KR101541314B1 - System and method for monitoring performance of dynamic positioning control system - Google Patents

Abstract

The present invention relates to a performance monitoring system and method of a dynamic position control system capable of accurately predicting the performance of a dynamic position control system in conjunction with an external environment applied to a ship.
According to an embodiment of the present invention, there is provided a navigation apparatus comprising: a sensor unit for measuring environmental conditions and navigation information of a ship; A dynamic position control system for generating a thrust control command for maintaining a predetermined position based on the environmental condition measured by the sensor unit and outputting the generated thrust control command to the thrust unit; And an environmental external force acting on the ship calculated from the environmental conditions measured by the sensor unit, navigation information measured by the sensor unit, and a position of the ship calculated using the thrust control command output by the dynamic position control system And a performance calculation system for monitoring the performance index of the dynamic position control system calculated using the electricity usage used in the thrust section in accordance with the output thrust control command. A performance monitoring system is provided.

Description

TECHNICAL FIELD [0001] The present invention relates to a system and a method for monitoring performance of a dynamic position control system,

The present invention relates to a performance monitoring system and method for a dynamic position control system, and more particularly, to a performance monitoring system of a dynamic position control system capable of accurately analyzing performance of a dynamic position control system in conjunction with an external environment applied to a ship And methods.

In recent years, due to rapid industrialization and industrial development, limited global resources are gradually getting out of the way, and the stable production and supply of crude oil has become a very important issue.

Recently, along with the development of oil exploration technology on the seabed, large oil companies have felt the necessity of drilling rig with drilling facilities suitable for development of marginal field or deep sea oil field, It is a reality that is actively searching for development.

Floating structures such as floating production storage offloading (FPSO) and drill ship capable of refining and storing oil and gas existing in the underground of the ocean are gradually increasing. Because of the characteristics of these floating structures, it is possible to develop safer oilfields with less fluctuation due to algae, wind direction, wind speed, and position change. The time and maneuverability required for moving to a place are as short as possible and as simple as possible. At this time, the change of the position due to the swinging of the ship due to the currents, wind direction, wind speed, and wave height can be solved by the Dynamic Positioning System (DPS) of the floating structure.

Such a DPS has been filed by many such as Korean Patent No. 10-1034329.

The DPS including the patent generated a thrust force so as to maintain a predetermined position based on the environmental external force and the position information of the ship.

The conventional DPS monitoring system for monitoring such DPS only shows the position of the ship, the control situation, and the state of the equipment, but does not provide accurate DPS performance by linking with the external environment of the ship.

Korean Registered Patent No. 10-1034329 (2011.05.03) "Position control system and method of ship and offshore structure"

It is an object of the present invention to provide a performance monitoring system and method of a dynamic position control system capable of accurately analyzing performance of a dynamic position control system in conjunction with an external environment applied to a ship.

According to an aspect of the present invention, there is provided a navigation system comprising: a sensor unit for measuring environmental conditions and navigation information of a ship; A dynamic position control system for generating a thrust control command for maintaining a predetermined position based on the environmental condition measured by the sensor unit and outputting the generated thrust control command to the thrust unit; And an environmental external force acting on the ship calculated from the environmental conditions measured by the sensor unit, navigation information measured by the sensor unit, and a position of the ship calculated using the thrust control command output by the dynamic position control system And a performance calculation system for monitoring the performance index of the dynamic position control system calculated using the electricity usage used in the thrust section in accordance with the output thrust control command. A performance monitoring system is provided.

The performance monitoring system of the dynamic position control system according to an embodiment of the present invention may further include a database for receiving and storing environmental conditions and navigation information measured from the sensor unit, It is preferable to receive and store the control command and the electricity usage amount used in the thrust section from the operation position control system and store the information received from the sensor section and the dynamic position control system together with the received time Do.

The performance calculation system preferably transmits the performance index of the dynamic position control system, the positional deviation of the ship, the electricity consumption amount, and the environmental external force to the onshore ground support system through the satellite.

The performance monitoring system of the dynamic position control system according to an embodiment of the present invention may further include a central monitoring system for receiving and monitoring the state and control information of the equipment installed in the ship and the electricity usage amount of the thrust unit .

Wherein the performance calculation system is configured to provide notification information informing of a check of the dynamic location maintenance system when the performance index reaches a predetermined minimum threshold and to provide notification information based on the state of the equipment installed in the ship received from the central monitoring system and control information It is desirable to determine which equipment needs to be inspected.

Further, the performance monitoring system of the dynamic position control system according to an embodiment of the present invention preferably includes a display unit for displaying a performance index of the dynamic position control system on the screen.

According to another embodiment of the present invention, there is provided a navigation system comprising: a sensor unit for measuring environmental conditions and navigation information of a ship; A dynamic position control system for generating a thrust control command for maintaining a predetermined position based on the environmental condition measured by the sensor unit and outputting the generated thrust control command to the thrust unit; A central monitoring system for receiving and monitoring the state and control information of the equipment installed in the ship and the electricity usage amount of the thunder part; A database for receiving and storing environmental conditions and navigation information measured from the sensor unit, a thrust control command generated in the dynamic position control system, and an electricity usage amount of the thunder unit monitored from the central monitoring system; And a performance calculation system for monitoring the performance index of the dynamic position control system calculated using the information stored from the database, wherein the performance index of the dynamic position control system is calculated by using the corresponding A positional deviation of the ship calculated using an external external force acting on the ship, navigation information measured from the sensor unit, and a thrust control command output by the dynamic position control system, The performance monitoring system of the dynamic position control system is characterized in that the performance monitoring system is calculated using the electricity usage used in the system.

According to still another aspect of the present invention, there is provided a control method for a ship, comprising: a sensor unit for measuring environmental conditions and navigation information of a ship; and a thrust control command for maintaining a predetermined position based on the environmental conditions measured by the sensor unit, The method comprising the steps of: receiving environmental conditions and navigation information measured from the sensor unit; Receiving a thrust control command output from the dynamic position control system to the thrust section; And an environmental external force acting on the ship calculated by the environmental condition received by the receiving step and a position of the ship calculated using the received navigation information and a thrust control command output by the dynamic position control system, And monitoring the performance indicator of the dynamic position control system calculated using the electricity usage used in the thruster according to the output thrust control command. Method is provided.

Preferably, the monitoring step receives from the central monitoring system monitoring the amount of electricity used in the thrust section and calculates the performance index of the dynamic position control system.

In another aspect of the present invention, there is provided a method for monitoring performance of a dynamic positioning system, comprising the steps of: after the monitoring, transmitting a performance index of the calculated dynamic positioning system to a terrestrial- .

Wherein the monitoring step comprises: determining whether the performance indicator has reached a predetermined minimum threshold; And providing notification information for notifying the maintenance of the dynamic location maintenance system when the performance index reaches a minimum limit as a result of the determination, and based on state and control information of equipment installed in the ship received from the central monitoring system, And determining the equipment that needs to be inspected.

According to the embodiment of the present invention, the performance of the dynamic position control system can be accurately analyzed in connection with the external environment applied to the ship.

Also, according to the embodiment of the present invention, the performance index of the dynamic position control system, the positional deviation of the ship, the electricity consumption amount and the environmental external force are transmitted to the land-based technical support system through the satellite, It is also possible to report quickly and to provide technical support through connection with equipment repair companies if maintenance is required.

Also, according to the embodiment of the present invention, when the calculated performance index reaches a predetermined minimum threshold value, it is possible to recognize that the dynamic position control system needs to be checked quickly by providing notification information informing the inspection of the dynamic position control system have.

According to the embodiment of the present invention, when the performance index reaches the minimum limit as the status of the equipment installed in the ship and the control information are received, it is possible to quickly identify which equipment in the ship is abnormal. Accordingly, it is possible to smoothly operate the dynamic position control system by smoothly responding to repair or replacement of the equipment.

According to the embodiment of the present invention, data and performance analysis data obtained from the performance monitoring system of the dynamic position control system can be used for optimizing the performance of an in-ship equipment such as an engine, a propeller, and a DPS.

1 is a diagram for explaining a performance monitoring system of a dynamic position control system according to an embodiment of the present invention;
2 is a flowchart illustrating a performance monitoring method of a dynamic positioning system according to another embodiment of the present invention, and FIG.
3 is a graph showing the performance index of the dynamic position control system.

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

1 shows a diagram for explaining a performance monitoring system of a dynamic position control system according to an embodiment of the present invention.

Referring to FIG. 1, a performance monitoring system for a dynamic position control system according to an embodiment of the present invention includes a sensor unit 10, environmental conditions measured from the sensor unit 10 (for example, A dynamic position control system 20 (hereinafter, referred to as 'DPS') for generating a thrust control command for maintaining a predetermined position of a ship based on a direction and a velocity of a bird, a significant wave of a wave, a critical period, And a performance calculation system 50 for calculating and monitoring a performance index of the DPS 20.

The sensor unit 10 includes a sensor for measuring the external environmental condition of the ship, for example, an anemometer. In addition, the sensor unit 10 measures navigation information including the current position, posture, and speed of the ship. Sensors for measuring navigation information include, for example, a Global Positioning System (GPS), a Global Navigation Satellite System (GLONASS), a gyroscope, a fan beam, and an acoustic sensor. GPS and GLONASS measure the position of the ship and output the corresponding electrical signal to the DP control unit 21 of the DPS 20. GLONASS serves to correct the position measured by GPS. The gyroscope measures the heading angle of the ship and outputs the corresponding electrical signal to the DP control unit 21. The fan beam measures the relative position with respect to the ship using a laser, and outputs a corresponding electrical signal to the DP control unit 21. [ The acoustic sensor outputs data to the DP control unit 21, which can calculate the reference point position of the ship.

The DP control unit 21 provides the thrust unit 22 with a thrust control command generated based on the electric signal measured and received from the sensor unit 10, that is, the environmental condition and navigation information of the ship and the user command value. The DP control unit 21 has drive information of the thrust unit 22 and information related to the thrust control command.

The thrust section 22 includes a propeller, a thruster, and a rudder. The propeller maintains the position of the ship in the longitudinal direction, the thruster maintains the position of the ship in the left and right direction, and the rudder adjusts the direction of rotation of the ship.

The environmental condition and the navigation information measured from the sensor unit 10 are stored and managed in the database 40. [ The database 40 stores a thrust control command output to the thrust section 22 under the control of the DP control section 21 of the dynamic position control system 20. [ The database 40 stores the thrust control command output to the thruster unit 22 and the electricity usage amount used by the thrust unit 22 together with the received time when the DPS 20 receives and stores the thrust control command. The information stored in the database 40 according to a predetermined time period may be stored through the compression process.

The DPS 20 is communicably connected to the central monitoring system 30. The central monitoring system 30 is also communicably connected to the equipment in the vessel.

The central monitoring system 30 receives and monitors the amount of electricity used in the thruster unit 22 and transmits the amount of electricity used in the thruster unit 22 to the performance calculation system 50. [

Also, the central monitoring system 30 can receive the equipment installed in the ship, for example, the information of the engine, the information of the generator, and the like, and transmit it to the performance calculation system 50. In particular, the central monitoring system 30 can receive the status and control information of a device or equipment installed in the ship. The central monitoring system 30 may store in the database 40 the status and control information of the received equipment.

The performance calculation system 50 can receive the information stored in the database 40 in real time and calculate the performance index of the DPS using the received information. Although the database 40 and the performance calculation system 50 are separately shown here, they may be configured to include the database 40 in the performance calculation system 50.

The performance calculation system 50 calculates the performance index (P _DPS ) of the _DPS and corrects it by reflecting the environmental conditions. The performance index of the DPS is calculated from the environmental external force acting on the ship calculated by the environmental conditions measured by the sensor unit 10 and the navigation information measured by the sensor unit 10 and the DPS 20, The thrust control command, and the throttle control command to calculate the throttle control command using the throttle control command. The performance of the DPS is better as the difference between the target position and the current position, that is, the position deviation is small as well as the electricity consumption. Also, even if the environmental external force is large, the performance is better if the electric usage amount and the positional deviation are the same. Therefore, the performance index of DPS is defined as a function of electricity usage, positional deviation, and environmental external force, and the environmental external force correction coefficient is added to exclude the influence of external environmental condition change.

는 환경외력 보정계수이고, J는 선박의 위치 제어 편차(x)와 전기 사용량(u)의 함수이며, F는 환경외력이다.here,

J is a function of the ship's position control deviation (x) and electricity usage (u), and F is the environmental external force.

The performance indexes of the DPS include not only Equation 1 but also the performance of the equipment used in the DPS 20 such as the thrust section and the DP control section 21 and the amount of electricity used or fuel consumed in the thrust section 22, And the like.

The performance calculation system 50 determines whether the calculated performance index reaches a predetermined minimum threshold value, and provides notification information indicating that the DPS 20 needs to be checked if the calculated performance index reaches a minimum threshold value.

Particularly, when the performance index of the DPS reaches the minimum limit, the performance calculation system 50 can determine whether the equipment is abnormal or need to be inspected based on the information of equipment installed in the ship monitored from the central monitoring system 30.

The information of the equipment installed in the ship received from the central monitoring system 30 includes, for example, the cylinder temperature of the engine, information about the axis between the engine and the generator, information about the generator, and the like.

The performance calculation system 50 compares the information of the equipment received from the central monitoring system 30 with the predetermined reference value of each equipment in accordance with the reference value set for each equipment installed in the ship, and when the reference value is exceeded, Information and information about the equipment. Thus, even if the replacement cycle is set for each equipment, it is possible to quickly repair the equipment when the abnormality occurs or the performance suddenly drops before the failure occurs while the ship is controlled to maintain the predetermined position.

Further, the performance calculation system 50 displays, on the display unit 60, the performance index of the DPS calculated through the above-described equation (1). The performance calculation system 50 and the display unit 60 may be connected by a wired or wireless communication scheme.

The performance calculation system 50 may also transmit the performance indicators of the DPS or the data stored in the database 40 to the onshore terrestrial technology support system 70 via the satellite 90. The onshore technical support system 70 stores and manages the performance indicators of the DPS in the onshore database 80. In addition to the performance indicators, the onshore technical support system 70 can also receive position deviations, electricity usage, and environmental external forces of the ship. Accordingly, the onshore technical support system 70 can report the performance index of the DPS installed on the ship. Also, the on-the-ground technical support system 70 can receive information on the equipment received from the central monitoring system 30 and perform technical support through connection with equipment repair companies for equipment requiring maintenance. Data and performance analysis data obtained from DPS performance monitoring can also be used to optimize on-board equipment such as engines, propellers, and DPS.

Also, the performance calculation system 50 can perform an alarm when the difference between the predicted value of the performance trend of the DPS and the actual measured value is greater than a predetermined reference value through the analysis of the association data among the information measured from the sensor unit 10 You can give.

A performance monitoring method of the dynamic position control system having such a configuration will now be described with reference to FIG.

2 is a flowchart illustrating a method of monitoring performance of a dynamic positioning system according to another embodiment of the present invention.

The performance calculation system 50 receives external environment conditions and navigation information measured from the sensor unit 10 (S11).

The performance calculation system 50 transmits a thrust control command output to the thrust section 22 to the DPS 20 to maintain a predetermined position of the ship on the basis of the environmental condition and navigation information received from the sensor section 10 and the user command value (S13).

Also, the performance calculation system 50 receives the amount of electricity used by the thrust section 22 in accordance with the thrust control command (S15). At this time, the amount of electricity used in the thrust section 22 can be received through the DPS 20 or the central monitoring system 30. [ The central monitoring system 30 can receive and monitor the status and control information of equipment installed in the ship in addition to some information of the DPS 20. [

The performance calculation system 50 calculates the environmental external force calculated by the environmental condition received in the step S11 described above, the positional deviation of the ship calculated according to the navigation information and the thrust control command, and the electricity usage amount of the thrust section 22 Is applied to Equation (1) to calculate the performance index of the DPS (S17).

The performance calculation system 50 determines whether the calculated performance index reaches a preset minimum threshold (S19).

If it is determined in step S19 that the calculated performance index has not reached the predetermined minimum threshold, the performance calculation system 50 moves the process to step S11 described above.

If it is determined in step S19 that the calculated performance index has reached the predetermined minimum threshold, the performance calculation system 50 outputs notification information indicating that the DPS needs to be checked (S21). However, the present invention is not limited to the case where the performance calculation system 50 receives the status of the equipment installed in the ship and the control information, and if the performance index reaches the minimum limit, An abnormality may be detected.

As shown in the graph of FIG. 3, the performance index of the DPS can be displayed according to the passage of time. Such a performance indicator of the DPS can be displayed on the display unit 60. [ Through this graph, the administrator or the operator can accurately grasp the performance of the DPS installed on the ship to maintain the predetermined position of the ship.

Although not shown in the operation flow chart of FIG. 2, the performance index of the DPS calculated in step S17 described above can be transmitted to the onshore terrestrial technical support system 70 via the satellite 90. The Terrestrial Technical Assistance System (70) can monitor the performance indicators of the DPS and easily identify on the ground whether technical assistance is required.

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.

10: sensor part 20: dynamic position control system
21: DP control unit 22: Thrust unit
30: central monitoring system 40: database
50: Performance calculation system 60: Display unit
70: Land support system 80: Land database
90: Satellite

Claims (11)

A sensor unit for measuring environmental conditions and navigation information of the ship;
A dynamic position control system for generating a thrust control command for maintaining a predetermined position based on the environmental condition measured by the sensor unit and outputting the generated thrust control command to the thrust unit;
An environmental external force acting on the ship calculated from the environmental conditions measured by the sensor unit, navigation information measured by the sensor unit, and a thrust control command output by the dynamic position control system, And a performance calculation system for monitoring the performance indicator of the dynamic position control system calculated using the electricity usage amount used in the thrust section according to the output thrust control command; And
And a central monitoring system for receiving the status and control information of the equipment installed in the ship and transmitting the received status and control information to the performance calculation system,
The performance index is calculated by further reflecting the environmental external force correction coefficient for excluding the influence of external environmental condition change,
The performance calculation system compares the information of the equipment received from the central monitoring system with the predetermined reference value of each equipment, and when the reference value is exceeded, the identification information of the exceeding equipment and the corresponding And provides the information of the equipment. The method according to claim 1,
And a database for receiving and storing environmental conditions and navigation information measured from the sensor unit,
Wherein the database receives and stores thrust control commands output to the thrust unit and an amount of electricity used in the thrust unit from the dynamic position control system and stores information received from the sensor unit and the dynamic position control system And stores the matching result together with one hour. The method according to claim 1,
Wherein the performance calculation system transmits the performance index of the dynamic position control system, the position deviation of the ship, the electricity consumption amount and the environmental external force to the onshore ground support system through the satellite. delete The method according to claim 1,
Wherein the performance calculation system is configured to provide notification information informing of a check of the dynamic position control system when the performance index reaches a predetermined minimum limit and to provide notification information based on status and control information of equipment installed in the ship received from the central monitoring system And determines the equipment that needs to be inspected. The method according to claim 1,
And a display unit for displaying the performance indicator of the dynamic position control system on the screen. delete And a dynamic position control system for generating a thrust control command for maintaining a predetermined position based on the environmental conditions measured by the sensor unit and outputting the generated thrust control command to the thrust unit, A method of monitoring performance of a position control system,
Receiving environmental condition and navigation information measured from the sensor unit;
Receiving a thrust control command output from the dynamic position control system to the thrust section; And
An environmental external force acting on the ship calculated by the environmental condition received by the receiving step, a position deviation of the ship calculated using the received navigation information and a thrust control command output by the dynamic position control system, And monitoring the performance indicator of the dynamic position control system calculated using the electricity usage amount used in the thrust section according to the output thrust control command,
The performance index is calculated by further reflecting the environmental external force correction coefficient for excluding the influence of external environmental condition change,
Wherein the monitoring comprises:
Comparing the equipment-specific information received from the central monitoring system with a predetermined reference value for each equipment installed in the ship, and determining whether the reference value is exceeded; And
And providing the identification information of the excess equipment and the information of the corresponding equipment when the determination result exceeds the reference value. The method of claim 8,
The monitoring step
Wherein the performance indicator of the dynamic position control system is calculated by receiving from the central monitoring system monitoring the amount of electricity used in the thrust section and calculating the performance index of the dynamic position control system. The method of claim 8,
After the monitoring step,
And transmitting the calculated performance indicator of the dynamic position control system to the onshore ground support system via the satellite. The method of claim 8,
The monitoring step
Determining whether the performance indicator has reached a predetermined minimum threshold; And
Upon reaching the determination result the performance index is a minimum limit value of the step of the determination provides notification information for notifying the inspection of the dynamic positioning system, and on the basis of the central monitoring system equipment status and control information provided in the receiving vessel from the And determining the equipment that needs to be inspected.

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