DP Operation and DP modes

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Source

• IMO MSC/Circ. 645 §

• Kongsberg K-Pos DP (OS) Dynamic Positioning System Operator Manual
Release 8.2
• Kongsberg K-Pos Follow Target Mode Operator Manual Release 8.2
• Kongsberg K-Pos Auto Track Mode Operator Manual Release 8.2
• K-Pos DP (OS) Dynamic Positioning System with Offshore Loading Application
Operator Manual (Rel. 8.2.0)

16/01/2015 WORLD CLASS - through people, technology and dedication. Page 2

K-Pos Main Modes

• Standby mode

• Joystick mode

• Auto Position mode

Standby Mode

• Standby mode is a waiting and reset mode in which the system is in a

high state of readiness, but in which no vessel control commands can
be made
– Can change view settings
– Can enable thrusters and sensors
• Access to built-in Trainer Mode
– NOT conducting DP operations
– Standby Mode
– No ready signals on thrusters
– No position reference system enabled
• No input from position reference systems, thus:
– System does not update vessel model in Standby Mode
Joystick Mode
Main Functions
• Provide single Joystick control of all thrusters
• Possibility for Environmental Force Compensation
• Possibility for Mixed Joystick/Auto mode
• Vessel model will update if a compass/PRS is enabled, calibrated,
and accepted
• Settings:
• Thrust: Full or Reduced
• Precision: High Speed, General, or Low Speed
• Environmental Compensation
• Can enable auto control of any combination of surge, sway, and yaw
axes:
• Yaw requires gyro or compass input
• Surge and Sway require PRS

Agenda

• Joystick Settings
• Thruster Allocation
• Power Overload control
Joystick Settings

Thrust Full: 90-100%

Reduced: 40-50%

Joystick Deflection 100%

Auto Position Mode

Main Functions
• Automatic control of the surge, sway, and
yaw axes – joystick has no input
• Auto yaw requires AT LEAST 1
gyrocompass
• Auto surge and auto sway require at least
1 gyrocompass and 1 PRS

– Best practice to use ALL available

sensors and PRS
– Best practice to let the vessel model
stabilize after updating vessel model in
Joystick mode
Position and Heading Setpoints

Auto Position Settings

Thrust

Setpoint Deviation
 Auto Position Gain Level Settings

F, (M)

Deviation in Surge, Sway, and (Yaw)

The Carrot Computation

 Acceleration and the
Attack, Sustain, and Decay Cycle
Ft Acceleration settings will alter the
steepness of this graph!

Sustain

Position

Rotation Point / Rotation Center

• Point for which DP is controlling

position, and about which DP is
controlling heading
• Designated by a small circle on
Posplot
• Also known as yaw center
– Default is Midships/CG
– User defined
• Limitations:
– Cannot change heading if
rotation center is not
midships/CG and speed is set to
0
System Selected Heading

• Minimum Power Heading

• Dynamically alters heading setpoint to allow for minimum thrust
– Bow or stern into the environment, based on shortest turn

• Note: Cannot be used with Green DP mode

DP Operation and DP modes

Auto Position mode

•Examples on Auto Position Mode
Operation:
– Platform Support Vessel (PSV)
– Drilling
– ROV and Diving Support
– Offshore Loading
– Construction
– Cruise Vessels

– And more….

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DP Operation and DP modes

Follow Target mode

A K-Pos system with Follow Target
mode has one of two available
configurations:
• Follow Single Mobile Target
• Follow Multiple Mobile Targets

Page 17

DP Operation and DP modes

Follow Target mode

Typical us of follow target is:
- Supporting pipe laying vessel
- ROV

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DP Operation and DP modes

Autotrack
In the Auto Track mode, the vessel
follows a predefined track, described
by a set of waypoints

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DP Operation and DP modes

Autotrack
Typical us of Autotrack is:
- Pipe laying
- Cable Laying

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DP Operation and DP modes

Offshore Loading
The K-Pos DP Offshore Loading
application provides dynamic
positioning functions for
use during offshore loading operations.

Page 21

DP Operation and DP modes

Offshore Loading
Different procedures are used
depending on the loading method
• Tandem loading (FSU/FPSO)
• Loading buoy without mooring
(OLS)
• Single anchor loading (SAL)
• Single point mooring (SPM)
• Submerged Turret Loading (STL)

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DP Operation and DP modes

Offshore Loading
Four distinct operating modes are
provided for approaching the offshore
loading buoy and for position-keeping
during loading
• Approach mode — when
approaching the buoy
• Weather Vane mode — when
loading (bow-loading methods)
• Connect mode — when connecting
to, or disconnecting from, an STL
buoy
• Loading mode — when loading from
an STL buoy

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DP Operation and DP modes

Many function and Modes

The different Modes and type of
operation mentioned in this
presentation is just some of Modes
available and just some of the many
operation where you can use DP.

If you want to know more about DP

modes read Chapter 4.2 in the Training
Manual

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 Learning Objectives

The Student shall be able to :

• explain the need for Dynamic Positioning in various types of vessel.
• describe the various modes of DP operation, including Manual control,
Semiautomatic control, Automatic control, together the following common
specialist functions: Follow-target, Follow-Sub, Track Follow/Autotrack,
Weathervane, Riser Angle mode.

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