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Kongsberg动力定位系统完整介绍和操作手册.pdf
SDP (OS) Operator Reference Manual (Rel. 6.2)
Front matter
The reader
Document revisions
Glossary
Abbreviations
General terms
Windows terminology
Table of contents
USER INTERFACE
Operator station
Operator panel
Push buttons
Modes
Controls
Sensors
Views
Alarms
Command
Keypad
Trackball
Joystick
Heading wheel
Display layout
Title bar
Menu bar
Active and unavailable commands
Message line
Performance area
Working area
Monitoring area
Status line
Status bar
Overview of labels on the status bar
Dialog boxes
Entering numeric values
Enabling the Enter a New Numeric Value dialog box
Using the Enter a New Numeric Value dialog box
Overview of the keys in the Enter a New Numeric Value dialog box
Input validation of entered values
Display views
Orientation of the OS and effect on display views
Tooltip / hotspot cursor and change of cursor image
Available views
Selecting a display view
View control dialog boxes
Zooming
Preselecting views
Main menus
Menu bar
System menu
View menu
Sensors menu
Thruster menu
Joystick menu
AutoPos menu
Help menu
SYSTEM SETTINGS
Changing user
Printing the display picture
Panel Light Configuration dialog box
Dimming level
Lamp test
Display Units dialog box
Selecting the set of display units to use
Editing Display Units
Additional information
Vessel and sea current speed
Wind, waves and sea current direction
Resetting the display units
System date and time
Date and time
Time zone
Set palette (display colours)
Changing the display palette on Operator Stations that are not set to have an independent palette selection
Changing the display palette on a single Operator Station
Alarm Limits dialog box
Position page
VRS page
Controller Mode and Gain Level selection
Gain Level for High Precision and Relaxed Controller Mode
Display presentation of Controller Mode
High Precision
Relaxed
Green
Quick model update
Quick Model dialog box
Rotation center for automatic control
Additional information
JOYSTICK
Calibrating the joystick
Calibration procedure
Joystick settings
Rotation center for joystick manoeuvring
Rotation Center dialog box
Additional information
THE MESSAGE SYSTEM
System diagnostics
Operational checks
Audible and visual indications
Message priority
Presentation of messages
Defining the time span for the Historic Event Page
Alarm states
Acknowledging messages
Silence button
Alarm lamps
Messages on the printer
Event Printer dialog
Message explanations
Contents
Search
Displayed explanation
Back link
Menu bar
Printing message explanations
Operator advice messages
BUILT-IN TRAINER
Trainer functions
Using the trainer
Setting the start position for the next session
Leaving the trainer
DP ONLINE CONSEQUENCE ANALYSIS
DP Online Consequence Analysis
Selecting the DP class
Consequence analysis status messages
Consequence analysis warning messages
STARTING OPERATIONS
System start-up/shut-down and OS stop/restart
Stop/Restart dialog box
Restart the OS using the Windows Security dialog box
Logon Configuration dialog box
Command transfer
Taking command
Giving command
Command Control dialog box
Command groups
Thr_Propulsion
Thr_Propulsion(Sim)
OS page
Overview page
Give page
Command Groups
Controls and indicators
Taking or giving command of thruster propulsion
Connecting to a controller PS group
CONTROLLER PROCESS STATIONS
Resetting controller process stations
Resetting the controller PS in a single-computer system
Resetting one controller PS in a dual or triple redundant system
Resetting all controller PSes in a dual or triple redundant system
Redundant systems
Error objects
Dual redundant system
Automatic switch- over to the Offline PS
Resetting after an automatic switch-over
Triple redundant system
Hardware voting
Redundant Stations dialog box
SENSORS
Gyrocompasses
Sensors dialog box - Gyro page
Gyro Deviation dialog box
Additional information
Gyro status lamp
Displayed heading information
Rejection of heading measurements
Faulty gyrocompasses
Heading dropout
Wind sensors
Sensors dialog - Wind page
Wind status lamp
Displayed wind information
Faulty wind sensors
Rejection of faulty wind data
Operating without wind sensor input
Vertical reference sensors (VRS)
Sensors dialog - VRS page
VRS status lamp
Displayed VRS information
Faulty VRS
Speed sensors
Sensors dialog box - Speed page
Displayed speed information
Draught sensors
Sensors dialog box - Draught page
Additional information
Depth sensors
Sensors dialog box - Depth page
Displayed water-depth information
Rate Of Turn sensors
Sensors dialog box - Rate Of Turn page
POSITION INFORMATION
Handling position information
Position Presentation dialog box
Additional information
Datum Details dialog box
Local N/E Properties dialog box
UTM Properties dialog box
State Plane Zone
Methods for enabling position-reference systems
Panel buttons
Reference System Settings dialog box
Reference System dialog box
Enable page
Additional information
Weight page
Validation page
Reference System Properties dialog box
UTM Properties
Quality Filter Actions
Coordinate systems
Global and local position-reference systems
System datum
The reference origin
Tests on position measurements
Standard deviation of position measurements
Freeze test
Variance, weight and the Variance test
Prediction test
Divergence test
Median test
Enabling the first position-reference system
Enabling other position-reference systems
Changing the reference origin
Position dropout
MAIN MODES AND OPERATING PROCEDURES
Standby mode
Returning to Standby mode/manual levers
Joystick mode
From Standby mode to Joystick mode
Joystick control of position and heading
Position and heading information
Joystick electrical failure
Mixed joystick/auto modes
Joystick mode with automatic heading control
Selecting automatic heading control
Returning to joystick heading control
Joystick mode with automatic position control in both surge and sway
Selecting automatic position control
Returning to joystick position control
Joystick mode with automatic stabilisation
Selecting automatic stabilisation
Returning to joystick control
Auto Position mode
From Joystick mode to Auto Position mode
CHANGING THE POSITION SETPOINT
Stopping a change of position
Marking a new position setpoint on the Posplot view
Position R/B dialog box (range/bearing)
Position Inc dialog box (incremental)
Position dialog box
Inc page
Additional information
R/B page
Abs page
Speed page
Additional information
Speed Setpoint dialog box
Additional information
Acceleration/Retardation Settings dialog box
CHANGING THE HEADING SETPOINT
Stopping a change of heading
Marking a new heading setpoint on the Posplot view
Heading Wheel and its associated panel buttons
Heading dialog box
Heading page
Additional information
Rate Of Turn page
Additional information
Acceleration/retardation factors in the yaw axis
THRUSTERS
Enabling thrusters
Thruster Enable dialog box
Automatic thruster start (for IAS deliveries)
Automatic Thruster Start dialog box
Thruster Allocation dialog box
Additional information
Allocation Settings dialog box
Rudder/Nozzle control
Thruster biasing
Thruster Biasing dialog box
Manual selection of thruster biasing
Automatically changing bias available
Turn factor
Angle factor
Inwards
Thruster Run-in dialog box
POWER SYSTEM
Power monitoring
Power load monitoring and blackout prevention
SYSTEM STATUS INFORMATION
Panel driver logging
Panel Driver Logging dialog box
Copy Panel Logfiles to floppies dialog box
Selecting panel logfiles from the file list
Copying panel logfiles
Remote diagnostics
pcAnywhere Waiting... dialog box
Printing system status data
Displaying software information
RCA and Vessel Control modes
Vessel Control mode
Redundancy and Criticality Assessment - RCA
Vessel Control Mode dialog box
RCA messages
RCA view
Relation between RCA view and Vessel Control Mode dialog box
Relation between RCA view and status bar
Interface to CyberSea
SYSTEM STATUS MONITORING
Introduction
System architecture
Operator stations
Process stations
Redundancy
WinPS
PS names and numbers
The IO system
Monitoring functions
Station Explorer
PS tree structure
Alarm status indicators
Hotspots
Acknowledging PS system alarms
IO Manager
IO Configurator
PBUS IO Image
Overview level
Detailed level
IO Block
Shortcut menu
Signal Conditioning elements
IO Point Browser
IO Point Browser dialog box
Station
Shortcut menu
Driver Properties
Resetting a disabled serial line
DISPLAY VIEWS
Deviation view
Position and heading
Position and heading deviation
View controls
Diesels view
General view
Position, heading and speed
Position and heading deviation
View controls
Joystick view
LTW view
View controls
Numeric view
View controls
Posplot view
View controls
Mode page
Show page
Chart page
Grid page
Range page
Trace page
EBL function
Panning function
Power view
View controls
Power consumption view
Refsys view
View controls
Mode page
Grid page
Range page
Refsys Status view
Rotation Centers view
Sensors view
View controls
Thruster views
Thruster main view
Tunnel thruster view
Azimuth thruster view
Propeller/rudder view
Subview controls
Setpoint/feedback view
Forces view
Trends view
View controls
SDP SYSTEM THEORY
The SDP system
Basic forces and motions
SDP system principles
The Extended Kalman Filter
The Controller
High Precision and Relaxed Control
Green control
Thruster allocation
Index
Operator Reference Manual
Kongsberg SDP (OS)
Dynamic Positioning System
(Rel. 6.2)
301463/A
May 2006
The reader
This operator manual is intended as a reference manual for the system operator. This
manual is based on the assumption that the system operator is an experienced DP
operator with a good understanding of basic DP principles and general DP operation. If
this is not the case, then the operator should first attend the appropriate Kongsberg
Maritime training courses.
Note
The information contained in this document remains the sole property of Kongsberg
Maritime AS. No part of this document may be copied or reproduced in any form or by
any means, and the information contained within it is not to be communicated to a third
party, without the prior written consent of Kongsberg Maritime AS.
Kongsberg Maritime AS endeavours to ensure that all information in this document is
correct and fairly stated, but does not accept liability for any errors or omissions.
Warning
The equipment to which this manual applies must only be used for the purpose for
which it was designed. Improper use or maintenance may cause damage to the
equipment and/or injury to personnel. The user must be familiar with the contents of
the appropriate manuals before attempting to operate or work on the equipment.
Kongsberg Maritime AS disclaims any responsibility for damage or injury caused by
improper installation, use or maintenance of the equipment.
Kongsberg Maritime A.S
P. O. Box 483
N-3601 Kongsberg
Norway
Telephone:
Telefax:
Service:
http://www.kongsberg.com
(47) 32 28 50 00
(47) 32 28 50 10
(47) 815 35 355
Document revisions
Written by
Checked by
Approved by
Date
10.05.06
Sign
AKS
Date
11.05.06
Sign
FH
Date
11.05.06
Sign
ØL
Rev
A
B
C
D
E
F
The original signatures are recorded on the company’s logistic data system.
Document history
Rev. A
This version describes operation of the SDP (OS) system at SDP basis software
release 6.2.0.
To assist us in making improvements to the product and to this manual, we welcome
comments and constructive criticism. Please send all such, in writing, to:
Kongsberg Maritime AS
Att: Documentation Department
P.O. Box 483
N-3601 Kongsberg
Norway
e-mail: km.documentation@kongsberg.com
301463/A
SDP (OS) Operator Reference Manual
3
Glossary
Abbreviations
ARP
CG
CW
CCW
DGPS
DP
DPC
DQI
EBL
ECR
GPS
HDOP
HPR
IAS
IO
LTW
MOB
OS
OT
PMS
PS
RCA
RIO
RMS
rms
ROV
RPM
SBC
SDP
4
Alternative Rotation Point
Center of Gravity
Clockwise
Counter-clockwise
Differential GPS
Dynamic Positioning
DP Controller
Differential Quality Indicator
Electronic Bearing Line
Engine Control Room
Global Positioning System
Horizontal Dilution Of Precision
Hydroacoustic Position Reference
Integrated Automation System
Input - Output
Light-weight Taut Wire
Mobile transponder
Operator Station
Operator Terminal
Power Management System
Process Station
Redundancy and Criticality Assessment
Remote Input - Output
Riser Management System
root mean square
Remotely Operated Vehicle
Revolutions Per Minute
Single Board Computer
Kongsberg Dynamic Positioning
Kongsberg Maritime
301463/A
STC
SVC
UPS
UTC
UTM
VRM
VRS
WGS
Kongsberg Thruster Control
Kongsberg Vessel Control
Uninterruptible Power Supply
Universal Time Coordinated
Universal Transverse Mercator
Vessel Reference Model
Vertical Reference Sensor
World Geodetic System
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SDP (OS) Operator Reference Manual
5
General terms
Apparent wind
See Relative wind.
Bearing
The horizontal direction of one terrestrial point from another, expressed as the
angular distance from a reference direction, clockwise through 360°.
Blackout prevention
A method of preventing a power failure due to overloading of the supply generators.
Cartesian coordinate system
A coordinate system where the axes are mutually-perpendicular straight lines.
Cartesian systems used are UTM, US State Plane and Local N/E.
Course
The horizontal direction in which a vessel is steered or is intended to be steered,
expressed as angular distance from north, usually from 000° at north, clockwise
through 360°. Strictly, this term applies to direction through the water, not the
direction intended to be made good over the ground. Differs from heading.
Datum
Mathematical description of the shape of the earth (represented by flattening and
semi-major axis as well as the origin and orientation of the coordinate systems used
to map the earth).
Dead reckoning
The process of determining the position of a vessel at any instant by applying to the
last well-determined position the run that has since been made, based on the recent
history of speed and heading measurements.
Destination
The immediate geographic point of interest to which a vessel is navigating. It may
be the next waypoint along a route of waypoints or the final destination of a voyage.
ECDIS
Electronic Chart Display and Information System. A navigation information system
which can be accepted as complying with the up-to-date chart required by regulation
V/20 of the 1974 SOLAS Convention, by displaying selected information from a
SENC with positional information from navigation sensors to assist the mariner in
route planning and route minitoring, and if
required display additional
naviation-related information.
ENC
Electronic Navigation Chart. A Cell for use in ECDIS systems.
Feedback
Signals returned from the process (vessel) and used as input signals to the Vessel
Model.
6
Kongsberg Maritime
301463/A
Gyrocompass
A compass having one or more gyroscopes as the directive element, and which is
north-seeking. Its operation depends on four natural phenomena: gyroscopic inertia,
gyroscopic precession, the earth’s rotation and gravity.
Heading
The horizontal direction in which a vessel actually points or heads at any instant,
expressed in angular units from a reference direction, normally true north, usually
from 000° at the reference direction clockwise through 360°. Differs from course.
IAS
IHO
IMO
Integrated Automation System from Kongsberg Maritime. In an Integrated
Automation System the SDP communicates with other Kongsberg Maritime systems
such as SVC (Vessel Control) and STC (Thruster Control) via a dual ethernet LAN.
International Hydrographics Organisation. Coordinates the activities of national
hydrographic offices; promotes standards and provides advice to developing
countries in the fields of hydrographic surveying and production of nautical charts
and publications.
International Maritime Organisation. Formerly called IMCO, the IMO is the
specialised agency of the United Nations responsible for maritime safety and
efficiency of navigation.
Kalman Filter
The Kalman filter is a set of mathematical equations that provides an efficient
computational (recursive) solution of the least-squares method. The filter is very
powerful in several aspects: it supports estimations of past, present and even future
states, and it can also do so even when the precise nature of the modelled system is
unknown.
Log
An instrument for measuring the speed or distance or both travelled by a vessel.
Process Station
One Central Processing Unit (PCU) plus IO interfaces, possibly shared with other
CPUs in redundant configurations. A physical PS may be single, part of a
dual-redundant-physical PS or part of a triple-redundant-physical PS. The PS utilises
RCU, SBC or PC hardware.
Reference origin
The reference point of the first position-reference system that is selected and
accepted for use with the system. The origin in the internal coordinate system.
Relative bearing
The bearing of an object relative to the vessel’s heading.
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SDP (OS) Operator Reference Manual
7
Relative wind
The speed and relative direction from which the wind appears to blow with reference
to the moving vessel.
SOLAS
International Convention for the Safety of Life at Sea developed by IMO.
Surge
Vessel movement in the fore-and-aft direction.
Sway
Vessel movement in the transverse direction.
Thruster
In this document, this is used as a general term for any element of the vessel’s
propulsion system, such as an azimuth thruster, tunnel thruster, propeller or rudder.
Transponder
In this document, this is the physical reference of a position-reference system. For
example: for an HPR system this means any deployed transponder; for an Artemis
system, the Fixed Antenna unit/beacon; for a Taut Wire system, the depressor weight.
True bearing
Bearing relative to true north.
Vessel Reference Model
A mathematical model of the vessel which makes it possible to simulate vessel
movements and behaviour in the horizontal plane (surge, sway and yaw).
Yaw
Vessel rotation about the vertical axis; change of heading.
8
Kongsberg Maritime
301463/A
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