KR20130052938A - Dynamic positioning control system of floating marine structure and method for operating of the same - Google Patents

Abstract

PURPOSE: A dynamic position control system of a floating marine structure and a driving method thereof are provided to reduce material costs by installing a DYNPOS-SUTRO system and a DYNPOS-ER system on the floating marine structure. CONSTITUTION: A main measuring unit(110) measures information including the position of a floating marine structure. A main controller(120) outputs a control signal to a position controlling device by using the measurement value from the main measuring unit. A sub measuring unit(140) measures the information including the position of the floating marine structure. A first sub controller outputs a control signal to the position controlling device by using the measurement value from the sub measuring unit. A second sub controller(160) is connected to the sub measuring unit and applies the control signal to the position controlling device. [Reference numerals] (111a,111b,111c,141) Position reference system; (112a,112b,112c,142) Wind sensor; (113a,113b,113c,143) Gyro compass; (114a,114b,114c,144) Vertical reference sensor; (120) Main controller; (128,158,170) Operation station; (150) First sub controller; (180) Control station; (AA) Second sub controller; (T) Position control device

Description

TECHNICAL FIELD [0001] The present invention relates to a dynamic position maintaining control system for a floating structure,

(DYNPOS-AUTRO) system and DYNPOS-ER (DYNPOS-ER) system, and more particularly, to a dynamic position maintenance control system for a floating structure, And more particularly, to a dynamic position maintenance control system and a method of driving a floating structure of a floating structure capable of reducing a material cost while satisfying a requirement of a ship owner by installing the system on a floating structure.

Dynamic Positioning System (DPS) is a device that continuously positions a ship at a desired point and is used in ships such as drill rigs. The dynamic position maintenance system acquires the position information of the ship obtained from the position sensor and controls the position and attitude of the ship by using a propulsion device such as a plurality of thruster.

Recently, the Norwegian Society of Naval Architects (DNV) has been working on the DYNPOS-ER, which requires a DP main system and an alternative system, which is different from the existing DYNPOS-AUTRO, which requires a DP main system, a backup system and an independent joystick system, By disclosing the requirements, a dynamic position maintenance control system is required that can be applied to both DYNPOS-AUTRO and DYNPOS-ER requirements.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a DYNPOS-AUT system and a DYNPOS-ER system in a floating structure by combining functionally redundant equipment to satisfy the requirements of a ship owner The present invention provides a floating position control system for a floating structure of a floating structure capable of reducing a material cost and a driving method thereof.

According to an aspect of the present invention, there is provided a dynamic position control system for controlling a plurality of position adjusting devices installed on a floating type floating structure, the dynamic position maintaining control system comprising: A main controller for outputting a control signal to the position adjusting device using measured values measured from the main measuring part, a main operation station connected to the main controller, and a controller for controlling the position of the floating structure A first auxiliary controller for outputting a control signal to the position adjusting device using measured values measured by the auxiliary measuring unit, and a second auxiliary controller connected to the first auxiliary controller, And a second measuring unit, connected to the auxiliary measuring unit, for applying a control signal to the position adjusting device, The dynamic position keeping the control system comprises a second auxiliary operation station associated with the tank and the controller, the second secondary controller is provided.

Preferably, the main measuring unit includes three position reference systems, three wind sensors, three gyro compasses, and three vertical reference sensors.

The dynamic position maintenance control system according to the present invention may further include a main uninterruptible power supply connected to the main controller.

The dynamic position maintenance control system according to the present invention may further comprise a first auxiliary uninterruptible power supply connected to the first auxiliary controller.

The dynamic position maintenance control system according to the present invention may further comprise a second auxiliary uninterruptible power supply connected to the second auxiliary controller.

The auxiliary measuring unit preferably includes a position reference system, a wind sensor, a gyro compass, and a vertical reference sensor.

And a signal isolator connected to each of the main controller, the first and second auxiliary controllers, and the auxiliary measuring unit.

Preferably, the main controller and the second auxiliary controller further include a first communication line commonly connected to the position adjusting device, and the first auxiliary controller further includes a second communication line independently connected to the position adjusting device Do.

According to another embodiment of the present invention, there is provided a driving method of a dynamic position maintaining control system including a main controller for controlling a plurality of position adjusting devices installed in a floating type floating structure, first and second auxiliary controllers, Receiving position information of the floating structure from the main operation station by the main controller, calculating a displacement between the measured value measured from the main measuring unit and the received position information by the main controller, Generating, by the main controller, a position adjustment control signal using the calculated displacement and the state of the floating structure, and outputting the generated control signal to the position adjustment device by the main controller And a controller for controlling the selected one of the first and second auxiliary controllers, A roller drive by way of a dynamic position keeping control system, characterized in that for controlling the position adjustment device is provided.

According to the present invention, it is possible to install DYNPOS-AUTRO system and DYNPOS-ER system in floating structure by combining functionally redundant equipments to satisfy the requirements of ship owners, There is an effect that can be saved.

Also, according to the present invention, since the first and second control units share the same sensors, the number of equipment can be reduced.

1 is a block diagram illustrating a dynamic position control system according to an embodiment of the present invention.
2 is a view for explaining a communication line of the dynamic position maintaining control system shown in Fig. 1, and Fig.
3 is a flowchart illustrating an operation for explaining a dynamic position maintaining control system according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows a diagram for explaining a dynamic positioning system according to an embodiment of the present invention; FIG.

1, the dynamic positioning system 100 according to an exemplary embodiment of the present invention includes a main measuring unit 110, a main controller 120, a main uninterruptible power supply (UPS) 125, An operation station 128, an auxiliary measuring unit 140, a first auxiliary controller 150, a first auxiliary uninterruptible power supply unit 155, a first auxiliary operating station 158, An isolator 159, a second auxiliary controller 160, a second auxiliary uninterruptible power supply 165, and a second auxiliary operating station 170.

The above-described dynamic position maintaining control system 100 controls the operation of the position adjusting device T constituted by a thruster or the like. The thruster is installed at the stern of the hull, at the other position of the hull or other hull so as to be freely rotatable, and functions to provide direction and thrust of the bow.

The main measuring unit 110 includes a plurality of main position reference systems 111a, 111b and 111c, a plurality of main wind sensors 112a, 112b and 112c, a plurality of main gyro compasses (Gyro Comass) 113a, 113b, and 113c, and a plurality of main vertical reference sensors 114a, 114b, and 114c. The values measured by the main measuring unit 110 are provided to the main controller 120.

The plurality of main position reference systems 111a, 111b and 111c output the position or route of the reference point fixed to the controlled vessel to the main controller 120. [ As the main position reference systems 111a, 111b, and 111c, a DGPS position reference system, a horn position reference system, or the like can be used. In the present embodiment, three main position reference systems 111a, 111b and 111c are provided.

The plurality of main wind sensors 112a, 112b and 112c measure wind direction and wind amount and output the signals to the main controller 120. [ In the present embodiment, three main wind sensors 112a, 112b and 112c are provided.

A plurality of main gyro compasses 113a, 113b, and 113c output orientation signals of the controlled vessel to the main controller 120. [ In the present embodiment, three main gyro compasses 113a, 113b, and 113c are provided.

A plurality of vertical reference sensors 114a, 114b and 114c output attitude signals of the controlled vessel to the main controller 120. [ In the present embodiment, three main vertical reference sensors 114a, 114b and 114c are provided.

The main controller 120 outputs an appropriate control signal to the position adjusting device T by using the measured value inputted from the main measuring part 110 and the operation value inputted from the main operation station 128. [ The main controller 120 may be a plurality of controllers, and may compare the calculated control signals from the first main controller and the second main controller to determine whether the failure has occurred. The main controller connected to the position adjusting device T among the plurality of main controllers is designated by the operator.

In more detail, the main controller 120 determines the position of the floating structure based on the displacement of the measured value received from the main measuring unit 110 and the positional information of the floating structure inputted from the main operating station 128 and the state of the floating structure Generates a position adjustment control signal, and outputs the generated control signal to the position adjustment device (T).

In the present specification, the floating floating structure means a structure including both a storage tank for storing a liquefied gas such as LNG or LPG and an oil storage tank for storing oil, (LNG transport), LNG RV (LNG Regasification Vessel), as well as OIL FPSO, LNG FSRU (Floating Storage and Regasification Unit), as well as LNG FPSO (Floating, Production, Storage and Offloading) .

The main controller 120 is connected to the main uninterruptible power supply unit 125 so as to be supplied with stable power. In addition, the main controller 120 may receive a measurement value of the auxiliary measuring unit 140 as the case may be. The main controller 120 is preferably installed in a stable place where the outside environment can be seen, for example, a wheel house.

The auxiliary measuring unit 140 includes an auxiliary position reference system 141, an auxiliary wind sensor 142, an auxiliary gyro compass 143 and an auxiliary vertical reference sensor 144. The measured values measured by the auxiliary measuring unit 140 are output to the first and second auxiliary controllers 150 and 160 and the main controller 120.

The auxiliary position reference system 141 outputs the position or route of the reference point fixed to the controlled vessel to the first and second auxiliary controllers 150 and 160 and the main controller 120. As the auxiliary position reference systems 111a, 111b and 111c, a DGPS position reference system or a hydrodynamic position reference system can be used.

The auxiliary wind sensor 142 measures wind direction and wind amount and outputs the signal to the first and second auxiliary controllers 150 and 160 and the main controller 120.

The auxiliary gyro compass 143 outputs the azimuth signal of the controlled vessel to the first and second auxiliary controllers 150 and 160 and the main controller 120.

The auxiliary vertical reference sensor 143 outputs the attitude signal of the controlled vessel to the first and second auxiliary controllers 150 and 160 and the main controller 120.

The first auxiliary controller 150 may adjust the position of an appropriate control signal by using the measured value input from the auxiliary measuring unit 140 via the signal isolator 159 and the operation value input from the first auxiliary operation station 158 And outputs it to the device (T). The first auxiliary controller 150 is connected to the first auxiliary uninterruptible power supply unit 155 to receive stable power.

The signal isolator 159 is connected to the auxiliary measuring unit 140, the first auxiliary controller 150, the second auxiliary controller 160 and the main controller 120, respectively. The signal isolator 159 prevents faults occurring in one system from propagating to other systems.

The second auxiliary controller 160 has an automatic heading control function. The second auxiliary controller 160 controls the position adjusting device T and is connected to the second auxiliary operating station 170 installed in the wheel house. The second auxiliary controller 160 is connected to the auxiliary measuring unit 140 via the signal isolator 159. The second auxiliary controller 160 basically provides a control function for the position adjustment device T. [

The second auxiliary controller 160 is connected to the second auxiliary uninterruptible power supply unit 165 to be supplied with stable power.

The second auxiliary controller 160 can function as a computer system that is connected to the auxiliary measuring unit 140 and automatically controls the position adjusting device T using the second auxiliary operating station 170. [ The second auxiliary controller 160 may be installed in the same space as the first auxiliary controller 150 but may be installed in another space isolated from the main controller 120.

The second auxiliary controller 160 described above corresponds to an alternative system in the DYNPOS-ER system. The second auxiliary controller 160 is installed in the DYNPOS AUTO system including the main controller 120 and the first auxiliary controller 150 so that the conditions required by the owner (for example, System and diposial system), as well as functionally redundant equipment can be combined to increase the convenience of the dynamic locator and reduce material costs.

The main measuring unit 110, the main controller 120 and the main operating station 128 constitute the main control unit M1 and the auxiliary measuring unit 140, the first auxiliary controller 150, The second auxiliary controller 160 constitutes a first auxiliary controller M2 and the second auxiliary controller 170 constitutes an auxiliary controller M3.

The position adjustment device T receives a control signal from the main control device M1. The main control unit M1 includes a main measuring unit 110, a controller 120, a main uninterruptible power supply unit 125, and a main operation station 128. The main controller 120 receives the position, the wind direction and the wind speed of the ship, the orientation of the ship, and the posture information of the ship from the main measurement unit 110 and outputs a control signal suitable for the position adjustment apparatus T. The main controller 120 can also be provided with the position, the direction and the wind speed of the ship, the orientation of the ship, and the attitude information of the ship from the auxiliary measuring unit 140, and thus can be selectively used. In addition, the main controller 120 receives stable power from the main uninterruptible power supply (UPS) 125.

When a failure occurs in the main control device M1, automatic dynamic position control is performed by the control device of either the first or second auxiliary control device M2 or M3 instead of the main control device M1 . The measurement values measured from the auxiliary measuring unit 140 are used during the operation of any one of the first and second auxiliary control units M2 and M3 and the measured values from the first or second auxiliary operating stations 158 and 170 Value is input. The position adjustment device T can be manually controlled by using the second auxiliary control section M3 which functions independently of the main control section M1 and the first auxiliary control section M2 as required.

The first or second auxiliary controller 150 or 160 receives the position, the wind direction and the wind speed of the ship, the orientation of the ship, and the attitude information of the ship from the auxiliary measuring unit 140, Output.

2, the dynamic position maintenance control system 100 according to an embodiment of the present invention is configured such that the main controller 120 and the first auxiliary controller 150 described above are located in a common first communication line L1 And the second auxiliary controller 160 is connected to the position adjusting device T independently via the second communication line. By using the first communication line L1 in common, communication lines can be saved. The second communication line L1 is used to separate the first communication line L1 and the second communication line L1 from the second auxiliary controller 160 in the event of a failure of the main controller 120, It is preferable to output it.

When the main controller 120 fails and the first and second auxiliary controllers 150 and 160 fail or the operator manually controls the position adjusting device T, the adjusting station 180, for example, An angle to be applied to the driving force T, a thrust force, and the like.

The regulating station 180 has four regulating stations 181, 182, 183 and 184, respectively, for regulating the four regulating devices T1, T2, T3 and T4 in this embodiment.

A driving method of the dynamic position maintaining control system configured as above will now be described with reference to FIG.

Referring to FIG. 3, the main controller 120 of the dynamic positioning control system 100 receives the position information of the floating floating structure inputted from the main operation station 128 (S11).

Next, the main controller 120 calculates displacements of measured values and received position information from the main measuring unit 110, i.e., the position reference system, the three wind sensors, the gyro compass, and the vertical reference sensor (S13) .

Next, the main controller 120 generates a position adjustment control signal using the calculated displacement and the state of the floating structure (S15).

Next, the main controller 120 outputs the generated control signal to the position adjusting device T via the first communication line L1 (S17). The position adjusting device T operates in accordance with the control signal output from the main controller 120. [

If any of the main measuring unit 110, the main controller 120 and the main control unit M1 constituting the main operating station 18 has failed in any of the steps S11 to S17 described above, 2 auxiliary control devices M2 and M3, the position adjustment device T can be controlled. In the present embodiment, it is explained that the position adjusting device T is controlled through any one of the first and second auxiliary control devices M2 M3 when the main control device M1 fails. However, It is possible to control the position adjusting device through any one of the first and second auxiliary control devices M2 and M3 provided separately from the main control device M1 at the time of fire or immersion.

Therefore, when a failure occurs in the main control device M1, automatic dynamic position maintenance control is performed by any one of the first and second auxiliary control devices M2 and M3 instead of the main control device M1 .

Here, the second auxiliary controller 160 of the second auxiliary control unit M3 corresponds to the alternative system in the DYNPOS-ER system. Therefore, by functionally overlapping equipment, such as the joystick system of the diffusor system, as the alternative system of the diffusial system, by controlling the position adjustment device (T), it is possible to use the diffusor system If the system is required, it can satisfy the requirements of the ship owner, and the material cost can be reduced by not installing the duplicate material.

The invention being thus described, it will be obvious that the same way may be varied in many ways. Such modifications are intended to be within the spirit and scope of the invention as defined by the appended claims.

100: Dynamic Positioning Control System 110: Main Measurement Unit
111a, 111b, 111c: Main position reference system
112a, 112b, 112c: main wind sensor
113a, 113b, 113c: main gyro compass
114a, 114b, 114c: vertical reference sensor
120: main controller 125: main uninterruptible power supply
128: main operation station 140: auxiliary measuring unit
141: Auxiliary position reference system 142: Auxiliary wind sensor
143: Secondary gyro compass 144: Secondary vertical reference sensor
150: first auxiliary controller 155: first auxiliary uninterruptible power supply
158: first auxiliary operating station 160: second auxiliary controller
165: second auxiliary uninterruptible power supply 170: second auxiliary operating station
180: Adjustment station
L1, L2: first and second communication lines M1: main control device
M2, M3: first and second auxiliary control devices T: position adjusting device

Claims (9)

A dynamic position maintaining control system for controlling a plurality of position adjusting devices provided on a floating type floating structure,
A main measurement unit for measuring information including the position of the floating structure,
A main controller for outputting a control signal to the position adjusting device using the measured value measured from the main measuring part,
A main operation station connected to the main controller,
An auxiliary measuring unit for measuring information including the position of the floating structure,
A first auxiliary controller for outputting a control signal to the position adjusting device using the measurement value measured by the auxiliary measuring unit,
A first auxiliary operation station connected to the first auxiliary controller,
A second auxiliary controller connected to the auxiliary measuring unit and applying a control signal to the position adjusting device,
And a second auxiliary operating station connected to the second auxiliary controller. The method according to claim 1,
Wherein the main measuring part comprises three position reference systems, three wind sensors, three gyro compasses, and three vertical reference sensors. The method according to claim 1,
And a main uninterruptible power supply connected to the main controller. The method according to claim 1,
Further comprising a first auxiliary uninterruptible power supply connected to the first auxiliary controller. The method according to claim 1,
Further comprising a second auxiliary uninterruptible power supply connected to the second auxiliary controller. The method according to claim 1,
Wherein the auxiliary measuring unit comprises a position reference system, a wind sensor, a gyro compass, and a vertical reference sensor. The method according to claim 1,
Further comprising a signal isolator coupled to each of the main controller, the first and second auxiliary controllers, and the auxiliary measurement unit. The method according to claim 1,
The main controller and the second auxiliary controller include a first communication line commonly connected to the position adjusting device,
Wherein the first auxiliary controller further comprises a second communication line that is independently connected to the position adjustment device. There is provided a method of driving a dynamic position maintaining control system including a main controller for controlling a plurality of position adjusting devices provided in a floating structure and first and second auxiliary controllers,
Receiving, by the main controller, positional information of a floating structure from a main operation station;
Calculating, by the main controller, a displacement between the measured value measured from the main measuring unit and the received position information;
Generating, by the main controller, a position adjustment control signal using the calculated displacement and the state of the floating structure;
And outputting the generated control signal to the position adjusting device by the main controller,
And controls the position adjusting device by a controller selected from among the first and second auxiliary controllers when the main controller fails.

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