03 Kongsberg SDP Follow Target Mode 61
12 Pages • 1,988 Words • PDF • 413.7 KB
Uploaded at 2021-09-24 12:38
This document was submitted by our user and they confirm that they have the consent to share it. Assuming that you are writer or own the copyright of this document, report to us by using this DMCA report button.
Operator Manual Kongsberg SDP Follow Target Mode Rel 6.1
178278/A September 2004
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 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: (47) 32 28 50 00 Telefax: (47) 32 28 50 10 Service: (47) 32 28 59 50 http://www.kongsberg.com
Document revisions Checked by
Written by
Approved by
Rev
Date
Sign
Date
Sign
Date
Sign
A
28.09.04
EGj
28.09.04
AMM
28.09.04
BG
B C D E F The original signatures are recorded on the company’s logistic data system.
Document history Rev. A
This version describes the Follow Target mode of the SDP system at SDP basis software Rel. 6.1.
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: [email protected]
178278/A
Follow Target Operator Manual
3
Table of contents 1
FOLLOW TARGET MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
2
FOLLOW TARGET DIALOG BOX . . . . . . . . . . . . . . . . . . . . . . .
6
3
MULTI TARGETING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
4
ENTERING FOLLOW TARGET MODE . . . . . . . . . . . . . . . . . .
9
5
HEADING CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
6
POSITION CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
7
SPEED CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
8
ACCELERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
9
RATE OF TURN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
4
Kongsberg Maritime
178278/A
Follow Target mode
1 FOLLOW TARGET MODE The Follow Target mode enables the vessel to automatically follow a moving target and keeps the vessel within a “position window” relative to the target. In Multi Target mode it is also possible to keep the vessel heading within a “heading window”. The moving target must be equipped with a mobile reference transponder or laser reflector in order for the SDP system to monitor its relative position. If, for example, the moving target is a Remotely Operated Vehicle, then the vessel must be equipped with a Hydroacoustic Position Reference (HPR) system in order for the SDP system to monitor its relative position. In addition to a mobile reference transponder on the target, an additional fixed position-reference system (such as DGPS) is required. Alternatively a fixed transponder (deployed on the seabed) can be used. You can define a circle of operation within which the target can move without causing the vessel to move. The vessel only moves when the target reaches the boundary of this circle. The radius of this circle (the “reaction radius”) can be up to 1000 m. The vessel moves when the target reaches the boundary of the circle
Vessel’s initial position
The target reaches the boundary of the reaction circle which causes the vessel to move
Target’s initial position The target moves within the reaction circle without causing the vessel to move
Figure 1 Follow Target mode
178278/A
Follow Target Mode Operator Manual
5
Follow Target mode
2 FOLLOW TARGET DIALOG BOX To display the Follow Target dialog box, click Follow Target on the AutoPos menu.
Mobile Targets
In the Available or Selected list, highlight the transponder you want to use and click the Add or Rem button to add or remove the transponder as required. Please note that only one transponder can be selected at a time.
Reaction Limits
Position Defines the reaction limit for position (reaction circle). The value entered (between 0 and 1000m) is the radius of the reaction circle for the mobile target.
Position Filter
Filter constant Enter the required filter constant (0-100%) to increase or decrease the degree of position filtering. A high percentage (50-100%) gives a high filtering which is recommended if there is noise or unstable measurements from the transponders. A low percentage (0-50%) gives a low filtering which should be used if measurements from the transponders are stable and reliable.
6
Kongsberg Maritime
178278/A
Follow Target mode
3 MULTI TARGETING The Follow Target mode with Multi Targeting enables a DP vessel to follow a moving structure or vessel equipped with two or more mobile transponders. The moving structure can be followed both with respect to position and heading. If your vessel is configured for Multi Targeting, the dialog box will look similar to the one shown here. To display the Follow Target dialog box, click Follow Target on the AutoPos menu.
Mobile Targets
178278/A
In the Available or Selected list, highlight the transponder(s) you want to use and click the Add or Rem button to add or remove the transponder(s) as required.
Follow Target Mode Operator Manual
7
Follow Target mode
Operation mode
Follow Position Choose this to make the vessel follow the moving structure with respect to position. The vessel will always have the same position relative to the moving structure, while maintaining the same absolute heading (setpoint) as shown in the following illustration.
(CD3139)
Follow Heading Choose this to make the vessel follow the moving structure with respect to heading. The vessel will always have the same heading relative to the moving structure, while maintaining the same absolute position as shown in the following illustration.
(Cd3140)
Follow Position and Heading Choose this to make the vessel follow the moving structure with respect to both position and heading. The vessel will always have the same position and heading relative to the moving structure as shown in the following illustration.
(Cd3141)
8
Kongsberg Maritime
178278/A
Follow Target mode
Reaction Limits
Position Defines the reaction limit for position (reaction circle). The value entered (between 0 and 1000m) is the radius of the reaction circle for the mobile target. Heading Defines the vessel’s reaction sector for the heading relative to the moving structure.
Position Filter
Filter constant Enter the required filter constant (0-100%) to increase or decrease the degree of position filtering. A high percentage (50-100%) gives a high filtering which is recommended if there is noise or unstable measurements from the transponders. A low percentage (0-50%) gives a low filtering which should be used if measurements from the transponders are stable and reliable.
4 ENTERING FOLLOW TARGET MODE You can enter the Follow Target mode from either the Joystick or Auto Position mode. 1 Enable a fixed position-reference system as the reference origin (see Position Information in the Operator Reference Manual). 2 On the Sensors menu, click the Reference System Settings dialog. - Enable the transponder(s) on the target to be tracked. - Check the Mobile checkbox for the transponder if necessary (FANBEAM). 3 On the AutoPos menu, click the Follow Target dialog box: - In the Available list highlight the mobile transponder you wish to use, click Add to select it. Note
178278/A
When using Multi-Targeting, select the Operation mode. - Set the required Reaction limits and Position Filter values. - Click the Apply button to use the values entered in the Follow Target dialog box. 4 Press the Follow Target mode button twice: - The Follow Target status lamp is lit. - The Surge, Sway and Yaw status lamps are lit. - The reaction radius is displayed on the Posplot view as a circle around the filtered position of the mobile transponder. See Figure 2 (for Multi Targeting see Figure 3).
Follow Target Mode Operator Manual
9
Follow Target mode
As the mobile transponder moves, the vessel’s position setpoint remains unchanged. When the mobile transponder reaches the edge of the reaction radius circle, the position setpoint is updated automatically to restore the vessel to the same position relative to the target, and the reaction radius circle is redrawn around the new position of the mobile transponder.
Figure 2 Posplot view in Follow Target mode
Figure 3 Posplot view in Multi Target mode
10
Kongsberg Maritime
178278/A
Follow Target mode
When the Follow Heading operational mode is selected in Multi Targeting mode, a Target Deviation presentation is given in the General view, see Figure 4. The lines indicate a limit where a heading change will be initiated.
Figure 4 Target Deviation presentation in General view
5 HEADING CONTROL All of the standard methods for heading control are available as described in Changing the heading setpoint in the SDP (OS) Operator Reference Manual . In the Follow Target mode, choosing System Selected heading from the Change Heading dialog box will maintain the vessel at the heading that requires the minimum power in the current environmental conditions. System Selected Heading is not available in Multi Targeting mode when Follow Heading or Follow Position and Heading is selected.
178278/A
Follow Target Mode Operator Manual
11
Follow Target mode
6 POSITION CONTROL When in Follow Target mode, you can change the distance to the target whenever necessary. All of the standard methods for position control are available as described in Changing the position setpoint in the SDP (OS) Operator Reference Manual.
7 SPEED CONTROL See Speed Setpoint dialog and Position dialog, Speed page in the SDP (OS) Operator Reference Manual for more information.
8 ACCELERATION See Acceleration/Retardation Settings dialog in the SDP (OS) Operator Reference Manual for more information.
9 RATE OF TURN See Heading dialog, Rate Of Turn page in the SDP (OS) Operator Reference Manual for more information.
12
Kongsberg Maritime
178278/A
178278/A September 2004
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 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: (47) 32 28 50 00 Telefax: (47) 32 28 50 10 Service: (47) 32 28 59 50 http://www.kongsberg.com
Document revisions Checked by
Written by
Approved by
Rev
Date
Sign
Date
Sign
Date
Sign
A
28.09.04
EGj
28.09.04
AMM
28.09.04
BG
B C D E F The original signatures are recorded on the company’s logistic data system.
Document history Rev. A
This version describes the Follow Target mode of the SDP system at SDP basis software Rel. 6.1.
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: [email protected]
178278/A
Follow Target Operator Manual
3
Table of contents 1
FOLLOW TARGET MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
2
FOLLOW TARGET DIALOG BOX . . . . . . . . . . . . . . . . . . . . . . .
6
3
MULTI TARGETING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
4
ENTERING FOLLOW TARGET MODE . . . . . . . . . . . . . . . . . .
9
5
HEADING CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
6
POSITION CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
7
SPEED CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
8
ACCELERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
9
RATE OF TURN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
4
Kongsberg Maritime
178278/A
Follow Target mode
1 FOLLOW TARGET MODE The Follow Target mode enables the vessel to automatically follow a moving target and keeps the vessel within a “position window” relative to the target. In Multi Target mode it is also possible to keep the vessel heading within a “heading window”. The moving target must be equipped with a mobile reference transponder or laser reflector in order for the SDP system to monitor its relative position. If, for example, the moving target is a Remotely Operated Vehicle, then the vessel must be equipped with a Hydroacoustic Position Reference (HPR) system in order for the SDP system to monitor its relative position. In addition to a mobile reference transponder on the target, an additional fixed position-reference system (such as DGPS) is required. Alternatively a fixed transponder (deployed on the seabed) can be used. You can define a circle of operation within which the target can move without causing the vessel to move. The vessel only moves when the target reaches the boundary of this circle. The radius of this circle (the “reaction radius”) can be up to 1000 m. The vessel moves when the target reaches the boundary of the circle
Vessel’s initial position
The target reaches the boundary of the reaction circle which causes the vessel to move
Target’s initial position The target moves within the reaction circle without causing the vessel to move
Figure 1 Follow Target mode
178278/A
Follow Target Mode Operator Manual
5
Follow Target mode
2 FOLLOW TARGET DIALOG BOX To display the Follow Target dialog box, click Follow Target on the AutoPos menu.
Mobile Targets
In the Available or Selected list, highlight the transponder you want to use and click the Add or Rem button to add or remove the transponder as required. Please note that only one transponder can be selected at a time.
Reaction Limits
Position Defines the reaction limit for position (reaction circle). The value entered (between 0 and 1000m) is the radius of the reaction circle for the mobile target.
Position Filter
Filter constant Enter the required filter constant (0-100%) to increase or decrease the degree of position filtering. A high percentage (50-100%) gives a high filtering which is recommended if there is noise or unstable measurements from the transponders. A low percentage (0-50%) gives a low filtering which should be used if measurements from the transponders are stable and reliable.
6
Kongsberg Maritime
178278/A
Follow Target mode
3 MULTI TARGETING The Follow Target mode with Multi Targeting enables a DP vessel to follow a moving structure or vessel equipped with two or more mobile transponders. The moving structure can be followed both with respect to position and heading. If your vessel is configured for Multi Targeting, the dialog box will look similar to the one shown here. To display the Follow Target dialog box, click Follow Target on the AutoPos menu.
Mobile Targets
178278/A
In the Available or Selected list, highlight the transponder(s) you want to use and click the Add or Rem button to add or remove the transponder(s) as required.
Follow Target Mode Operator Manual
7
Follow Target mode
Operation mode
Follow Position Choose this to make the vessel follow the moving structure with respect to position. The vessel will always have the same position relative to the moving structure, while maintaining the same absolute heading (setpoint) as shown in the following illustration.
(CD3139)
Follow Heading Choose this to make the vessel follow the moving structure with respect to heading. The vessel will always have the same heading relative to the moving structure, while maintaining the same absolute position as shown in the following illustration.
(Cd3140)
Follow Position and Heading Choose this to make the vessel follow the moving structure with respect to both position and heading. The vessel will always have the same position and heading relative to the moving structure as shown in the following illustration.
(Cd3141)
8
Kongsberg Maritime
178278/A
Follow Target mode
Reaction Limits
Position Defines the reaction limit for position (reaction circle). The value entered (between 0 and 1000m) is the radius of the reaction circle for the mobile target. Heading Defines the vessel’s reaction sector for the heading relative to the moving structure.
Position Filter
Filter constant Enter the required filter constant (0-100%) to increase or decrease the degree of position filtering. A high percentage (50-100%) gives a high filtering which is recommended if there is noise or unstable measurements from the transponders. A low percentage (0-50%) gives a low filtering which should be used if measurements from the transponders are stable and reliable.
4 ENTERING FOLLOW TARGET MODE You can enter the Follow Target mode from either the Joystick or Auto Position mode. 1 Enable a fixed position-reference system as the reference origin (see Position Information in the Operator Reference Manual). 2 On the Sensors menu, click the Reference System Settings dialog. - Enable the transponder(s) on the target to be tracked. - Check the Mobile checkbox for the transponder if necessary (FANBEAM). 3 On the AutoPos menu, click the Follow Target dialog box: - In the Available list highlight the mobile transponder you wish to use, click Add to select it. Note
178278/A
When using Multi-Targeting, select the Operation mode. - Set the required Reaction limits and Position Filter values. - Click the Apply button to use the values entered in the Follow Target dialog box. 4 Press the Follow Target mode button twice: - The Follow Target status lamp is lit. - The Surge, Sway and Yaw status lamps are lit. - The reaction radius is displayed on the Posplot view as a circle around the filtered position of the mobile transponder. See Figure 2 (for Multi Targeting see Figure 3).
Follow Target Mode Operator Manual
9
Follow Target mode
As the mobile transponder moves, the vessel’s position setpoint remains unchanged. When the mobile transponder reaches the edge of the reaction radius circle, the position setpoint is updated automatically to restore the vessel to the same position relative to the target, and the reaction radius circle is redrawn around the new position of the mobile transponder.
Figure 2 Posplot view in Follow Target mode
Figure 3 Posplot view in Multi Target mode
10
Kongsberg Maritime
178278/A
Follow Target mode
When the Follow Heading operational mode is selected in Multi Targeting mode, a Target Deviation presentation is given in the General view, see Figure 4. The lines indicate a limit where a heading change will be initiated.
Figure 4 Target Deviation presentation in General view
5 HEADING CONTROL All of the standard methods for heading control are available as described in Changing the heading setpoint in the SDP (OS) Operator Reference Manual . In the Follow Target mode, choosing System Selected heading from the Change Heading dialog box will maintain the vessel at the heading that requires the minimum power in the current environmental conditions. System Selected Heading is not available in Multi Targeting mode when Follow Heading or Follow Position and Heading is selected.
178278/A
Follow Target Mode Operator Manual
11
Follow Target mode
6 POSITION CONTROL When in Follow Target mode, you can change the distance to the target whenever necessary. All of the standard methods for position control are available as described in Changing the position setpoint in the SDP (OS) Operator Reference Manual.
7 SPEED CONTROL See Speed Setpoint dialog and Position dialog, Speed page in the SDP (OS) Operator Reference Manual for more information.
8 ACCELERATION See Acceleration/Retardation Settings dialog in the SDP (OS) Operator Reference Manual for more information.
9 RATE OF TURN See Heading dialog, Rate Of Turn page in the SDP (OS) Operator Reference Manual for more information.
12
Kongsberg Maritime
178278/A
Related documents
03 Kongsberg SDP Follow Target Mode 61
12 Pages • 1,988 Words • PDF • 413.7 KB
OC 61-2020 - MAT. HIDRAÚLICO - 03-09-20
1 Pages • 288 Words • PDF • 672 KB
Hellen Gomes Wenk Suassuna - _ 61
1 Pages • 58 Words • PDF • 441.8 KB
altaro.com-VMware EVC Mode Explained
10 Pages • 1,210 Words • PDF • 402.8 KB
Coil 1 in Local Mode
1 Pages • 66 Words • PDF • 9.4 KB
Depeche Mode Anthology - Musicbook (1991)
207 Pages • PDF • 61.8 MB
Genética aula 03 (03)
3 Pages • 1,187 Words • PDF • 463.2 KB
61 ª aula - Análise sintática composto
3 Pages • 613 Words • PDF • 72.5 KB
Aula Digitada 03 Parte 03
3 Pages • 2,057 Words • PDF • 123 KB
Suno-fiis-130 - Nova Emissão (Follow-on) LVBI11 – VBI Logístico
7 Pages • 1,539 Words • PDF • 388.4 KB
Aula 61 - Gramática - Colocação Pronominal - Prof. Claiton Natal
5 Pages • 901 Words • PDF • 323.3 KB
SIMULADO 03 DO WAGUINHO
2 Pages • 785 Words • PDF • 346.5 KB