5.13 - comparative investigation on influence of the positioning...
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DYNAMIC POSITIONING CONFERENCEOctober 9-10, 2012
THRUSTERS SESSION
Comparative Investigation on Influence of the Positioning Time of Azimuthg
Dirk Jürgens M Palm A BrandnerDirk Jürgens, M. Palm, A BrandnerVoith Turbo Marine
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Comparative Investigation on Influence of the
Positioning Time of Azimuth Thrusters on the Accuracy of DP
D Jürgens M Palm AD. Jürgens, M. Palm, A. Brandner
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Content
- Principle of the Voith Schneider Propeller (VSP)- Special hydrodynamic effects of the VSPSpecial hydrodynamic effects of the VSP
- Voith Roll Stabilization- DP with VSP- Avoiding Forbidden Zones for DP
- Remote Control and VSP- OSVs propelled by VSPs
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Voith Schneider Propeller (VSP)
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Voith Schneider Propeller for PSVVoith Schneider Propeller for PSV
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Voith Schneider Propeller
1 rotor casing2 blade3 cinematic4 control rod4 control rod5 servomotor6 bevel gear7 reduction gear7 reduction gear8 driving sleeve9 propeller housing
10 thrust plate10 thrust plate11 roller bearing12 gear pump
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VOITH SCHNEIDER PROPELLER (VSP)
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VOITH SCHNEIDER PROPELLER (VSP)VOITH SCHNEIDER PROPELLER (VSP)Mechanical System
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CYCLOIDAL PROPULSOR
KINEMATICAL PRINCIPLEiVSP !!
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Research and Development
CFD-Calculation results
Thrust
Blade - Rotor - Channel
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N i l l iNumerical propulsion tests
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Content
- Principle of the Voith Schneider Propeller (VSP)- Special hydrodynamic effects of the VSPSpecial hydrodynamic effects of the VSP
- Voith Roll Stabilization- DP with VSP- Avoiding Forbidden Zones for DP
- Remote Control and VSP- OSVs propelled by VSPs
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V ith R ll St bili ti (VRS)M wave - Exciting wave moment
Voith Roll Stabilization (VRS)
VSP Thrust
M VSP - Stabilizing Moment by the VSP
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Vs = 5 kn, hs = 1.5 m; Roll Reduction = 69 %
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V ith R ll St bili ti (VRS)Voith Roll Stabilization (VRS)
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DP P fDP PerformanceKeeping the Watch BoxMARIN Calualtion October 2008 - DP ConferenceVessel motions in bow quartering wavesComparison study of an z-drive propelled PSV and a VSP propelled PSV, four units each ship, hs = 3 m, Lpp = 120 mpp
z-drive VSP
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X/Y Steering logicg gof the VSP
Ideal for DPIdeal for DP
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Dynamic Positioning (DP) The importance of accuracyDynamic Positioning (DP) – The importance of accuracy
DP Work at the PlatformDP-Work at the Platform
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Dynamic Positioning (DP) The importance of accuracyDynamic Positioning (DP) – The importance of accuracy
DP Work at the PlatformDP-Work at the Platform
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Dynamic Positioning (DP) The importance of accuracyDynamic Positioning (DP) – The importance of accuracy
Tracking error: statedesiredstatee • PID Controller
deIeDePforcet
PID )(0
Tracking error: statedesiredstatee
The calculations of the simulations as well
• Thruster Allocation Modul
The calculations of the simulations as well as the applied supply vessel refer to:
Handbook of Marine Craft Hydrodynamics and Motion Control (Thor I. Fossen)
Matlab Toolbox MSS GNC (guidance, navigation and control) (Development Team: Prof. Thor I . Fossen and Prof. Tristan Perez)
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Vessel Data supply vessel
Dynamic Positioning (DP) – The importance of accuracy
Lpp: 82 m T: 6 m
B 19 B: 19 m m: 6362 t
thruster thruster location of the thrusters: stern max. power: 3600 kW per thruster
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Calulations – ExamplesDynamic Positioning (DP) – The importance of accuracy
Example 1: 0-75-90p
Example 2: 0-100-45
Example 3: cyclic-100-0-60
Example 4: cyclic 400 0 60Example 4: cyclic-400-0-60
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Dynamic PositioningExperience
Statement from Captain of Edda Fram
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Voith Offshore Shuttle (VOS)
• Maintenance Vessel for Windpark Services.
• S perior station keeping• Superior station keeping capabilities due to the Voith Schneider Propeller.
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V ith Off h Sh ttlVoith Offshore ShuttleConceptual Design by Voith Turbo Marine Engineering
Loa: 39.00 mBeam: 8.75 mDepth: 3 90 mDepth: 3.90 mSpeed: 14.00 knCrew: 3 personsPAX’: 12 persons
2 Voith Schneider Propellers with Roll StabilizationWindturbine access systemWindturbine access system
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V ith Shi Si l tVoith Ship Simulator
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V ith Off h Sh ttlVoith Offshore ShuttlePosition Control
( f )By hand (left)und automatic (right)
0m m
10 4
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I t ti f Th t Th tInteraction of Thruster-Thruster –Target: Minimize forbidden zones
Calculation - Data
•Advanced coeffcient = 0
•VSP-Diameter D = 3.2 m
•Pitch λ0 = 80%
•Blade length L = 3m
Pit h l•α1/2 – Pitch-angle
•ϕ1/2 – Blade-angle
Distance: 11.2 m (3.5 D); 8 m (2.5 D)
and 4.8 m (1.5 D)
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a=4,8m
α1 = -90°1
α2 = 0°
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a=4,8m
α1 = -85°1
α2 = 0°
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a=4,8m
α1 = -80°1
α2 = 0°
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a=4,8m
α1 = -75°1
α2 = 0°
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a=4,8m
α1 = -70°1
α2 = 0°
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a=4,8m
α1 = -65°1
α2 = 0°
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a=4,8m
α1 = -60°1
α2 = 0°
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a=4,8m
α1 = -55°1
α2 = 0°
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a=4,8m
α1 = -50°1
α2 = 0°
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a=4,8m
α1 = -45°1
α2 = 0°
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a=4,8m
α1 = -40°1
α2 = 0°
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a=4,8m
α1 = -35°1
α2 = 0°
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a=4,8m
α1 = -30°1
α2 = 0°
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a=4,8m
α1 = -25°1
α2 = 0°
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a=4,8m
α1 = -20°1
α2 = 0°
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a=4,8m
α1 = -15°1
α2 = 0°
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a=4,8m
α1 = -10°1
α2 = 0°
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a=4,8m
α1 = -5°1
α2 = 0°
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a=4,8m
α1 = 0°1
α2 = 0°
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a=4,8m
α1 = 5°1
α2 = 0°
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a=4,8m
α1 = 10°1
α2 = 0°
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a=4,8m
α1 = 15°1
α2 = 0°
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a=4,8m
α1 = 20°1
α2 = 0°
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a=4,8m
α1 = 25°1
α2 = 0°
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a=4,8m
α1 = 30°1
α2 = 0°
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a=4,8m
α1 = 35°1
α2 = 0°
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a=4,8m
α1 = 40°1
α2 = 0°
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a=4,8m
α1 = 45°1
α2 = 0°
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a=4,8m
α1 = 50°1
α2 = 0°
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a=4,8m
α1 = 55°1
α2 = 0°
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a=4,8m
α1 = 60°1
α2 = 0°
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a=4,8m
α1 = 65°1
α2 = 0°
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a=4,8m
α1 = 70°1
α2 = 0°
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a=4,8m
α1 = 75°1
α2 = 0°
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a=4,8m
α1 = 80°1
α2 = 0°
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a=4,8m
α1 = 85°1
α2 = 0°
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a=4,8m
α1 = 90°1
α2 = 0°
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I t ti f Th t Th tInteraction of Thruster-Thruster –Target: Minimize forbidden zones
toe
ffici
ent
0.5 seconds VSP steering to overcame the interaction losses
Thru
stc
Thrustangle
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Content
- Principle of the Voith Schneider Propeller (VSP)- Special hydrodynamic effects of the VSPSpecial hydrodynamic effects of the VSP
- Voith Roll Stabilization- DP with VSP- Avoiding Forbidden Zones for DP
- Remote Control and VSP- OSVs propelled by VSPs
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C t lli t VTSHControlling competence VTSHAims of the new control system ITS 2012
Stand 102One control system for all drive systems Stand 102
Voith Control SystemSystem
Steuerungskompetenz VTSH | wegek | 2011-10-04
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VTSH C lliVTSH–ControllingHardware – Control station
ITS 2012St d 102
Status VTSH - Steuerung | wegek | 2012-05-24
Stand 102
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Content
- Principle of the Voith Schneider Propeller (VSP)- Special hydrodynamic effects of the VSPSpecial hydrodynamic effects of the VSP
- Voith Roll Stabilization- DP with VSP- Avoiding Forbidden Zones for DP
- Remote Control and VSP- OSVs propelled by VSPs
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V ith S h id P ll i Off h A li tiVoith Schneider Propeller in Offshore ApplicationsArrangement of the VSPs with Optimized Hull Form
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F th R f
Loa: 95 00 m
Further ReferencesInspection Maintenance + Repair Vessel Edda Flora
Loa: 95.00 mBeam: 20.00 mDraft max: 7.50 mVSP: 2 x 36R6 EC/300-2
Voith Roll Stabilization + DP3
Class: DNVDeadweight: 4800 tsDelivery: 2008Delivery: 2008Owner: Østensjø / NorwayConcept: Skipsteknisk A.S.Yard: Karmsund Maritime
Services
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Further ReferencesTwo Windfarm Installation Vessels for Windcarrier and one for A2SEALoa: 130.80 mBeam: 39.00 mPayload: 5300 t
and one for A2SEA
Payload: 5300 tVSP: 3 x 36R6 EC/285-2 with VRSClass: DNV / DP2Owners: Fred. Olsen Windcarrier / Norway
A2Sea / DenmarkConcept: Gusto MSC / NetherlandspYards: Lamprell / Dubai and Cosco / ChinaDelivery: 2Q + 3Q 2012
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F th R fFurther ReferencesDeep Recovery Vessel “Seabed Worker”
LWL: 91.60 mBeam: 16.00 mDraft: 5 75 mDraft: 5.75 mVSP: 2 x 32R5 EC/265-2
Voith Roll Stabilization + DP2Class: DNVOwner: Seabed A.S. / NorwayConcept: Multi Maritime & SAWICON / Norwayp & yYard: Fjellstrand / Norway
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Further ReferencesOne Diving Support Vessel “Windermere”LWL 77 00LWL: 77.00 mBeam: 20.4 mDraft: 5.50 mVSP: 2 x 32R5 EC/265-2
Voith Roll Stabilization + DP2Class: ABSClass: ABSOwner: Hallin Marine Systems Ltd.Yard: Drydocks World-Singapore, SingaporeCommissioned 2nd quarter 2010Commissioned 2nd quarter 2010
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F th R fFurther ReferencesOne Platform Assist Vessel „Forte“
LWL: 48.16 mBeam: 15.85 mDraft: 6.50 mBollard pull: 100 tVSP: 2 x 36R6 EC/285-2
Voith Roll Stabilization +Voith Roll Stabilization + DP2
Class: ABSOwner: Edison Chouest Offshore
/ USAYard: North American
Shipbuilders / USA
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F th R fFurther ReferencesTwo IMR Vessels “Polar King” and “Polar Queen”
LWL: 110.00 mBeam: 20.00 mDraft: 6 00 mDraft: 6.00 mVSP: 2 x 36R6 EC/300-2
Voith Roll Stabilization + DP2Class: DNVOwner: GC Rieber Shipping / NorwayConcept: Skipsteknisk / Norwayp p yYard: Con. Navales P. Freire S.A. / Spain
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L 130 00
Accommodation and Service VesselLpp: 130.00 mBeam: 27.00 mDraft: 7.00 mVSP: 5 x 32R5 EC/265-2
Voith Roll Stabilization + DP3Stabilization + DP3
Class: DNVDeadweight: 7500 tsD li 2010Delivery: 2010Owner: Østensjø / NorwayConcept: Vik-Sandvik A.S.Yard: Astilleros Barrera /
Spain
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F th R fFurther ReferencesOffshore Construction + Repair Vessel Giant
Loa: 160.00 mBeam: 30.00 mDraft: 7.00 mVSP: 5 x 36R6 EC/300-2
Voith Roll Stabilization+ DP3+ DP3
Class: DNVOwner: North Sea Shipping /
NorwayConcept: Sawicon A.S.Yard: Astilleros Metalship / p
Spain
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V ith S h id P ll i Off h A li tiVoith Schneider Propellers in Offshore ApplicationsConclusions
Safe station keeping due to excellent DP behavior Roll stabilization for safe operationsRoll stabilization for safe operations Minimum interaction losses (Thruster-Thruster) Fast reaction and X/Y logic of the VSP for
optimum DPoptimum DP Maximum operational availability of the vessel Voith is offering designs for service vessels for
windparks Voith is offering a new remote control system
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