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

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

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

Voith Schneider Propeller (VSP)

Voith Schneider Propeller for PSVVoith Schneider Propeller for PSV

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

VOITH SCHNEIDER PROPELLER (VSP)

VOITH SCHNEIDER PROPELLER (VSP)VOITH SCHNEIDER PROPELLER (VSP)Mechanical System

CYCLOIDAL PROPULSOR

KINEMATICAL PRINCIPLEiVSP !!

Research and Development

CFD-Calculation results

Thrust

Blade - Rotor - Channel

N i l l iNumerical propulsion tests

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

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

Vs = 5 kn, hs = 1.5 m; Roll Reduction = 69 %

V ith R ll St bili ti (VRS)Voith Roll Stabilization (VRS)

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

X/Y Steering logicg gof the VSP

Ideal for DPIdeal for DP

Dynamic Positioning (DP) The importance of accuracyDynamic Positioning (DP) – The importance of accuracy

DP Work at the PlatformDP-Work at the Platform

Dynamic Positioning (DP) The importance of accuracyDynamic Positioning (DP) – The importance of accuracy

DP Work at the PlatformDP-Work at the Platform

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)

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

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

Dynamic PositioningExperience

Statement from Captain of Edda Fram

Voith Offshore Shuttle (VOS)

• Maintenance Vessel for Windpark Services.

• S perior station keeping• Superior station keeping capabilities due to the Voith Schneider Propeller.

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

V ith Shi Si l tVoith Ship Simulator

V ith Off h Sh ttlVoith Offshore ShuttlePosition Control

( f )By hand (left)und automatic (right)

0m m

10 4

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)

a=4,8m

α1 = -90°1

α2 = 0°

a=4,8m

α1 = -85°1

α2 = 0°

a=4,8m

α1 = -80°1

α2 = 0°

a=4,8m

α1 = -75°1

α2 = 0°

a=4,8m

α1 = -70°1

α2 = 0°

a=4,8m

α1 = -65°1

α2 = 0°

a=4,8m

α1 = -60°1

α2 = 0°

a=4,8m

α1 = -55°1

α2 = 0°

a=4,8m

α1 = -50°1

α2 = 0°

a=4,8m

α1 = -45°1

α2 = 0°

a=4,8m

α1 = -40°1

α2 = 0°

a=4,8m

α1 = -35°1

α2 = 0°

a=4,8m

α1 = -30°1

α2 = 0°

a=4,8m

α1 = -25°1

α2 = 0°

a=4,8m

α1 = -20°1

α2 = 0°

a=4,8m

α1 = -15°1

α2 = 0°

a=4,8m

α1 = -10°1

α2 = 0°

a=4,8m

α1 = -5°1

α2 = 0°

a=4,8m

α1 = 0°1

α2 = 0°

a=4,8m

α1 = 5°1

α2 = 0°

a=4,8m

α1 = 10°1

α2 = 0°

a=4,8m

α1 = 15°1

α2 = 0°

a=4,8m

α1 = 20°1

α2 = 0°

a=4,8m

α1 = 25°1

α2 = 0°

a=4,8m

α1 = 30°1

α2 = 0°

a=4,8m

α1 = 35°1

α2 = 0°

a=4,8m

α1 = 40°1

α2 = 0°

a=4,8m

α1 = 45°1

α2 = 0°

a=4,8m

α1 = 50°1

α2 = 0°

a=4,8m

α1 = 55°1

α2 = 0°

a=4,8m

α1 = 60°1

α2 = 0°

a=4,8m

α1 = 65°1

α2 = 0°

a=4,8m

α1 = 70°1

α2 = 0°

a=4,8m

α1 = 75°1

α2 = 0°

a=4,8m

α1 = 80°1

α2 = 0°

a=4,8m

α1 = 85°1

α2 = 0°

a=4,8m

α1 = 90°1

α2 = 0°

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

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

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

VTSH C lliVTSH–ControllingHardware – Control station

ITS 2012St d 102

Status VTSH - Steuerung | wegek | 2012-05-24

Stand 102

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

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

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

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

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

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

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

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

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

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

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