Semi-active heave compensation system for cabled underwater robot

Abstract

The invention discloses a semi-active heave compensation system for a cabled underwater robot. The semi-active heave compensation system for the cabled underwater robot comprises a passive heave compensation unit, an active heave compensation unit and an underwater armoured cable unit, wherein the passive heave compensation unit is used for compensating for static loads of the underwater armoured cable unit; the active heave compensation unit is used for compensating for dynamic loads of the underwater armoured cable unit; and the underwater armoured cable unit comprises an armoured cable, a relay, a mooring cable and the underwater robot. According to the semi-active heave compensation system for the cabled underwater robot, on the basis that the passive heave compensation unit compensates for the static loads, the active heave compensation unit plays an auxiliary compensation role so as to overcome the dynamic loads, the armoured cable of the underwater armoured cable unit moves in the direction opposite to the direction of heave movement of a mother ship, and thus tension fluctuation of the armoured cable and the oscillation amplitude of the relay are reduced. Through the mode of mechanically combining passive heave compensation and active heave compensation, the heave compensation efficiency of the system is further improved on the basis of reducing the energy consumption of the system, and the system is suitable for large-depth, large-load, long-time and high-efficiency heave compensation occasions of the cabled underwater robot.

Description

Technical field [0001] The invention relates to the marine technical field of deep-sea detection and operation technology, and more specifically, to a semi-active heave compensation system for a cabled underwater robot. Background technique [0002] In deep sea operations, the cabled underwater robot is connected to the repeater through a mooring cable, and the repeater is connected to the surface mother ship through a long armored cable. In severe sea conditions, the mother ship will continue to heave and sink with the waves. This heave motion is transmitted to the underwater repeater through the armored cable, causing the cabled underwater robot to collide with the repeater during the recovery or release process. It is necessary to adopt a suitable heave compensation system. At present, the heave compensation systems used by cable underwater robots are mainly passive heave compensation systems and active heave compensation systems. Among them, the passive heave compensation s...

AI Technical Summary

Problems solved by technology

This type of heave compensation system does not need to provide additional power and is widely used, but it requires huge equipment, low compensation accuracy, large lag, and limited compensation capability

When the sea conditions are more severe, the passive heave compensation system cannot meet the requirements for the stable retraction and deployment of the cabled underwater robot

Different from the passive heave method, the active heave compensation method needs to actively provide power, and use electric energy or hydraulic pressure to drive the winch or the sub-A frame to compensate the heave movement of the mother ship, so that the underwater repeater and the robot maintain a fixed or fixed position. The trajectory state has the advantages of high compensation accuracy and strong anti-interference performance, but the disadvantage is that the system is complex, and the energy consumption is too large when compensating for a large depth and heavy weight ROV system, and the compensation time should not be too long

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