Control method for active heave compensation of deep sea equipment

A technology of heave compensation and control method, which is applied in the direction of hoisting device, spring mechanism, etc., can solve the problems of offset working position of deep-sea equipment and so on.

Active Publication Date: 2017-06-27
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

[0002] When deep-sea equipment performs underwater operations, it needs to ensure that its position in the water remains unchanged. However, due to the influence of the waves on the sea surface, the mother ship will move up and down, thereby pulling the deep-sea equipment to shift its working position.

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  • Control method for active heave compensation of deep sea equipment
  • Control method for active heave compensation of deep sea equipment
  • Control method for active heave compensation of deep sea equipment

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Embodiment Construction

[0077] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0078] Such as figure 1 As shown, in the present invention, the heave displacement of the mother ship and the cable retracting displacement are given to the input end of the controller, and the control signal output by the controller is given to the bidirectional electronically controlled proportional valve of the hydraulic valve-controlled motor system, so that the winch can pass the retracting cable to compensate for the heave displacement of the mother ship.

[0079] Step 1: Real-time detection of the acceleration value a(k) of the acceleration of the heave movement of the mother ship, and the heave displacement signal s of the mother ship is obtained after secondary integration 1 (k);

[0080] Step 2, use the cable displacement sensor to measure the displacement signal s of the winch cable 2 (k);

[0081] Step 3, mother ship heave disp...

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Abstract

The invention relates to a control method for active heave compensation of deep sea equipment. The method comprises the following steps that a measured mother ship heave motion acceleration value is processed through two integrations, and a mother ship heave displacement signal is obtained; the mother ship heave displacement signal is compared with a measured cable taking-up and paying-off displacement value, and cable displacement amount and cable displacement amount change rate needing to be compensated by a heave compensation device are obtained; and a hybrid fuzzy P+ID controller is designed, and active heave compensation of the deep sea equipment is achieved with the signal cable displacement compensation amount and the cable displacement compensation amount change rate as input signals and an electric control proportional direction valve control signal of a taking-up and paying-off winch as an output signal. The method can be directly implanted to an existing taking-up and paying-off winch control system of the deep sea equipment, only an inertia measurement sensor and a cable displacement sensor need to be installed, the transformation cost is low, and expansibility is high. According to the method, a traditional PID proportional item is replaced with the hybrid fuzzy P+ID controller, and the control precision and robustness are improved.

Description

technical field [0001] The invention relates to an active heave compensation control system for deep-sea equipment, in particular to a control method for constant tension of a towed cable. Background technique [0002] When the deep-sea equipment is performing underwater operations, it needs to ensure that its position in the water remains unchanged. However, due to the influence of the waves on the sea surface, the mother ship will move up and down, thereby pulling the deep-sea equipment to shift its working position. In order to offset the influence of the heave movement of the mother ship on the deep-sea equipment, it is necessary to have a heave compensation function for the retractable winch, so that when the mother ship moves up and down with the waves, the operating position of the deep-sea equipment remains unchanged through the operation of retracting and releasing cables. Therefore, the heave compensation system plays a very important role in ROV submersible operat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66D1/48B66D1/60
CPCB66D1/485B66D1/60
Inventor 陈琦张奇峰张巍冀萌凡
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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