RR Icon DP2 User Man

7/23/2019 RR Icon DP2 User Man

1/226

Project id :

Vessel :Project name :

Yard/Hull :

Order no. :

Document no. :

Revision :

Dynamic Positioning System Class 2

User Manual

Rolls-Royce Icon(TM)

9

110xx

11

Contact List

10 Spare parts

Tools

CAA-110XX-01MU

1 Introduction

2 Safety

3 System Description

4 Delivery Specification

5 Technical Data

6 Operating Instruction

7 Maintenance Instructions

8 Trouble Shooting

Copyright 2010 Rolls-Royce plc

The information in this document is the property of Rolls-Royce plc andmay not be copied or communicated to a third party, or used for any

purpose other than that for which it is supplied without the express written

consent of Rolls-Royce Marine plc.

This information is given in good faith based upon the latest information

available to Rolls-Royce plc, no warranty or representation is given

concerning such information, which must not be taken as establishing any

contractual or other commitment binding upon Rolls-Royce plc or any of

its subsidiary or associated companies.

14 Subsuppliers manuals

12 Design drawings

13 Revision

A


2/226

[THIS PAGE IS INTENTIONALLY LEFT BLANK]


3/226


The content of this document is the property of Rolls-Royce plc and may not be redistributed in whole or in part thereof without

express written consent of Rolls-Royce plc.

1

Doc. No.: CAA-021001-01MU

Revision: C

Introduction

1 Purpose .....................................................................................................1-3

2 Contents ....................................................................................................1-3

3 Target Groups ...........................................................................................1-3

4 Terms and Abbreviations ........................................................................1-4

5 References ................................................................................................1-5
http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-


4/226

Copyright 2008 Rolls-Royce plcDoc. No.: CAA-021001-01MU

Revision: C


5/226

Introduction

Page 1-3 of 6Doc. No.: CAA-021001-01MU

Revision: C


1

1 Purpose

The purpose of the Icon User Manual is to provide the necessary information to plan andperform a safe and correct operation of the installed system, as well as under-standingthe basic functionality of the equipment. The User Manual covers both operational and

technical aspects of the system.The personnel involved in using the system must have relevant experience and trainingwith regards to the use of such systems.

2 Contents

This manual contains the following chapters:

3 Target Groups

The User Manual is primarily intended for the user of the system. The user must beproperly trained in using and maintaining the system.

Chapter Contents

1. Introduction This chapter specifies the purpose and target groups for the

manual. It also contains list of used abbreviations and a

specification of the document conventions.

2. Safety This chapter specifies safety instructions to follow when

operating and maintaining system.

3. System Description This chapter briefly describes the system components, the

system design and the functionality.

4. Delivery Specification This chapter specifies the delivered equipment.

5. Technical Data This chapter contains technical specifications and

performance data.

6. Operating Instructions This chapter describes how to use the Icon system.

7. Maintenance Instructions This chapter describes how to maintain the Icon system,

including both preventive and corrective actions.

8. Trouble Shooting This chapter describes how to act when a malfunction occurin the Icon system.

9. Contact List This chapter contains contact information for Rolls-Royce

Marine, Dept. Control Aalesund and Rolls-Royce World Wide

Support Organization.

10. Spare Parts This chapter specifies recommended spare parts for the Icon

system.

11. Tools This chapter describes required and recommended tools for

the maintenance of the system.

12. Design Drawings This chapter consists of design drawings that serve as an

information source about the installed system.

13. Revision This chapter contains the revision history for the total binder,including a listing of contained documents.

14. Subsuppliers Manuals This chapter contains documentation from other suppliers

than Rolls-Royce, if such has been delivered by RRM.


6/226

Introduction

Page 1-4 of 6 Doc. No.: CAA-021001-01MU

Revision: C


4 Terms and Abbreviations

Abbreviation or term Descr ip tion

AC, DC Alternating Current, Direct Current

AI, AO Analogue Input, Analogue Output

Az Azimuth

BASE-T Basic twisted pair

CAA Control - Aalesund

CAN-bus Controller Area Network Bus

CB Circuit Breaker

NC Normally Closed

CPP Controllable Pitch Propeller

CTE Cross Track Error

CW, CCW Clockwise, Counter-clockwise

DGPS Differential Global Positioning System

DI, DO Digital Input, Digital Output

DP Dynamic Positioning

DPC DP Controller (Marine Controller used for DP calculations)

ETA Estimated Time of Arrival

EMC Electromagnetic Compatibility

ESD Electrostatic Discharge

FAT Factory Acceptance Test

FWD, BWD Forward, Backward

GNSS Global Navigation Satellite SystemGSN Global Support Network

GUI Graphical User Interface

HAT Harbour Acceptance Test

HDG Heading

HDOP Horizontal Dilution of Precision

Heave Vertical motion of the entire ship

H/W, S/W Hardware, Software

HUD Head-up Display

IBS Integrated Bridge System

I/O Input/OutputIMO International Maritime Organization

IOC I/O Controller (Marine Controller used for I/O calculations)

JS Joystick System

LAN Local Area Network

LED Light Emitting Diode

MultiMode, MM Fibre-optic cable which allows multiple modes (light rays) to pass

through it

NMEA National Marine Electronics Association

MP Main Propeller

N/A Not ApplicableNO Normally Open


7/226

Introduction

Page 1-5 of 6Doc. No.: CAA-021001-01MU

Revision: C


1

5 References

References to delivery specific documents are only shown as suffixes in this document.The document ID syntax is:

CAA--

See front page of this manual for the delivery specific project number. It is also specifiedon the attached lists and drawings to this manual.

Outstation An outstation provides the interface necessary for the inter-

connection between the control system and the equipment to be

controlled/monitored (i.e. thruster or switchboard/PMS)

Pitch The motion of a ship about her transverse axis. This causes the

forward and aft ends of the ship to rise and fall repeatedly.

Pitch is also used as denomination for the angle of the propeller

blades.

PMS Power Management System

RPM Revolutions Per Minute

Roll The motion of a ship about her longitudinal axis. This causes the

ship to rock from side to side.

RRM Rolls-Royce Marine

RRMC Rolls-Royce Marine Controller

RSG Rudder Steering Gear

SAT Sea Acceptance TestSB, SWBD Switchboard

Stbd, Pt Starboard, Port

S-FTP Braid and foil screened twisted pair

SP Setpoint

ST Straight Tip (a fibre-optic connector used with multimode fiber)

STP Shielded Twisted Pair

Surge Alongship movement

Sway Athwartship movement

THR Thruster system

VRU Vertical Reference Unit (also called VRS)

WP Waypoint

XTE Cross Track Deviation

Yaw Rotation about the centre of selected rotation

Type Suffix Description

Drawings 01DC Cable Diagram

0xDW Wiring Diagram

01DM Mechanical Drawing

01DL Layout Drawing

Listings 01LI Main Item List

01LC Cable List01LF Fuse List

Abbreviation or term Descr iption


8/226

Introduction

Page 1-6 of 6 Doc. No.: CAA-021001-01MU

Revision: C


For Installation and User Manuals, the initial two digits specifies the Chapter No.

01LN Network List

Documents 01TS Sea Trial Acceptance Test (SAT)

01TF Factory Acceptance Test Procedure

nnMI Installation Manual *)

nnMU User Manual *)

nnMX Common document for Installation and User Manual *)

Type Suffix Description


9/226


The information in this document is the property of Rolls-Royce plc and may not be copied or communicated to a third party, or

used for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine plc.

This information is given in good faith based upon the latest information available to Rolls-Royce plc, no warranty or representation

is given concerning such information, which must not be taken as establishing any contractual or other commitment binding upon

Rolls-Royce plc or any of its subsidiary or associated companies.

Doc. No.: CAA-000001-02MX

Revision: A

2Safety

1 Introduct ion ...............................................................................................2-3

2 Disclaimer .................................................................................................2-3

3 Safety Instructions ...................................................................................2-4

4 Safety Messages .......................................................................................2-4


10/226


The information in this document is the property of Rolls-Royce plc and may not be copied or co mmunicated to a third party, or

used for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine plc.

This information is given in good faith based upon the latest information available to Rolls-Royce plc, no warranty or representation

is given concerning such information, which must not be taken as establishing any contractual or other commitment binding upon

Rolls-Royce plc or any of its subsidiary or associated companies.


Revision: A

2


11/226

Safety

2

Page 2-3 of 4Doc. No.: CAA-000001-02MX

Revision: A


1 Introduction

This chapter provides information regarding safety measures that must be taken toprevent injury to people and damage of equipment.

Whoever is responsible for the installation, operation or maintenance of this Rolls-Royce system, is obliged to read this chapter and fully understand its content before anyinstallation, operation or maintenance of the system may take place.

2 Disclaimer

Undertaking any work envisaged by this document may either directly or indirectlycreate risks to the safety and health of the person undertaking the work or the productand/or its components while the work is being performed.

It is the responsibility of the user to protect the health and safety of the personsundertaking the work as well as risk to the product and/or its components. Therefore theuser must ensure that appropriate controls and precautions are identified and taken inrelation to the work envisaged by this document in accordance with the relevantstatutory and legal and industrial requirements.

Neither this document, nor its use, in any way absolves the user from the responsibilityto ensure that the controls and precautions referred to above are implemented.

If any Rolls-Royce product design related features which could create risks to persons,the product and/or its components are identified, Rolls-Royce should be contactedimmediately.

It is the user's responsibility to make all relevant hazard identifications and riskassessments of all the activities associated with the use of this document.

It is the user's responsibility to design and implement safe systems of work and to supplysafe equipment (including, without limitation, safety equipment) and training(including, without limitation, health and safety training) to anyone using this documentto work on products to which it relates.

A user without relevant experience of working in accordance with this document, orwith products to which it relates, should seek appropriate advice to identify the healthand safety controls and precautions that need to be taken while working.

Technical assistance can be sought from Rolls-Royce and will be subject to Rolls-Royce's terms and conditions.


12/226

Safety

Page 2-4 of 4 Doc. No.: CAA-000001-02MX

Revision: A


23 Safety Instructions

This Rolls-Royce system is a heading/position control system connected to thepropeller, rudder and thruster control systems on board a vessel. By operating thesystem, thrust force will be generated at the different propulsion units.

The operator must at all times be aware of:

Consequences of operating the system to prevent injury to people, damage ofequipment, damage to the vessel operated and damage to the surroundings.

That the system will set out an order signal to the propulsion unit if any position sensorsignal differs from the position set in the system.

Such an event will cause the propulsion units to generate thrust force. Specialconsideration must be taken when the operator of the system is involved in otheractivities, such as communication, operation of other systems or any other activities thatmight take the focus away from the operation of the vessel.

4 Safety Messages

Safety messages in this manual are always accompanied by a safety alert symbol and asignal word. The safety alert symbol is used to alert the reader about a potential risk of

personal injury or damage to the equipment.

The following types of safety messages are used within this manual:

Warning: Risk of... Indicates the presence of a hazard which could result in death or

personal injury.

Caution: Indicates the presence of a hazard which could result in damage toequipment or property and seriously impact the function of the equipment.

Note: Alerts the reader to relevant factors and conditions which may impact thefunction of the equipment.


13/226





Revision: PE1

System Description

1 General ......................................................................................................3-3

2 System Overview ......................................................................................3-3

2.1 Main Components ......................................................................................3-32.2 Thrust Allocation .........................................................................................3-72.3 Signal Processing .......................................................................................3-72.4 Vessel Model (Filtering and Estimation) .....................................................3-72.5 Trajectory Generator ..................................................................................3-72.6 Feedback and Feedforward Control ...........................................................3-8

3 Design .......................................................................................................3-9

3.1 Manoeuvre Mode Selector .........................................................................3-9

3.1.1 Switch ..............................................................................................3-93.1.2 System ............................................................................................3-93.2 Operator Station .......................................................................................3-10

3.2.1 Graphical Display(s) ......................................................................3-103.2.2 Operator Station Computer ...........................................................3-113.2.3 Joystick Device ..............................................................................3-123.2.4 Positioning Device .........................................................................3-13

3.3 Printers .....................................................................................................3-133.4 Additional Operator Station (Optional) ......................................................3-143.5 Control Cabinets .......................................................................................3-153.6 UPS ..........................................................................................................3-16

3.7 Thrust Devices ..........................................................................................3-163.7.1 Status and Settings .......................................................................3-163.7.2 Failure Detection and Failure Handling .........................................3-17

3.8 Sensors and Position Reference System .................................................3-193.8.1 Multi Sensor System Handling ......................................................3-19

4 Function ..................................................................................................3-20

4.1 Operation Principles .................................................................................3-204.2 Graphical User Interface ...........................................................................3-21

4.2.1 GUI Philosophy and Interaction .....................................................3-214.2.2 Main Layout and Components ......................................................3-22

4.3 System Operation .....................................................................................3-244.3.1 Basic Operational Modes ..............................................................3-244.3.2 Basic System Functions ................................................................3-274.3.3 Optional Functions ........................................................................3-29

4.4 Signal Processing Functions ....................................................................3-33

5 Location of Manufacturing Number ......................................................3-37

5.1 Marking Locations ....................................................................................3-375.1.1 Product Identification .....................................................................3-375.1.2 Company Identification ..................................................................3-37
http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-


14/226

Copyright 2010 Rolls-Royce plcDoc. No.: CAA-022001-03MX

Revision: PE1


15/226

System Description

3

Page 3 of 40Doc. No.: CAA-022001-03MX

Revision: PE1


1 GeneralThis chapter provides an overview of the Icon system and a technical description of themain components that give the required knowledge about the system.The figures,drawings and text in this chapter are general and may not comply to the actualinstallation on the vessel. For details on the delivered equipment, see chapter 4 Delivery

Specification.

2 System Overview

2.1 Main ComponentsThe redundant Icon DP 2 system is based on a triple controller solution with a redundantfibre-optic network. Interface to sensors and position reference systems, power system

and thruster system are split into logical groups, based on class requirements and systemsegregation.

The connected nodes do not need special functionality to handle network redundancy.With the DP system integrity preserved, the DP network is separated from networks ofother applications. The DP cabinets, operator stations, sensors and position referencesystems are dual powered from the redundant UPS system.

A typical Icon DP 2 system configuration is illustrated in Figure 1. It shows how thesystem parts communicate with each other. See chapter 12 Design Drawingsfordelivery specific details.

A typical system may consist of the following:

Three control cabinets (triple redundant controllers), alternatively a large singlecabinet.

Redundant fibre-optic network

Two or more Icon operator stations with:

- high-resolution colour LCD with touch-screen interface

- Joystick device

- Positioning device

- Remote display controller (located in the operators chair)

Printer(s):

- for printing of alarms, trendings etc.

Manoeuvring mode selector switch

Sensors and position reference systems (of different types)

Two UPS (Uninterruptible Power Supply)

Interfaces to thruster devices (I/O modules or Rolls-Royce HeliconX3).
http://-/?-http://-/?-


16/226

System Description

Page 4 of 40 Doc. No.: CAA-022001-03MX

Revision: PE1


Figure 1 Illustration of an Icon DP System Class 2 Configuration

Sensor and Position

Reference SystemGroups

Thrust Devices

DP Operator Stations

Manoeuvring ModeSelector Switch

Control Cabinets

UninterruptiblePower Supplies

DP Network


17/226

System Description

3


Revision: PE1


From the UPS, 220 VAC power is distributed to the control cabinet(s), the operatorstation(s) and positioning reference systems.

Figure 2shows how power (220 VAC) is distributed to the system parts.

Figure 2 Illustration of an RR Icon DP System Class 2 220 VAC Power Distribution

The system can consist of one or three control cabinets, depending on the customerrequirements. For systems with only one control cabinet, the cabinet is divided into threelogical sections with separate power supplies. An addtional I/O cabinet will be installedwhen using only one control cabinet.

Addtional UPSs may also be added to the system.

Sensors and PositionReference Systems

Sensors and PositionReference Systems

ControlCabinets

Operator Station 1

UPS 1

Main

Main

UPS 2

A C B

Operator Station 2

Main

Main

Main
http://-/?-http://-/?-


18/226

System Description


Revision: PE1


The Icon system acquire measurements from the propulsion system, power system,sensor and position reference systems, and apply thrust setpoints to the propulsionsystem, satisfying the commanded surge and sway forces and yawing moment.

The control loop of the Icon system is illustrated in Figure 3.

Figure 3 Icon System Control Loop

Thrust Allocation

Power

Limits

Commanded

Thruster

Forces

Estimated Vessel Motion

References

Operator Input

Thrust DeviceSetpoints Measurements

Signal Processing

Vessel Model(Filtering & Estimation)

Feedback andFeedforwardController

Trajectory Generator

Control System
http://-/?-http://-/?-


19/226

System Description

3


Revision: PE1


2.2 Thrust Allocation

Note: A thrust device can be any propeller, thruster or rudder.

The force demands in surge and sway and moment demand in yaw from the controllerhave to be distributed to each thruster as pitch and/or rpm setpoints and (if applicable)directional setpoints.

The thrust allocation in the Icon system takes into account:

Available power on each bus bar. The Icon system will not enforce thruster action thatexceeds the available power.

Optimal thruster utilisation in normal operations.

Turning rate of thrusters, pitch and rpm response. The direction of azimuthing thrusterscan either be variable (auto direction) or fixed in a set of pre-defined configurations.

Grouping of thrusters. Two or more thrusters can be arranged to be working as a group.The purpose is often to reduce changes in thruster direction. In cases where thrusterscannot produce negative thruster force (reverse direction), this ensures that the thrustdemand is fulfilled without unnecessary turning of thruster direction.

Fixed thruster direction configurations or variable thruster direction.

Forbidden sectors for thruster direction.

2.3 Signal ProcessingAll measurements to the Icon system have to pass several levels of testing and

processing before being used in the control of the vessel. The type of testing andprocessing functions used, is dependant on the signal source.

See section 4.4 Signal Processing Functions.

2.4 Vessel Model (Filtering and Estimation)Oscillatory motion caused by waves will not be compensated by the thrusters, main

propellers and rudders in auto heading and auto position control. Advanced adaptivewave-filtering and estimation techniques in combination with the internal vessel modelare used to generate estimates of the low-frequency motion of the vessel thatautomatically adjusts to the varying sea-states and operational conditions. The estimatedmotion (vessel speed, rate-of-turn, position and heading) is used in the feedback controlof the vessel.

2.5 Trajectory GeneratorDuring automatic change heading and change position operations, the internal trajectorygenerator ensures a smooth change of the vessel heading and position. The vesselmotion is according to the operator defined motion settings (maximum surge and swayspeed and rate-of-turn). The start-up and end phase of the movement are automaticallyadjusted according to the capacity of the propulsion equipment installed.
http://-/?-http://-/?-


20/226

System Description


Revision: PE1


2.6 Feedback and Feedforward Control

The feedback controllercomputes the required surge and sway forces and yawingmoment to keep the vessel on the desired position, heading or track in automatic controlmodes of operation. The individual position and heading control gain settings influencehow aggressive the system will respond to deviations in position and heading.

Automatic control modes also use reference feedforward control action, based on thetrajectory generator to speed up the response of the system in change position andchange heading operations. Wind measurements are used for wind compensation. I.e.the wind force and moment acting on the vessel is derived from wind speed anddirection, wind drag coefficients and wind areas scaled by draught measurements. Thecorresponding wind feedforward counter force and moment are commanded.


21/226

System Description

3


Revision: PE1


3 Design

3.1 Manoeuvre Mode Selector

3.1.1 Switch

The manoeuvring mode selector switch (DP selector switch) is used for the selectionof operational mode (independent Joystick control/Manual/Icon control). The switch islocated on the bridge.

Figure 4 Example of a Manoeuvring Mode Selector Switch

The manoeuvring mode selector switch can also be used for a fast disconnection of theIcon system, in case of an emergency situation.

A fast disconnection will cause the separate thruster/rudder control systems to beenabled instead of the Icon system.

3.1.2 System

The manoeuvre mode selector system allows more than one manoeuvre mode selector

switch to be installed. The design and implementation of the MMS system is based onthe idea that each of the control systems to be used for controlling the thrusters shall beselectable independently. I.e. a failure in one system shall not prevent that anothersystem may be used as a backup.

Figure 5 Example of a MMS Operator Panel

The MMS system itself is used as a signalling device for enabling mode changes. Theactual mode switching is a result of signal communication between DP, JS and each ofthe RTCs. The communication protocol is based on the existing Ethernet communi-cation interface.

To ensure that the rudders are available whenever the propellers are available for DP/JSoperations, a digital signal from the propellers RTC is used. By combining thetraditional DP/JS request signals with this new signal, a safe enabling/disabling of therudders for DP/JS operation is obtained.

DPMODE

MANUAL /AUTOPILOT

MODE

JOYSTICK

MODE

LAMP

TEST

H5 H6 H7 S3/H3

DP JOYSTICKRELEASE

TOMANUAL

S1/H1 S4/H4 S2/H2 R1

DIMMER


22/226

System Description


Revision: PE1


3.2 Operator Station

The operator station or stations have a display with a touch-screen interface, apositioning device and a joystick device.

The operator stations can be of different versions:

Fixed mounted

Integrated in the operator chair.

The Icon may be equipped with several operator stations.

The main components of an operator station are:

Graphical display for advanced system operation and status monitoring

Computer

Joystick device, including dedicated push-buttons and indicators.

Positioning device, including dedicated push-buttons and indicators

Trackball or mouse (optional).

Figure 6 Example of Icon Operator Station

3.2.1 Graphical Display(s)

A graphical display for the Icon system is a high-resolution colour display with a touch-screen interface. The touch-screen is operated with buttons on the display. A button canhave different colours, indicating the current status of the system.

Remote Control Display (Optional)

For Icon operator stations integrated in the Rolls-Royce operators chair, a remotecontrol graphical display with a touch-screen interface can be mounted directly on the


23/226

System Description

3


Revision: PE1


chair. The main display is mounted in the close vicinity of the operator station.

3.2.2 Operator Station Computer

The computer contains all application software needed for running the Icon GUIsoftware. It works independently of the control cabinet(s). It communicates via Ethernetlink.


24/226

System Description


Revision: PE1


3.2.3 Joystick Device

The joystick device is used for the mode changes and joystick control operations. Mainparts of the joystick device are:

Three-axes joystick device for manoeuvring (surge, sway and yaw)

Illuminated push-buttons for

- System on/off

- Command transfer

- Auto/manual heading

- Heading setpoint increment/decrement

- Alarm silence

- Dimmer.

Figure 7 Joystick Device

Detailed explanations of the push-buttons and their functions are in chapter 6 OperatingInstructions.


25/226

System Description

3


Revision: PE1


3.2.4 Positioning Device

The positioning device is used for the manoeuvering of the vessel during DP controlmode operations. Main parts of the positioning device are:

Two-axes lever for positioning control with an integrated turning wheel for headingsetpoint control

Illuminated push-buttons for

- DP/joystick control mode (auto/manual position, auto/manual surge and sway)

- Increment/decrement of setting values

- Pause/restore of operation

- Enter/apply.

Figure 8 Positioning Device

Detailed explanations of the push-buttons and their functions are in chapter 6 OperatingInstructions.

3.3 PrintersNormally, an Icon DP 2 system is equipped with the following network printer:

A high-resolution colour laser printer, for printing of alarms, trendings, and screen-shots of the GUI. When the system is active, this printer will print one page with alarmsevery hour or when an alarm page is full. The operator can also force a printout bymeans of the Print Alarm queue button.

In addition, an Icon DP 2 system can also be equipped with an impact dot matrix printer

for printing of alarms. This printer continuously prints all alarms as they get active, arebeing acknowledged and reset. When this printer is installed, the laser printer will notbe used for alarm printouts.


26/226

System Description


Revision: PE1


3.4 Additional Operator Station (Optional)

Depending on the class notation and class society there will always be one or morerequired main operator stations. Additional operator stations can also be delivered.These operator stations are delivered as fully or more limited equipped versions.

A fully equipped operator station will have the same hardware components as a main

operator station.A limited operator station will have a smaller display and will not be able to presentinformation to the same extent as a fully equipped operator station.

Note: Additional operator stations may not confirm with class requirements.Which operator station to use for a given operation, should be chosenbased on type of operation, area of operation and the risk involved.


27/226

System Description

3


Revision: PE1


3.5 Control Cabinets

For DP class 2 systems, three (or alternatively one large) cabinets are required. Allcabinets are based on the same Rolls-Royce Common Platform design.

Each control cabinet have four Rolls-Royce Marine Controllers with interfaces tooperator stations, thruster devices, power systems, position reference systems (GNSS,

laser, radar, hydro acoustics etc.) and different sensors (gyro compasses, VRUs, windsensors etc.).

For the alternative DP 2 configuration, the control cabinet contains six Rolls-RoyceMarine Controllers.

Figure 9shows examples of the location of the main components of the control cabinet.

Figure 9 Example of an Icon Control Cabinets Layout

1. Main AC/DC power supply

2. Circuit breaker for the AC/DC power supply/supplies

3. Backup AC/DC power supply (if installed)

4. CAN modules

5. Rolls-Royce Marine Controller including flash memory (system) (if installed)

6. Rolls-Royce Marine Controller including flash memory (simulator) (if installed)

7. Rolls-Royce Marine Controller including flash memory (I/O) (if installed)

8. System specific I/O modules

9. System specific network switch

10. Thruster specific I/O modules

Figure 10shows examples of the location of the main components of the alternativelarge DP 2 control cabinet.
http://-/?-http://-/?-http://-/?-http://-/?-


28/226

System Description


Revision: PE1


Figure 10 Examples of the Alternative Large DP 2 Control Cabinets Layout

1. Rolls-Royce Marine Controller including flash memory

2. CAN modules

3. Network switches

4. I/O modules

5. DP-A Main AC/DC power supply

6. DP-A Backup AC/DC power supply (if installed)

7. DP-C Main AC/DC power supply

8. DP-C Backup AC/DC power supply (if installed)

9. DP-B Main AC/DC power supply

10. DP-B Backup AC/DC power supply (if installed)

DP-A DP-C DP-B

7

6

5

8

9

10

33

2

1

4 4


29/226

System Description

3


Revision: PE1


3.5.1 Additional I/O Cabinet

When the alternative large DP 2 control cabinet is installed, an additional I/O cabinet isalso installed comprising I/O modules, CAN modules and a Rolls-Royce MarineController. Figure 11below illustrates an example of such an additional I/O cabinet.

Figure 11 Example of an Additional I/O Cabinet

DP-A DP-B

DP-C
http://-/?-http://-/?-


30/226

System Description


Revision: PE1


3.6 UPS

The uninterruptable power supply, UPS, delivers filtered and stabilized uninterruptedpower for the Icon system. In case of loss of main supply, the UPS can provide powerfor the system for at least 30 minutes. The status of the UPS is monitored by the Iconsystem.

The connectors for power supply and interfaces are located at the rear of the UPS.See Figure 10for the location of the main components of the UPS.

Figure 12 Example of an Uninterruptable Power Supply Layout, Front and Rear View

1. Circuit breakers

2. UPS Marine filter

3. UPS Power module

4. UPS Battery module

5. Main switch

3.7 Thrust Devices

Note: The Icon system is controlling the thrust devices via a correspondingremote control system.

3.7.1 Status and Settings

RuddersThe operator can set the maximum permitted rudder angle for manoeuvre operations.

In addition, it is possible to fix a rudder in neutral position (zero angle) such that therudder is not actively used.

Azimuth Thrusters

To achieve the optimal system performance, the Icon system will normally actively usethe steering of azimuth thrusters (auto direction) to obtain the best overall utilisation ofthe thrust devices. However, it is possible to fix a single azimuth thruster to a set of pre-defined, fixed directions (typically towards port, starboard, aft, forward). Similarly, agroup of azimuth thrusters will be defined to take a set of fixed directions (typically two

azimuth thrusters aft).

2

3

4

1 5
http://-/?-http://-/?-


31/226

System Description

3


Revision: PE1


Pitch/Rpm Combinator

The Icon system is configured for combinator run in cases where the thrust device canactively control both rpm and pitch of the propeller. The combinator curves areoptimised for each propeller with respect to:

Fast thruster force generation

Noise and vibration

Fuel consumption.

Transfer to Lever Control

During operation, the operator can transfer a thrust device to manual lever control. Thisfunctionality depends on the type of remote control system for the specific thrust device.The command transfer to lever control is by the give-then-take principle. First, the thrustdevice is disabled from the Icon system. Secondly the operator must take command onthe lever unit and then control the thrust device manually.

From the Icon system the operator can re-enable the thrust device for Icon operation at

any time.Some examples where such functionality might be useful are:

Transfer of main propellers (and rudders) to lever control and use the remainingthrusters for heading control only

Transfer of a swing-up thruster to lever control and keep the remaining thrust devicesfor positioning and heading control by the Icon system.

3.7.2 Failure Detection and Failure Handling

Communication and Signal Monitoring

The Icon system continuously monitors and compares the thrust device feedback andorder signals by the setpoint-feedback monitoring function. Any significant steady-statedeviations will result in an alarm.

When thrust device signals are hardwired between the Icon system and the thrust device,the signals out of range (typically an effect of a broken wire) will issue an alarm.

Communication errors between the Icon system and the thrust device will automaticallybe detected.

Insufficient Thrust Configuration

The Icon monitors the system's ability to perform the requested operation based on the

present thrust configuration. The thrust configuration depends on: Number of active thrust devices

Fixed or automatic direction on azimuth thrusters and rudders

Power system configuration and loads.

When the system is no longer able to generate force in surge or sway or moment in yaw,insufficient thrust configuration alarms will be issued.

Example 1

If the system is operating with active sway control and a thruster is lost such that swayforce no longer can be generated without also introducing a large moment, the system

will not be able to keep a safe operation. An insufficient sway configuration alarmisthen issued and also clearly indicated on the graphical display.


32/226

System Description


Revision: PE1


Example 2

A vessel with two azimuth thrusters aft in a fixed direction configuration. If one of thethrusters is lost and the other remains fixed in a certain direction, the Icon system cannotnecessarily generate thrust in all three axes. An insufficient configuration alarmis thenissued and also clearly indicated on the graphical display.

Note: If azimuth thrusters or rudders are set to fixed direction and insufficientthrust configuration occurs, the system will, if necessary, automaticallydisable fixed directions and set the direction control to auto.

Note: If the operator (on purpose) would like to reduce the number of activethrust devices such that an insufficient thrust configuration situation willoccur, it is recommended to disable surge and/or sway from active control

in order to avoid the alarm situation.


33/226

System Description

3


Revision: PE1


3.8 Sensors and Position Reference System

Note: For detailed information about sensors that are part of the Icon delivery,see chapter 14 Subsuppliers Manuals.

Information about sensors that are notpart of the Icon delivery, seesensor system suppliers manuals.

A number of sensors provide the interfaces for various operator devices monitored bythe Icon system via the control cabinet. In addition to gyro compass, such devices can

be hydro acoustic, laser based, radar based, VRUs, wind sensors, or GNSS etc.

Class rules regulate minimum system requirement. The Icon system requires interfaceto accurate position measurement systems (typically differential GNSS referencesystem). The Icon system also will have interface to at least a wind sensor (relative windspeed and direction) and a vertical reference unit (VRU) for measurement of roll and

pitch angle of the vessel.

3.8.1 Multi Sensor System Handling

The Icon system can be connected to more than one sensor of the same type. Whenmultiple sensors are used the system will do a weighting between the signals based onthe signal quality, see section 4.4 Signal Processing Functions.

The Icon system will automatically detect unacceptable deviations between sensors ofsame type and an alarm will be issued. If an error is detected in a sensor, the weightingfunction automatically decrease the weight factor of that sensor to a minimum. Instead,the factor from the other sensors of the same type is increased. The operator can alsodisable a sensor and thereby stop it from being used.
http://-/?-http://-/?-


34/226

System Description


Revision: PE1


4 Function

Note: If not all thrusters, position reference systems, and sensors are fully

available and function properly it may result in a reduced performance ofthe system.

4.1 Operation PrinciplesThe operation of the Icon system is related to the fundamental axes of horizontal motion

surge (alongship), sway (athwartships) and yaw (rotation about the centre of selectedrotation), see Figure 11.

Figure 13 Fundamental Axes of Horizontal Motion

By automatic control of the propulsion system, thruster forces in surge and sway andthruster moment in yaw will be applied in order to achieve the desired vessel motion,

position, heading or path.

surge

yaw

sway
http://-/?-http://-/?-


35/226

System Description

3


Revision: PE1


4.2 Graphical User Interface

4.2.1 GUI Philosophy and Interaction

The Icon system operations are performed via the operator devices and the graphical

user interface (GUI). The most common operations can be performed by using dedicatedpush-buttons on the operator devices. For details, please refer to the User Manualchapter 6 Operating Instructions.

The graphical user interface is designed to be a tool for monitoring and activelycontrolling the system through intuitive presentation and touch-screen principles. Theamount of information presented on the display is restricted to the basics necessary forthe operation of the system. This helps the operator to focus on the most vitalinformation.

To achieve the best visibility of the graphical interface, the system can be set to differentcolour schemes:

Day-colour scheme with light background colour

Night-colour scheme with the darkest background colour.

A change of the colour scheme will have effect on all operator stations simultaneously.

Status Indications and Colour Codes

In the GUI, different colours are used for the visualisation of:

Selected and activestatus of thruster device, sensor or position reference system

Online standby state

Alarm status

Feedback signals

Setpoints, orders and other operator inputs

Negative measurements.

Figure 14 GUI Main View (example)


36/226

System Description


Revision: PE1


4.2.2 Main Layout and Components

The GUI is specially designed for Icon system operations and touch-screen based userinteraction. The display unit is divided into areas, each representing the differentoperational aspects of the Icon system. Depending on the system configuration, thelogical areas can be placed on two different screens. It is also possible to some extent tocontrol which logical areas to display in each screen.

Figure 13, Figure 14and Figure 15show the GUI layout for, respectively:

Splitscreen mode displays the toolbar (5), statusbar (7) and most functions andsettings available in the system, including two stack of panels (1) for main operationsand user defined settings.

Remote control display displays the statusbar (7), toolbar (5) and two stack ofpanels (1) for main operations and user defined settings.

Fullscreen mode displays the toolbar (5), statusbar (7) and mostly view onlyinformation.

For detailed information about the different areas and system modes, please refer to theUser Manual chapter 6 Operating Instructions.

Figure 15 GUI Splitscreen Mode

Pos Designation Function

1 Stack of panels The stack of panels contains operational functions and user

defined settings.

2 User HUD User head-up display, the information presented in these twoareas contain speed indicator, position coordinates indicator,

DP Class monitor, thrust power indicator etc.

3 Main HUD Main head-up display, presents vital information about the

vessel movement (i.e. heading, position and order).

4 World Area for the visualisation of the vessel position, heading and

motion, and the thruster and rudder usage.

5 Toolbar The toolbar contains buttons to alter the appearance of the GUI,

change the operational settings of the system and short-cuts to

some vital system functions.

6 Alarm & Message Area Information area, displaying alarm messages and other vital

information.7 Statusbar Information area, displaying current system mode and status.

5

2

3

2

1

1

4

6

7
http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-


37/226

System Description

3


Revision: PE1


Figure 16 GUI Remote Control Display

Figure 17 GUI Fullscreen Mode

Note: For a detailed description of the GUI and its different areas, please refer tothe User Manual chapter 6 Operating Instructions.

71 1 5

5

2

3

2

4

6

7


38/226

System Description


Revision: PE1


Stack of Panels

The panels are displayed, two at the time, on the remote control display and on the mainDP operator station display when set to split-screen view.

The different panels are:

Change used for changing position/heading and tracking operations.

PosRef used for changing the settings for positioning devices.

Sensors used forchanging the different sensors settings.

Thrust used for monitoring and enabling/disabling of thrust devices.

Control used for changing of operational functions and modes.

Settings used for changing of different system (operational) settings.

Operation used for changing the settings in different vessel operations.

Performance(available on the remote control display) shows information related toheading control, speed and rate-of-turn, thruster force and moment order.

Aux(Optional. Only available when Icon used for control of auxiliary devicesfunctions and modes.

4.3 System OperationThe Icon operator stations have a high resolution colour display with a touch-screeninterface. Any operation of the system can be performed through the graphical interface.In addition, the most common operations can be performed by means of dedicated push-

buttons on the operator devices.

For details, please refer to the User Manual chapter 6 Operating Instructions.

4.3.1 Basic Operational Modes

The Icon system comprise the following basic operational modes:

Standby

Joystick

Positioning.

Standby

Standby is a monitoring mode where the Icon system will not generate any controloutputs (such as thruster action). If sensors and position reference systems are available,

all signals can be monitored on the operator station(s). Feedback and status signals fromthrust devices and power system can be monitored as well. Entering standby from anyother Icon function will immediately stop any thruster action on thrusters actively usedfor Icon operations.

Start-up Function

When the system is activated (out of standby), the default start-up function is theJoystick function with manual position and manual heading control modes. However, itis possible to define other start-up functions such as yaw control fore.

Start-up heading control function (Manual/Auto) can also be preset in such way that theIcon system automatically enters fixed heading function when activated. The selected

start-up function will activate only thrust devices needed for the selected function, e.g.yaw control fore will activate only thrust devices located fore of midship.


39/226

System Description

3


Revision: PE1


Joystick Functions

The Joystick mode comprises all operational functions in surge, sway and yaw foroperating the vessel by means of the joystick device and manual/automatic headingcontrol. The following operational functions are available as standard for the Joystickmode:

Manual position and manual headingIn manual position and manual heading, theoperator manoeuvres the vessel by using the three-axes lever. The lever is used fordirect generation of surge and sway forces and yawing moment demands by the thrustdevices.

Auto heading (fixed or change heading)Reliable and accurate heading measurement(usually a gyrocompass) is required for activating this function. In auto heading, theheading of the vessel is kept automatically at the present heading setpoint value (fixedheading). Heading deviation is monitored and an alarm will be issued when movingoutside the boundaries. In auto heading, the heading of the vessel can be automaticallycontrolled from the present heading towards a new heading setpoint by a changeheading operation. A reference heading signal is generated to ensure a smooth andcontrolled heading change operation. In change heading, the system takes into account

the maximum rotation speed setting. Yaw control (fore/aft)If surge and sway axes are disabled (no control), the system will

control the yawing moment of the vessel only. This function can be used in cases wherefew thrust devices are enabled for active use, e.g. only one tunnel thruster fore and theother thrust devices are operated by manual levers. The heading function can then beeither in manual heading or auto heading (fixed or change).

Rotation pointWhen the selected rotation point is ForeorAft, the system willgenerate an additional sway force when the joystick lever is rotated. This swaycompensation force is generated to keep a pure rotation of the vessel around therotation point.

There is no feedback command involved for positioning the vessel in this operation.

The additional sway force is generated from the yawing moment generated by therotation of the joystick lever.

The operator can generate a new heading setpoint in many ways, such as:

Position device Heading wheelA new heading setpoint is easily generated byrotating the heading wheel in the desired direction, in increments relative to the presentheading setpoint.

Joystick device Push-buttonsDedicated push-buttons are available for theincrement or decrement of the heading setpoint relative to the present heading setpoint

GUIWhen using the graphical user interface, a new heading setpoint can be generatedby: Numeric input of a new heading setpoint Increment/decrement of the headingsetpoint relative to the present heading setpoint.

Whenever a new heading setpoint is defined, the new proposed heading is clearlydisplayed on the graphical user interface together with a numeric presentation. Thechange heading operation starts when the new heading setpoint is acknowledged by theoperator (by the Accept soft-button on the graphical user interface, or by the Accept

push-button on the joystick or positioning device).

Joystick Settings

The following settings are available for the Joystick mode:

Joystick sensitivity

Heading control gain


40/226

System Description


Revision: PE1


Maximum rotational speed (used in change heading operations)

Heading deviation warning and alarm limits

Thrust allocation settings, depending on the thrust configuration of the vessel (e.g. biassettings, thrust device combinator settings, maximum rudder angle, fixed direction onazimuthing thrusters).

Positioning Functions

The positioning mode comprises all joystick functions. In addition, the followingoperational functions are available:

Auto position (fixed or change position)The surge and sway axes are controlledautomatically. Reliable and accurate position measurements (e.g. satellite-basedsystems, laser-based systems, radar-based systems, hydro-acoustic systems) arerequired for these operations. The environmental conditions, the system control gainsettings and the number of thrusters active, determine the performance of the automatic

positioning. In fixed position, the vessel is kept automatically on the operator selectedposition setpoint. Position deviation is monitored and an alarm will be issued when

moving outside the boundaries. A change position operation can be initiated forautomatic moving of the vessel from present position towards the new positionsetpoint. Reference position signals are generated to ensure a smooth and controlled

position change operation. The surge and sway speed settings determine the responseand time to achieve the new vessel position. Change position operations requires theauto heading control to be active. A change position operation can be combined with achange heading operation at any time, either stepwise or in a coupled operation.

Mixed surge and sway controlThe operator can select combinations of surge andsway axes control (No control, Manual or Auto).

Manual/auto heading controlAutomatic heading control (fixed or change heading) isin most cases required in combination with any auto position mode.

Rotation pointThe operator can set the rotation (pivot) point, either by means of a setof pre-defined rotation points, or by a user-defined rotation point. The actual vessel

position, the position setpoint and the position deviation monitoring, are always relatedto the selected rotation point.

When the selected rotation point is ForeorAft, the system will generate an additionalsway force when the joystick lever is rotated. This sway compensation force isgenerated to keep a pure rotation of the vessel around the rotation point.

There is no feedback command involved for positioning the vessel in this operation.The additional sway force is generated from the yawing moment generated by therotation of the joystick lever.


41/226

System Description

3


Revision: PE1


Additional Positioning Functions

When in positioning mode, the following additional functions are available:

Wind compensationIf wind speed and direction measurements are available, theresulting wind loads acting on the vessel can be automatically compensated by the Iconsystem. This function is for rapid compensation of variations in wind loads acting on

the vessel. In most cases, the wind compensation feature will enhance the positioningperformance.

Positioning Settings

The following settings are available for the Positioning function:

Position control gain (low/medium/high)

Maximum surge and sway speed (used in change position operations)

Position deviation warning and alarm limits

4.3.2 Basic System Functions

Command Transfer

The Icon system provides means for transfer of command control between the differentoperator stations. Only one logical operator station (operator devices withcorresponding operator station display(s)) can be in command at a given time.Command transfer between Icon operator stations can be set-up to require a Give-than-take functionality.

Class Monitoring

In the Icon system, the operator can select the IMO DP class, which the system issupposed to be in compliance with. Based on this input, the class monitoring functionwill provide a complete overview of the system configuration regarding:

Sufficient sensors systems active

Sufficient position reference systems active

The power system and its configuration

Sufficient thrust devices active

DP system hardware components and data network status

Result of the online consequence monitoring function.

Online Consequence Monitoring

The DP online consequence monitoring is a class requirement for IMO DP 2 and DP 3operations. Based on the prevailing conditions, this function evaluates online the DPsystems ability to keep the vessel on the desired position, heading or track in a worst-case failure scenario, typically loss of one of the main power bus bars or equivalent.

The DP consequence monitoring function status is presented on the graphical userinterface, and an alarm will be issued when appropriate. For DP class 1 operations, thisfunction can be disabled.

Power Limitation

The Icon system includes power limitation. When activated, the power limitationfunction computes the available power for Icon operation and limits the thrust device


42/226

System Description


Revision: PE1


action to avoid power system overload.

Power system measurements, thrust device feedback and internal power models are usedto estimate available power on each power bus for thrust devices controlled by the Iconsystem. In cases with power limitation, i.e. insufficient available power to satisfy thecommanded thrust, the thrust orders are equally reduced.

Hence, the thrust reduction ratio is equal for all thrusters on the bus(es) with insufficientpower. Power limitation alarms are submitted for the limited thrust devices, andlimitation status is clearly indicated on the Icon graphical display.

Note: If desired, the Icon system can be configured not to utilise all the availablepower, to avoid an automatic start of the generators by the powermanagement system.

Power Interface Failure Detection and Failure Handling

The Icon system performs error checks on the power interface. Alarms are issued whenfailures on the power system interface are detected. These are I/O link failures, I/O unitfailures or other communication failures.

The value of estimated available power for Icon thrust devices will not be updated(freeze) when a power interface failure is detected, and the power limitation functionwill continue in a non-feedback manner.

Thrust Configuration

When the Icon system is activated (from standby), all available thrust devices areenabled for active use. During operation, a thrust device can be set to idle state. Thismeans that the system keeps command of the thrust device, but the thrust order is neutral(e.g. zero pitch).

When a thrust device is in idle state, the operator have the ability to take command ofthe thrust device on the dedicated lever, and operate it in combination with the remainingthrust devices actively used by the Icon system.

The Icon system will automatically adjust to the actual number of active thrust devices.If the requested mode of operation cannot be fulfilled due to reduced number of thrustdevices, an alarm will be issued. However, if an axis is set to No control, this alarmwill not be issued.

Note: When the start-up function is defined to be other than default (Joystick

mode with manual position and manual heading), the system will activateonly the thrust devices required for the selected start-up mode.

Example: If the start-up function is defined to be yaw control fore, only forethrust devices are activated.

Built-in Trainer

The purpose of the built-in trainer is to provide operator training and systemfamiliarisation as an integral part of the Icon system. The built-in trainer comprises avessel simulator and a dedicated graphical user interface for set-up of the simulatedoperational conditions. The simulator generates realistic dynamic behavior of


43/226

System Description

3


Revision: PE1


environmental conditions, thrust devices, power system, and resulting vessel motion.

The simulator sends artificial measurements and feedback signals to the Icon system thatin real operations are received from the sensor systems, position reference systems,

power systems and thrust devices. Based on these inputs, the Icon system computesthrust device order signals. In training, these signals are sent back to the vesselsimulator, not the real thrust devices.

Note: The built-in trainer can only be started when the Icon system is in standbymode. When operating the system with the trainer, this is clearly indicatedon the graphical user interface.

4.3.3 Optional Functions

An Icon system can be delivered with the following optional operational functions:

Waypoint tracking

Target tracking

Towing.

An Icon system can be delivered with the following optional system functions:

Capability analysis.

Waypoint Tracking

Waypoint tracking is enabled from the Operation panel.

Waypoint tracking is a low speed tracking function that permits the vessel to

automatically move along a track defined by a list of pre-defined waypoints.

Each waypoint is associated with a set of data. The acceptance radius determines wherethe vessel starts turning towards the next waypoint, also known as the wheel-over point.This turn occurs on an inscribed circle. All waypoints are connected by straight tracklegs. The waypoint track thus consists of inscribed circles in waypoints and straight lines

between them.

The radius of the inscribed circle is called turning radius. The turning radius isdetermined by the acceptance radius and the previous and next waypoint. Theacceptance radius can be specified directly or the system can calculate it from the vesselROT and speed settings.

The wheel-over point is where the waypoint track starts the turn towards the next

waypoint.


44/226

System Description


Revision: PE1


Figure 18 Waypoint Tracking Definitions

Track

Original

A track without any offset.

Offset (relative/parallel)

The operator can offset the vessel a specified distance perpendicular to the left or rightof the track direction. This creates a new track parallel to the original track. Positivevalues are to the right of the track (when following the waypoints in an ascending order).This will increase or decrease the turning radius of each turn depending on turn directionand sign of offset value.

Offset (geographic)

The entire track is moved a specified distance in a specified direction relative to North.The geographical offset can also be specified in relative North/East distance. The newtrack will be an exact copy of the original track.

Track validation)

All changes to a track are validated by the system to make sure that waypoints arelocated sufficiently far away from each other. When a relative offset is selected, theacceptance radius of each waypoint is checked to validate the new turning radius.

Activate Low-Speed Waypoint Tracking

To enter low-speed tracking heading must be fixed (Auto mode) and the yellow curvemust be shown on the 3D scene. After starting the tracking operation, surge and swaywill enter Change mode (regardless of previous modes). The rotation point must always

be at the centre while in tracking, so the system will automatically force it to (0, 0) whenthe function is activated by the operator. (Note that a warning will be given if the system

changes the rotation point).

Deactivate Low-Speed Waypoint Tracking

The vessel will stop at the last waypoint when it has completed the track. The DP systemwill then enter Fixed Mode and will be positioned at this location until a new commandis given.

During operation, low-speed tracking is aborted by using the Exit button on theOperation Panel or by selecting a new (or re-fix a) position control mode from controlmode menu in GUI or from control mode buttons on the Positioning Device twice. Thevessel will then go to the control mode selected, Fixed, Manual or Mixed.

Track Leg

Turningradius

Wheel-over point

Acceptanceradius


45/226

System Description

3


Revision: PE1


Target Tracking

Target tracking is a function that permits the DP vessel to track another object, a remoteoperated vehicle or another vessel, in a fixed distance (range) and direction (bearing).Relative position reference systems are used to measure relative distance to the trackedobject, typically laser or radar based systems for surface objects and hydro-acousticsystems for sub-surface objects. The system defines the target by the measured reflector

(above surface) or transponder(sub-surface) distance and direction readings.

Single Mode

In single mode, one reflector/transponder is enabled and set as target. Heading andglobal position position measurements must be available, surge, sway and yaw must becontrollable. The system will enter auto trackmode in surge and sway and auto headingmode in yaw, regardless of previous modes.

If a reaction radius is used, the position setpoint will be updated only when the targetmoves outside the pre-defined reaction radius. The heading setpoint is not dependenton the target movement. During target tracking operation, the heading setpoint can bechanged by the operator.

If no reaction radius is used (direct follow), the position setpoint will be continuouslyupdated as the target moves.

Note: During normal operation, the relative position and heading setpoints canbe changed at any time.

Multi Mode

In multi mode, two or more reflectors/transponders are enabled and set as target.Heading and global position measurements must be available, surge, sway and yaw must

be controllable. The position and heading modes depend on the tracking mode:

Follow position: position will be in auto trackmode, i.e. when target moves the DPvessel position setpoint depends on target movement (constant range to all usedtargets). In this mode, the target heading is not taken into consideration.

Follow heading: position may be in either autoorjoystick, while heading always willbe in auto track mode, automatically changing DP vessel heading with targetorientation changes. In this mode, the distance to the target is not taken intoconsideration.

Follow heading and follow position: both position and heading of the DP vessel

tracks the movement and orientation changes of the tracked object.


46/226

System Description


Revision: PE1


Important

The modes with reaction radius are designed to follow a target that occasionally movesoutside the specified circle, but mainly stays within it. If such mode is used to follow atarget that is moving close to constant speed, there will be a lag between the actual vessel

position and the setpoint. The reason for this is that the vessel should be able to stop atthe setpoint without overshoot if the target suddenly stops.

The vessel velocities (surge, sway, and rate of turn) will also be limited by the values setby the operator in position and heading settings.

If a more aggressive following (without a constant lag between the actual position andheading and the setpoints) is wanted, one of the direct following modes should be used.

In these modes, the vessel velocities will not be limited by the operator set values. Thesystem will do its best to go as fast as the target movement requires.

Towing

During a towing operation, the operator can add a bias force in the forward direction tocompensate a near constant load. A constant bias force can only be added when the surgeaxis control mode is set to Joystick. The bias force will automatically be set to zero bythe system if the Joystick mode is exited. The joystick lever can be used incombination with the constant bias force to adjust the total surge force order, i.e. theconstant bias force can be neutralized by moving the joystick in negative surge position.

Towing Settings

The bias surge force can be entered numerically or incrementally up and down from theGUI.


47/226

System Description

3


Revision: PE1


4.4 Signal Processing Functions

All measurements to the Icon system have to pass several levels of testing andprocessing before being utilised in the control of the vessel, see following table. Alarmswill be issued if the Icon system detects any errors in the input signals at any level.

Signal Processing Functions per Device (X = Applied, = Not Applied)

Function\Device Power

System

Propulsion

System

Wind

Sensors

VRUs Gyro Com-

passes

Posrefs

Interface check X X X X X X

Device specific checks Consistency

checks

SP/FB

monitoring

Wind speed

scaling

Output

smoothing

Info quality

evaluation

Range check X X X X X X

Frozen signal check X X X X

Wildpoint check X X X X

Step check X X X X

High variance check X X X X

High dynamics X X

Position

standardisation

X

Position alignment X

Differ and voting reject X X X X

Weighting X X X X

Manual scaling X X X X


48/226

System Description


Revision: PE1


The signal processing functions available are described in more detail in the followingtable:

Function Desciption

Interface check This function checks that the interface to all sub-systems and devices are workingcorrectly. Loop and range checks on signals are performed, as well as hardware and

protocol checks for serial lines and network communication. Possible interface errors

will result in Unavailable status for the specific device in the GUI.

Device specific checks This function device specific checks on sub-systems and devices.

Range check

This function checks if all input signals to the system are within the system specified

range.

Out of range status will result in auto disabling of sensors and position reference

systems.

Out of range status on power signals will cause the signal to be limited on max/minlimit.

Frozen signal check This function checks that the signals from sensors and position reference devices are

not frozen. If a signal is unchanged or changes very slowly for an abnormal long

period of time, a signal freeze alarm is issued.

Wildpoint check

This function checks the signals for wildpoints, i.e. single values that are unexpected

and does not follow the curve for the other values. Signal wild points are replaced,

and alarms issued in the GUI.

Step check This function checks the signals from the devices for unacceptable steps. If

unacceptable steps are found, the device will be disapproved until the signal

becomes normal again. For large signal steps the device will be automatically

disabled.

Out of range Frozen signal

t

Wild point &replacement

High dynamicsStep High variance

t


49/226

System Description

3


Revision: PE1


High variance check This function checks if there are high variances in the output values from sensors and

position reference devices. If there are high variances, the device will be disapproved

until the signal becomes normal again.

High dynamics This function checks the signals for high dynamics. For abnormal signal dynamicsthe device will be disapproved until the signal becomes normal again. For extreme

signal dynamics the device will be automatically disabled.

Position standardisation This function performs checks on raw measurements, standardized measurements

and aligned measurements for position reference systems.

Out of range and Frozen signal checks are performed on the raw measurements.

The raw measurements are mapped to the standardized vessel position.

The Wildpoint, Step, High variance and High dynamics checks are performed on

standardized positions.

Position alignment

This function is used for alignment of the position reference systems to provideposition measurements that are referred to a common zero frame.

Basically, each GNSS define their own zero point, and the local position references

are aligned with the GNSS zero frame. A GNSS can also be aligned if the position

deviates from another more reliable GNSS.

The position references can be re-aligned from the GUI when required.

If there are no GNSS available one of the local position reference systems will define

the zero frame.

Function Desciption

Aligning dashed line with continuous

t


50/226

System Description


Revision: PE1


Differ and voting reject

These functions performs divergence checks.

Differ check is performed when two devices of the same type are enabled. If the

difference between the signals of the two devices exceed a predefined limit, a Differ

alarm is issued. If one of the signals clearly moves away from the other, that devicewill be Differ Rejected.

Voting Reject is performed when three or more devices of the same type are

enabled. If the difference between the signals of one device compared with the

others exceed a predefined limit, the device is rejected / disapproved until the signals

becomes normal again.

Divergence checks are also performed on disabled devices. The disabled devices

are compared with the enabled devices.

Weighting This function automatically makes the output values from functional and enabled

sensors and position reference devices affect the system in relation to the quality of

the output signal.

Weighted signals will only be calculated for multiple devices of the same type.

Manual scaling This functions is used to manually control how much specific sensors and position

reference devices affects the system

Function Desciption

Voting rejected

Weighted

Differ rejectedt


51/226

System Description

3


Revision: PE1


5 Location of Manufacturing Number

5.1 Marking Locations

Electrical cabinets and junction boxes are physically marked with a unique tag, and alsoon all applicable drawings. The I/O cabinets are marked with the Rolls-Royce logotypein the upper left corner.

The Rolls-Royce logotype is imprinted in remote control panels, alarm panels and cabinpanels.

Cables are marked with a cable tag at both ends.

5.1.1 Product Identification

Each unit of the Icon system is marked with a unique product identification label, statingsystem name and type, unit name and function, and tag number, see example in Figure11.

Figure 19 Product Identification Label

5.1.2 Company Identification

The Rolls-Royce Company Identification sticker shows where the product has beenproduced and is found on discrete places on all delivered items, e.g. on the inside of thecabinet doors.

Figure 20 Company Identification Sticker

Pos Denomination Meaning

1 TYPE NO Corresponding drawing number with the revision letter in

closed brackets

2 SERIAL NO Production order number

3 MPS number (part number)

4 Q.A. DATE Date and signature by test responsible

Rolls-Royce IconDP System Class 2

MAIN CONTROL CABINET A

+C101

TM

TYPE NO INST.NO

Q.A.- DATE

MADE IN NORWAY

SERIAL NO

Rolls-Royce Marine ASdep.: Automation - Longva

N-6293 Longva,Norway

1

2

3

4
http://-/?-http://-/?-http://-/?-http://-/?-


52/226

System Description


Revision: PE1



53/226




4


Revision: B

Delivery Specification

1 General ......................................................................................................4-3

2 Main Item List ............................................................................................4-3
http://04_delivery_specification_pb1.pdf/http://04_delivery_specification_pb1.pdf/http://04_delivery_specification_pb1.pdf/http://04_delivery_specification_pb1.pdf/


54/226

Copyright 2007 Rolls-Royce plcDoc. No.: CAA-000001-04MX

Revision: B


55/226


4

Page 4-3 of 4Doc. No.: CAA-000001-04MX

Revision: B


1 General

This chapter contains a delivery specification of all separately packaged items in theRolls-Royce delivery.

Note: Upon reception of the Rolls-Royce equipment, the receiver must comparethe shipping documents with the physical items received. If anydiscrepancy is found, Rolls-Royce must be informed immediately.

2 Main Item List

If the delivery comprise a complete system (Poscon or Icon), the delivery specificationis found in the Main Item List (01LI), see chapter 12 Design Drawings.


56/226


Page 4-4 of 4 Doc. No.: CAA-000001-04MX

Revision: B



57/226




5


Revision: B

Technical Data

1 General ......................................................................................................5-3

2 Environmental Data ..................................................................................5-3

3 Electr ical Data ...........................................................................................5-3

4 Hardware Data ..........................................................................................5-4

4.1 Operator Stations .......................................................................................5-44.1.1 Main Display ....................................................................................5-44.1.2 Display Controller ............................................................................5-44.1.3 Input Device ....................................................................................5-44.1.4 AC/DC Power Supply ......................................................................5-54.1.5 Diode Bridge ....................................................................................5-5

4.1.6 Printers ............................................................................................5-54.1.7 Remote Control Display (Operators Chair Only) ............................5-5

4.2 Control Cabinet(s) ......................................................................................5-54.2.1 Main Components in the Control Cabinet(s) ...................................5-5

4.3 Uninterruptible Power Supply (UPS) ..........................................................5-74.3.1 Main Components in the UPS .........................................................5-7

5 Interfaces ..................................................................................................5-8

5.1 Manoeuvering Mode Sel