A simulation test method for underwater hoisting and deployment of a deep-sea operation platform

Abstract

A method for simulating the underwater hoisting and deployment test of a deep-sea operation platform. S1: Install the underwater hoisting and deployment simulation test device for the deep-sea operation platform, and conduct the underwater static equilibrium of the underwater platform test model; then conduct the debugging of the maneuvering control parameters in still water. S2: Conduct the hovering positioning control debugging during the cable retraction process. The initial state of the model maintains a set height of -0.3 m, the pitch angle and roll angle are maintained at 0°, the initial cable length is 4 m to 6 m, and the underwater electronic cabin model is placed loosely on the bottom of the pool, and the cable retraction speed is set. S3: Start the thruster, keep the model at the set height, the pitch angle and roll angle are maintained at 0°, retract the cable at the set speed, and respectively debug the automatic control parameters of pitching, rolling and heaving to achieve satisfactory accuracy. S4: After completing a certain set cable retraction speed, change the cable retraction speed, and respectively debug the automatic control parameters of pitching, rolling and heaving to achieve satisfactory accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of deep - sea equipment, and in particular to a simulation test method for underwater lifting and deployment of a deep - sea operation platform. Background Art

[0002] The deep - sea operation platform is equipped with a lifting device and dives underwater. It hoists, deploys, or retrieves an underwater sub - sea electronic cabin through underwater hovering, featuring being unaffected by sea surface wind and waves and having strong concealment. During the underwater lifting process, affected by deep - sea currents, the deep - sea operation platform, the lifting cable, and the sub - sea electronic cabin form a complex dynamic coupling system. The prediction of its operation process is an important theoretical support for the successful implementation of actual engineering operations.

[0003] In the prior art, the motion response process of the deep - sea operation platform is mainly predicted through numerical calculations and simulations, but there is a lack of effective test methods for verification. Therefore, it is necessary to build a test system capable of simulating the underwater lifting operation scenario to verify the theoretical model of the motion response prediction of deep - sea lifting and deployment under the influence of deep - sea currents. Summary of the Invention

[0004] The applicant of the present invention aims at the above - mentioned shortcomings in the existing production technology and provides a simulation test method for underwater lifting and deployment of a deep - sea operation platform, thereby facilitating the conduct of motion response tests during the underwater lifting and deployment of a deep - sea operation platform in a sea - current environment, with convenient operation and high test accuracy.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A simulation test method for underwater lifting and deployment of a deep - sea operation platform includes the following operating steps:

[0007] S1. Preparation work before the test:

[0008] Install the simulation test device for underwater lifting and deployment of the deep - sea operation platform. Install the hoisting winch at the bottom of the underwater platform test model, and then conduct underwater static equilibrium of the underwater platform test model;

[0009] Then conduct inertia debugging on the underwater platform test model;

[0010] Then conduct debugging of the maneuvering control parameters in still water;

[0011] S2. Hovering positioning control debugging during the cable - retrieving process. The initial state of the model maintains a set height of - 0.3 m, the pitch angle and roll angle remain at 0°, the initial length of the cable is 4 m - 6 m, the sub - sea electronic cabin model is placed loosely on the bottom of the pool, and the cable - retrieving speed is set;

[0012] S3. Start the thruster, keep the model at the set height, with the pitch angle and roll angle remaining at 0°, pay out the cable at the set speed, and respectively debug the automatic control parameters for pitch, roll, and heave until satisfactory accuracy is achieved.

[0013] S4. After completing a certain set cable payout speed, change the cable payout speed and respectively debug the automatic control parameters for pitch, roll, and heave until satisfactory accuracy is achieved.

[0014] Its further technical solution lies in:

[0015] In S1, the debugging of the maneuvering control parameters in still water includes the debugging of the horizontal plane positioning control parameters and the vertical plane positioning control parameters.

[0016] For the debugging of the horizontal plane positioning control parameters, debug the automatic control parameters for longitudinal, lateral, and heading angles until satisfactory control accuracy is achieved; for the horizontal plane positioning control test, respectively give the position and azimuth angle, and control the underwater platform test model to automatically reach and maintain the target position and azimuth angle; for the debugging of the vertical plane positioning control parameters, conduct a manual control test, use the handle to control the pitch, roll angles, and heave displacement of the model, verify the effectiveness of the thrust optimization distribution algorithm in the vertical plane, respectively debug the automatic control parameters for pitch, roll, and heave until satisfactory control accuracy is achieved, and for the vertical plane positioning control test, respectively give the pitch and heave height, and control the model to automatically reach and maintain the target height and attitude angle.

[0017] The structure of the underwater lifting and deployment simulation test device for the deep - sea operation platform is as follows: an underwater platform test model, an underwater platform test model electronic tank and an optical fiber gyro are installed inside the underwater platform test model. The bottom surface of the underwater platform test model is installed with a hoisting winch and a hoisting winch electronic tank through fasteners. The hoisting winch electronic tank is connected and communicates with the underwater platform test model electronic tank through a watertight cable; a total reflection prism is installed on the top surface of the underwater platform test model through a pole, and the total reflection prism extends out of the water surface; a tension sensor is installed at the central axis of the guiding roller of the hoisting winch. The hoisting cable bypasses the guiding roller and is connected to the seabed electronic cabin model. An encoder is installed at one end of the drum of the hoisting winch; it also includes a laser total station and a human - machine interaction unit connected by a cable.

[0018] The seabed electronic cabin model is pre - connected and fixed to the hoisting cable on land. During the test, the underwater platform test model reels in and out the seabed electronic cabin model through the hoisting winch.

[0019] The pole is made of lightweight carbon fiber.

[0020] It also includes a simulation test system for underwater lifting and deployment of a deep - sea operation platform. The specific structure is as follows: It includes a water - surface part and an underwater part. The water - surface part includes a human - machine interaction unit and an optical system. The underwater part includes a model control unit. The model control unit is connected to a fiber optic gyro and a hoisting winch control unit. The hoisting winch control unit is connected to a tension sensor, an encoder, a hoisting winch, and a drum motor. The model control unit is also connected to a propulsion system. It also includes a reflecting prism. The reflecting prism is connected to the optical system, and the optical system is connected to the human - machine interaction unit.

[0021] The beneficial effects of the present invention are as follows:

[0022] The structure of the present invention is compact, reasonable, and easy to operate. It can directly scale - down and truly simulate the underwater lifting and deployment operation scenarios of the deep - sea operation platform at different flow velocities, reducing the gap between test data and actual operation data. Through this test system, it is possible to effectively verify, analyze, and evaluate the theoretical model of the motion response prediction of the deep - sea operation platform during the underwater lifting and deployment process, providing a new method and new means for the motion response prediction and control algorithm verification of deep - sea lifting and deployment operations. Brief Description of the Drawings

[0023] Figure 1 It is a schematic structural diagram of the simulation test device for underwater lifting and deployment of the deep - sea operation platform of the present invention.

[0024] Figure 2 It is a schematic structural diagram of the simulation test system for underwater lifting and deployment of the deep - sea operation platform of the present invention.

[0025] Wherein: 1. Underwater platform test model; 2. Hoisting winch; 3. Sub - sea electronic cabin model; 4. Hoisting cable; 5. Hoisting winch electronic tank; 6. Underwater platform test model electronic tank; 7. Tension sensor; 8. Total reflection prism; 9. Encoder; 10. Fiber optic gyro. Detailed Embodiments

[0026] The following combines the drawings to illustrate the detailed embodiments of the present invention.

[0027] As Figure 1 and Figure 2 shown, the simulation test method for underwater lifting and deployment of the deep - sea operation platform in this embodiment includes the following operating steps:

[0028] S1. Preparation work before the test:

[0029] Install the simulation test device for underwater lifting and deployment of the deep - sea operation platform. Install the hoisting winch 2 at the bottom of the underwater platform test model 1, and then perform underwater static equilibrium of the underwater platform test model 1.

[0030] Then conduct inertia debugging on the underwater platform test model 1.

[0031] Then, debug the maneuvering control parameters in still water;

[0032] S2. Hovering positioning control debugging during the cable retraction process. The initial state of the model maintains a set height of -0.3 m, the pitch angle and roll angle are maintained at 0°, the initial cable length is 4 m to 6 m, and the underwater electronic cabin model is placed loosely on the bottom of the pool. Set the cable retraction speed;

[0033] S3. Start the thruster, keep the model at the set height, the pitch angle and roll angle at 0°, retract the cable at the set speed, and debug the automatic control parameters of pitching, rolling, and heaving respectively to achieve satisfactory accuracy;

[0034] S4. After completing a certain set cable retraction speed, change the cable retraction speed, and debug the automatic control parameters of pitching, rolling, and heaving respectively to achieve satisfactory accuracy.

[0035] In S1, the debugging of the maneuvering control parameters in still water includes the debugging of the horizontal plane positioning control parameters and the vertical plane positioning control parameters.

[0036] Debugging of the horizontal plane positioning control parameters, debug the automatic control parameters of longitudinal, lateral, and heading angles to achieve satisfactory control accuracy; Horizontal plane positioning control test, respectively give the position and azimuth angle, and control the underwater platform test model 1 to automatically reach and maintain the target position and azimuth angle; Debugging of the vertical plane positioning control parameters, manual control test, use the handle to control the pitch, roll angles, and heave displacement of the model, verify the effectiveness of the thrust optimization distribution algorithm in the vertical plane, debug the automatic control parameters of pitching, rolling, and heaving respectively to achieve satisfactory control accuracy, and vertical plane positioning control test, respectively give the pitching and heave height, and control the model to automatically reach and maintain the target height and attitude angle.

[0037] The structure of the underwater lifting and deployment simulation test device for the deep-sea operation platform is as follows: the underwater platform test model 1, an underwater platform test model electronic tank 6 and an optical fiber gyroscope 10 are installed inside the underwater platform test model 1, a hoisting winch 2 and a hoisting winch electronic tank 5 are installed on the bottom surface of the underwater platform test model 1 through fasteners, and the hoisting winch electronic tank 5 is connected and communicated with the underwater platform test model electronic tank 6 through a watertight cable; a total reflection prism 8 is installed on the top surface of the underwater platform test model 1 through a pole, and the total reflection prism 8 extends out of the water surface; a tension sensor 7 is installed at the central axis of the guiding roller of the hoisting winch 2, the hoisting cable 4 bypasses the guiding roller and is connected to the underwater electronic cabin model 3, and an encoder 9 is installed at one end of the drum of the hoisting winch 2; It also includes a laser total station and a human-computer interaction unit connected by cables.

[0038] The underwater electronic cabin model 3 and the hoisting cable 4 are pre-connected and fixed on land. During the test, the underwater platform test model 1 retracts and releases the underwater electronic cabin model 3 through the hoisting winch 2.

[0039] The pole is made of a lightweight carbon fiber pole.

[0040] It also includes a simulation test system for underwater hoisting and deployment of a deep - sea operation platform. The specific structure is as follows: It includes a water - surface part and an underwater part. The water - surface part includes a human - machine interaction unit and an optical system. The underwater part includes a model control unit. The model control unit is connected to a fiber optic gyro 10 and a hoisting winch control unit. The hoisting winch control unit is connected to a tension sensor 7, an encoder 9, a hoisting winch, and a drum motor. The model control unit is also connected to a propulsion system. It also includes a reflecting prism. The reflecting prism is connected to the optical system, and the optical system is in communication with the human - machine interaction unit.

[0041] The specific structure and functions of the underwater hoisting and deployment simulation test device for the deep - sea operation platform of the present invention are as follows:

[0042] It mainly includes an underwater platform test model 1, a hoisting winch 2, a sub - sea electronic cabin model 3, a hoisting cable 4, a hoisting winch electronic tank 5, an underwater platform test model electronic tank 6, a tension sensor 7, a total reflection prism 8, an encoder 9, and a fiber optic gyro 10.

[0043] As Figure 1 shown, the hoisting winch 2 and the hoisting winch electronic tank 5 are installed at the bottom of the underwater platform test model 1 through bolts. The hoisting winch 2 and the hoisting winch electronic tank 5 are connected and communicate through a watertight cable. The underwater platform test model electronic tank 6 is installed inside the underwater platform test model 1. The hoisting winch electronic tank 5 and the underwater platform test model electronic tank 6 are connected and communicate through a watertight cable. The total reflection prism 8 is arranged in the middle of the underwater platform test model 1 through a lightweight carbon fiber pole and extends out of the water surface. The underwater platform test model 1 is also installed with a fiber optic gyro 10, and the position of the total reflection prism 8 in the lens coordinates can be obtained in real - time through a laser total station arranged on land, and combined with the fiber optic gyro 10 for calculation. A tension sensor 7 is installed at the center axis of the guide roller of the hoisting winch 2. When the hoisting cable 4 bypasses the guide roller, the real - time tension on the hoisting cable 4 can be measured. An encoder 9 is installed at one end of the drum of the hoisting winch 2, which can measure the length and speed of the cable winding and unwinding in real - time. The sub - sea electronic cabin model 3 and the hoisting cable 4 are pre - connected and fixed on land. During the test, the underwater platform test model 1 can hoist and lower the sub - sea electronic cabin model 3 through the hoisting winch 2.

[0044] The specific structure and functions of the underwater hoisting and deployment simulation test system for the deep - sea operation platform of the present invention are as follows:

[0045] As Figure 2 shown, the underwater hoisting simulation test system for the deep - sea operation platform is mainly divided into two parts: the water - surface part and the underwater part.

[0046] The water surface measurement system uses a total station, and the underwater measurement system uses a retroreflective prism 8, a fiber optic gyro 10 installed on the underwater platform test model 1, a tension sensor 7 installed in the guide roller of the hoisting winch 2, and an encoder 9 installed at one end of the drum.

[0047] The total station is connected to the human-machine interaction unit through a cable, and can obtain the position of the retroreflective prism 8 in the lens coordinates in real time, and perform calculations in combination with the fiber optic gyro 10 to obtain the real-time state of the underwater platform test model 1 during the test.

[0048] The information measured by the tension sensor 7 and the encoder 9 is calculated by the hoisting winch electronic tank 5 and then fed back to the underwater platform test model electronic tank 6 in real time.

[0049] The control system is divided into two parts: the water surface part and the underwater part. The water surface part is the human-machine interaction unit, which is responsible for setting control commands and recording test data; the underwater part is the underwater platform test model electronic tank 6 and the hoisting winch electronic tank 5. The underwater platform test model electronic tank 6 is responsible for collecting fiber optic gyro 10 signal commands, including data such as heading angle, pitch angle, and roll angle, and sending control commands for the thrusters and communicating with the hoisting winch electronic tank 5 in real time. The hoisting winch electronic tank 5 is responsible for collecting and calculating the cable length, cable speed information of the encoder 9 and the cable tension information of the tension sensor 7, and feeding it back to the underwater platform test model electronic tank 6, and sending control commands for the drum motor of the hoisting winch 2. At the same time, the information obtained by the underwater platform test model electronic tank 6 is transmitted back to the human-machine interaction unit in real time.

[0050] Before the test, the seabed electronic cabin model 3 needs to be connected to the hoisting cable 4 and in the retracted position, and the hoisting winch 2 is fixed at the bottom of the underwater platform test model 1.

[0051] During the deployment simulation test, the underwater platform test model 1 carries the hoisting winch 2 and dives and hovers at a certain depth underwater. After setting the target heading angle, target position coordinates, and target depth gauge attitude, the underwater platform test model 1 starts dynamic positioning control. According to the test requirements, set the flow rate to generate flow. After the flow rate is stable and the spatial positioning control of the underwater platform test model 1 is stable, control the hoisting winch 2 to pay out the cable at a set speed until the seabed electronic cabin model 3 touches the bottom. During this process, the underwater platform test model 1 continuously performs dynamic position control and records test data such as heading angle, pitch angle, roll angle, cable length and speed, and tension.

[0052] During the hoisting and recovery simulation test, the underwater platform test model 1 carrying the hoisting winch 2 floats on the water surface. Control the hoisting winch 2 to pay out the cable until the seabed electronic cabin model 3 touches the bottom. Control the underwater platform test model 1 to dive and hover at a certain depth underwater, making the hoisting cable 4 in a slack state. After setting the target heading angle, target position coordinates, and target depth gauge attitude, the underwater platform test model 1 starts the dynamic positioning control. According to the test requirements, set the flow velocity to generate the current. Wait until the flow velocity is stable and the spatial positioning control of the underwater platform test model 1 is stable, then control the hoisting winch 2 to take in the cable at a set speed. During this process, the underwater platform test model 1 continuously performs dynamic position control and records test data such as the heading angle, pitch angle, roll angle, cable length, cable speed, and tension.

[0053] In the actual application process, the underwater platform test model 1 follows the similarity criterion. The shape satisfies geometric similarity, that is, the shape of the main attachment of the model is geometrically similar to that of the actual underwater platform, and the height of the model's center of gravity and the height of the underwater metacenter are similar to those of the actual underwater platform; the underwater platform test model 1 is similar to the actual underwater platform in motion, that is, the corresponding attitude angles are equal; the underwater platform test model 1 is similar in dynamics and inertial force to the actual underwater platform.

[0054] The specific test process is as follows:

[0055] Test preparation:

[0056] First, install the hoisting winch 2 at the bottom of the underwater platform test model 1, and then perform the underwater static equilibrium of the underwater platform test model 1.

[0057] Then, conduct inertia debugging on the underwater platform test model 1.

[0058] Then, conduct the debugging of the maneuvering control parameters in still water, mainly including:

[0059] (a) Debugging of the horizontal plane positioning control parameters:

[0060] Debug the automatic control parameters of the longitudinal, lateral, and heading angles to achieve satisfactory control accuracy; for the horizontal plane positioning control test, respectively give the position and azimuth angle (as shown in Table 1), and control the underwater platform test model 1 to automatically reach and maintain the target position and azimuth angle.

[0061] Table 1 Test content of horizontal plane positioning control

[0062] Longitudinal displacement maintained Current position Lateral displacement maintained Current position Heading angle displacement adjustment 0°，90°，270°

[0063] (b) Debugging of the vertical plane positioning control parameters:

[0064] Manual control test: Use the handle to control the pitch, roll angles, and heave displacement of the model to verify the effectiveness of the thrust optimization distribution algorithm in the vertical plane. Debug the automatic control parameters for pitching, rolling, and heaving respectively to achieve satisfactory control accuracy. Vertical plane positioning control test: Specify the pitch and heave heights respectively (as shown in Table 2), and control the model to automatically reach and maintain the target height and attitude angle.

[0065] Table 2 Contents of Vertical Plane Positioning Control Test

[0066] Pitch angle displacement adjustment (relative to the horizontal plane) -4°，-2°，0°，2°，4° Vertical displacement adjustment (relative to the horizontal plane) -0.5m

[0067] Hover positioning control debugging during cable retraction. The model maintains the set height (-0.3 m) in the initial state, the pitch angle and roll angle are kept at 0°, the initial cable length is 4 - 6 m, the subsea electronic cabin model is placed loosely on the pool bottom, and the cable retraction speed is set.

[0068] Start the thruster, keep the model at the set height, the pitch angle and roll angle at 0°, retract the cable at the set speed, and debug the automatic control parameters for pitching, rolling, and heaving respectively to achieve satisfactory accuracy.

[0069] After completing a certain set cable retraction speed, change the cable retraction speed and debug the automatic control parameters for pitching, rolling, and heaving respectively to achieve satisfactory accuracy.

[0070] The above description is an explanation of the present invention, not a limitation of the invention. For the scope defined by the present invention, refer to the claims. Any form of modification can be made within the protection scope of the present invention.

Claims

1. A simulation test method for underwater hoisting and laying of a deep - sea operation platform, Characterized in that: It includes the following operation steps: S1. Preparation work before the test: Install the simulation test device for underwater hoisting and laying of the deep - sea operation platform. Install the hoisting winch (2) at the bottom of the underwater platform test model (1), and then conduct underwater static equilibrium of the underwater platform test model (1); Then conduct inertia debugging on the underwater platform test model (1); Then conduct debugging of the maneuvering control parameters in still water; S2. Hovering and positioning control debugging during the cable - retrieving process. The initial state of the model is maintained at a set height of - 0.3m, the pitch angle and roll angle are maintained at 0°, the initial cable length is 4m - 6m, the seabed electronic cabin model is placed loosely at the bottom of the pool, and the cable - retrieving speed is set; S3. Start the thruster, keep the model at the set height, the pitch angle and roll angle are maintained at 0°, retrieve the cable at the set speed, and respectively debug the automatic control parameters of pitching, rolling and heaving to achieve satisfactory accuracy; S4. After completing a certain set cable - retrieving speed, change the cable - retrieving speed, and respectively debug the automatic control parameters of pitching, rolling and heaving to achieve satisfactory accuracy; The structure of the simulation test device for underwater hoisting and laying of the deep - sea operation platform is: an underwater platform test model (1). An underwater platform test model electronic tank (6) and an optical fiber gyroscope (10) are installed inside the underwater platform test model (1). The bottom surface of the underwater platform test model (1) is installed with a hoisting winch (2) and a hoisting winch electronic tank (5) through fasteners. The hoisting winch electronic tank (5) is connected and communicates with the underwater platform test model electronic tank (6) through a watertight cable; A total - reflection prism (8) is installed on the top surface of the underwater platform test model (1) through a pole, and the total - reflection prism (8) extends out of the water surface; A tension sensor (7) is installed at the central axis of the guiding roller of the hoisting winch (2). The hoisting cable (4) bypasses the guiding roller and is connected to the seabed electronic cabin model (3). An encoder (9) is installed at one end of the drum of the hoisting winch (2); It also includes a laser total - station and a man - machine interaction unit connected by a cable 2. A simulation test method for underwater hoisting and laying of a deep - sea operation platform as described in claim 1, Characterized in that: In S1, the debugging of the maneuvering control parameters in still water includes the debugging of the horizontal - plane positioning control parameters and the vertical - plane positioning control parameters.

3. A simulation test method for underwater hoisting and laying of a deep - sea operation platform as described in claim 2, Characterized in that: For the debugging of the horizontal - plane positioning control parameters, debug the automatic control parameters of longitudinal, lateral and heading angles to achieve satisfactory control accuracy; For the horizontal - plane positioning control test, respectively give the position and azimuth angle, and control the underwater platform test model (1) to automatically reach and maintain the target position and azimuth angle; For the debugging of the vertical - plane positioning control parameters, conduct a manual control test, use the handle to control the pitch, roll angles and heave displacement of the model, verify the effectiveness of the thrust optimization distribution algorithm in the vertical plane, and respectively debug the automatic control parameters of pitching, rolling and heaving to achieve satisfactory control accuracy. For the vertical - plane positioning control test, respectively give the pitching and heave height, and control the model to automatically reach and maintain the target height and attitude angle.

4. A method for simulating the underwater lifting and deployment test of a deep-sea operation platform as claimed in claim 1, characterized in that: The subsea electronics module model (3) and the lifting cable (4) are pre-connected and fixed on land. During the test process, the underwater platform test model (1) reels in and out the subsea electronics module model (3) through the lifting winch (2).

5. A method for simulating the underwater lifting and deployment test of a deep-sea operation platform as claimed in claim 1, characterized in that: The pole is made of lightweight carbon fiber.

6. A method for simulating the underwater lifting and deployment test of a deep-sea operation platform as claimed in claim 1, characterized in that: It further includes a simulation test system for underwater lifting and deployment of a deep-sea operation platform. The specific structure is as follows: it includes a water surface part and an underwater part. The water surface part includes a human-computer interaction unit and an optical system. The underwater part includes a model control unit. The model control unit is connected to a fiber optic gyroscope (10) and a lifting winch control unit. The lifting winch control unit is connected to a tension sensor (7), an encoder (9), a lifting winch, and a drum motor. The model control unit is also connected to a propulsion system; it further includes a reflecting prism. The reflecting prism is connected to the optical system, and the optical system is in communication with the human-computer interaction unit.

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