the next level dp capability analysis design and control ... · case 1: intact dp cap, 0% dynamic...

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DYNAMIC POSITIONING CONFERENCEOctober 15-16 2013October 15-16, 2013

DESIGN AND CONTROL SESSION 1

The Next Level DP Capability Analysis

Øyvind Smogeli, Nguyen Dong Trong, Brede Børhaug, Luca Pivano

Marine Cybernetics

2013 © Marine Cybernetics | www.marinecyb.com 2013 © Marine Cybernetics | www.marinecyb.com

DESIGN AND CONTROL SESSION I

THE NEXT LEVEL DP CAPABILITY ANALYSIS

Øyvind Smogeli, COO Nguyen Dong Trong, Brede Børhaug, Luca Pivano

DYNAMIC POSITIONING CONFERENCE

October 15-16, 2013

2013 © Marine Cybernetics | www.marinecyb.com

DP CAPABILITY

Simple to analyze?


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330 Wind, Waves,Current

WIND ENVELOPE

The limiting wind speed is found for each angle of attack


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THRUST ENVELOPE

For a given design environmental condition the thruster utilization in % is found for

each angle of attack


WHY CAPABILITY PLOTS?

Design • Thruster

layout/rating • Power system

Planning • Operational

window • Contingency

Charters • “Ticket to

business” • Vessel selection


INDUSTRY CHALLENGES

o IMCA M140 specification is too basic

o Possible to extend with more realistic assumptions and models

• But this is not standardized

o Questions have been raised concerning

DP Capability plot applicability

Are they conservative or non-conservative? Can they be compared? Can they be trusted?


FULL-SCALE RESULTS FROM A SEMI-SUB

Ref: Muddusetti and Phillips: A Practical Approach to Managing DP Operations, MTS DP Conference 2006

DPCap analysis Full-scale trials


KEY LIMITATIONS

Static force balance

Mean environ-mental forces

Fixed vessel

position

Fixed dynamic

allowance

No thruster/ rudder

dynamics No dynamic

thrust loss effects

No DP system

dynamics

No dynamic external

loads

No transients

Fixed acceptance

criteria

Quasi-static


CONVENTIONAL STATIC ANALYSIS


SOLUTION: CLOSED LOOP VESSEL SIMULATOR


DYNAMIC CAPABILITY STUDY

Acceptance criteria can be tailored to each vessel and operation


DYNAMIC CAPABILITY – PRESENTATION OF RESULTS

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DynCap results can be presented as conventional wind and thrust envelopes


DYNAMIC VS STATIC CAPABILITY: CASE STUDIES

Comparison study 1 – Supply Vessel Comparison study 2 – Shuttle Tanker Comparison study 3 – Semisub


CASE STUDY 1: SUPPLY VESSEL

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Current speed: 0.50 (m/s)

Wind speed in m/sWind direction in degrees

Case 1: Intact DP Cap, 0% dynamic allowance, no thrust loss

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Case 1: WCSF DP Cap, 0% dynamic allowance, no thrust loss

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Case 1: Intact DP Cap, 0% dynamic allowance, no thrust lossCase 2: Intact DP Cap, 20% dynamic allowance, with thrust loss

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Case 1: WCSF DP Cap, 0% dynamic allowance, no thrust lossCase 2: WCSF DP Cap, 20% dynamic allowance, with thrust loss

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Case 1: Intact DP Cap, 0% dynamic allowance, no thrust lossCase 2: Intact DP Cap, 20% dynamic allowance, with thrust lossCase 3: Intact DynCap, acceptance limit: 20m/20deg

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Case 1: WCSF DP Cap, 0% dynamic allowance, no thrust lossCase 2: WCSF DP Cap, 20% dynamic allowance, with thrust lossCase 3: WCSF DynCap, acceptance limit: 20m/20deg

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Case 1: Intact DP Cap, 0% dynamic allowance, no thrust lossCase 2: Intact DP Cap, 20% dynamic allowance, with thrust lossCase 3: Intact DynCap, acceptance limit: 20m/20degCase 4: Intact DynCap, acceptance limit: 10m/10deg

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Case 1: WCSF DP Cap, 0% dynamic allowance, no thrust lossCase 2: WCSF DP Cap, 20% dynamic allowance, with thrust lossCase 3: WCSF DynCap, acceptance limit: 20m/20degCase 4: WCSF DynCap, acceptance limit: 10m/10deg

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Case 1: Intact DP Cap, 0% dynamic allowance, no thrust lossCase 2: Intact DP Cap, 20% dynamic allowance, with thrust lossCase 3: Intact DynCap, acceptance limit: 20m/20degCase 4: Intact DynCap, acceptance limit: 10m/10degCase 5: Intact DynCap, acceptance limit: 5m/5deg

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Case 1: WCSF DP Cap, 0% dynamic allowance, no thrust lossCase 2: WCSF DP Cap, 20% dynamic allowance, with thrust lossCase 3: WCSF DynCap, acceptance limit: 20m/20degCase 4: WCSF DynCap, acceptance limit: 10m/10degCase 5: WCSF DynCap, acceptance limit: 5m/5deg


CASE STUDY 1: SUPPLY VESSEL

-5 0 5-5

-4

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5

LF East Position [m]

LF N

orth

Pos

ition

[m]

0 200 400 600 8000

2

4LF Distance Deviation from Setpoint [m]

0 200 400 600 800-2

0

2LF North Position [m]

0 200 400 600 800-2

0

2LF East Position [m]

0 200 400 600 800-5

0

5LF Heading [deg]

Time [s]

Position limit

Example DynCap analysis with footprint, time series and acceptance criteria


CASE STUDY 2: SHUTTLE TANKER

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Case 1: Wcsf DP Cap, 0% dynamic allowance, no thrust loss

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Case 1: Intact DPCap, 0% dynamic allowance, no thrust loss

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Case 1: Wcsf DP Cap, 0% dynamic allowance, no thrust lossCase 2: WCSF DP Cap, 20% dynamic allowance, with thrust loss

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Case 1: Intact DPCap, 0% dynamic allowance, no thrust lossCase 2: Intact DPCap, 20% dynamic allowance, with thrust loss

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Case 1: Wcsf DP Cap, 0% dynamic allowance, no thrust lossCase 2: WCSF DP Cap, 20% dynamic allowance, with thrust lossCase 3: WCSF DynCap, acceptance limit: 20m/10deg

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Case 1: Intact DPCap, 0% dynamic allowance, no thrust lossCase 2: Intact DPCap, 20% dynamic allowance, with thrust lossCase 3: Intact DynCap, acceptance limit: 20m/10deg

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Case 1: Wcsf DP Cap, 0% dynamic allowance, no thrust lossCase 2: WCSF DP Cap, 20% dynamic allowance, with thrust lossCase 3: WCSF DynCap, acceptance limit: 20m/10degCase 4: WCSF DynCap, acceptance limit: 10m/5deg

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Case 1: Intact DPCap, 0% dynamic allowance, no thrust lossCase 2: Intact DPCap, 20% dynamic allowance, with thrust lossCase 3: Intact DynCap, acceptance limit: 20m/10degCase 4: Intact DynCap, acceptance limit: 10m/5deg

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Case 1: Wcsf DP Cap, 0% dynamic allowance, no thrust lossCase 2: WCSF DP Cap, 20% dynamic allowance, with thrust lossCase 3: WCSF DynCap, acceptance limit: 20m/10degCase 4: WCSF DynCap, acceptance limit: 10m/5degCase 5: WCSF DynCap, acceptance limit: 5m/3deg

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Case 1: Intact DPCap, 0% dynamic allowance, no thrust lossCase 2: Intact DPCap, 20% dynamic allowance, with thrust lossCase 3: Intact DynCap, acceptance limit: 20m/10degCase 4: Intact DynCap, acceptance limit: 10m/5degCase 5: Intact DynCap, acceptance limit: 5m/3deg


CASE STUDY 3: SEMISUB

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Case 1: Intact DP Cap, 0% dynamic allowance, no thrust loss

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Case 1: WCSF DP Cap, 0% dynamic allowance, no thrust loss

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Case 1: Intact DP Cap, 0% dynamic allowance, no thrust lossCase 2: Intact DP Cap, 20% dynamic allowance, with thrust loss

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Case 1: WCSF DP Cap, 0% dynamic allowance, no thrust lossCase 2: WCSF DP Cap, 0% dynamic allowance, with thrust loss

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Case 1: Intact DP Cap, 0% dynamic allowance, no thrust lossCase 2: Intact DP Cap, 20% dynamic allowance, with thrust lossCase 3: Intact DynCap, acceptance limit: 20m/10deg

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Case 1: WCSF DP Cap, 0% dynamic allowance, no thrust lossCase 2: WCSF DP Cap, 0% dynamic allowance, with thrust lossCase 3: WCSF DynCap, acceptance limit: 20m/10deg

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Case 1: Intact DP Cap, 0% dynamic allowance, no thrust lossCase 2: Intact DP Cap, 20% dynamic allowance, with thrust lossCase 3: Intact DynCap, acceptance limit: 20m/10degCase 4: Intact DynCap, acceptance limit: 10m/5deg

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Case 1: WCSF DP Cap, 0% dynamic allowance, no thrust lossCase 2: WCSF DP Cap, 0% dynamic allowance, with thrust lossCase 3: WCSF DynCap, acceptance limit: 20m/10degCase 4: WCSF DynCap, acceptance limit: 10m/5deg

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Case 1: Intact DP Cap, 0% dynamic allowance, no thrust lossCase 2: Intact DP Cap, 20% dynamic allowance, with thrust lossCase 3: Intact DynCap, acceptance limit: 20m/10degCase 4: Intact DynCap, acceptance limit: 10m/5degCase 5: Intact DynCap, acceptance limit: 5m/3deg

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Case 1: WCSF DP Cap, 0% dynamic allowance, no thrust lossCase 2: WCSF DP Cap, 0% dynamic allowance, with thrust lossCase 3: WCSF DynCap, acceptance limit: 20m/10degCase 4: WCSF DynCap, acceptance limit: 10m/5degCase 5: WCSF DynCap, acceptance limit: 5m/3deg


DYNCAP – MAIN FEATURES

Quasi-static

Quasi-static

Static force balance

Mean environ-mental forces

Fixed vessel

position

Fixed dynamic

allowance

No thruster/ rudder

dynamics No dynamic

thrust loss effects

No DP system

dynamics

No dynamic external

loads

No transients

Fixed acceptance

criteria

Dynamic force

balance Dynamic environ-mental forces

Free-floating vessel

Thrusters fully

utilized

Thruster/ rudder

dynamics Dynamic

thrust loss effects

Closed loop with

DP system

Any dynamic

loads

Transient effectS

Specific acceptance

criteria


DYNCAP APPLICATIONS

Capability analysis

• Wind envelopes • Thrust envelopes

Operational analysis

• Fuel consumption • Operability charts • Footprints

Contingency planning

• Drive-off • Drift-off • Degraded equipment • Transient motion


TRANSIENT ANALYSIS: FOOTPRINT IN INTACT CONDITION

10m


TRANSIENT ANALYSIS: FOOTPRINT AFTER WORST CASE SINGLE FAILURE

10m


TRANSIENT ANALYSIS: TRANSIENT AFTER FAILURE, BEFORE STATION-KEEPING IS STABILIZED

10m

For operations with absolute position and heading limits, the transient is often the critical period


FUEL CONSUMPTION AND OPERABILITY

Location

Metocean data

Annual fuel

consumption and operability

Closed-loop vessel model

Simulation 1

Simulation 2

Simulation N …

…

SeaState1

SeaState2

SeaState N

Discretize scatter diagram from metocean data: • optimize number of simulations • capture main metocean data

characteristics

…

• Station-keeping performance

• Operation OK? • Fuel consumption

Each simulation: 3 hrs Total simulation time: N x 3 hrs


EXAMPLE: FUEL CONSUMPTION ANALYSIS FOR SIEMENS

02468

101214

Vessel 1 atLocation 1



Fuel

con

sum

ptio

n

(103

tonn

es) Setup 1

Setup 2Setup 3Setup 4Setup 5

0

2

4

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8

10




Setup 2 vs. Setup 1Setup 3 vs. Setup 1Setup 4 vs. Setup 1Setup 5 vs. Setup 1

Setup Class Bus setup Generator

1 DYNPOS AUTRO split bus one gen per bus (3 total)

2 DYNPOS AUTRO closed bus minimum 2 gens

3 DYNPOS ER closed bus minimum 2 gens

4 DYNPOS AUTRO closed bus minimum 3 gens

5 DYNPOS ER closed bus minimum 3 gens

Task: calculate annual fuel consumption for two vessel designs at given locations, comparing five different power system configurations including Siemens’ new closed ring bus solution.

Fuel

sav

ing

(%)


SUMMARY

the next level dp capability analysis design and control ... · case 1: intact dp cap, 0% dynamic...

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