Four degrees of freedom (DOF) dynamic positioning device of deep submergence rescue vehicle (DSRV) and positioning control method

Abstract

The invention provides a four degrees of freedom (DOF) dynamic positioning device of a deep submergence rescue vehicle (DSRV) and a positioning control method. The device comprises three PC104 bus computers, a control box, a high-frequency short baseline positioning system, a low-frequency short baseline positioning system, a compass, six thrusters, a filter, control and thrust allocation algorithm and a digital / analog conversion board; wherein, the high-frequency short baseline positioning system and the low-frequency short baseline positioning system are connected with a data processing computer; the control box is connected with an integrated display computer; the compass and the six thrusters are connected with a real-time control computer; the filter, the control and thrust allocation algorithm and the digital / analog conversion board are loaded into the real-time control computer; the three computers are connected by an Ethernet. The dynamic positioning system can realize four DOF dynamic positioning (X direction, Y direction, Z direction and heading) of the DSRV and is convenient for the operators to monitor the entire dynamic positioning process in real time. The rescue process can be played back after the rescue work is finished, thus being convenient for the research.

Description

technical field [0001] The invention relates to a dynamic positioning system for a deep submersible lifeboat, in particular to a dynamic positioning system for realizing the docking between a deep submersible lifeboat and a supported submarine through supervisory control software. Background technique [0002] With the advancement of science and technology, submarine technology has also been greatly developed, and the performance of submarines has been greatly improved. However, looking back at the development history of submarines, it is found that more than 170 accidents have occurred since the submarine was invented, and many crew members died as a result. For the submarine accident problem, many countries are studying the method of saving the life of the crew in the submarine. The most used method in the submarine rescue process is the deep-diving lifeboat counterpart rescue. Pair rescue is a relatively effective lifesaving method, but in some cases the marine environm...

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Problems solved by technology

However, this dynamic positioning system can only be applied to surface ships to achieve dynamic positioning of three degrees of freedom, and there is no integrated display system; US Patent US3857351 describes a device applied to deep-submersible lifeboat vehicles, which is divided into two parts, The front part contains a sonobuoy, which is used to guide the deep diving lifeboat to the designated position and a mechanical lock, which is used to fix the deep diving lifeboat on the carrier; the rear part also contains a mechanical lock, which is used to fix the deep diving lifeboat and the carrier; U.S. Patent US3507241 describes a device for retracting a deep-diving lifeboat. The device is installed on a catamaran and is located in the middle of the two hulls of the catamaran. The device can be used to recover the deep-diving boat very conveniently. Lifeboat; Feng Sumei of Bohai Ship Vocational and Technical College published an article "VS468 Three-purpose Workboat Dynamic Positioning / Joystick System" in "Ship" (No. 3, 2003), which introduced a Norwegian dynamic positioning system. Including power supply system, control system, thrust system and sensor system, etc., but this system can only be applied to surface ships to achieve three-degree-of-freedom dynamic positioning

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