JRC Alphatron Marine AlphaDynaPos User manual

AlphaDynaPos
Ship Automation and Navigation system
Operation Manual
www.jrc.am

2 Contents
Contents
I Preface..........................................................................................................6
I.1 Revision History........................................................................................................................................................6
I.2 General......................................................................................................................................................................6
I.3 Glossary.................................................................................................................................................................... 7
I.3.1 Units................................................................................................................................................................. 7
I.3.2 Abbreviations and Explanation of Terms.........................................................................................................8
II Cautions.................................................................................................... 10
III Introduction..............................................................................................11
III.1 Communication Overview..................................................................................................................................... 11
III.2 Communication Matrix...........................................................................................................................................12
III.2.1 DP Control Commands to Thrusters 1a, 2a, 3a, 4a, 5a, 6a........................................................................12
III.2.2 Thruster Feedback to DP Controllers 1b, 2b, 3b, 4b, 5b, 6b...................................................................... 12
III.2.3 JC Control Commands to Thrusters 1c, 2c, 3c, 4c, 5c, 6c......................................................................... 12
III.2.4 Thruster Feedback to JC Controllers 1d, 2d, 3d, 4d, 5d, 6d.......................................................................12
III.2.5 Settings Synchronize Between DP Stations 13a, 13b.................................................................................12
III.2.6 Status DP Stations to Back-Up DP Station 21a, 21b..................................................................................12
III.2.7 Status DP Stations JC Station 23a, 23b.....................................................................................................12
III.2.8 Status JC Station DP Stations 24a, 24b.....................................................................................................12
III.3 System Overview (DP2)........................................................................................................................................13
III.4 Sensor Overview...................................................................................................................................................14
III.5 System Principle - Schematic Overview...............................................................................................................15
III.6 System Diagram....................................................................................................................................................16
III.6.1 Motion Controller..........................................................................................................................................17
III.6.2 Normalize..................................................................................................................................................... 17
III.6.3 Position Controller........................................................................................................................................18
III.6.4 Velocity Controller........................................................................................................................................18
III.6.5 Gain..............................................................................................................................................................19
III.6.6 Vector Select................................................................................................................................................19
III.6.7 Force Calculation......................................................................................................................................... 19
III.6.8 Thruster Allocation....................................................................................................................................... 20
III.6.9 Thruster Ramp............................................................................................................................................. 20
III.6.10 Current Calculation.....................................................................................................................................21
1 Installation.................................................................................................22
1.1 Operator Stations...................................................................................................................................................22
1.1.1 Power Distribution Panels.............................................................................................................................22
1.1.2 DP Operator Panel........................................................................................................................................23
1.1.2.1 Joystick and Tracker ball.....................................................................................................................23
2 Operation...................................................................................................24
2.1 DP Control Transfer...............................................................................................................................................24
2.1.1 Before control transfer for usage in DP2 mode............................................................................................24
2.1.2 Control Transfer from Individual Control to DP/JC.......................................................................................24
2.1.3 Control Transfer from DP to JC Panel.........................................................................................................25
2.1.4 Control Transfer from DP/JC to Individual Control.......................................................................................25

3 Contents
2.1.5 Auto Control Transfer on Fail Condition.......................................................................................................25
2.1.6 Simulation Mode............................................................................................................................................25
2.1.6.1 Exit Simulation Mode...........................................................................................................................26
2.2 Control Modes........................................................................................................................................................27
2.2.1 Change Control Mode on a Station..............................................................................................................27
2.2.2 Manual Joystick Mode.................................................................................................................................. 27
2.2.3 Auto Joystick Mode.......................................................................................................................................28
2.2.4 Auto Positioning Mode..................................................................................................................................29
2.2.4.1 Operation Mode: Consequences Analysis...........................................................................................31
2.2.5 Auto Heading Mode......................................................................................................................................31
2.3 DP Workstation...................................................................................................................................................... 32
2.3.1 Map................................................................................................................................................................32
2.3.1.1 Map Section......................................................................................................................................... 33
2.3.1.2 Thrusters Section.................................................................................................................................34
2.3.1.3 Heading Setting Section...................................................................................................................... 35
2.3.1.4 Position Settings Section.....................................................................................................................35
2.3.1.5 Heading and Position Keeping Gain, Speed and Alarm Settings........................................................36
2.3.1.6 Joystick Gain Setting........................................................................................................................... 36
2.3.1.7 Environmental Settings........................................................................................................................ 37
2.3.1.8 Wind Compensation.............................................................................................................................37
2.3.1.9 Current Compensation.........................................................................................................................37
2.3.1.10 Alarm Area and Dimming...................................................................................................................38
2.3.2 Tracking.........................................................................................................................................................38
2.3.2.1 General Screen Description.................................................................................................................39
2.3.2.2 Creating and Running a Track............................................................................................................ 41
2.3.3 PMS...............................................................................................................................................................43
2.3.4 Capability.......................................................................................................................................................44
2.3.5 Sensors......................................................................................................................................................... 45
2.3.5.1 Available Sensors.................................................................................................................................45
2.3.5.2 Motion Sensor......................................................................................................................................45
2.3.5.3 Heading Sensor....................................................................................................................................46
2.3.5.4 Wind Sensor.........................................................................................................................................46
2.3.6 Position..........................................................................................................................................................47
2.3.6.1 GPS Sensor......................................................................................................................................... 48
2.3.6.2 GPS Sensor weighing..........................................................................................................................48
2.3.6.3 Acoustic Sensor................................................................................................................................... 49
2.3.7 Follow............................................................................................................................................................50
2.3.7.1 Select Sensor for F.U. (Follow Up)......................................................................................................51
2.3.7.2 Set system to Auto Position Follow Mode...........................................................................................51
2.3.8 Simulation......................................................................................................................................................52
2.3.8.1 Setting Environment in Simulation mode.............................................................................................52
2.3.8.2 Setting GPS in Simulation mode.........................................................................................................53
2.3.8.3 Setting Laser or Radar in Simulation Mode........................................................................................ 53
2.4 Operational Usage................................................................................................................................................. 53
2.4.1 Screen Selection...........................................................................................................................................53
2.4.2 Set MAP View Preferences.......................................................................................................................... 54
2.4.2.1 Vessel Orientation in MAP Screen......................................................................................................54
2.4.2.2 North Up in MAP Screen.....................................................................................................................55
2.4.2.3 Relative View Vessel in MAP Screen..................................................................................................55
2.4.2.4 Absolute View Vessel in MAP Screen.................................................................................................55
2.4.2.5 Automatic Zoom in MAP Screen......................................................................................................... 55
2.4.2.6 Automatic Zoom OFF in MAP Screen.................................................................................................55
2.4.3 Turn on Day / Night Dimming.......................................................................................................................56
2.4.4 Silence Horn, Accept Alarms........................................................................................................................57
2.4.4.1 Confirm all Alarms................................................................................................................................57
2.4.5 Joystick Gain.................................................................................................................................................58
2.4.6 Wind Compensation......................................................................................................................................58
2.4.7 Current Compensation..................................................................................................................................58
2.4.8 Turn Thrusters On/Off...................................................................................................................................59
2.4.9 Position Sensor Calibration and Selection................................................................................................... 59
2.4.10 Heading Settings.........................................................................................................................................60

4 Contents
2.4.10.1 Change Heading Set Point................................................................................................................60
2.4.10.2 Change Rotation Speed.....................................................................................................................61
2.4.10.3 Change Heading Gain....................................................................................................................... 61
2.4.10.4 Change Heading Alarm Limit.............................................................................................................62
2.4.11 Auto Position Mode Settings.......................................................................................................................62
2.4.11.1 Auto Position Mode............................................................................................................................62
2.4.11.2 Change Position Set Point.................................................................................................................62
2.4.11.3 Change Between Relative and Absolute Position Adjustment...........................................................63
2.4.11.4 Change Position Set Point Relative to Vessel...................................................................................63
2.4.11.5 Change Position Set Point to North, South, East or West Direction..................................................64
2.4.11.6 Change Position Point to Any Direction............................................................................................ 65
2.4.11.7 Change Target Set Point entering Latitude Longitude Coordinates.................................................. 65
2.4.11.8 Change Position Set Point Using Joystick.........................................................................................66
2.4.11.9 Set Transfer Speed............................................................................................................................66
2.4.11.10 Change Position Gain......................................................................................................................67
2.4.11.11 Change Position Alarm Limit........................................................................................................... 67
2.4.12 Follow Mode................................................................................................................................................68
2.5 Operational Scenarios............................................................................................................................................69
2.5.1 Before Using Auto Position Nearby Other Objects.......................................................................................69
2.5.2 Vessel Losing Position..................................................................................................................................69
2.5.3 Losing Redundancy (DP2)............................................................................................................................69
2.5.4 Strong Current Force....................................................................................................................................69
2.5.5 Strong Wind Force........................................................................................................................................70
2.5.6 Warning for Loss in Worst Case Failure......................................................................................................70
2.5.7 DP2 Usage Nearby High Objects.................................................................................................................70
2.5.8 Alternative Wind Sensor Usage....................................................................................................................70
2.6 Diagnostics and Alarms.........................................................................................................................................70
2.6.1 Description.....................................................................................................................................................70
2.6.2 Alarm List and Alarm Handling.....................................................................................................................70
2.6.3 System Alarms..............................................................................................................................................71
2.6.4 Thruster Alarms.............................................................................................................................................72
2.6.5 Reference Sensor Alarms.............................................................................................................................73
2.6.6 Position Sensor Alarms.................................................................................................................................74
2.6.7 Heading Sensor Alarms................................................................................................................................75
2.6.8 Wind Sensor Alarms.....................................................................................................................................76
2.6.9 Operational Alarms........................................................................................................................................77
3 Maintenance..............................................................................................79
3.1 Planned Maintenance.............................................................................................................................................79
3.1.1 System Restart..............................................................................................................................................79
3.1.2 UPS...............................................................................................................................................................79
3.1.3 Check Free Disk Space................................................................................................................................79
3.1.4 Set Date and Time........................................................................................................................................80
3.1.5 Joystick Calibration....................................................................................................................................... 80
3.2 Special Maintenance..............................................................................................................................................81
3.2.1 USB Memory Stick........................................................................................................................................81
3.2.2 Log Files........................................................................................................................................................81
3.2.3 Sensor Communication.................................................................................................................................82
3.3 Troubleshooting......................................................................................................................................................83
3.3.1 Question: Cannot Take Control Even when system Seems Ready.............................................................83
3.3.2 Question: Wind Compensation Does Not Work........................................................................................... 83
3.3.3 Question: Use Full Bow and Stern Thruster.................................................................................................83
3.3.4 Question: Release Control of Thrusters.......................................................................................................83
3.3.5 Question: CamClient No Communication.....................................................................................................83
3.3.6 Question: DGPS Diagnostics, How is This Detected?................................................................................. 83
4 Appendices................................................................................................84
4.1 Appendix A: UPS Battery History..........................................................................................................................84

5 Contents
4.2 Appendix B: Checklist for Taking DP system into Operation................................................................................85

6 | Preface
I Preface
This operator guide is intended for DP operators using the AlphaDynaPos DP system. The AlphaDynaPos DP system
offers the functionality to control the heading and position keeping of the vessel. For heading keeping at least one bow
thruster and one gyro should be available. For position keeping at least the stern thrusters and a positioning device such
as DGPS must be available.
Rotation
ZSurge,
Ahead / Astern
(X)
Sway,
Portside / Starboard
(Y)
List, Roll Trim, Pitch Heave
I.1 Revision History
Revision Nr. Description Date
V1.0 First Issue
I.2 General
The AlphaDynaPos Dynamic Positioning system automatically maintains a vessel's position and heading by controlling
thrusters based upon data received from position reference systems, gyro compasses, wind sensors and pitch/roll
sensors. The Dynamic Tracking mode allows the ship to move along a predefined track at low speed as defined by the
operator.
The AlphaDynaPos Joystick Control system (JC) is an independent JC control station serving as a backup for the DP
control station. The functionality of the independent Joystick station is equal to the functionality of a single DP control
station.
Note The functionality of the independent Joystick station is manual joystick or joystick with heading keeping
and wind correction, but without position control.
The AlphaDynaPos DP and JC systems are perfectly suited for vessels that require IMO DP notations, as shown in
Table 1: IMO DP Notations on page 6.
LRS DP (CM), DP (AM), DP (AA)
BV DYNAPOS SAM, DYNAPOS AM/AT, DYNAPOS AM/AT R
DNV DYNPOS-AUTS, DYNPOS-AUT, DYNPOS-AUTR
ABS DPS-0, DPS-1, DPS-2
GL DP-0, DP-1, DP-2

7 | Preface
CCS DP-0, DP-1, DP-2
RMRS DYNPOS-0, DYNPOS-1, DYNPOS-2
Table 1: IMO DP Notations
Main advantages of the AlphaDynaPos DP Dynamic Positioning system:
1. Accurate positioning with up to 0.5 meter accuracy in combination with accurate DGPS and MRU (inclinometer),
which is used as a position reference.
The DGPS and Motion Reference Unit allows for accurate filtering and calculating of the actual position with the
DGPS signal and taking into account the actual movement of the vessel. Higher position accuracy can be achieved
with for example, a laser beam system.
2. Sea trial tuning and testing can be limited to three days maximum.
Parameter tuning is already done before dispatch from our factory by modeling of the ship and testing with a ship
simulator. In addition, during the sea trial our self-tuning DP algorithms greatly reduce the time needed on board.
3. Extremely reliable hardware by using only solid state components and 24VDC power supply.
The DP Workstation uses solid state disks running under the Windows-XP embedded operating system. The DP
Workstation (Marine PC, TFT screen and Printer) and all other components of the DP system are working with a
24VDC supply voltage with low power consumption.
4. Cost effective DP solution.
Reliable hardware that is field proven on hundreds of vessels, that allows for efficient and standard manufacturing in
large quantities. Therefore the advanced AlphaDynaPos Dynamic Positioning system, including navigation sensor
package, can be offered at a very attractive price.
I.3 Glossary
The Glossary lists an overview of Units of measurements and a table of abbreviations and explanation of terms used in
this manual.
I.3.1 Units
The AlphaDynaPos DP system works with the following units:
Unit Description
Distance Meters
Speed Knots: 1 knot is approximately 0.5 m/sec
1 Knot is 1 nautical mile per hour, 1 nautical mile = 1852
meter.
More precisely: 1 knot x 1852 / 3600 = 0.514 m/s
Heading / Bearing Angle in degrees from 0 to 360°. 0° is towards North, 180°
is towards South.
Thruster direction Angle in degrees from -180 to +180° relative to vessel. 0°
is towards Bow, -180 and 180° is towards stern.
Rotation speed °/min.

8 | Preface
I.3.2 Abbreviations and Explanation of Terms
Abbreviation Description
Apparent Wind Wind speed and angle relative to vessel, as measured by
Wind sensor (see also True Wind). Wind is displayed in
numeric values with direction ‘coming from’.
COG Course Over Ground, in degrees, from 0 to 360°, Bearing
(relative to world).
Check Box Software switch:
To turn On (selected status)
To turn Off (deselected status)
DP Operator panel Panel with small TFT graphics built-in with joystick and
rotation knob built-in alongside. The Operator panel can
be controlled by push buttons in the display frame canvas.
DP system Dynamic Positioning system. Equipment reading position
sensors for automatic control of thrusters.
Joystick
Lever next to the small graphics screen. It has
control axis forward to afterward for vessel motion bow to
stern and left to right for vessel motion port to starboard,
depending on how it is positioned, orientated, on the
vessel.
The rotation knob is integrated in the lever and
controls a third axis by turning the lever clockwise, or
counterclockwise.
LAT, Latitude Latitude in degrees (°) angle from
center of earth to north pole as positive, to south pole as
negative. Format is dd°mm.mmmmm.
dd: whole degrees.
mm.mmmmm: minutes of degrees with decimals.
(60 minutes in 1 degree).
LON, Longitude Longitude in degrees (°) angle from
center of earth to Greenwich (England). Prefixed with W
for West or E for East. Positive to east, negative to west.
Format is dd°mm.mmmmm.
dd: whole degrees.
mm.mmmmm: minutes of degrees with decimals.
(60 minutes in 1 degree).
Screen, Mimic, Graphic Graphic display with moving objects and updated process
values that represent actual status of system.
ROT Rate of Turn, heading change degrees per minute (°/min),
positive towards starboard, negative towards port.

9 | Preface
Abbreviation Description
SOG Speed Over Ground (knots), Absolute Speed (relative to
world).
True Wind Wind speed and angle relative to world, as measured by
device on land (see also apparent wind).

10 | Cautions
II Cautions
• Caution: Operation system.
• To safely operate this equipment, so as not to adversely affect the warranty, only certified personnel should
operate this system.