Automatic Heading Control for Dynamic Positioning in Ice

Return to Session Menu DYNAMIC POSITIONING CONFERENCE October 15-16, 2013 DESIGN AND CONTROL SESSION II Automatic Heading Control for Dynamic Positioning in Ice Sofien Kerkeni SIREHNA Ivan Metrikin Norwegian University of Science and Technology

AUTOMATIC HEADING CONTROL FOR DYNAMIC POSITIONING IN ICE Sofien Kerkeni DCNS Research/Sirehna Ivan Metrikin Norwegian University of Science and Technology Statoil ASA Tous Droits Réservés. Ce document dans son contenu et dans sa forme est la propriété de SIREHNA

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

Introduction, motivation Considerable amount of resources 25% of undiscovered gas 16% of undiscovered oil M. Naseri and M. Barabady, 2013 USGS 2012 3/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Introduction, motivation Decrease of the arctic ice cover Hajime Yamaguchi, Sea ice prediction and construction of an ice navigation support system for the Arctic sea routes, POAC 2013 Even more important in 2012 4/31 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) 5/31 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 6/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

The need for automatic heading control with DP in ice State of the art general learnings 1991/6 Int. Arctic Ocean Exp. 1999 First DP operation 2004 ACEX IODP 2005/6 SHALDRIL I/II 2008 Kanumas Deficiencies of open water DPS in ice conditions Ice loads very different from open water efforts Ice Management crucial for success 7/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

The need for automatic heading control with DP in ice Recents technological progress Demonstration of feasibility of stationkeeping in certain ice conditions Extensive model testing campaigns in 2011 and 2012 at HSVA Ship position in the plane 0.15 Ship Set Points Circle of 5m full scale radius 0.1 0.05 X(m) 0-0.05-0.1-0.15-0.2-0.15-0.1-0.05 0 0.05 0.1 0.15 0.2 Y(m) 8/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

The need for automatic heading control with DP in ice Projection to operations Maximal abilities expected when aligned with the ice drift 330 Demonstrated by the first capability plots in ice 0 30 0.25kt 0.5kt 300 60 270 0.5 1.0 1.5 2.0 2.5 3.0 90 240 120 210 180 150 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 9/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

The need for automatic heading control with DP in ice Ice drift direction estimation? Complex and non-trivial (sudden changes, loops, etc.) Task of the IM Drifting buoys data => not real time! 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 10/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

The need for automatic heading control with DP in ice Ice drift direction estimation? Significant on-going research Aerial observations with unmanned technologies Haugen, Grotli and Imsland, State Estimation of Ice Thickness Distribution Using Mobile Sensors, CCA2012 11/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

The need for automatic heading control with DP in ice Ice drift direction estimation? Significant on-going research Aerial observations with unmanned technologies Underwater observations Jørgensen and Skjetne, Dynamic estimation of drifting ice topography over a 2D area using mobile underwater measurements, POAC2013 12/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

The need for automatic heading control with DP in ice 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 13/31 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 14/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Proposed structure of the control system Based on successful algorithms tested in DYPIC Enhancement with a new block called «Automatic Heading Controller» 15/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Proposed structure of the control system DP Vessel 16/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Proposed structure of the control system Estimator Controller Thrust allocation Positions Automatic Heading Controller Wind Heading Thrusters Feedback Positions Thrusters command 17/31 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 18/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Numerical Model NTNU simulator Non-smooth Discrete Element Method Based on NVIDIA PhysX engine Level and managed ice conditions Collision detection Contact dynamics 19/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Numerical Model Use of a conceptual Arctic drillship Froude scaling with a factor of 30-3 azimuths bow Illustration: Statoil Metrikin, Løset, Jenssen and Kerkeni, Numerical Simulation of Dynamic Positioning in Ice, MTS Journal 2013 Propulsion: 5 MN - 3 azimuths stern 20/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Numerical simulation tool and setup Scenario Simulation of stationkeeping Fixed Heading (FDPS) Automatic Heading (ADPS) 21/31 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 22/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Simulation results Simulated scenarios 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 23/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Simulation results Scenario 1 (10, 0.5kt) 8 10 6 9 4 8 2 7 Pos North [m] 0 ψ [deg] 6-2 5-4 4-6 3-8 -8-6 -4-2 0 2 4 6 8 Pos East [m] 2 1000 2000 3000 4000 5000 6000 7000 [s] 24/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Simulation results Scenario 2 (30, 1kt) Pos [kw] North [m] 8 x 10 4 3.5 6 3 4 2.5 2 2 0 1.5-2 [kn] [kn] 30-2000 25-4000 20 6000 4000 2000 15 ψ [deg] 0 10 1000 2000 3000 4000 5000 6000 7000 [s] 1000 2000 3000 4000 5000 6000 7000 [s] 1-4 0.5-6 0 1000 2000 3000 4000 5000 6000 7000-8 -8-6 -4-2 [s] 0 2 4 6 8 Pos East [m] [kn m] 2000 0-2000 5 0 1000 2000 3000 4000 5000 5000 6000 6000 7000 7000 [s] [s] 25/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Simulation results Scenario 3 (50,1kt) Pos [kw] North [m] x 10 4 3.55 3 0 2.5-5 2 [kn] ψ [kn] [deg] 60-2000 -4000 50-6000 0 500 1000 1500 2000 2500 3000 3500 [s] 40 8000 6000 4000 30 2000 1.5-10 1 20 0 0 500 1000 1500 2000 2500 3000 3500 [s] -15 0.5-20 0-5 500 1000 0 15005 2000 10 2500 15 3000 203500 Pos East [s] [m] [kn m] 10 0-5000 -10000 0 500 1000 1500 2000 2500 3000 3500 0 500 1000 1500[s] 2000 2500 3000 3500 [s] 26/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Simulation results Results summary Scenario 1 Scenario 2 Scenario 3 FDPS ADPS Ratio FDPS ADPS Ratio FDPS ADPS Ratio Median of the transversal force [kn] Median of the power consumption [kw] 567.4 323.2 43% 3625.8 491.1 86% 6478.7 889.6 86% 4371 3913 10% 16599 3139 81% 34200 8012 77% 27/31 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 28/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Discussion 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 29/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Discussion 30/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

5 0 Pos North [m] -5-10 -15-20 -5 0 5 10 15 20 Pos East [m] Thank you for your attention 31/31 Kerkeni and Metrikin MTS DYNAMIC POSITIONING CONFERENCE 2013

Tous Droits Réservés. Ce document dans son contenu et dans sa forme est la propriété de SIREHNA