Method for monitoring the health of a tethered submersible

Abstract

The tethered submersible health status monitoring method described in this application belongs to the fields of tethered submersible health management, umbilical cable status monitoring, intelligent fault diagnosis, and tethered submersible power distribution control. It proposes a comprehensive solution for tethered submersible health status monitoring, fault early warning, and adaptive power supply adjustment. This solution performs unified modeling and joint sensing of umbilical cable load, fiber optic attenuation rate, and tension changes under various operating conditions; it distinguishes between normal operating condition fluctuations and abnormal fault changes, respectively achieving early warning of thruster and / or onboard equipment faults, umbilical cable fiber optic faults, and umbilical cable tension; based on the trend of current carrying capacity changes and a comprehensive health risk score, it adaptively optimizes and adjusts the submersible power supply to maintain the umbilical cable current carrying capacity within a safe range; and it continuously monitors the operational safety, diagnostic accuracy, and continuous operation capability of the tethered submersible system.

Description

Technical Field

[0001] This application relates to the fields of tethered submersible health management, umbilical cable condition monitoring, intelligent fault diagnosis, and tethered submersible power distribution control technology, and specifically proposes a novel method for monitoring the health status of tethered submersibles. Background Technology

[0002] With the continuous growth of deep-sea resource development, subsea pipeline inspection, and marine engineering maintenance tasks in my country, tethered underwater robots (ROVs) have become an indispensable key equipment in underwater operations. A tethered submersible system consists of a surface support unit, an umbilical cable, and the submersible itself. During underwater operations, various actions such as thruster operation, robotic arm work, the deployment of lighting or sonar equipment, load changes, and recovery towing all cause dynamic changes in system power requirements, umbilical cable current, umbilical cable stress state, and communication link status.

[0003] In existing technologies, status monitoring of tethered submersible systems often focuses on anomalies and alarms of single parameters, such as monitoring only current, tension, or optical link attenuation. These methods struggle to distinguish between normal operating condition fluctuations and abnormal fault changes, and the monitoring results typically lack effective linkage with power supply control, failing to implement proactive protection in the early stages of escalating risks. For example, a rise in current during high-power thruster acceleration is a normal operating condition response, but thruster jamming, blade damage, or load-side anomalies can also cause current increases; using only fixed thresholds for judgment easily leads to false alarms or missed alarms. Excessive umbilical cable tension may increase internal fiber microbending loss, but without establishing a coupling analysis mechanism between tension and optical attenuation, it is difficult to detect potential fiber optic faults in a timely manner. Therefore, the existing technologies for monitoring the status of tethered submersible systems have the following main drawbacks: (1) Existing monitoring methods are mostly focused on a single physical quantity, such as monitoring only the current through the umbilical cable, only the tension of the umbilical cable, or only the optical communication quality of the umbilical cable, which makes it difficult to fully reflect the true health status of the tethered submersible system; (2) Existing health status monitoring technologies for tethered submersible systems usually use fixed threshold alarms, which makes it difficult to distinguish between normal fluctuations and abnormal faults under different operating conditions, and is prone to false alarms or missed alarms; (3) Existing health status monitoring technologies for tethered submersible systems are mostly in the passive monitoring stage, and cannot actively adjust the power supply based on the monitoring results, making it difficult to prevent the current carrying capacity of the umbilical cable from approaching or exceeding the safe range for a long time; (4) Existing health status monitoring technologies for tethered submersible systems lack joint analysis of the correlation between the three heterogeneous data of umbilical cable current carrying capacity, optical attenuation rate, and tension, and cannot achieve collaborative identification of submersible equipment faults, umbilical cable optical fiber faults, and tension abnormalities.

[0004] Therefore, it is necessary to propose a multi-source heterogeneous data fusion method for different operating conditions of tethered submersible systems, to collaboratively analyze umbilical cable current carrying capacity, optical attenuation rate, and tension, and on this basis, to achieve equipment health status assessment, fault early warning, and adaptive optimization adjustment of power supply. In view of this, this application is hereby submitted. Summary of the Invention

[0005] The tethered submersible health status monitoring method described in this application aims to solve the problems of single monitoring dimensions, poor adaptability to operating conditions, insufficient diagnostic accuracy, and disconnect between monitoring and control in the existing technologies. It proposes a comprehensive solution for tethered submersible health status monitoring, fault early warning, and adaptive power supply adjustment. By performing multi-source fusion analysis that is compatible with umbilical cable current carrying capacity, electrical and optical transmission link status, and umbilical cable tension status, it effectively realizes fault early warning and adaptive power supply adjustment of the tethered submersible system based on the fusion results.

[0006] To achieve the aforementioned objectives, the tethered submersible health status monitoring method includes: unified modeling and joint sensing of umbilical cable load, fiber optic attenuation rate, and tension changes under various operating conditions; distinguishing between normal operating condition fluctuations and abnormal fault changes, and respectively realizing early warning of thruster and / or onboard equipment faults, umbilical cable fiber optic faults, and umbilical cable tension; adaptively optimizing and adjusting the diving power supply based on the trend of load change and comprehensive health risk score to keep the umbilical cable load within a safe range; and continuously monitoring the operational safety, diagnostic accuracy, and continuous operation capability of the tethered submersible system.

[0007] Furthermore, it includes the following steps:

[0008] Step 1) Data definition and sliding window modeling;

[0009] Set to obtain the umbilical cable current carrying capacity I at discrete sampling time k. k Fiber optical attenuation rate α k and umbilical cable tension T k This constitutes the original monitoring vector:

[0010]

[0011] In the formula, the subscript T represents matrix transpose;

[0012] Within a sliding window of length L, the window data sequence is defined as follows:

[0013]

[0014] Step 2) Preprocessing and feature extraction;

[0015] The monitoring signal is standardized using the following formula:

[0016]

[0017] Where, μ I μ α μ T These are the sample mean values ​​for umbilical cable current carrying capacity, fiber optic attenuation rate, and umbilical cable tension, respectively; σ I , σ α , σ T These are the sample standard deviations of umbilical cable current carrying capacity, optical fiber attenuation rate, and umbilical cable tension, respectively.

[0018] Within the k-th sliding time window of the umbilical cable, the mean, standard deviation, rate of change, root mean square value, and frequency domain complexity features are extracted to construct the fused feature vector f. k ;

[0019] Step 3) Construct a working condition identification model;

[0020] Set the submersible operating condition set as C represents the set of operating conditions for the submersible. These represent hovering, cruising, rapid maneuvering, robotic arm operation, heavy-load operation, and recovery / towing operation, respectively; based on the fused feature vector f k The posterior probability of each working condition is calculated using a classification model:

[0021]

[0022] Among them, g m (f k ) and g j (f k ) represents the working condition identification function, and represents the output value of the discriminant function corresponding to the m-th and j-th working condition categories, respectively;

[0023] Step 4) Establish a condition-related health baseline model;

[0024] For each working condition c m Establish a health baseline model for normal operating conditions, including but not limited to baseline values ​​for umbilical cable current, optical attenuation, and tension, as well as environmental compensation items.

[0025]

[0026] .

[0027] in, These are the current reference value, optical attenuation rate reference value, and umbilical cable tension reference value under the current operating conditions, respectively. This is the compensation amount caused by factors such as environmental changes, depth changes, or long-term drift.

[0028] Step 5) Calculate single-source outliers;

[0029] Step 6) Constructing anomalies in cross-modal consistency;

[0030] Step 7) Adaptive fusion of weights and comprehensive health index;

[0031] The three types of single-source anomalies and the differences between the three types of cross-modal data are uniformly incorporated into the comprehensive health assessment, and an adaptive weight vector is constructed as follows:

[0032]

[0033] in, Indicates three types of single-source anomaly degree; This represents the difference between three types of cross-modal data;

[0034] Each weight is dynamically updated based on the importance of the current operating condition, the intensity of the anomaly, and the reliability of the sensor source, specifically as follows:

[0035]

[0036] in, Let be the reliability of the j-th channel; The current strength of the j-th anomaly; The current strength of the j-th anomaly; This is the adjustment coefficient;

[0037] Define the comprehensive risk score R k With health index H k :

[0038]

[0039] When R k A gradual increase indicates a decline in the overall health of the system;

[0040] Step 8) Establish a fault diagnosis and early warning mechanism;

[0041] Step 9) Power distribution adaptive optimization adjustment;

[0042] Actively adjust the diving supply power based on the current change trend and comprehensive health risk score;

[0043] First, define the safe current-carrying boundary of the umbilical cable:

[0044]

[0045] Among them, I rated This is the rated safe current carrying capacity of the umbilical cable; I margin For dynamic safety margin; This represents the predicted or statistical fluctuation value of the current umbilical cable current.

[0046] Then, a short-time prediction of the umbilical cable current at the next moment is performed:

[0047]

[0048] Let the current power supply be P. k The goal is to solve for the power supply P at the next moment. k+1 To ensure that the umbilical cable current does not exceed the limit while meeting the operational requirements of the submersible and avoiding power surges, the following objective function is adopted:

[0049]

[0050] in, Used to suppress future umbilical cable current from exceeding safety limits; To meet the normal power requirements of the submersible as much as possible; Used to constrain the smoothness of submersible power changes;

[0051] The optimal adjustment value is obtained under the conditions of satisfying the upper and lower limits of the submersible power and the rate of change constraints, and a simplified closed-loop control law is adopted:

[0052]

[0053] Where sat(·) represents the saturation function, K P and K r To adjust the gain.

[0054] Step 2), fusing feature vector f k Represented as:

[0055]

[0056] in, These represent the characteristics of mean, standard deviation, rate of change, root mean square value, and frequency domain complexity, respectively.

[0057]

[0058] Constructing optical attenuation rate characteristics f α (k) and tension characteristics f T (k) is as follows:

[0059]

[0060]

[0061] The final fused feature vector is obtained as follows:

[0062]

[0063] In step 5), the abnormal differences in umbilical cable current, optical attenuation, and tension are constructed according to the following formulas:

[0064]

[0065]

[0066] The normalized outlier is defined as follows:

[0067]

[0068] in, These represent the current operating conditions. Reference values ​​for the standard deviation of current, fiber optic attenuation rate, and tension; This indicates the regularization of positive numbers to prevent the denominator from being zero or too small.

[0069] The saturation exception mapping is defined as follows:

[0070]

[0071]

[0072] Step 6), based on the current operating conditions. k As a condition, the coupling relationship between current and tension, and the joint damage relationship between tension and light attenuation are established; tension and current have the following coupling relationship:

[0073]

[0074] Therefore, the coupling anomaly is defined as:

[0075]

[0076] in, For working conditions k Below, the slope coefficient of the effect of umbilical cable current on tension; For working conditions k Below, the tension bias term corresponding to the umbilical cable current being the current reference;

[0077] The optical attenuation rate is defined as follows:

[0078]

[0079] Among them, e Iα (k) indicates the independence of optical fiber attenuation in the umbilical cable from current fluctuations; This is the normal optical attenuation baseline value; if excessive tension in the umbilical cable causes micro-bending, compression, or damage to the optical fiber, then it is defined as follows:

[0080]

[0081] Among them, e Tα (k) indicates whether abnormal umbilical cable tension has caused damage to the fiber optic link; Indicates the current operating condition. k Below, the slope coefficient of the effect of tension on light attenuation; Indicates the current operating condition. k Below, the optical attenuation bias term when the tension is at the reference level;

[0082] The corresponding anomaly degree is expressed as:

[0083]

[0084] Where, r IT (k), r Iα (k) and r Tα (k) represents the abnormal mapping of umbilical cable current, fiber optic attenuation, and tension, respectively.

[0085] In step 8), when the umbilical cable current anomaly increases significantly under the same working conditions, while the optical attenuation anomaly is not obvious, and the difference between current and tension coupling anomaly increases abnormally, it is determined to be a risk of failure of the submersible's thruster or onboard equipment.

[0086] Therefore, the fault score is defined as follows:

[0087]

[0088] in, These represent the weighting coefficients of umbilical cable current anomaly in submersible equipment fault scoring, current-tension coupling anomaly in submersible equipment fault scoring, and light attenuation anomaly suppression weighting coefficients in submersible equipment fault scoring, respectively. These represent the anomaly of the umbilical cable current, the anomaly of the current-tension coupling, and the anomaly of the optical attenuation at time k, respectively.

[0089] When the following conditions are met: hour, If the maximum safety threshold is preset, then a device fault warning signal will be output.

[0090] When the optical attenuation of the umbilical cable continues to rise abnormally, and the difference between the tension and optical attenuation coupling values ​​also rises abnormally, it is determined that the optical fiber in the umbilical cable is at risk of degradation or damage. The fault score can be defined as follows:

[0091]

[0092] in, These represent the weighting coefficients of optical fiber attenuation anomaly in optical fiber fault scoring, tension and optical attenuation coupling anomaly in optical fiber fault scoring, and current anomaly suppression weighting coefficients in optical fiber fault scoring, respectively. Let these represent the umbilical cable fiber fault score, optical attenuation anomaly, and optical attenuation anomaly at time k, respectively; when: When this happens, a fiber optic fault warning signal will be output.

[0093] This application proposes a novel electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the above-described method for monitoring the health status of a cable-stayed submersible.

[0094] This application proposes a novel computer-readable storage medium storing a computer program that, when executed, implements the aforementioned method for monitoring the health status of a tethered submersible.

[0095] In summary, this application has the following advantages and beneficial effects compared with the prior art:

[0096] 1. This application demonstrates excellent overall control performance in complex underwater environments and various operating conditions, providing an efficient solution for high-precision and high-reliability control of ROVs.

[0097] 2. This application realizes the collaborative monitoring and fusion analysis of three types of heterogeneous state data of submersible system umbilical cable current carrying capacity, optical attenuation rate and tension, which significantly improves the integrity of system state perception.

[0098] 3. This application can effectively distinguish between normal operation fluctuations and abnormal fault changes by identifying operating conditions and modeling operating condition baselines, thereby significantly improving the accuracy of early warning.

[0099] 4. This application can achieve proactive optimization of the submersible's power supply and distribution through an integrated closed-loop mechanism of health assessment and power distribution regulation, so as to meet the submersible's operational needs while saving energy output.

[0100] 5. This application is applicable to different types of tethered submersible systems and has good engineering feasibility and scalability. Attached Figure Description

[0101] Figure 1 This is a logical diagram of the tethered submersible health status monitoring method described in this application; Detailed Implementation

[0102] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described below in conjunction with the accompanying drawings and embodiments. Many specific details are set forth in the following description to provide a thorough understanding of this application; however, this application may be implemented in other ways than those described herein, and therefore, this application is not limited to the specific embodiments disclosed below.

[0103] Example 1: This application proposes a novel method for monitoring the health status of a tethered submersible, including unified modeling and joint sensing of changes in umbilical cable current carrying capacity, optical fiber attenuation rate, and tension under various operating conditions.

[0104] It distinguishes between normal operating condition fluctuations and abnormal fault changes, and respectively realizes early warning of thruster / onboard equipment faults, umbilical cable fiber optic faults, and umbilical cable tension.

[0105] Based on the trend of current carrying capacity changes and the comprehensive health risk score, the diving supply power is adaptively optimized and adjusted to keep the current carrying capacity of the umbilical cable within a safe range.

[0106] Continuously monitor the operational safety, diagnostic accuracy, and continuous operation capability of tethered submersible systems.

[0107] Specifically, it includes the following steps:

[0108] Step 1) Data definition and sliding window modeling;

[0109] Set to obtain the umbilical cable current carrying capacity I at discrete sampling time k. k Fiber optical attenuation rate α k and umbilical cable tension T k This constitutes the original monitoring vector:

[0110]

[0111] In the above formula, the subscript T represents the matrix transpose;

[0112] Within a sliding window of length L, the window data sequence is defined as follows:

[0113]

[0114] Step 2) Preprocessing and feature extraction;

[0115] The monitoring signal is standardized using the following formula:

[0116]

[0117] Where, μ I μ α μ T These are the sample mean values ​​for umbilical cable current carrying capacity, fiber optic attenuation rate, and umbilical cable tension, respectively; σ I , σ α , σ T These are the sample standard deviations of umbilical cable current carrying capacity, optical fiber attenuation rate, and umbilical cable tension, respectively.

[0118] Within the k-th sliding time window of the umbilical cable, the mean, standard deviation, rate of change, root mean square value, and frequency domain complexity features are extracted respectively to construct the fused feature vector f. k Taking current signals as an example, their characteristics are represented as follows:

[0119]

[0120] in, These represent the characteristics of mean, standard deviation, rate of change, root mean square value, and frequency domain complexity, respectively.

[0121]

[0122] Constructing optical attenuation rate characteristics f α (k) and tension characteristics f T (k) is as follows:

[0123]

[0124]

[0125] The final fused feature vector is obtained as follows:

[0126]

[0127] Step 3) Construct a working condition identification model;

[0128] Set the submersible operating condition set as C represents the set of operating conditions for the submersible. These represent hovering, cruising, rapid maneuvering, robotic arm operation, heavy-load operation, and recovery / towing operation, respectively; based on the fused feature vector f k The posterior probability of each working condition is calculated using a classification model:

[0129]

[0130] Among them, g m (f k ) and g j (f k ) represents the working condition identification function, and represents the output value of the discriminant function corresponding to the m-th and j-th working condition categories, respectively;

[0131] As mentioned above, the main innovation of this application lies in first identifying the operating conditions and then conducting a health assessment based on the corresponding operating conditions, thereby avoiding misidentifying normal operating condition fluctuations as faults.

[0132] Step 4) Establish a condition-related health baseline model;

[0133] For each working condition c m Establish a health baseline model for normal operating conditions, including baseline values ​​for umbilical cable current, optical attenuation, and tension, as well as environmental compensation items:

[0134]

[0135]

[0136] .

[0137] in, These are the current reference value, optical attenuation rate reference value, and umbilical cable tension reference value under the current operating conditions, respectively. This is the compensation amount caused by factors such as environmental changes, depth changes, or long-term drift.

[0138] Step 5) Calculate single-source outliers;

[0139] The abnormal differences in umbilical cable current, optical attenuation, and tension are constructed using the following formulas:

[0140]

[0141]

[0142] The normalized outlier is defined as follows:

[0143]

[0144] in, These represent the current operating conditions. Reference values ​​for the standard deviation of current, fiber optic attenuation rate, and tension; This indicates the regularization of positive numbers to prevent the denominator from being zero or too small.

[0145] The saturation exception mapping is defined as follows:

[0146]

[0147]

[0148] Step 6) Constructing anomalies in cross-modal consistency;

[0149] To further differentiate between submersible equipment failures, fiber optic failures, and umbilical cable tension risks, this application constructs a cross-modal consistency anomaly.

[0150] Under current working conditions k As a condition, the coupling relationship between current and tension, and the joint damage relationship between tension and light attenuation are established; under normal operating conditions, tension and current have the following coupling relationship:

[0151]

[0152] Therefore, the coupling anomaly is defined as:

[0153]

[0154] in, For working conditions k Below, the slope coefficient of the effect of umbilical cable current on tension; For working conditions k Below, the tension bias term corresponding to the umbilical cable current being the current reference;

[0155] Under most normal operating conditions, the optical attenuation rate should not fluctuate significantly with the instantaneous current; therefore, the optical attenuation rate is defined as follows:

[0156]

[0157] Among them, e Iα (k) indicates the independence of optical fiber attenuation in the umbilical cable from current fluctuations; This is the normal optical attenuation baseline value; if excessive tension in the umbilical cable causes micro-bending, compression, or damage to the optical fiber, then it is defined as follows:

[0158]

[0159] Among them, e Tα (k) indicates whether abnormal umbilical cable tension has caused damage to the fiber optic link; Indicates the current operating condition. k Below, the slope coefficient of the effect of tension on light attenuation; Indicates the current operating condition. k Below, the optical attenuation bias term when the tension is at the reference level;

[0160] The corresponding anomaly degree is expressed as:

[0161]

[0162] Where, r IT (k), r Iα (k) and r Tα (k) represents the abnormal mapping of umbilical cable current, fiber optic attenuation and tension, respectively.

[0163] Step 7) Adaptive fusion of weights and comprehensive health index;

[0164] The three types of single-source anomalies and the differences between the three types of cross-modal data are uniformly incorporated into the comprehensive health assessment, and an adaptive weight vector is constructed as follows:

[0165]

[0166] in, Indicates three types of single-source anomaly degree; This represents the difference between three types of cross-modal data.

[0167] Each weight is dynamically updated based on the importance of the current operating condition, the intensity of the anomaly, and the reliability of the sensor source, specifically as follows:

[0168]

[0169] in, Let be the reliability of the j-th channel; The current strength of the j-th anomaly; The current strength of the j-th anomaly; This is the adjustment coefficient;

[0170] Define the comprehensive risk score R k With health index H k :

[0171]

[0172] When R k As the threshold gradually increases, it indicates a decline in the overall health of the system; based on the preset threshold range, it can be divided into different levels such as normal, attention, warning, and severe alarm.

[0173] Step 8) Establish a fault diagnosis and early warning mechanism;

[0174] When the umbilical cable current anomaly increases significantly under the same operating conditions, while the optical attenuation anomaly is not obvious, and the difference between current and tension coupling anomaly increases abnormally, it can be determined that there is a risk of failure of the thruster or onboard equipment of the submersible.

[0175] Therefore, the fault score is defined as follows:

[0176]

[0177] in, These represent the weighting coefficients of umbilical cable current anomaly in submersible equipment fault scoring, current-tension coupling anomaly in submersible equipment fault scoring, and light attenuation anomaly suppression weighting coefficients in submersible equipment fault scoring, respectively. These represent the anomaly of the umbilical cable current, the anomaly of the current-tension coupling, and the anomaly of the optical attenuation at time k, respectively.

[0178] When the following conditions are met: hour, If the maximum safety threshold is preset, then a device fault warning signal will be output.

[0179] When the optical attenuation of the umbilical cable continues to rise abnormally, and the difference between the tension and optical attenuation coupling values ​​also rises abnormally, it can be determined that the optical fiber in the umbilical cable is at risk of degradation or damage. The fault score can be defined as follows:

[0180]

[0181] in, These represent the weighting coefficients of optical fiber attenuation anomaly in optical fiber fault scoring, tension and optical attenuation coupling anomaly in optical fiber fault scoring, and current anomaly suppression weighting coefficients in optical fiber fault scoring, respectively. Let these represent the umbilical cable fiber fault score, optical attenuation anomaly, and optical attenuation anomaly at time k, respectively; when: When this happens, a fiber optic fault warning signal is output;

[0182] Step 9) Power distribution adaptive optimization adjustment;

[0183] This application not only performs fault alarms, but also actively adjusts the diving supply power based on current change trends and a comprehensive health risk score; specifically, firstly, it defines the safe current-carrying boundary of the umbilical cable:

[0184]

[0185] Among them, I rated This is the rated safe current carrying capacity of the umbilical cable; I margin For dynamic safety margin; This represents the predicted or statistical fluctuation value of the current umbilical cable current.

[0186] Short-time prediction of the umbilical cable current at the next moment:

[0187]

[0188] Let the current power supply be P. k The goal is to solve for the power supply P at the next moment. k+1 To ensure that the umbilical cable current does not exceed the limit while meeting the operational requirements of the submersible and avoiding power surges, the following objective function is adopted:

[0189]

[0190] in, Used to suppress future umbilical cable current from exceeding safety limits; To meet the normal power requirements of the submersible as much as possible; Used to constrain the smoothness of submersible power changes;

[0191] The optimal adjustment value is obtained under the conditions of satisfying the upper and lower limits of the submersible power and the rate of change constraints; in engineering implementation, a simplified closed-loop control law can also be used:

[0192]

[0193] Where sat(·) represents the saturation function, K P and K r To adjust the gain.

[0194] The aforementioned technical features can reduce the current carrying capacity or limit power growth in advance when the current carrying capacity is close to the safe upper limit, thereby ensuring that the current carrying capacity of the umbilical cable does not exceed the safe range.

[0195] This application also proposes a novel electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the above-described method for monitoring the health status of a tethered submersible.

[0196] This application also proposes a novel computer-readable storage medium storing a computer program that, when executed, enables the implementation of the above-described method for monitoring the health status of a tethered submersible.

[0197] As described above, similar technical solutions can be derived from the solutions presented in the accompanying drawings and description, and all of them still fall within the scope of the claims of this application.

Claims

1. A method for monitoring the health status of a tethered submersible, characterized in that: This includes unified modeling and joint sensing of umbilical cable current carrying capacity, fiber optic attenuation rate, and tension changes under various operating conditions; Distinguish between normal operating condition fluctuations and abnormal fault changes, and respectively realize early warning of thruster and / or onboard equipment faults, umbilical cable fiber optic faults, and umbilical cable tension. Based on the trend of current carrying capacity changes and the comprehensive health risk score, the diving supply power is adaptively optimized and adjusted to keep the current carrying capacity of the umbilical cable within a safe range. Continuously monitor the operational safety, diagnostic accuracy, and continuous operation capability of tethered submersible systems.

2. The method for monitoring the health status of a tethered submersible according to claim 1, characterized in that: Includes the following steps, Step 1) Data definition and sliding window modeling; Set to obtain the umbilical cable current carrying capacity I at discrete sampling time k. k Fiber optical attenuation rate α k and umbilical cable tension T k This constitutes the original monitoring vector: In the formula, the subscript T represents matrix transpose; Within a sliding window of length L, the window data sequence is defined as follows: Step 2) Preprocessing and feature extraction; The monitoring signal is standardized using the following formula: Where, μ I μ α μ T These are the sample mean values ​​for umbilical cable current carrying capacity, fiber optic attenuation rate, and umbilical cable tension, respectively; σ I , σ α , σ T These are the sample standard deviations of umbilical cable current carrying capacity, optical fiber attenuation rate, and umbilical cable tension, respectively. Within the k-th sliding time window of the umbilical cable, the mean, standard deviation, rate of change, root mean square value, and frequency domain complexity features are extracted to construct the fused feature vector f. k ; Step 3) Construct a working condition identification model; Set the submersible operating condition set as C represents the set of operating conditions for the submersible. These represent hovering, cruising, rapid maneuvering, robotic arm operation, heavy-load operation, and recovery / towing operation, respectively; based on the fused feature vector f k The posterior probability of each working condition is calculated using a classification model: Among them, g m (f k ) and g j (f k ) represents the working condition identification function, and represents the output value of the discriminant function corresponding to the m-th and j-th working condition categories, respectively; Step 4) Establish a condition-related health baseline model; For each working condition c m Establish a health baseline model for normal operating conditions, including but not limited to baseline values ​​for umbilical cable current, optical attenuation, and tension, as well as environmental compensation items. . in, These are the current reference value, optical attenuation rate reference value, and umbilical cable tension reference value under the current operating conditions, respectively. This is the compensation amount caused by factors such as environmental changes, depth changes, or long-term drift. Step 5) Calculate single-source outliers; Step 6) Constructing anomalies in cross-modal consistency; Step 7) Adaptive fusion of weights and comprehensive health index; The three types of single-source anomalies and the differences between the three types of cross-modal data are uniformly incorporated into the comprehensive health assessment, and an adaptive weight vector is constructed as follows: in, Indicates three types of single-source anomaly degree; This represents the difference between three types of cross-modal data; Each weight is dynamically updated based on the importance of the current operating condition, the intensity of the anomaly, and the reliability of the sensor source, as specifically represented as follows: in, Let be the reliability of the j-th channel; The current strength of the j-th anomaly; The current strength of the j-th anomaly; This is the adjustment coefficient; Define the comprehensive risk score R k With health index H k : When R k A gradual increase indicates a decline in the overall health of the system; Step 8) Establish a fault diagnosis and early warning mechanism; Step 9) Power distribution adaptive optimization adjustment; Actively adjust the diving supply power based on the current change trend and comprehensive health risk score; First, define the safe current-carrying boundary of the umbilical cable: Among them, I rated This is the rated safe current carrying capacity of the umbilical cable; I margin For dynamic safety margin; This represents the predicted or statistical fluctuation value of the current umbilical cable current. Then, a short-time prediction of the umbilical cable current at the next moment is performed: Let the current power supply be P. k The goal is to solve for the power supply P at the next moment. k+1 To ensure that the umbilical cable current does not exceed the limit while meeting the operational requirements of the submersible and avoiding power surges, the following objective function is adopted: in, Used to suppress future umbilical cable current from exceeding safety limits; To meet the normal power requirements of the submersible as much as possible; Used to constrain the smoothness of submersible power changes; The optimal adjustment value is obtained under the conditions of satisfying the upper and lower limits of the submersible power and the rate of change constraints, and a simplified closed-loop control law is adopted: Where sat(·) represents the saturation function, K P and K r To adjust the gain.

3. The method for monitoring the health status of a tethered submersible according to claim 2, characterized in that: Step 2) involves fusing the feature vector f. k Represented as: in, These represent the characteristics of mean, standard deviation, rate of change, root mean square value, and frequency domain complexity, respectively. Constructing optical attenuation rate characteristics f α (k) and tension characteristics f T (k) is as follows: The final fused feature vector is obtained as follows: 。 4. The method for monitoring the health status of a tethered submersible according to claim 3, characterized in that: In step 5), the abnormal differences in umbilical cable current, optical attenuation, and tension are constructed according to the following formulas: The normalized outlier is defined as follows: in, These represent the current operating conditions. Reference values ​​for the standard deviation of current, fiber optic attenuation rate, and tension; This indicates the regularization of positive numbers to prevent the denominator from being zero or too small. The saturation exception mapping is defined as follows: 。 5. The method for monitoring the health status of a tethered submersible according to claim 4, characterized in that: Step 6), based on the current operating conditions. k As a condition, the coupling relationship between current and tension, and the joint damage relationship between tension and light attenuation are established; tension and current have the following coupling relationship: Therefore, the coupling anomaly is defined as: in, For working conditions k Below, the slope coefficient of the effect of umbilical cable current on tension; For working conditions k Below, the tension bias term corresponding to the umbilical cable current being the current reference; The optical attenuation rate is defined as follows: Among them, e Iα (k) indicates the independence of optical fiber attenuation in the umbilical cable from current fluctuations; This is the normal optical attenuation baseline value; if excessive tension in the umbilical cable causes micro-bending, compression, or damage to the optical fiber, then it is defined as follows: Among them, e Tα (k) indicates whether abnormal umbilical cable tension has caused damage to the fiber optic link; Indicates the current operating condition. k Below, the slope coefficient of the effect of tension on light attenuation; Indicates the current operating condition. k Below, the optical attenuation bias term when the tension is at the reference level; The corresponding anomaly degree is expressed as: Where, r IT (k), r Iα (k) and r Tα (k) represents the abnormal mapping of umbilical cable current, fiber optic attenuation, and tension, respectively.

6. The method for monitoring the health status of a tethered submersible according to claim 5, characterized in that: In step 8), when the umbilical cable current anomaly increases significantly under the same working conditions, while the optical attenuation anomaly is not obvious, and the difference between current and tension coupling anomaly increases abnormally, it is determined to be a risk of failure of the submersible's thruster or onboard equipment. Therefore, the fault score is defined as follows: in, These represent the weighting coefficients of umbilical cable current anomaly in submersible equipment fault scoring, current-tension coupling anomaly in submersible equipment fault scoring, and light attenuation anomaly suppression weighting coefficients in submersible equipment fault scoring, respectively. These represent the anomaly of the umbilical cable current, the anomaly of the current-tension coupling, and the anomaly of the optical attenuation at time k, respectively. When the following conditions are met: hour, If the maximum safety threshold is preset, then a device fault warning signal will be output. When the optical attenuation of the umbilical cable continues to rise abnormally, and the difference between the tension and optical attenuation coupling values ​​also rises abnormally, it is determined that the optical fiber in the umbilical cable is at risk of degradation or damage. The fault score can be defined as follows: in, These represent the weighting coefficients of optical fiber attenuation anomaly in optical fiber fault scoring, tension and optical attenuation coupling anomaly in optical fiber fault scoring, and current anomaly suppression weighting coefficients in optical fiber fault scoring, respectively. Let these represent the umbilical cable fiber fault score, optical attenuation anomaly, and optical attenuation anomaly at time k, respectively; when: When this happens, a fiber optic fault warning signal will be output.

7. An electronic device, characterized in that: It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the tethered submersible health status monitoring method as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that: It stores a computer program that, when executed, implements the tethered submersible health status monitoring method as described in any one of claims 1 to 6.

Images