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A-Series Control Systems
Volume 1 – Description and Operation Part 2 – ADP System
INTRODUCTION
LIST OF CONTENTS
1. INTRODUCTION ............................................................................................. 3
2. BASIC TERMINOLOGY.................................................................................. 4
2.1 VESSEL AXES ............................................................................................... 4
2.2 SYSTEM NOMENCLATURE .......................................................................... 5
3. EQUIPMENT ARCHITECTURE ...................................................................... 6
3.1 A-SERIES FAMILY ......................................................................................... 7
3.1.1 Simplex ADP System with Independent Joystick ................................ 8
3.2 JOYSTICK PANELS ....................................................................................... 9
3.2.1 Joystick (AJS) Panel - Remote .......................................................... 10
3.3 WORKSTATIONS ......................................................................................... 11
3.3.1 Dynamic Positioning (ADP) Workstation ........................................... 11
4. CONTROLLER CABINET............................................................................. 13
Chapter 1 - Introduction
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Volume 1 – Description and Operation Part 2 – ADP System
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Chapter 1 - Introduction
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©2007 Converteam UK Ltd
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A-Series Control Systems
Volume 1 – Description and Operation Part 2 – ADP System
1. INTRODUCTION
This part is divided into four chapters:
Chapter 1 Describes the basic terminology, architecture and functionality of a
dynamic positioning system and associated systems.
Chapter 2 Provides vessel specific information:
Section 1 describes the system changeover procedure and the vessel
thruster interface.
Section 2 provides a summary of data serial links.
Chapter 3 Is an operator’s guide for the ADP workstation, and provides the
following information :
• Describes the function of the operator controls, and how the
operator interacts with the system using the display.
• Describes the various system control modes.
• Provides operating instructions on how to set up, select and
monitor the various control modes. Also included are operator
actions on receipt of alarms.
Chapter 4 Provides software loading instructions to enable updating/reloading of
the DP programme.
Chapter 5 Provides a list of Converteam drawings.
Chapter 1 - Introduction
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Volume 1 – Description and Operation Part 2 – ADP System
2. BASIC TERMINOLOGY
2.1 VESSEL AXES
The A-Series system fitted to this vessel controls it in three of its six axes of
movement.
• Surge (X axis).
• Sway (Y axis).
• Yaw (N axis).
The thrusters act to move the vessel in the X, Y and N axes to maintain the desired
position/heading. Sensors measure the environmental forces acting on the vessel
such as wind direction and speed, roll, pitch and sometimes heave.
Note: pitch and roll sign convention in figure below.
CONTROLLED
AXES
Sway Starboard Surge Aft
+Y -X
Surge
Fwd
+X -Y
Sway Port
+N
+
Heave
-
+
Yaw -N
Roll
+
-
Pitch
-
NON-CONTROLLED
AXES
Vessel Axes of Movement
Chapter 1 - Introduction
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2.2 SYSTEM NOMENCLATURE
Joystick Panel – operator panel for manual operations using a joystick.
Workstation – provides the necessary information and control to operate the
vessel.
Controller Cabinet – provides the interface to the sensors and position reference
systems and executes the control functionality for vessel operations.
Field Station – provides the interface to the plant.
Anemometer – provides measured wind speed and direction relative to vessel
bow.
Gyrocompass – (supplied by others) provides measured vessel heading relative to
true north.
Vertical Reference Unit (VRU) – provides measured pitch, roll and heave
(optional) of the vessel. Motion Sensor Unit (MRU) is another name for this unit.
(Differential) Global Positioning System (D)GPS – provides absolute position
measurements in latitude, longitude and altitude. See manufacturer’s
documentation for details.
Acoustic System – (supplied by others) this system consists of a navigation
computer, transceiver, deployment system and transponders. The system provides
measured fixes from the seabed or mobile transponders relative to the vessel. See
manufacturer’s documentation for details.
Laser System – (supplied by others) provides range and bearing information
relative to single or multiple reflective targets. Multiple target operation allows the
vessel’s heading to be calculated in the laser unit. See manufacturer’s
documentation for details.
Chapter 1 - Introduction
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Volume 1 – Description and Operation Part 2 – ADP System
3. EQUIPMENT ARCHITECTURE
The following paragraphs give an overview of typical A-Series scope of supply that
can be fitted to this vessel.
Note that the illustration below shows a variety of equipment available, some of
which may not be fitted to this vessel.
Tautwire Anemometer DGPS Gyrocompass
DP Workstation
Laser
Controller
ATC Workstation
Vertical Portable Joystick Hydro PME Workstation
Reference Unit Acoustics
Vessel ADP Equipment
Chapter 1 - Introduction
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3.1 A-SERIES FAMILY
The products from the A-Series family that are installed on this vessel are as
follows:
• ADP11 – stand alone simplex system, (Class 1)
• AJS – remote joystick (portable or independent)
Chapter 1 - Introduction
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3.1.1 Simplex ADP System with Independent Joystick
The simplex system typically has no duplication of components, i.e. there is no
redundancy. All the thrusters interface with the ADP system via I/O modules in the
Controller Cabinet.
As a back-up to the DP System, the Independent Joystick (IJS) provides an
alternative method of controlling the thrusters. It has its own Controller Cabinet with
I/O modules providing an independent interface with the thrusters. The
Independent Joystick receives inputs from the Gyrocompass only (no other sensors
or position measurement equipment) so has a restricted selection of control modes.
Anemometer
Gyrocompass
VRU
DGPS
Laser
Independent
Joystick
DP
Workstation
Controller
Cabinets
Azimuth
Thrusters
Tunnel
Thrusters
Simplex ADP System with Independent Joystick
Chapter 1 - Introduction
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3.2 JOYSTICK PANELS
Joystick systems have a simple operator panel for controlling the vessel via a
combined joystick. Joystick panel types include:
• Joystick (AJS) Panel – Remote
Joystick Control (AJS) System has the following basic functionality:
• Common Control Transfer
• Manual X-Y Joystick
• Manual Turning Moment
• Joystick Manual Heading (JSMH)
• Joystick Auto Heading (JSAH)
Functionality is described in more detail in Chapter 3.
Chapter 1 - Introduction
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3.2.1 Joystick (AJS) Panel - Remote
The remote joystick panel enables the vessel to be controlled from a location
remote from the ADP Workstation. The joystick panel is portable and can be
plugged in at pre-defined positions around the vessel. These positions are known
as docking stations - they secure the panel mechanically and provide an electrical
connection. Typically, the docking stations have a different orientation to the ADP
Workstation.
Note: A docking station must always be used when the panel is being used
remotely.
When the remote joystick forms part of the Dynamic Positioning System it will have
increased functionality (i.e. the operator can request heading and position moves
from this location).
See Chapter 2, Section 1 for details of the changeover procedure for this vessel.
AJS Remote Joystick Panel and Docking Station
Chapter 1 - Introduction
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3.3 WORKSTATIONS
Workstations provide the operator with the necessary functionality to control and
monitor the vessel operation, via panels and displays. Each workstation has a
primary function. The type of workstation on this vessel is:
• Dynamic Positioning (ADP) Workstation
3.3.1 Dynamic Positioning (ADP) Workstation
The Dynamic Positioning (ADP) workstation provides the operator with combined
joystick control with automatic modes for heading and position control.
The Dynamic Positioning (ADP) system has the following basic functionality:
• Common Control Transfer
• Manual X-Y Joystick
• Manual Turning Moment
• Joystick Manual Heading (JSMH)
• Joystick Auto Heading (JSAH)
• Dynamic Positioning (DP)
• Minimum Power
Functionality is described in more detail in Chapter 3.
Chapter 1 - Introduction
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Volume 1 – Description and Operation Part 2 – ADP System
ADP Operator’s Panel
Chapter 1 - Introduction
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4. CONTROLLER CABINET
The controller cabinet comprises the following equipment and functionality:
• Advanced Micro Controller (AMC) – the AMC processor provides an interface to
all serial communications (sensors, position reference systems and waypoint
systems). The processor is connected to the workstations and field stations via
a dual redundant Ethernet. The processor is configured to meet all the control
requirements necessary for vessel operation.
• Serial Link Termination Panels - RS232 or RS485 - up to 32 serial channels
• Dual Ethernet Switches
• Single or Dual (optional) Input Power
Chapter 1 - Introduction
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©2007 Converteam UK Ltd
