Jan Fredrik Hansen, Technology Manager Marine O&G, 2010-03-08

Electric Propulsion
Guest lecture, NTNU

© ABB Group
March 9, 2010 | Slide 1
Agenda

ƒ March 8 (09.15 – 12.00):

ƒ #1 (09.15 - 10.00): Introduction & Configurations
ƒ #2 (10.15 - 11.00): System Analysis
ƒ #3 (11.15 - 12.00): Components & Control Systems

© ABB Group
March 9, 2010 | Slide 2
#1 Introduction & Configurations

ƒ Introduction to Electric propulsion

ƒ Propulsion configurations for various
ship types with examples.

© ABB Group
March 9, 2010 | Slide 3
Providers of Design Premises

Ship
Charterer
Designer /
Consult.
Ship
Equipment
Maker
Ship Owner Ship Yard

International Rules and Regulation, National Legislation

Classification Societies
International and National Standards

© ABB Group
March 9, 2010 | Slide 4
A global leader in power and automation technologies
Leading market positions in main businesses

ƒ 120,000 employees in about 100

countries
ƒ $35 billion in revenue (2008)
ƒ Formed in 1988 merger of Swiss and
Swedish engineering companies
ƒ Predecessors founded in 1883 and
1891
ƒ Publicly owned company with head
office in Switzerland

© ABB Group
March 9, 2010 | Slide 5
How ABB is organized
Five global divisions

Power Power Automation Process

Robotics
Products Systems Products Automation
$11.9 billion $6.9 billion $10.3 billion $7.8 billion $1.6 billion
34,000 16,000 36,000 27,000 5,000
employees employees employees employees employees
2008 revenues (US$) and employees per division

ƒ ABB’s portfolio covers:

ƒ Electrification, automation ƒ Power transmission
and instrumentation for:
ƒ Distribution solutions
ƒ Power generation
ƒ Low-voltage products
ƒ Industrial processes
ƒ Robots and robot systems

© ABB Group
March 9, 2010 | Slide 6
 Facts about ABB marine and cranes

„ A global partner for the supply of
electric propulsion, drilling drives,
and harbor crane systems
„ 1000 employees in 19 countries
„ Four centers of excellence
„ Oil & gas related vessels
„ Cruise & ferries
„Crane and harbor systems
„ Propulsion Products
„ Marine Main Execution Centers (MEC)
„ MEC Norway
„ MEC Finland
„ MEC Singapore
„ MEC China
„ Market leader in five core vessel
segments in cruise, icebreakers,
offshore support vessels, LNG
carriers and drilling vessels

© ABB Group
March 9, 2010 | Slide 7
Marine systems and solutions
Electric Propulsion
A complete range of AC electric
propulsion and thruster systems:
„ Shaftline propulsion
„ Azipod® propulsion systems
„ LV & MV drives
„ Propulsion control
© ABB Group
March 9, 2010 | Slide 8
Azipod® Propulsion
The electric azimuthing podded
propulsion systems :
„ Power range exceeds 20 MW
„ Single and twin configurations
„ Adapted to a wide range of vessels
„ Ice going and ice breaking designs
Marine systems and solutions
Power Generation and Distribution
A wide selection of medium and low
voltage systems:
„ Generators and AVR
„ LV & MV Distribution switchboards
„ Control, monitoring and protection
„ Transformers
„ Clean power supplies and UPS
© ABB Group
March 9, 2010 | Slide 9
Onboard Drives
A full range of AC and DC
variable speed drives:
„ Covering wide range of power and voltage
„ Single drive and multi drive platforms
„ Drive control
„ A complete range of offshore drilling drives
System Supplier to the Marine & Offshore market
ABB Products BU Marine Scope Our Customers

• Conceptual Design
Oil
• Project Execution
Company/
• Risk Management Charterer

• Quality Control
Marine Consultants
• System Engineering & Designers

• Fabrication Ship Owner/

Operator
• Installation Supervision
• Site Management Ship Yard

• Commissioning
OEMs
• Training

© ABB Group
March 9, 2010 | Slide 10
 Complete lifecycle service

Design Build Operate Upgrade

„ Conceptual design „ System design „ Service agreements „ Modernization

„ Project management „ Preventive maintenance „ Retrofit

„ Lifecycle cost „ Planned repair & dry-
„ System engineering
analysis docking
„ Calculations & analysis
„ 24H Technical support
„ Equipment delivery
„ 24H On-call service
„ Installation
„ Condition monitoring
„ Installation supervision „ Spare parts
„ Commissioning „ Training
„ Site management „ eMST (electronic
„ Warranty Maintenance Support Tool )

© ABB Group
March 9, 2010 | Slide 11
LNG carrier
The natural choice

ƒ Since 2000 – on order or delivered :

ƒ73 ships with medium voltage power system
ƒ33 of these with diesel electrical propulsion

“This electric propulsion is a pleasure.”

“Globally we are satisfied with the electric propulsion, it is the first time I
have used this kind of equipment and I found it as easy to use as a good
old steam turbine.”
Olivier Estaque
Chief Engineer on “Provalys”

© ABB Group
March 9, 2010 | Slide 12
Offshore DP drilling vessel
The power behind

„ Since 1996 – on order or delivered :

67 DP drilling rigs with electric propulsion
systems
33 of these with delivery in 2010-2012
30 of these are new drill ships

“We have made a new record to shorten the period of Sea trial & DP Trial
against past drill ships built in SHI due to the hard work and professionalism
of your management and engineers and the high level of co-operation.”

Jong-Seok Lee
Assistant Manager
Samsung Heavy Industries Co.

© ABB Group
March 9, 2010 | Slide 13
 Jack-up drilling rigs

Background
West Atlas and her sister vessels, built for
owner Seadrill at Keppel FELS Ltd. in
Singapore.

ABB’ s solution
ƒ Main Switchboards 600V

ƒ Power Distribution 480V/220V

ƒ Drilling Drives System

ƒ Braking Resistors

ƒ Power Management System

ƒ System Engineering & Commissioning

© ABB Group
March 9, 2010 | Slide 14
Offshore supply vessel
More space for profit

„ Order book consists of delivery to

following vessel types:

„ AHTS „ Construction vessels

„ PSV „ Seismic Vessels

„ ROV „ Rescue Vessels

„ Multi Purpose Vessels

80 vessels delivered since 2004

143 vessels on order for delivery between 2010 - 2012

“Our experience with ABB Electric Propulsion System is very positive.

Normand Rover has, in fact, achieved a daily fuel consumption rate of
approx. 8 tons, reducing anticipated fuel costs by around 50%.”

Morten Ulstein

President & CEO

Island Offshore, Norway

© ABB Group
March 9, 2010 | Slide 15
Cruise vessel
Freedom of the Seas

„ Since 1998 – on order or delivered:

„ 48 Cruise vessels with Azipod®

propulsion system

„ Since 1989 conventional shaftline

system for over 30 vessels

“This is without a question the easiest ship on our fleet to maneuver, and

that is all because of Azipod®”

William Wright

Captain, Freedom of the Seas

© ABB Group
March 9, 2010 | Slide 16
Icebreaking vessel
Secure ice passage

„ Since 1990 – on order or delivered:

28 ice breakers and ice going vessels
with Azipod® propulsion system

“I would be very surprised if future ice worthy vessels built in Finland

were fitted with any propulsion system other than the ABB’s Azipod® .”

Atso Uusiaho

Master MSV Botnica

© ABB Group
March 9, 2010 | Slide 17
 Arctic tankers Kirill Lavrov and Mikhail Ulyanov

Background
Two “Priraslomnoye” tankers built for the
owner Sovcomflot at Admiralty Shipyards (St.
Petersburg, Russia). First vessel delivery due
in 2009.

Customer benefits ABB’ s solution

„ Year round oil transport in arctic „ 2 x 8,5 MW Azipod® propulsion
regions „ Electric power plant

„ High system efficiency via operation „ Propulsion control system

modes in different ice conditions

„ Outstanding maneuverability

„ Global service support

© ABB Group
March 9, 2010 | Slide 18
Electric propulsion, characteristics

ƒ Propulsion motors are of electric type

ƒ Variable speed with fixed pitch propellers.
ƒ High efficiency for the whole power range.

ƒ Speed control by frequency converters

ƒ Optimal efficiency of the propellers.

ƒ Power plant for power production

ƒ Fixed voltage.
ƒ Fixed frequency.
ƒ Optimal number of diesel generators for each load demand.
ƒ Less total installed power.

© ABB Group
March 9, 2010 | Slide 19
Electric propulsion
Power Plant Operation

50 η [%]
Efficiency from diesel to propeller

45
40

25
Diesel-electric propulsion
four prime movers
Mechanical propulsion
one prime mover

10 P [%]
50 60 100 [MCR]

© ABB Group
March 9, 2010 | Slide 20
Power Generation – Distribution - Propulsion

Efficiency: ≈ 40% Efficiency: ≈ 90% Efficiency: ≈ 65%

POWER FLOW Pout

Pin

3-4% ≈0% 1-2% 2-3% 3-5%

Pin Pout

Generator Switchboard Trans- Frequency Electric

former converter Motor

© ABB Group
March 9, 2010 | Slide 21
LNG Carriers

© ABB Group
March 9, 2010 | Slide 22
Ship Types
Tankers and OSVs

© ABB Group
March 9, 2010 | Slide 23
Ship Types
Ice Breakers

© ABB Group
March 9, 2010 | Slide 24
Drilling Vessels

Semi- Drillship
submersible
drilling rig

© ABB Group
March 9, 2010 | Slide 25
Cruise Vessels

© ABB Group
March 9, 2010 | Slide 26
#1 Introduction & Configurations

ƒ Introduction to Electric propulsion

ƒ Propulsion configurations for various
ship types with examples.

© ABB Group
March 9, 2010 | Slide 27
Single Line Diagram

ƒ SLD
ƒ Single Line Diagram
ƒ “Enlinjeskjema”
ƒ Represents the power system configuration, normally showing the ratings
and often the most important relay functions

© ABB Group
March 9, 2010 | Slide 28
Configurations
Single Line Diagram

Generator
Generator Bus transfer feeder (cable) or
Bus tie (in swbd lineup)
Distribution transformer, two-winding
Distribusjonstransformator, to-vikling
Propulsion transformer, three-winding
Fremdriftstransformator, tre-vikling
Circuit breaker or contactor
Effektbryter eller kontaktor
Main switchboard, port and starboard
Hovedtavle, babord og styrbord
© ABB Group
March 9, 2010 | Slide 29
Configurations
Single Line Diagram

Motor
Motor
Frequency converter Excitation
Frekvensomformer Magnetisering

Propulsion Motor
Framdriftsmotor

Distribution switchboard
Fordelingstavle
© ABB Group
March 9, 2010 | Slide 30
Semisub Drillrig – Ring / Radial “DP3”

G G G G G G G G

AC AC AC AC AC AC AC AC
AC AC AC AC AC AC AC AC

M M M M M M M M

Drilling package
AC Multidrive
AC AC
DC DC

DC DC DC DC DC DC
AC AC AC AC AC AC

M M M M M M

© ABB Group
March 9, 2010 | Slide 31
Drillship - Closed Main Ring Network

G G G G G G

AC AC AC
AC AC AC

M M M
AC AC AC
AC AC AC

M M M

Drilling package
AC Multidrive
AC AC
DC DC

DC DC DC DC DC DC
AC AC AC AC AC AC

M M M M M M

© ABB Group
March 9, 2010 | Slide 32
Voltage levels

ƒ System voltage level:

¾ How much installed power?
¾ Rating of biggest single consumer/producer?
ƒ Rules of thumb (system):
ƒ Installed power < 10MVA ⇒ 690V
ƒ Installed power > 10MVA ⇒ 6600V
ƒ Installed power > 50MVA ⇒ 11000V

ƒ Rules of thumb (single breaker):

ƒ Circuit breaker rating > 2500A* ⇒ Increase Voltage
* Up to 4000A breakers exist in the market, so a total cost
evaluation is required if ratings are above 2500A

© ABB Group
March 9, 2010 | Slide 33
Voltage levels

ƒ Propulsion Motor Type & Voltage Level:

¾ Rating and RPM of propulsion Motor?
¾ Available converter ratings?
ƒ Rules of thumb (Voltage Level):
ƒ Rated power < 5MW ⇒ 690V
ƒ Rated power > 5MW ⇒ 3000V
ƒ Rules of thumb (Motor Type):
ƒ Rated power < 5MW ⇒ always Induction Motor
ƒ Rated power < 10MW & RPM > 720 ⇒ Induction Motor*
ƒ Rated power > 10MW ⇒ “always” Synchronous Motor*
*Depending on availability of the different makers

© ABB Group
March 9, 2010 | Slide 34
© ABB Group
March 9, 2010 | Slide 35
#2 System Analysis

ƒ Short Circuit Calculations

ƒ Harmonic Distortion

ƒ Protective Device Coordination

© ABB Group
March 9, 2010 | Slide 36
System Engineering

During the detailed design and engineering phase, several analytical and numerical calculations
must be performed in order to achieve safe and reliable operation, in common described as
network analysis or electrical power system studies:
- Load flow calculation
- Short circuit calculations
- Ground fault calculations
- Relay coordination study
- Harmonic analysis
- Voltage drop calculation of inrush of transformers and starting of motors

© ABB Group
March 9, 2010 | Slide 37
Short Circuit Calculation

ƒ Calculate short circuit currents, scc in each branch (or

point) of the electric power system
ƒ Verify that scc is within design criteria
(e.g max scc for equipment, peak, rms, breaking inst.)
ƒ Input to relay coordination study
max and min short circuit currents (ssc)

ƒ For all initial normal operating conditions and

configurations (except where obvious)

© ABB Group
March 9, 2010 | Slide 38
Short Circuit Currents

Subtransient Transient Stationary

Amp
10-50ms 100-500ms >1000ms

10-15 DC
x In <200ms

3 x In

Time

© ABB Group
March 9, 2010 | Slide 39
Simplified Calculations

ƒ Validation of selected voltage level, and SWBD rating:

ƒ Variables and parameters:
ƒ Voltage [V]: Un
ƒ Total Gen. Capacity [kVA]: Sn
ƒ Generator Sub-transient reactance [%]: Xd”
ƒ Generator Sub transient short circuit current [kA]: Ikg”

'' "
I ≈
Sn
'' I =I +Ikm
k kg
kg ''
3UnXd Where Ikm is the contribution from
DOL motors, typically 5 to 7
times of the rated current.

© ABB Group
March 9, 2010 | Slide 40
#3 System Analysis

ƒ Short Circuit Calculations

ƒ Harmonic Distortion

ƒ Protective Device Coordination

© ABB Group
March 9, 2010 | Slide 41
Harmonics

u (t ) = 150

udc + u1 sin(ω1t ) 100

+ u2 sin( 2ω1t + ϕ 2 ) 50

+ u3 sin(3ω1t + ϕ 3 )
0

16

24

32

40

48

56

64

72

80

88

96
0

0
10

11

12

12

13

14

15

16

16

17

18

19

20

20

21

22

23

24

24

25

26

27

28

28

29

30

31

32

32

33

34

35

36
+ ...
-50

-100

+ uh sin( hω1t + ϕ h ) -150

+ ...

All periodic waveforms can be expressed as a sum of

a series of sinusoidal functions with frequency equal
to the multiple of the fundamental frequency.

© ABB Group
March 9, 2010 | Slide 42
Formulas

∑u(h)
2
a +b
2
n
2
n
h=2
THD=100%×
u(1)

© ABB Group
March 9, 2010 | Slide 43
Example - square wave

15

h=1
10
h=5
h=7
5 h=11

h=13
0
32
16

24

40

48

56

64

72

80

88

96
0

2
0

0
10

11

13

18

20

23

25

28

30

32

35
12

12

14

15

16

16

17

19

20

21

22

24

24

26

27

28

29

31

32

33

34

36
u (t ) = 10 sin(ω1t )
-5
10 10
+ sin(5ω1t ) + sin( 7ω1t + ϕ 3 )
5 7
-10 + ...
10 10
+ sin(35ω1t ) + ... + sin(37ω1t )
35 37
-15

© ABB Group
March 9, 2010 | Slide 44
Some Sources of Harmonics

© ABB Group
March 9, 2010 | Slide 45
Regulations, standards

In line with DNV and IEC 60092-101.

Other classification societies have other rules.

Recommendation for harmonic distortion

IEEE 519

© ABB Group
March 9, 2010 | Slide 46
Effects of Harmonic Distortion in the Network

ƒ Additional heat losses in ship’s power system and

propulsion plant
ƒ Function of protective devices, control and communication
systems may be disturbed
ƒ Malfunction of sensitive electrical apparatus (e.g. VCR’s,
radio- and navigation equipment).
ƒ LV tube lighting equipment must dimensioned to tolerate
the distortion level.

© ABB Group
March 9, 2010 | Slide 47
Voltage Harmonic Distortion

ƒ The biggest current source of harmonics are frequency

converters of propulsion drives

ƒ Harmonic currents flow in the network and induce harmonic

voltages according to the equation u = L di/dt, L is
inductance of the network

ƒ Harmonic distortion is usually described by THD- index

(Total Harmonic Distortion), which can be calculated with
following equation:

∑U n
n =2
2

%THD = 100 ⋅
U1
© ABB Group
March 9, 2010 | Slide 48
Effect of Rectifier to the Network

6-pulse 12-pulse

Vdc =
1.35xVll

ƒ 12 pulse line current is composed of two 6-pulse line

currents with 30o phase shift.

ƒ 30o phase shift is obtained by using a 3-winding

transformer with Delta-Delta and Delta-Wye connections.

ƒ Combination of two 12 pulse with 15o phase gives 24 pulse

solution.
© ABB Group
March 9, 2010 | Slide 49
6-pulse

THDu≅10..13%

THDu<5%

Filter Filter
M M M M

© ABB Group
March 9, 2010 | Slide 50
12-pulse

THDu≅6..8%

Y Y Y Y
THDu<5..7%

M M M M

© ABB Group
March 9, 2010 | Slide 51
Pseudo (quasi) 24-pulse

THDu<5%

-7.5o +7.5o +7.5o -7.5o

Y Y Y Y
THDu<5%

M M M M

© ABB Group
March 9, 2010 | Slide 52
24-pulse

THDu<4%
+7.5o -7.5o +7.5o -7.5o -7.5o +7.5o -7.5o +7.5o

Y Y Y Y Y Y Y Y
THDu<4%

M M M M

© ABB Group
March 9, 2010 | Slide 53
Voltage distortion with VSI drive load

U a b 2 [V] R e g e ne ra te d Uab2 [V] Regenerated

6 - pulse 1 000 12 - pulse

500 500

0 0

- 500 - 500

- 1 000
0.15 0.16 0.17 0.18 0.14 0.15 0.16 0.17
Time [sec] Time [sec]
Uab2 [V]
Uab2 [V]
1 E+4
1 E+4

1 E+3
1 E+3

1 E+2
1 E+2

1 E+1
1 E+1

1 E+0
20 40 1 E+0
Harmonics with a fundamental frequency of 60 Hz - THD (60 Hz) = 14.477 % 20 40
Harmonics with a fundamental frequency of 60 Hz - THD (60 Hz) = 6.110 %
2003-05-16
XD _GEN .VIS 2003-05-16
XD_GEN .VIS

Pha se -p ha s [V] R e g e ne ra te d

24 - pulse 1 000
Example results
500

0
ƒ 6-pulse: 14,5% THD
- 500

- 1 000
0.15 0.16
Time [sec]
0.17 0.18 ƒ 12-pulse: 6,7% THD
Phase-phas [V]
1 E+4

1 E+3 ƒ 24-pulse: 3,7% THD

1 E+2

1 E+1

1 E+0
20 40
Harmonics with a fundamental frequency of 60 Hz - THD (60 Hz) = 3.736 %
2003-05-16
OU T .VIS

© ABB Group
March 9, 2010 | Slide 54
Harmonic Distortion

ƒ Max distortion level is given by class

¾ What is required pulse number?

ƒ Rules of thumb (Distortion Level)*:

ƒ 48 pulse: ⇒ THD < 3%
ƒ 24 pulse: ⇒ THD < 5%
ƒ q24 pulse: ⇒ THD < 5% in normal operation
ƒ ⇒ THD < 8% in emergency operation
ƒ 12 pulse: ⇒ THD < 8%
ƒ 6 pulse: ⇒ THD > 10%
*Assuming propulsion is major part of the total el. Power
consumption

© ABB Group
March 9, 2010 | Slide 55
#3 System Analysis

ƒ Short Circuit Calculations

ƒ Harmonic Distortion

ƒ Protective Device Coordination

© ABB Group
March 9, 2010 | Slide 56
Relay Coordination Study

ƒ Obtain protection of equipment

ƒ Based on defined protection philosophy
ƒ Obtain selectivity, only faulty branches of the system shall
be disconnected
ƒ If not, redesign
ƒ Setting curves:
ƒ Amplitude
ƒ Time delay

© ABB Group
March 9, 2010 | Slide 57
Selectivity

G G G G

M M

© ABB Group
March 9, 2010 | Slide 58
Selectivity

G G G G

M M

© ABB Group
March 9, 2010 | Slide 59
Selectivity

G G G G

M M

© ABB Group
March 9, 2010 | Slide 60
 Selectivity

G G G G

M M

© ABB Group
March 9, 2010 | Slide 61
Selectivity

G G G G

M M

© ABB Group
March 9, 2010 | Slide 62
 Overcurrent / Short Circuit Current

Subtransient Transient Stationary

Amp
10-50ms 100-500ms >1000ms

10-15 DC
Inverse x In <200ms
curve
Time, seconds

3 x In
Start-up
Time
transient

Instant
trip

Delayed
trip

0 Normal Over min

Short max

circuit Current, Amp

load load

© ABB Group
March 9, 2010 | Slide 63
Active and reactive power
ƒ Definitions:
¾ Active Power: P (kW); consumed as heat or mechanical movements (e.g. rotation of propeller shaft).

¾ Reactive Power: Q (kVAr); “consumed/produced” in inductors (“consuming”), capacitors (“producing”), motor/transformer

windings, semi-conductor circuits. Only applicable for AC circuits.

¾ Apparent Power: S (kVA); gives the total electrical capacity (rating) of equipment.

¾ Power Factor: PF = P/S (also called “cos ϕ”, where ϕ is phase displacement between voltage and current)

S = P2 +Q2

© ABB Group
March 9, 2010 | Slide 64
Active and reactive power

ƒ Example Active Load:

¾ Resistors, Heating, Lighting, Motors (shaft rotation).
¾ Voltage and current are in phase (PF = 1.0/ ϕ = 0).

Current I

Voltage U
U
~ R I=
R
P=U⋅ I
Note: RMS values, and only valid for 100% resitive load.

© ABB Group
March 9, 2010 | Slide 65
Active and reactive power

ƒ Example Inductive Reactive Load:

¾ “Consuming” reactive power (by definition).
¾ Reactors; Motors (windings); Transformers; Frequency Converters.
¾ The voltage and current have a phase displacement of 90 degrees (PF = 0/ ϕ = 90).

Current I
U
Voltage U I=
X
~ X
Q =U ⋅I
Note: RMS values, and only valid for 100% inductive load.

© ABB Group
March 9, 2010 | Slide 66
Active and reactive power

ƒ Example Capacitive Reactive Load:

¾ “Producing” reactive power (by definition)
¾ Capacitors; Harmonic filters, Cables

For Marine power systems without harmonic filters

the capcitive loading is normally negliable compared
to the inductive loading.

© ABB Group
March 9, 2010 | Slide 67
Active and Reactive Power

Positive phase angle φ, inductive load

S =U⋅ I
400

300 Q = S ⋅ sin ϕ
200
voltage
P = S ⋅ cos ϕ
φ
100
current
0
0 5 10 15 20 25
-100

-200

-300

-400

© ABB Group
March 9, 2010 | Slide 68
© ABB Group
March 9, 2010 | Slide 69
#3 Components & Control System

ƒ Generators & Motors

ƒ Transformers

ƒ Converters

ƒ Azipod

ƒ Propulsion Control (Shaftline)

© ABB Group
March 9, 2010 | Slide 70
El. Machines - Principles

N
RO
TO
S

R
S

STATOR

© ABB Group
March 9, 2010 | Slide 71
El. Machines - Principles

N
S N

© ABB Group
March 9, 2010 | Slide 72
El. Machines - Principles

S
S N

© ABB Group
March 9, 2010 | Slide 73
El. Machines - Principles

N N

S
S

© ABB Group
March 9, 2010 | Slide 74
El. Machines - Principles

© ABB Group
March 9, 2010 | Slide 75
El. Machines - Principles

N S

© ABB Group
March 9, 2010 | Slide 76
Main active components

Electric Network

Excitation
control
Exciter Stator
Stator Damper windings

Rotor
Exciter Rotor

Rectifier Rotor
Shaft

Stator

© ABB Group
March 9, 2010 | Slide 77
14-pole Synchronous Machine

© ABB Group
March 9, 2010 | Slide 80
Brushless Excitation

© ABB Group
March 9, 2010 | Slide 81
Propulsion motor types

ƒ Synchronous motor
ƒ Speed of motor is directly proportional to input frequency.
ƒ Used for variable speed applications.
ƒ Power range > 5-10 MW (speed dependent).
ƒ External magnetizing.
ƒ Asynchronous motor (Induction Motor)
ƒ Speed of motor varies with input frequency, but with a slip of
2- 5% at rated load.
ƒ Used for variable speed or constant speed applications.
ƒ Power range < 5-10 MW (speed dependent).
ƒ Magnetizing is supplied via stator windings.

© ABB Group
March 9, 2010 | Slide 82
Synchronous Propulsion motor

ƒ Available from 710 to 2500

frame size.
ƒ Available for power up to
50MW.
ƒ Propulsion motor power
usually up to max. 30MW
ƒ Slow speed & Medium
speed

© ABB Group
March 9, 2010 | Slide 83
Components

Exciter Fan Motors

Stator

N-end bearing
End Shield (Free)
Shaft

D-end bearing Speed sensor

(Locating)
Rotor poles Diode bridge
© ABB Group
March 9, 2010 | Slide 84
AC Induction Motors
Principles

N S

© ABB Group
March 9, 2010 | Slide 85
AC Induction Motors
Principles

The rotating stator field induces currents in the Induction

motor rotor windings
© ABB Group
March 9, 2010 | Slide 86
Induction Motor
Stator

© ABB Group
March 9, 2010 | Slide 87
Induction Motor
Rotor

© ABB Group
March 9, 2010 | Slide 88
#3 Components & Control System

ƒ Generators & Motors

ƒ Transformers

ƒ Converters

ƒ Azipod

ƒ Propulsion Control (Shaftline)

© ABB Group
March 9, 2010 | Slide 89
Transformer types

ƒ Propulsion transformers
ƒ Transform SWBD voltage to match required converter voltage.
ƒ Increase pulse number of converter applications.
ƒ Usually 3 winding design. (gives 12 pulse)
ƒ Special phase adjustment on primary side is needed for higher
pulse number.
ƒ Different construction types available: Open wound, Oil filled,
dry type.
ƒ Marine applications today: Dry type; RESIBLOC ® or Vacuum
Cast Coil
ƒ Distribution transformers
ƒ Transform main SWBD voltage to LV levels for normal
distribution (440V & 220V).
ƒ Standard two winding transformers of dry type most commonly
used.

© ABB Group
March 9, 2010 | Slide 90
Marine dry transformers

ƒ Two technologies:
ƒ RESIBLOC ®
ƒ Vacuum Cast Coil
ƒ Different options:
ƒ Without enclosure IP00
ƒ Enclosures IP23, IPX4D,
IP44, IP56
ƒ Cooling: AN, AN/AF, AFWF
ƒ Anti-vibration pads
ƒ Various other accessories

© ABB Group
March 9, 2010 | Slide 91
RESIBLOC® Transformer
Radial short circuit
forces retained
No crack
Natural cooling up
to 40 MVA
Mechanical strength
80% glass content
Copper or
aluminium foil

High impulse
withstand
Compact windings in
a one piece block up
High short circuit to 40 MVA
withstand

Absolute Silicon free

> 50.000 units

produced since 1974

© ABB Group
March 9, 2010 | Slide 92
Resibloc Propulsion Transformers

ƒ AFWF (Air Forced Water Forced) Cooling

ƒ Double tube type coolers with 2 fans (100 % redundancy)

ƒ Transformers individually matched with drives and transformers

ƒ Common with 24-pulse solution with primary phase shift

(1 unit D(+7,5°)yn11d0 and 1 unit D(-7,5°)yn11d0)

© ABB Group
March 9, 2010 | Slide 95
#3 Components & Control System

ƒ Generators & Motors

ƒ Transformers

ƒ Converters

ƒ Azipod

ƒ Propulsion Control (Shaft line)

© ABB Group
March 9, 2010 | Slide 96
Converter types
Voltage Source Inverters
ƒ Often also referred to as “PWM” converters.
ƒ Constant voltage DC link.
ƒ Different control algorithms available:
ƒ PWM (Pulse Widh Modulation): 50ms torque response, fixed
switching frequency pattern
ƒ DTC (Direct Torque Control): 3ms torque response time,
variable switching frequency based on advanced motor model
and optimization (minimum) torque ripple.
ƒ Power factor >0.95 for whole speed range.
ƒ Diode bridge rectifier and high power factor gives low harmonic
distortion, specially in 12- and 24-pulse configuration.
ƒ Can be used with both Asynchronous and Synchronous motors.
ƒ Full torque available for the whole speed range.

© ABB Group
March 9, 2010 | Slide 97
Voltage Source Inverters (VSI)

constant voltage
cosφ = 0.95
(constant) near sinusoidal
currents

Excitation Circuit
(Synchronous Motors)

© ABB Group
March 9, 2010 | Slide 98
Pulse Width Modulation

PM

b-a

© ABB Group
March 9, 2010 | Slide 99
ACS 6000 Singledrive 9MVA with LSU

4.9 m
9 MVA
© ABB Group
March 9, 2010 | Slide 104
#3 Components & Control System

ƒ Generators & Motors

ƒ Transformers

ƒ Converters

ƒ Azipod

ƒ Propulsion Control

© ABB Group
March 9, 2010 | Slide 105
 Azipod basics

ƒ The Azipod (Azimuthing Podded Drive) is a podded electric

ship main propulsion and steering device driving a fixed
pitch propeller (FPP) at a variable rpm
ƒ The Azipod is azimuthing (steering around its vertical axis)
infinitely by 360 degrees and is available for propeller
power ratings of up to 25 MW each
ƒ The Azipod propulsion system is optimized to preferentially
use a pulling propeller (called a “tractor” type Azipod)
ƒ Propeller rotation can be driven in the Ahead and in the
Astern direction.
ƒ By December 2009, 5.1 million machinery hours had been
reached at sea by the Azipod product family

© ABB Group
March 9, 2010 | Slide 106
 Azipod main propulsion and steering
Main types

Azipod V and X series Azipod C series

Power up to 21 MW Power up to 4,5 MW
ƒPassenger ferries • Offshore vessels
& cruise ships • Ferries
• Mega yachts
ƒIce-going ships, icebreakers
ƒDP ships

© ABB
© ABB Group
Group
March 9,
March 9, 2010
2010 || Slide
Slide 107
107
 Azipod V and X series
Variants

Open water CRP Azipod Ice operation

Power up to 21MW Power up to 21MW Power up to 16MW
Azipod® VO Azipod® VC Azipod® VI
Azipod® XO Azipod® XC

• Passenger ferries • Ocean-going • Icebreakers

& cruise ships cargo ships • Arctic ships
• Ice-going ships • High efficiency in • Ice-going ships
• DP ships fast ships

© ABB
© ABB Group
Group
March 9,
March 9, 2010
2010 || Slide
Slide 108
108
 Azipod V and X series, propeller ratings

© ABB Group
March 9, 2010 | Slide 109
 Azipod C series
Variants
Azipod Compact Pulling Azipod Compact Rig
version (Azipod CO) version (Azipod CZ)
ƒ Power up to 3,3 MW
ƒ Power up to 4,5 MW (corresponds to abt. 3,8 MW
mechanical thruster)
ƒ Three different frame sizes
ƒ Floaters
ƒ Various ship types
ƒ DP ships

© ABB
© ABB Group
Group
March 9,
March 9, 2010
2010 || Slide
Slide 110
110
 Azipod history
2011 Azipod C series factory
in China
2008 Azipod X series introduction

2007 New Azipod factory in Helsinki

2004 Azipod CZ deliveries for drilling rig

2001 Azipod VC (CRP) introduction

2000 Azipod C series introduction

1995 First cruise ship contract, “Elation”

1994 First icebreaker application, “Röthelstein”

1989 Azipod V: prototype installation, “Seili”

1987 Original Azipod Idea

© ABB
© ABB Group
Group
March 9,
March 9, 2010
2010 || Slide
Slide 111
111
 Azipod Principle
THRUST BEARING OIL FILTERS
HEAT EXCHANGER PROPELLER BEARING
COOLING SYSTEM SLIPRING UNIT
OIL FILTERS
•CLOSED CIRCUIT AIR COOLING CONNECTION OF MAIN CABLES
•LT OR AC WATER
STEERING GEAR
AZIPOD HULL AND STEERING MOTOR
•WELDED STRUCTURE

PROPELLER BEARING
2 BEARING OIL •ROLLER BEARING
CIRCULATION PUMPS •OIL SUMP LUBRICATED
THRUST BEARING
• OIL SUMP LUBRICATED BEARING OIL
• FULL TORQUE AND THRUST
CIRCULATION PUMP
IN BOTH DIRECTIONS
PROPELLER
•FIXED PITCH
•MONOBLOCK
ELECTRIC MOTOR •BOLTED ON PROPELLER
•ACYNCHRONOUS < 6 MW 2 DRAINAGE
•SYNCHRONOUS > 6 MW PUMPS
© ABB Group
March 9, 2010 | Slide 112
 Conventional shaft line propulsion

© ABB Group
March 9, 2010 | Slide 113
 Azipod Propulsion system

© ABB Group
March 9, 2010 | Slide 114
#3 Components & Control System

ƒ Generators & Motors

ƒ Transformers

ƒ Converters

ƒ Azipod

ƒ Propulsion Control

© ABB Group
March 9, 2010 | Slide 115
Propulsion Control Overview

Bridge

CAN-Bus

ECR
DG DG DG DG
PMS PMS
IAS IAS

RCU RCU

P-bus
~~ ~~ P-bus
PCU PCU

M M

Local

© ABB Group
March 9, 2010 | Slide 116
Propulsion Control Functionality

ƒ Speed (Power) control of propeller:

ƒ RPM (Power) set-point from levers.
ƒ Control speed of the propeller.
ƒ Three set of predefined speed ramps:

ƒ Normal Ramps
ƒ Emergency Ramps
ƒ Crash-stop Ramps
ƒ Dynamic Power Ramps based on number of connected Gas
Engines.
ƒ 1 propeller: Master-Slave functionality of the propulsion control
units.
ƒ 2 propellers: Individual speed control of each propeller.

© ABB Group
March 9, 2010 | Slide 117
Protection/Safety Functionality

ƒ Power Limitations/ Blackout prevention:

ƒ Power limitation based on internal available power.
ƒ Power reduction based on generator trip signals.
ƒ Power reduction based on frequency monitoring.
ƒ Power Limitation based on individual interface to Gas Engine
(Knocking).
ƒ Power Limitation based on available power from Gas supply
chain.
ƒ Power Limitation based on available power from PMS/IAS.
ƒ Dynamic Power Ramps based on number of connected Gas
Engines

© ABB Group
March 9, 2010 | Slide 118
Control Panel Bridge Centre
Single Shaft Line

© ABB Group
March 9, 2010 | Slide 119
First LNG with Electric Propulsion
Gaz de France
SEA-TRIAL

© ABB Group
March 9, 2010 | Slide 123
Endurance Test
Propulsion Motor

Constant power mode

Power

RPM
The Speed is not constant in Power Mode. At
this point the ship is turning and therefore the
speed is decreasing. The Torque is increasing
to keep a constant Power
Torque

© ABB Group
March 9, 2010 | Slide 124
Crash Stop Test
Propulsion Motor

The system changes automatically to Speed

Mode during Crash Stop to get best response

Negative Braking Power during crash stop Power

The Speed ramps from full ahead to

zero in twenty seconds!

The speed reaches max negative

rpm (60%), and negative Torque is
reduced to keep this limit
Torque

The Torque ramps fast to maximum Astern Torque (60%) RPM

© ABB Group
March 9, 2010 | Slide 125
Efficiency

11000 kW 11000 kW 11000 kW 5500 kW

G G G G

6,6 kV, 60Hz

~ ~
~ ~ 94,3%

M M

© ABB Group
March 9, 2010 | Slide 126
Blackout prevention-Trip Of Diesel Engines

Network Frequency
Running full Motor 1 Power
Speed Motor 2 Power
Gen. 1 Actual Power
Gen. 2 Actual Power
Gen. 3 Actual Power
Gen. 4 Actual Power

Trip of
D Trip of
G1 D Trip of
G2 D
G3

© ABB Group
March 9, 2010 | Slide 127
© ABB Group
March 9, 2010 | Slide 128