井平台如Sevan650、GM4000等都装备了动力定位系统，这些船根据用途装备的动力定位设备等级不同，因此设备的配置和入级标志也不同，下面作个简单的介绍。
1 动力定位功能及系统组成1.1 动力定位功能动力定位（以下简称DP）是完全依靠推进力方式而不是锚泊方式保持船位（固定位置或预定航线）。
其基本工作原理是利用计算机对接收的卫星定位信号（DGPS）、环境参数（风、浪、流）以及船舶传感器输入的船舶位置信号，自动地与计算机中模拟的预定船位进行比较，推算出保持这一位置需要的各推进器的推力、速度和方向，自动控制推进器工作。
反复地进行比较判断计算和执行控制，使船舶在规定的环境条件下，位置保持在精度允许的范围内。
1.2 DP系统组成DP主要有3大系统组成：电力系统；控制系统；推进系统。
1.2.1 DP电力系统：发电机组；配电系统；功率管理系统。
1.2.2 DP控制系统：计算机及自动控制系统；独立操纵杆系统（手动控制）；传感器系统[电罗经、移动参照传感器（MRU）、风向风速传感器]；位置参照系统[卫星参照系统GPS、激光参照系统（Laser）、雷达参照系统、无线电参照系统、水声参照系统、张紧索参照系统（Tautwire）]。
2 DP设备等级国际海事组织（IMO）通过的《海上移动式钻井平台构造和设备规则1989修正案》中详细地规定了DP设备等级，其文Msc./Cire.645《采用动力定位系统船舶导则》中规定了DP系统的设备等级分别为3级，即：Class1、Class2、Class3（为叙述方便，本文用DP1、DP2、DP3代表3个动力定位设备等级）。
第6篇第7章船舶入级规范新造船舶特殊设备和系统附加船级第6篇第7章动力定位系统2003年1月目录页码第一节通则 4第二节规划通则9第三节DP控制系统13第四节推进器系统16第五节电源18第六节环境规则参数19规范更改说明综述本章为上一版本的重版，也包含一些在2002年7月版本的第0部分第1章第3节列出的修改和勘误，除此之外，没有别的修改。
本章在被新的修订版替换之前有效，改版前对规范所作的少量修正和勘误，仅列表刊载在第0部分第1章第3节中，不会发行新的副刊。
第0部分第1章通常于每年1月及7月修订。
修正过的各章将发给本规范的所有订户，建议再版本的购买者核对刊印在第0篇第1章第1节规范各章的最新目录，以确认该章为现行版本。
目录第1节通则 4A．规则 4 A 100 范围 4 A 200 入级符号 4A 300 环境入级参数 4B. 定义 4 B 100 通则 4 C．证书 5 C 100 通则 5 D．送审文件 5 D 100 通则 5 D 200 ern计算 5 D 300 仪表与自动化 5 D 400 推进器文本 5 D 500 电源系统文本 5 D 600 故障模式响应分析（FMEA） 6 D 700 操作手册 7 D 800 试验和海试程序 7 E．完整的DP系统测试 7 E 70 通则 7 E 200 测量系统 7 E 300 推进器 7 E 400 电源 7 E 500 联合操纵 7 E 600 完整的DP系统测试 8 E 700 DYNPOS-AUTR和DYNPOS-AUTRO的冗余测试8 F．变更8 F 100 船东义务 8第2节规划通则9 A. 通则9A 100 通则 9B. 冗余和故障模式9 B 100 通则9 B 200 冗余9 B 300 故障模式9 B 400 独立性9B 500 对DYNPOS-AUTRO的一般要求10C. 系统规划10 C 100 通则10 C 200 DP控制中心 11 C 300 位置控制系统的规划 11 C 400 控制面板的规划和布置 11C 500 数据通讯链的规划与布置 12D. 内部通讯 12 D 100 通则 12 第3节 DP控制系统13A. 通用要求13A 100 通则13B. 系统规划13B 100 操纵杆推进器控制13B 200 推进器控制模式选择13C. 位置参照系统13C 100 通则13D. 传感器14D 100 通则14F. 监测14F 100 通则14F 200 因果分析15第4节推进器系统16A. 通则16A 100 适用范围16A 200 推进器配置16A 300 推进器控制16A 400 指示16第5节电源17A. 通则17A 100 通则17A 200 发电机的容量和数量17A 300 电源管理（对DYNPOS-AUTR和DYNPOS-AUTRO）17A 400 主配电板和分配电板的规划17B. 控制系统电源18B 100 通则18B 200 软件制造18C. 辅助系统（对DYNPOS-AUTR和DYNPOS-AUTRO）18C 100 通则18C 200 燃油18C 300 冷却水18第6节环境规则参数 19A. 内容描述19A 100 通则19第1节通则A规则A100范围101本节中的规范要求适用于船舶或移动海上平台（后称舰船）的动力定位系统。
动力定位系统简介船舶的动力定位系统从70 年代逐渐发展起来，在海洋工程、科学考察等领域有着重要的用途。
随着船舶电力推进的成熟和自动控制理论的发展，动力定位系统的性能也不断提高。
动力定位系统的组成：动力定位系统包括3 个分系统：动力系统、推力器系统和动力定位控制系统。
1.动力系统动力系统一般来说是给整个动力定位系统提供电力的。
一般的船舶电站可兼作动力系统，但应满足一些特殊要求。
输入（船位、控制器推力器; 输出（船位、推力器系统2.推力器系统作为动力定位系统执行部分，常用电动机或柴油机驱动的推进器。
主推进装置(包括其舵系统)可兼作动力定位系统的推力器，在船舶进入动力定位运作模式时，由动力定位系统的控制器进行控制。
为提高定位能力，主推进装置可设计为全回转推进器，例如Z 型推进、SSP 推进等。
一般各推力器的工作组合应产生横向、纵向推力及回转力矩。
3.动力定位控制系统包括控制器和测量系统。
a控制器指的是动力定位系统总的控制部分，一般采用计算机控制的方法。
b测量系统包括位置参照系统、电罗经、风向风速仪、倾角仪等，测量船舶的船位、艏向、纵倾横倾角等船舶状态，以及风向、风力、流速等环境条件，通过接口输入到控制器中。
控制器根据人工输入的船位和艏向，对测量系统提供的数据进行分析和运算，给出推力器的控制指令。
动力定位控制系统执行的功能可总结如下：（1）给出推力器的控制指令。
（2）测量船舶的船位、艏向等船舶状态。
（3）测量风向、风力等环境条件。
（4）接收各种操纵指令的人工输入。
（5）动力定位系统的故障检测及报警。
（6）动力定位系统工作状态的显示。
动力定位系统的系泊试验动力定位系统在进行系泊试验之前，应确认已取得本社颁发的产品证书，并确认布置和安装已严格按本社审批的图纸进行，采用的工艺满足本社有关规定。
动力系统系泊试验动力系统的各组成部分，如发电机、发电机原动机、主配电板等，应满足船舶建造检验的一般要求。
另外还应进行下列检验：a发电机组：一台发电机组不投入运行，并联运行其他发电机组，逐个启动几台功率较大的推力器电动机。
