ABS 191-2013 GUIDE FOR DYNAMIC POSITIONING SYSTEMS.pdf

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1、 GUIDE FOR DYNAMIC POSITIONING SYSTEMS NOVEMBER 2013 Guide to Color Coding Used in Online Version of the Guide The following summarizes the colors corresponding to Rule Changes, Corrigenda items and editorial changes in the Guide files which are available for download. Rule Changes: Changes effectiv

2、e 1 November 2013 NOTICE NO. 1 September 2015 (effective 1 September 2015) Corrigenda: CORRIGENDA/EDITORIALS 1 July 2014 Editorials: Editorial Changes Guide for Dynamic Positioning Systems GUIDE FOR DYNAMIC POSITIONING SYSTEMS NOVEMBER 2013 (Updated September 2015 see next page) American Bureau of S

3、hipping Incorporated by Act of Legislature of the State of New York 1862 Copyright 2013 American Bureau of Shipping ABS Plaza 16855 Northchase Drive Houston, TX 77060 USA Updates September 2015 consolidation includes: July 2014 version plus Notice No. 1 July 2014 consolidation includes: November 201

4、3 version plus Corrigenda/Editorials Foreword Foreword The application of dynamic positioning (DP) systems has been expanded significantly not only in the number of DP vessels, but also in the range of applications and the advancement of DP technologies. In order to address this variety and the need

5、s of industry, ABS undertook to develop an ABS Guide for Dynamic Positioning Systems. The Guide replaces ABS DP system requirements currently included in the ABS Rules for Building and Classing Steel Vessels (Steel Vessel Rules) and the ABS Rules for Building and Classing Offshore Support Vessels (O

6、SV Rules). In addition to the current requirements, the Guide provides new optional notations and technical specifics that reflect current industry practice and DP technologies. The Guide covers ABS requirements for the design and testing of DP systems with the following new features: Enhanced syste

7、m (EHS) notations to recognize design features beyond current DPS-series notations and to provide flexibility to owners and operators. Station keeping performance (SKP) notations to recognize DP capability and to encourage robust design of the DP system. Increased level of detail on the technical re

8、quirements to help less experienced users Details of vessel type specifics to reflect industry need Requirements for testing comparable with current industry practice. The Guide is applicable to systems that are installed onboard vessels, offshore installations and facilities. It is applicable to ne

9、w constructions. This Guide becomes effective on the first day of the month of publication. Users are advised to check periodically on the ABS website www.eagle.org to verify that this version of this Guide is the most current. We welcome your feedback. Comments or suggestions can be sent electronic

10、ally by email to rsdeagle.org. ABSGUIDE FOR DYNAMIC POSITIONING SYSTEMS .2013 iii Table of Contents GUIDE FOR DYNAMIC POSITIONING SYSTEMS CONTENTS SECTION 1 General 1 1 Introduction . 1 3 Classification Notation 1 5 Definitions . 2 5.1 General 2 5.3 Equipment and Dynamic Positioning System 3 5.5 Red

11、undancy Design 4 5.7 Performance and Operation 5 7 Documentation 5 7.1 Dynamic Positioning System . 6 7.3 Power System . 6 7.5 Thruster System 6 7.7 DP Control System 7 9 Certification . 7 9.1 Control and Monitoring System Equipment . 7 9.3 Components and Subsystems . 7 SECTION 2 Dynamic Positioning

12、 System Design . 8 1 General . 8 3 DP System Technical Requirements 8 3.1 Basic Requirements . 8 3.3 Redundancy Design 8 3.5 Physical Separation . 10 3.7 DP System Equipment Requirements . 10 3.9 Station Keeping Performance 10 5 Essential Non-DP Systems . 13 5.1 General 13 5.3 Emergency Shutdown Sys

13、tem and DP Redundancy . 13 5.5 Fire Protection . 13 5.7 Fuel Quick Closing Valves . 13 7 Alarms, Monitoring and Instrumentation . 13 9 Communications and DP Alert System . 14 9.1 Communications 14 9.3 DP Alert System 15 iv ABSGUIDE FOR DYNAMIC POSITIONING SYSTEMS .2013 11 Failure Mode and Effects An

14、alysis . 15 11.1 General 15 11.3 Failure Mode Analysis . 15 11.5 FMEA Report . 16 13 DP Operations Manual 18 TABLE 1 Summary of DP System Requirements for ABS DPS Notations . 12 TABLE 2 Summary of Minimum Instrumentation at DP Control Station . 14 SECTION 3 Power Systems . 19 1 General . 19 3 Power

15、Generation System 19 3.1 Vessels with DPS-1 Notation . 19 3.3 Vessels with DPS-2 Notation . 19 3.5 Vessels with DPS-3 Notation . 20 5 Power Distribution . 20 5.1 General 20 5.3 Vessels with DPS-2 or DPS-3 Notations . 20 7 Power Management System . 21 9 Uninterruptible Power Supply Systems (UPS) 22 S

16、ECTION 4 Thruster System . 23 1 General . 23 3 Thruster Capacity 23 5 Thruster Configuration 23 7 Thruster Auxiliary System . 23 9 Thruster Control 24 9.1 General 24 9.3 Control Parameter . 24 9.5 Manual Thruster Control 24 9.7 Emergency Stop 24 11 Thruster Monitoring and Alarm . 25 SECTION 5 Contro

17、l System . 26 1 General . 26 3 DP Control Station 26 3.1 General 26 3.3 Arrangement of DP Control Station . 26 3.5 Arrangement of DP Control Systems 27 3.7 Arrangement of Control Panels . 27 3.9 Arrangement of Data Communication Networks . 27 ABSGUIDE FOR DYNAMIC POSITIONING SYSTEMS .2013 v 5 DP Con

18、trol System . 27 5.1 General 27 5.3 External Force . 28 5.5 Vessels with DPS-2 Notation . 28 5.7 Vessels with DPS-3 Notation . 28 7 Manual Position Control System . 28 9 Control Mode Selection . 28 9.1 Manual/DP Control Modes . 28 9.3 Main/Backup Control Station . 29 11 Position Reference System and

19、 Environment Sensor 29 11.1 General 29 11.3 Vessels with DPS-0 or DPS-1 Notation . 30 11.5 Vessels with DPS-2 Notation . 30 11.7 Vessels with DPS-3 Notation . 30 11.9 Signal Processing 30 13 Consequence Analysis (For DPS-2 and DPS-3) 31 15 Display and Monitoring . 31 SECTION 6 Auxiliary Systems (app

20、lies to DPS-2 and DPS-3) 32 1 General . 32 3 Fuel Oil 32 5 Cooling Water . 32 7 Compressed Air 33 9 Lubrication Oil Systems 33 11 HVAC and Ventilation . 33 13 Piping 33 15 Pneumatic Systems 33 17 Power Supply to Auxiliary Systems 33 SECTION 7 DP System Initial Test 34 1 General . 34 3 DP System Perf

21、ormance Test 34 3.1 Uninterruptible Power Supply Systems (UPS) . 34 3.3 Position Reference Systems and Sensors . 34 3.5 Manual Position Control System 34 3.7 Manual Thruster Control System . 34 3.9 Thruster Emergency Stop 34 3.11 DP Control System 35 3.13 Control and Alarms 35 3.15 Standby Changeove

22、r . 35 3.17 Protection Function 35 3.19 Communication 35 3.21 DP Endurance Test . 35 5 FMEA Proving Trial for DPS-2 or DPS-3 36 vi ABSGUIDE FOR DYNAMIC POSITIONING SYSTEMS .2013 SECTION 8 Enhanced System (EHS) 37 1 Introduction . 37 3 Enhanced System for DPS-2 and DPS-3 . 37 3.1 Enhanced Power and T

23、hruster System (EHS-P) . 38 3.3 Control System (EHS-C) . 41 3.5 Fire and Flood Protection (EHS-F) 42 5 Summary of System Requirements for Enhanced System Notations . 43 7 Closed Bus and Standby Start 44 7.1 General 44 7.3 Closed Bus Operation . 44 7.5 Standby Start . 44 7.7 FMEA and Testing . 44 9 D

24、ocumentation 45 TABLE 1 Summary of DP System Requirements for EHS Notations 43 SECTION 9 Station Keeping Performance . 46 1 General . 46 1.1 Definition . 46 3 Environmental Conditions . 47 3.1 Wind 47 3.3 Wave and Wave Spectrum 47 3.5 Current 48 3.7 Environments for SKP(a,b,c,d,e,f) Notation . 48 3.

25、9 Environments for SKP Notation . 49 5 Analysis Conditions . 49 5.1 DP System Configurations 49 5.3 Operating Conditions . 49 7 Environmental Load Calculation . 49 7.1 Wind and Current Force 50 7.3 Wave Force . 50 9 Other External Loads 50 11 Available Thrust 50 11.1 Available Thrust for Thrusters .

26、 50 11.3 Thruster-Thruster Interaction . 50 11.5 Thruster-Hull Interaction 51 11.7 Thruster-Current Interaction 51 11.9 Tunnel Thruster . 51 13 Rudder Forces 51 15 SKP Calculations 52 15.1 SKP Notation . 52 15.3 SKP(a,b,c,d,e,f) Notation . 52 17 Documentation 52 TABLE 1 Relationship between Wind and

27、 Wave (North Sea) . 49 ABSGUIDE FOR DYNAMIC POSITIONING SYSTEMS .2013 vii SECTION 10 Specific Vessel Types 53 1 Introduction . 53 3 Mobile Offshore Drilling Units . 53 3.1 Basic Design Criteria for DP System . 53 3.3 Position Reference Systems and Sensors . 53 3.5 Effect of Drilling Loads . 53 3.7 V

28、essel Operating Condition . 53 3.9 Emergency Shutdown System . 54 3.11 Emergency Disconnect System . 54 3.13 Maintenance Plan 54 3.15 FMEA . 55 3.16 DP Alert System 55 3.17 DP Operations Manual 55 3.19 Documentation 55 5 Project or Construction Vessels 55 5.1 Basic Design Criteria for DP System . 55

29、 5.3 Operation Configuration . 56 5.5 Position Reference Systems and Sensors . 56 5.7 Maintenance Plan 56 5.9 FMEA . 56 5.10 DP Alert System 56 5.11 DP Operations Manual 56 7 Logistics Vessels 57 7.1 Operation Mode . 57 7.3 Position Reference Systems and Sensors . 57 7.5 DP Operations Manual 57 SECT

30、ION 11 Other Optional Notations . 58 1 Introduction . 58 3 Integrated Software Quality Management for DP System 58 5 System Verification for DP System . 58 APPENDIX 1 Available Thrust Assessment . 59 1 General . 59 3 Thrust at Bollard Pull . 59 5 Thruster-Thruster Interaction 60 5.1 In Line Tandem C

31、ondition 61 5.3 Upstream Thruster Turned Tandem Configuration 62 5.5 Forbidden Zones 63 7 Thruster-Hull Interaction . 64 7.1 Friction . 64 7.3 Coanda Effect 64 7.5 Pontoon Blockage 64 7.7 Tilted Thruster/Nozzle 64 9 Thruster-Current Interaction 65 viii ABSGUIDE FOR DYNAMIC POSITIONING SYSTEMS .2013

32、11 Tunnel Thrusters . 66 11.1 Simplified Method 67 11.3 Detailed Method 68 TABLE 1 Range of Forbidden Zone for Different x/D . 63 FIGURE 1 Open Propellers 59 FIGURE 2 Ducted Propellers . 60 FIGURE 3 Thrusters Configuration in Tandem Condition 61 FIGURE 4 Thrust Reduction of the Downstream Thruster i

33、n Open Water . 61 FIGURE 5 Thrusters Configuration in Tandem Condition Turning the Upstream Thruster 62 FIGURE 6 Thrust Reduction of the Downstream Thruster Considering Steering Angles of the Upstream Thruster . 62 FIGURE 7 Range of Forbidden Zone . 63 FIGURE 8 Thrust Reduction Ratio due to Hull Fri

34、ction 64 FIGURE 9 Correction Factor, C, as the Function of the Tilt Angle of the Propeller Shaft 65 FIGURE 10 Thrust Ratio for Ducted Propellers 65 FIGURE 11 Thrust Ratio for Open Propellers 66 FIGURE 12 Dimensions of Transverse Tunnel Thrusters 67 FIGURE 13 Tunnel Configuration . 68 FIGURE 14 Prote

35、ctive Bars Cross Section 69 APPENDIX 2 Rudder Forces 70 FIGURE 1 High-performance Rudder 70 FIGURE 2 Steerable Nozzle with Flap . 70 FIGURE 3 Steerable Nozzle with Fixed Fin . 71 FIGURE 4 Conventional Rudder 71 APPENDIX 3 Abbreviations and References 72 1 Abbreviations 72 3 References 73 3.1 ABS Pub

36、lications . 73 3.3 Other Publications . 73 ABSGUIDE FOR DYNAMIC POSITIONING SYSTEMS .2013 ix This Page Intentionally Left Blank Section 1: General SECTION 1 General 1 Introduction The requirements contained in this Guide are for dynamic positioning systems for ships, mobile offshore drilling units,

37、mobile offshore units and offshore support vessels. These requirements are to be used in conjunction with Part 4 of the ABS Rules for Building and Classing Steel Vessels (Steel Vessel Rules), Parts 4, 6, and 7 of the ABS Rules for Building and Classing Mobile Offshore Drilling Units (MODU Rules) and

38、 the ABS Rules for Survey After Construction (Part 7). The requirements in the following sections are particularly relevant. ABS Rules for Building and Classing Steel Vessels i) Diesel Engines Section 4-2-1 ii) Gas Turbines Section 4-2-3 iii) Electric Motors and Motor Controllers Section 4-8-3 iv) G

39、ears Section 4-3-1 v) Shafting Section 4-3-2 vi) Propellers Section 4-3-3 vii) Piping System Chapter 4-6 viii) Thrusters 4-3-5/3 and 4-3-5/5 ix) Control Equipment and Systems Section 4-9-8 ABS Rules for Building and Classing Mobile Offshore Drilling Units i) Pumps and Piping Systems Chapter 4-2 ii)

40、Electrical Installation Chapter 4-3 iii) Rules for Equipment and Machinery Certification Part 6 iv) Survey After Construction Chapter 7-2 ABS Rules for Survey After Construction i) Machinery Surveys Chapter 7-6 ii) Shipboard Automatic and Remote-control Systems Chapter 7-8 iii) Survey Requirements f

41、or Additional Systems and Services Chapter 7-9 3 Classification Notation The dynamic positioning systems built and tested in compliance with the requirements in this Guide and relevant Rules may be assigned with different classification notations depending on the degree of redundancy built into the

42、system as defined below. These notations are not a requirement for classification of the vessel and are to be assigned only on the specific request of the Owner. DPS-0 For vessels, which are fitted with centralized manual position control and automatic heading control system to maintain the position

43、 and heading under the specified maximum environmental conditions. ABSGUIDE FOR DYNAMIC POSITIONING SYSTEMS .2013 1 Section 1 General DPS-1 For vessels, which are fitted with a dynamic positioning system which is capable of automatically maintaining the position and heading of the vessel under speci

44、fied maximum environmental conditions having a manual position control system. DPS-2 For vessels, which are fitted with a dynamic positioning system which is capable of automatically maintaining the position and heading of the vessel within a specified operating envelope under specified maximum envi

45、ronmental conditions during and following any single fault, excluding a loss of compartment or compartments. DPS-3 For vessels, which are fitted with a dynamic positioning system which is capable of automatically maintaining the position and heading of the vessel within a specified operating envelop

46、e under specified maximum environmental conditions during and following any single fault, including complete loss of a compartment due to fire or flood. DPS-1, DPS-2 and DPS-3 classification notations are structured in line with the IMO MSC/Cir.645 “Guidelines for Vessels with Dynamic Positioning Sy

47、stems”. DPS-1, DPS-2 and DPS-3 are in line with IMO equipment class of 1, 2 and 3, respectively. At the Owners request, an enhanced system notation (EHS), as a supplement for DPS-series notations, may be assigned. The notation provides the basis for the measurement of the enhancement of critical com

48、ponents of the DP system, including power system, thruster system and control system. The main objective of the enhanced system notation is to improve reliability, operability and maintainability. Section 8 of this Guide provides details for the enhanced system notations. Also, at the Owners request

49、, a station keeping performance notation (SKP), as a supplement to the DPS-series notations may also be assigned to the vessel. The objective of the station keeping performance notation is to recognize the DP capability and to encourage robust design of DP systems. Section 9 of this Guide provides details for station keeping performance requirements. Section 11 of this Guide provides information about other optional notations that may apply to DP systems such as those for Integrated Software Quality Management (ISQM) and System Verific