Post on 30-May-2020
Return to Session Menu
DYNAMIC POSITIONING CONFERENCEOctober 15-16 2013October 15-16, 2013
DESIGN AND CONTROL SESSION II
Automatic Heading Control for Dynamic Positioning in Icey g
Sofien KerkeniSIREHNA
Ivan MetrikinNorwegian University of Science and Technology
© Tous Droits Réservés. Ce document dans son contenu et dans sa forme est la propriété de SIREHNA
Sofien Kerkeni DCNS Research/Sirehna
AUTOMATIC HEADING CONTROL FOR DYNAMIC POSITIONING IN ICE
Ivan Metrikin
Norwegian University of Science and Technology
Statoil ASA
Contents Introduction, motivation The need for automatic heading control with DP in ice Proposed structure of the control system Numerical simulation tool and setup Simulation results Discussion
3/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Introduction, motivation
Considerable amount of resources • 25% of undiscovered gas • 16% of undiscovered oil
• M. Naseri and M. Barabady, 2013
USGS 2012
4/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Introduction, motivation
Decrease of the arctic ice cover • Even more important in 2012
Hajime Yamaguchi, “Sea ice prediction and construction of an ice navigation support system for the Arctic sea routes”, POAC 2013
5/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Introduction, motivation
Stationkeeping is required • Dynamic Positioning Systems are considered as a possible solution
DYPIC project (dypic.eu) • European collaborative research program • Development of a model DP system for the HSVA large ice tank
(presented in Houston in 2012)
6/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Contents Introduction, motivation The need for automatic heading control with DP in ice Proposed control structure of the control system Numerical simulation tool and setup Simulation results Discussion
7/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
State of the art – general learnings • Deficiencies of open water DPS in ice conditions • Ice loads very different from open water efforts • Ice Management crucial for success
The need for automatic heading control with DP in ice
1991/6 Int. Arctic Ocean
Exp.
1999 ”First” DP operation
2004 ACEX IODP
2005/6 SHALDRIL
I/II
2008 Kanumas
8/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Recents technological progress • Demonstration of feasibility of stationkeeping in certain ice
conditions • Extensive model testing campaigns in 2011 and 2012 at HSVA
The need for automatic heading control with DP in ice
-0.2 -0.15 -0.1 -0.05 0 0.05 0.1 0.15 0.2
-0.15
-0.1
-0.05
0
0.05
0.1
0.15
X(m
)
Ship position in the plane
Y(m)
ShipSet PointsCircle of 5m full scale radius
9/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Projection to operations • Maximal abilities expected when aligned with the ice drift
• Demonstrated by the first capability plots in ice
The need for automatic heading control with DP in ice
0°30°
60°
90°
120°
150°180°
210°
240°
270°
300°
330°
0.5 1.0 1.5 2.0 2.5 3.0
0.25kt0.5kt
Kerkeni, Metrikin and Jochmann, “Capability plots of dynamic positioning in Ice”, OMAE 2013
Zhou, Riska and Moan, “Station Keeping Capacity of a Moored Structure with Heading Control in
Level Ice”, IAHR 2012
10/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Ice drift direction estimation? • Complex and non-trivial (sudden changes, loops, etc.) • Task of the IM
• Drifting buoys data => not real time!
The need for automatic heading control with DP in ice
Marchenko et al., “Characteristics of ice drift in the western Barents sea reconstructed by the data of Ice trackers deployed on drifting ice of the Barents sea in 2008 and 2010”, POAC 2011
11/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Ice drift direction estimation? • Significant on-going research
• Aerial observations with unmanned technologies
The need for automatic heading control with DP in ice
Haugen, Grotli and Imsland, “State Estimation of Ice Thickness Distribution Using Mobile Sensors”, CCA2012
12/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Ice drift direction estimation? • Significant on-going research
• Aerial observations with unmanned technologies • Underwater observations
The need for automatic heading control with DP in ice
Jørgensen and Skjetne, “Dynamic estimation of drifting ice topography over a 2D area using mobile underwater
measurements”, POAC2013
13/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Ice drift direction estimation? • Significant on-going research
• Aerial observations with unmanned technologies • Underwater observations
• => Current technologies not effective Possible function proposed by DPS? • Keeping the vessel aligned with the ice drift • Reduce ice loads • Improve performances
The need for automatic heading control with DP in ice
14/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Contents Introduction, motivation The need for automatic heading control with DP in ice Proposed control structure of the control system Numerical simulation tool and setup Simulation results Discussion
15/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Based on successful algorithms tested in DYPIC Enhancement with a new block called «Automatic Heading Controller»
Proposed structure of the control system
16/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Proposed structure of the control system
DP Vessel
17/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Proposed structure of the control system
Positions
Positions
Heading
Thrusters Feedback
Wind
Estimator Controller Thrust allocation
Thrusters command
Automatic Heading
Controller
18/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Contents Introduction, motivation The need for automatic heading control with DP in ice Proposed control structure of the control system Numerical simulation tool and setup Simulation results Discussion
19/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
NTNU simulator • Non-smooth Discrete Element Method • Based on NVIDIA PhysX engine • Level and managed ice conditions • Collision detection • Contact dynamics
Numerical Model
20/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Use of a conceptual Arctic drillship
Numerical Model
Illustration: Statoil
- 3 azimuths bow
- 3 azimuths stern
Propulsion: 5 MN
Froude scaling with a factor of 30
Metrikin, Løset, Jenssen and Kerkeni, “Numerical Simulation of Dynamic Positioning in Ice”, MTS Journal 2013
21/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Scenario • Simulation of stationkeeping
Numerical simulation tool and setup
Fixed Heading (FDPS) Automatic Heading (ADPS)
22/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Contents Introduction, motivation The need for automatic heading control with DP in ice Proposed control structure of the control system Numerical simulation tool and setup Simulation results Discussion
23/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Simulated scenarios
Simulation results
Drift angle (°) Ice drift velocity model scale (m/s)
Ice drift velocity full scale (knots)
Scenario 1 10 0.047 0.5 Scenario 2 30 0.094 1 Scenario 3 50 0.094 1
24/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Scenario 1 (10°, 0.5kt)
Simulation results
-8 -6 -4 -2 0 2 4 6 8-8
-6
-4
-2
0
2
4
6
8
Pos East [m]
Pos
North
[m]
1000 2000 3000 4000 5000 6000 70002
3
4
5
6
7
8
9
10
[s]
ψ [d
eg]
25/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Scenario 2 (30°, 1kt)
Simulation results
-8 -6 -4 -2 0 2 4 6 8-8
-6
-4
-2
0
2
4
6
8
Pos East [m]
Pos
North
[m]
1000 2000 3000 4000 5000 6000 70000
5
10
15
20
25
30
[s]
ψ [d
eg]
0 1000 2000 3000 4000 5000 6000 7000
0.5
1
1.5
2
2.5
3
3.5
x 104
[s]
[kW
]
1000 2000 3000 4000 5000 6000 7000-4000
-2000
[s]
[kN
]
1000 2000 3000 4000 5000 6000 70000
2000
4000
6000
[s]
[kN
]
1000 2000 3000 4000 5000 6000 7000-2000
0
2000
[s]
[kN
m]
26/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Scenario 3 (50°,1kt)
Simulation results
-5 0 5 10 15 20-20
-15
-10
-5
0
5
Pos East [m]
Pos
North
[m]
0 500 1000 1500 2000 2500 3000 3500
10
20
30
40
50
60
[s]
ψ [d
eg]
0 500 1000 1500 2000 2500 3000 3500
0.5
1
1.5
2
2.5
3
3.5
x 104
[s]
[kW
]
0 500 1000 1500 2000 2500 3000 3500
-6000
-4000
-2000
[s]
[kN
]
0 500 1000 1500 2000 2500 3000 35000
2000
4000
6000
8000
[s]
[kN
]
0 500 1000 1500 2000 2500 3000 3500
-10000
-5000
0
[s]
[kN
m]
27/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Results summary
Simulation results
Scenario 1 Scenario 2 Scenario 3 FDPS ADPS Ratio FDPS ADPS Ratio FDPS ADPS Ratio
Median of the transversal force [kN]
567.4 323.2 43% 3625.8 491.1 86% 6478.7 889.6 86%
Median of the power consumption [kW]
4371 3913 10% 16599 3139 81% 34200 8012 77%
28/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Contents Introduction, motivation The need for automatic heading control with DP in ice Proposed control structure of the control system Numerical simulation tool and setup Simulation results Discussion
29/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Validation of the behaviour of the automatic heading controller
Enhancement of stationkeeping performances and abilities Only tested in simulation • Model limitations • Constant ice drift
New asset for the development of DP in Ice technology
Discussion
30/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Discussion
31/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013
Thank you for your attention
-5 0 5 10 15 20-20
-15
-10
-5
0
5
Pos East [m]
Pos
North
[m]
© Tous Droits Réservés. Ce document dans son contenu et dans sa forme est la propriété de SIREHNA