A synchronous control system and method for submarine cable laying accuracy and depth based on automated control.

Abstract

This application discloses a method for synchronous control of submarine cable laying accuracy and depth based on automated control, belonging to the field of marine engineering automation control technology. The method includes: acquiring submarine cable laying location data, burial depth data, and environmental state data; calculating the laying accuracy deviation based on the location data and a preset path, and calculating the burial depth deviation based on the burial depth data and a target depth; constructing a coupling error based on the deviation and dynamically correcting it in conjunction with environmental state to obtain synchronous control parameters; calculating the control adjustment amount based on the synchronous control parameters, and coordinating the cable laying equipment and burial equipment for control. This method achieves coordinated adjustment of the submarine cable laying path and burial depth within the same control cycle by uniformly modeling the path deviation and depth deviation and dynamically correcting them during the control process.

Description

Technical Field

[0001] This application relates to the field of marine engineering automation control technology, and in particular to a synchronous control system and method for submarine cable laying accuracy and depth based on automation control. Background Technology

[0002] Submarine cable laying is a crucial step in marine engineering, and its accuracy and depth directly affect the safety and stability of cable operation. In actual construction, cable-laying vessels and burial equipment typically work together to control the cable's path and depth.

[0003] In existing technologies, submarine cable laying mainly relies on manual experience combined with simple control strategies to adjust the path and depth, such as tension control, laying speed control, and mechanical adjustment of the burial equipment. However, due to the complex and variable marine environment, including the influence of ocean currents, seabed topography, and ship movement, traditional control methods are difficult to achieve simultaneous and precise control of laying accuracy and burial depth.

[0004] To improve control effectiveness, some solutions introduce automated control systems to adjust the laying path or burial depth separately. However, the following problems still exist: On the one hand, laying path control and burial depth control are usually carried out independently, lacking a coordination mechanism and making it difficult to achieve synchronous optimization; on the other hand, under dynamic environmental disturbance conditions, existing control systems lack the ability to comprehensively utilize multi-source state information, resulting in lagging control response or insufficient accuracy.

[0005] Therefore, how to achieve synchronous automated control of submarine cable laying accuracy and burial depth in complex marine environments has become an urgent technical problem to be solved. Summary of the Invention

[0006] To address the problem that path control and burial depth control are independent and difficult to synchronize during existing submarine cable laying processes, this invention provides a method for synchronously controlling the accuracy and depth of submarine cable laying based on automated control. The technical solution is as follows: On the one hand, a method for synchronously controlling the accuracy and depth of submarine cable laying based on automated control is provided, including: Acquire current submarine cable laying location data, burial depth data, and environmental status data; The laying accuracy deviation is calculated based on the laying location data and the preset path data, and the burial depth deviation is calculated based on the burial depth data and the target burial depth. A coupling error is constructed based on the aforementioned laying accuracy deviation and burial depth deviation; The coupling error is dynamically corrected based on the environmental state data to obtain synchronization control parameters; Calculate the control adjustment amount based on the aforementioned synchronization control parameters; The cable-laying equipment and the burial equipment are controlled in a coordinated manner according to the control adjustment amount.

[0007] Optionally, the step of calculating the laying accuracy deviation based on the laying location data and the preset path data, and calculating the burial depth deviation based on the burial depth data and the target burial depth, includes: Calculate the lateral offset, longitudinal offset, and laying direction offset between the current submarine cable position and the preset path; The laying accuracy deviation is calculated based on the lateral offset, longitudinal offset, and laying direction offset, using the following formula: ,in, This indicates the laying accuracy deviation, where (x,y) represents the current submarine cable position coordinates. r ,y r () represents the reference path coordinates. This indicates a deviation in the laying direction. This represents the directional deviation weighting coefficient; Calculate the depth offset between the current burial depth and the target burial depth, as well as the rate of change of burial depth; The burial depth deviation is calculated based on the aforementioned depth offset and rate of change, using the following formula: ,in, This indicates the deviation in burial depth, where D represents the current burial depth. r Indicates the target burial depth. This indicates the rate of change of burial depth. This represents the rate of change weighting coefficient.

[0008] Optionally, the calculation formula for the coupling error based on the laying accuracy deviation and the burial depth deviation is as follows: ,in, Indicates coupling error. Represents the coupling adjustment coefficient, the This indicates the degree of correlation between path deviation and depth deviation. This indicates the degree of difference between path control and depth control.

[0009] Optionally, the step of dynamically correcting the coupling error based on the environmental state data to obtain synchronization control parameters includes: Environmental disturbance parameters are calculated based on ocean current velocity, seabed topography parameters, and ship attitude angles. The coupling error is corrected based on the aforementioned environmental disturbance parameters, using the following formula: ,in, This represents the corrected coupling error, where V represents the ocean current velocity and H represents the seabed topography parameters. Indicates the ship's attitude angle. , , Indicates the environmental impact coefficient; According to the corrected coupling error The synchronous control parameters, obtained from the rate of change of the parameters, are expressed as follows: ,in, This refers to the synchronization control parameters. This represents the rate of change of the corrected coupling error. This represents the rate of change weighting coefficient.

[0010] Optionally, the formula for calculating the control adjustment amount based on the synchronization control parameters is: Where u represents the control adjustment amount. This refers to the synchronization control parameters. This represents the rate of change of the synchronization control parameter. , Indicates the control coefficient; The calculation of the control adjustment amount based on the synchronous control parameters further includes: The control adjustment amount is limited.

[0011] Optionally, the coordinated control of the cable laying equipment and the burial equipment based on the control adjustment amount includes: The control adjustment is decomposed into path control components and depth control components; Adjust the speed of the cable-laying vessel and the tension of the submarine cable based on the path control component; The burial depth actuator of the burial device is adjusted according to the depth control component.

[0012] Optionally, in the step of decomposing the control adjustment amount into path control components and depth control components, the decomposition process involves calculating multiple control quantities based on control allocation coefficients, and the corresponding calculation formula is as follows: v = v0 + a1 * u; T = T0 + a2 * u; d = d0 + a3 * u; Where v represents the speed control amount of the cable-laying vessel, T represents the tension control amount of the submarine cable, d represents the burial depth control amount, v0 represents the initial value of the speed of the cable-laying vessel, T0 represents the initial value of the tension of the submarine cable, d0 represents the initial value of the burial depth, a1, a2, and a3 represent the control allocation coefficients, and u represents the control adjustment amount.

[0013] On the other hand, an automated control system for synchronously controlling submarine cable laying accuracy and depth is provided, including: The data acquisition module is used to acquire current submarine cable laying location data, burial depth data, and environmental status data. The deviation calculation module is used to calculate the laying accuracy deviation based on the laying position data and the preset path data, and to calculate the burial depth deviation based on the burial depth data and the target burial depth. A coupling construction module is used to construct a coupling error based on the laying accuracy deviation and the burial depth deviation. The parameter confirmation module is used to dynamically correct the coupling error based on the environmental state data to obtain synchronization control parameters; The adjustment calculation module is used to calculate the control adjustment amount based on the synchronization control parameters; The collaborative control module is used to collaboratively control the cable laying equipment and the burial equipment according to the control adjustment amount.

[0014] This application discloses a method for synchronous control of submarine cable laying accuracy and depth based on automated control, belonging to the field of marine engineering automation control technology. The method includes: acquiring submarine cable laying location data, burial depth data, and environmental state data; calculating the laying accuracy deviation based on the location data and a preset path, and calculating the burial depth deviation based on the burial depth data and a target depth; constructing a coupling error based on the deviation and dynamically correcting it in conjunction with environmental state to obtain synchronous control parameters; calculating the control adjustment amount based on the synchronous control parameters, and coordinating the cable laying equipment and burial equipment for control. This method achieves coordinated adjustment of the submarine cable laying path and burial depth within the same control cycle by uniformly modeling the path deviation and depth deviation and dynamically correcting them during the control process. Attached Figure Description

[0015] Figure 1 The diagram illustrates the overall process of a method for synchronously controlling the accuracy and depth of submarine cable laying according to the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0017] In this article, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0018] In this paper, the accuracy of submarine cable laying is mainly used to characterize the degree of deviation between the actual laying path and the preset laying path; the burial depth is mainly used to characterize the actual burial state of the submarine cable below the seabed; synchronous control refers to the joint calculation and coordinated execution of laying path control and burial depth control within the same control cycle, rather than separate independent control.

[0019] In one embodiment of this application, the method for synchronously controlling the accuracy and depth of submarine cable laying based on automated control can be executed by a central control unit located on a cable-laying vessel, or by an industrial controller communicatively connected to the cable-laying vessel, tension control equipment, and laying device. The central control unit may include a processor, memory, and input / output interfaces connected to various sensors and actuators. The calculations in the method can be executed cyclically according to a preset control cycle, such as once every 100 milliseconds, 200 milliseconds, or one second, thereby forming a continuous closed-loop control. Example 1

[0020] like Figure 1 As shown, this embodiment provides a method for synchronously controlling the accuracy and depth of submarine cable laying based on automated control. The overall process of this method includes: acquiring submarine cable laying location data and burial depth data; calculating laying accuracy deviation; calculating burial depth deviation; constructing coupling error; correcting environmental disturbances; calculating control adjustment amounts; and coordinating control of the cable laying equipment and the burial equipment. This method includes: Step 101: Obtain current submarine cable laying location data, burial depth data, and environmental status data.

[0021] In this embodiment, the current cable laying location data can be provided jointly by a satellite positioning device, an inertial navigation device, a cable-laying vessel heading detection device, and an underwater positioning device. To improve positioning accuracy, the location data may include at least one of the following: the coordinates of the current cable landing point, the coordinates of the cable release point, and the coordinates of the current position of the cable-laying vessel. The burial depth data can be provided by a depth sensor and an attitude sensor on the burial device, as well as a depth detection unit installed at the burial cutter. Environmental condition data may include ocean current speed, seabed topography parameters, and vessel attitude angles.

[0022] In one example, the ocean current velocity can be measured by an acoustic Doppler current meter; seabed topography parameters can be provided by a seabed sounding device, forward-looking sonar, or a pre-imported seabed topography model; and the ship's attitude angles can be provided by an onboard attitude measurement unit, including one or more of roll, pitch, and bow yaw angles.

[0023] Step 102: Calculate the laying accuracy deviation based on the laying location data and the preset path data, and calculate the burial depth deviation based on the burial depth data and the target burial depth.

[0024] In this embodiment, the preset path data can be the target path centerline planned before construction, or a path sequence formed by connecting multiple discrete path points. Within the current control cycle, the control system matches the current submarine cable laying position with the preset path and calculates the positional and directional offsets along the path. Simultaneously, the control system compares the current burial depth with the target burial depth and calculates the burial depth deviation based on the depth change rate.

[0025] Step 103: Construct a coupling error based on the laying accuracy deviation and the burial depth deviation.

[0026] In this embodiment, the coupling error is not handled separately for the laying accuracy deviation and the burial depth deviation, but rather both are placed in the same calculation framework for unified calculation.

[0027] Step 104: Dynamically correct the coupling error based on the environmental status data to obtain the synchronization control parameters.

[0028] Since changes in ocean currents, seabed undulations, and ship attitude can simultaneously affect the path stability and burial depth stability of submarine cables, it is necessary to incorporate environmental condition data into the coupling error correction process to obtain synchronous control parameters suitable for the current operating conditions.

[0029] Step 105: Calculate the control adjustment amount based on the synchronization control parameters.

[0030] In this embodiment, the control system calculates the control adjustment amount based on the synchronization control parameters, and then allocates the control adjustment amount as the cable-laying vessel speed control amount, the submarine cable tension control amount, and the burial depth control amount.

[0031] Step 106: Perform coordinated control of the cable laying equipment and the burial equipment according to the control adjustment amount.

[0032] Furthermore, the corresponding control commands are sent to the cable-laying vessel's propulsion control unit, tension control unit, and burial device execution unit. These control quantities are executed within the same control cycle, thus synchronizing path control and depth control.

[0033] In this embodiment, by sequentially executing position and depth status acquisition, deviation calculation, coupling correction, adjustment calculation and collaborative execution, the submarine cable laying path and burial depth are placed in the same closed-loop control link, thereby forming a synchronous control process based on automated control. Example 2

[0034] In one possible implementation, the calculation process for laying accuracy deviation and burial depth deviation in step 102 includes the following:

[0035] Step 1021: Calculate the lateral offset, longitudinal offset, and laying direction offset between the current submarine cable position and the preset path; Step 1022: Calculate the laying accuracy deviation based on lateral offset, longitudinal offset, and laying direction offset. The formula is: ,in, This indicates the laying accuracy deviation, where (x,y) represents the current submarine cable position coordinates. r ,y r () represents the reference path coordinates. This indicates a deviation in the laying direction. This represents the directional deviation weighting coefficient; Step 1023: Calculate the depth offset and the rate of change of burial depth between the current burial depth and the target burial depth; Step 1024: Calculate the burial depth deviation based on the depth offset and rate of change. The formula is as follows: ,in, This indicates the deviation in burial depth, where D represents the current burial depth. r Indicates the target burial depth. This indicates the rate of change of burial depth. This represents the rate of change weighting coefficient.

[0036] In summary, firstly, the current submarine cable laying location data is parsed to obtain the current cable location coordinates (x, y). Then, path point matching is performed on the preset path data to determine the reference path point coordinates (x, y) corresponding to the current cable location. r ,y r Furthermore, by combining the angle difference between the actual laying direction of the submarine cable and the reference path direction, the laying direction deviation is obtained. .

[0037] The first term in the above formula represents the planar distance deviation between the current position and the reference path point, and the second term represents the degree of inconsistency between the laying direction and the reference direction. By incorporating both the planar position deviation and the direction deviation into the calculation of the laying accuracy deviation, the laying accuracy deviation can reflect not only whether the current position deviates from the target path, but also whether the subsequent laying trend unfolds along the target direction.

[0038] Next, the current burial depth data is processed to obtain the current burial depth D and the rate of change of burial depth. The target burial depth is denoted as D. r When the burial depth is close to the target depth but the rate of change of depth is large, the burial depth deviation will still remain at a high level to avoid over-excavation or continuous digging by the burial device.

[0039] In one example, when the planar distance deviation between the current submarine cable location coordinates and the reference path point is 0.4 meters, and the laying direction deviation is 0.08 radians, When the value is 2, the laying accuracy deviation is 0.56. With the current burial depth at 1.8 meters and the target burial depth at 2.0 meters, the burial depth change rate is 0.15 meters per second. When the value is 1.5, the burial depth deviation is 0.425.

[0040] In this embodiment, by calculating the path deviation and depth deviation with trend terms, an input basis is provided for the subsequent construction of coupling error. Example 3

[0041] In one possible implementation, the formula for calculating the coupling error based on the laying accuracy deviation and the burial depth deviation is as follows: ,in, Indicates coupling error. This represents the coupling adjustment coefficient. This indicates the degree of correlation between path deviation and depth deviation. This indicates the degree of difference between path control and depth control.

[0042] First, the laying accuracy deviation Deviation from burial depth Input coupling calculation module. To ensure that subsequent control is not simply a matter of separately correcting the path and depth, but rather a joint adjustment based on the interaction between the two, coupling error is introduced in this embodiment. .

[0043] Specifically, in the above formula The term characterizes the degree of linkage between path deviation and depth deviation. When both path deviation and depth deviation are large, this term increases rapidly, thereby increasing the joint adjustment intensity of the control system within the current control cycle. In the above formula... This term characterizes the degree of difference between path control and depth control. It takes a positive value when the path deviation is significantly greater than the depth deviation, and a negative value when the depth deviation is significantly greater than the path deviation. This can be adjusted... This can change the control system's response to "path priority" or "depth priority".

[0044] In this embodiment, by simultaneously introducing path deviation and depth deviation and their difference term into the unified error quantity, the control system no longer regards path control and depth control as two independent tasks, but performs synchronous calculations based on the joint error. Example 4

[0045] In one possible implementation, step 104 includes the following.

[0046] Step 1041: Calculate environmental disturbance parameters based on ocean current velocity, seabed topography parameters, and ship attitude angle; In this embodiment, environmental condition data is used to reflect the combined impact of external working conditions on path control and burial depth control during the submarine cable laying process.

[0047] Among them, ocean current velocity is used to characterize the degree of disturbance of ocean current to the deviation of submarine cable laying path, seabed topography parameters are used to characterize the degree of influence of seabed undulation on the change of burial depth, and hull attitude angle is used to characterize the degree of influence of hull roll, pitch and heading changes on the release state and burial attitude of submarine cable.

[0048] By uniformly introducing the above environmental status data, subsequent control calculations no longer rely solely on the laying accuracy deviation and burial depth deviation themselves, but also consider the influence of the external environment on the linkage relationship between the two types of deviations.

[0049] Step 1042, correct the coupling error based on environmental disturbance parameters, using the following formula: ,in, This represents the corrected coupling error, where V represents the ocean current velocity and H represents the seabed topography parameters. Indicates the ship's attitude angle. , , Indicates the environmental impact coefficient; In this embodiment, the correction method essentially amplifies or suppresses the original coupling error due to environmental factors. When the ocean current speed increases, the seabed undulation intensifies, or the ship's attitude disturbance increases, the correction coefficient increases accordingly, giving the coupling error a higher weight in subsequent control stages; when the environmental disturbance is small, the correction coefficient tends to weaken, making the control calculation mainly dominated by the original coupling error.

[0050] Therefore, the corrected coupling error It can characterize the combined correlation between path deviation and depth deviation under the current sea state.

[0051] Step 1043, based on the corrected coupling error The synchronous control parameters, obtained from the rate of change of the parameters, are expressed as follows: ,in, Indicates the synchronization control parameters. This represents the rate of change of the corrected coupling error. This represents the rate of change weighting coefficient.

[0052] In this embodiment, only the corrected coupling error is used. It can only reflect the deviation status at the current moment, but by further introducing its rate of change, it can reflect the trend of deviation change. By combining the current deviation status and the trend of change into a synchronization control parameter... This allows the calculation of subsequent control adjustment quantities to reflect both the magnitude of the current laying-burial depth linkage error and whether the error is increasing or decreasing, thus forming a more complete control input.

[0053] In this embodiment, by first introducing environmental disturbance parameters to correct the coupling error, and then using the corrected coupling error and its rate of change to construct synchronous control parameters, the control calculation process forms a continuous information flow of deviation coupling, environmental correction, and parameter generation, providing a unified input basis for subsequent control adjustment calculations. Example 5

[0054] Furthermore, the formula for calculating the control adjustment amount based on the synchronization control parameters in step 105 is as follows: Where u represents the control adjustment amount. Indicates the synchronization control parameters. This represents the rate of change of the synchronous control parameters. , This represents the control coefficient.

[0055] In this embodiment, the control adjustment amount u is not directly given by a single static deviation, but by the synchronous control parameters. It is determined together with its rate of change.

[0056] in, Used to characterize the degree of response of the control system to the synchronization control parameters themselves at the current moment. It is used to characterize the responsiveness of a control system to changes in synchronous control parameters.

[0057] In other words, when the coupling state between path deviation and burial depth deviation continues to increase, the rate of change term will further increase the control adjustment amount; when the synchronous control parameter shows a decreasing trend, the rate of change term will weaken accordingly, thereby suppressing the excessive amplification of control action.

[0058] In addition, after step 105, a scheme for limiting the control adjustment amount may also be included.

[0059] In this embodiment, the limiting process is used to constrain the numerical range of the control adjustment amount so that it does not exceed the control range allowed by the execution device.

[0060] Specifically, when the calculated control adjustment exceeds the preset upper limit, it is truncated to the upper limit value; when it is below the preset lower limit, it is truncated to the lower limit value. By imposing boundary constraints on the control adjustment, overshoot of the control output can be avoided due to sudden environmental changes or large deviation rates.

[0061] In this embodiment, by further mapping the synchronous control parameters to control adjustment quantities, the control system forms a direct calculation relationship between the synchronous control parameters and the control adjustment quantities. At the same time, by introducing a rate of change term and amplitude limiting processing, the control adjustment quantities are made both responsive and have execution constraints, providing a unified control input for subsequent control component decomposition. Example 6

[0062] Optionally, step 106 includes: Step 1061: Decompose the control adjustment amount into path control component and depth control component.

[0063] The corresponding calculation formula is: v = v0 + a1 * u; T = T0 + a2 * u; d = d0 + a3 * u; Where v represents the speed control amount of the cable-laying vessel, T represents the tension control amount of the submarine cable, d represents the burial depth control amount, v0 represents the initial value of the speed of the cable-laying vessel, T0 represents the initial value of the tension of the submarine cable, d0 represents the initial value of the burial depth, a1, a2, and a3 represent the control allocation coefficients, and u represents the control adjustment amount.

[0064] In this embodiment, step 1061 involves mapping the uniformly obtained control adjustment amount u to control amounts corresponding to multiple execution objects.

[0065] Specifically, the speed control quantity v of the cable-laying vessel is mainly used for path control, the tension control quantity T of the submarine cable is mainly used to constrain the stress state of the submarine cable during the release process, and the burial depth control quantity d is mainly used for depth control.

[0066] By controlling the allocation coefficients a1, a2, and a3 to distribute the same control adjustment amount, path control and depth control no longer generate control quantities independently, but instead form a coordinated output under the same control reference.

[0067] Step 1062: Adjust the speed of the cable-laying vessel and the tension of the submarine cable according to the path control component.

[0068] In this embodiment, the cable-laying vessel propulsion system and tension control system are adjusted according to the cable-laying vessel speed control quantity v and the submarine cable tension control quantity T obtained in step 1061.

[0069] Speed ​​control parameters are used to adjust the current propulsion speed of the cable-laying vessel to alter the cable-laying rhythm; tension control parameters are used to adjust the tension level during cable release to change the cable's lowering attitude and landing stability. Both work together on the path control link to correct deviations between the cable-laying path and the reference path.

[0070] Step 1063: Adjust the burial depth actuator of the burial device according to the depth control component.

[0071] In this embodiment, the burial depth control quantity d obtained in step 1061 is used to adjust the burial depth actuator of the burial device. The burial depth actuator may include a lifting mechanism for the burial cutter, a burial posture adjustment mechanism, or other actuators used to change the burial depth. By adjusting the burial depth actuator, the burial depth of the submarine cable is made to change towards the target burial depth.

[0072] Furthermore, in this embodiment, steps 1062 and 1063 are executed within the same control cycle, ensuring that the path control link and the depth control link are synchronized in time. Thus, the laying path correction and burial depth correction are not performed in separate time intervals, but are output simultaneously based on a unified control adjustment, thereby guaranteeing the continuity of synchronous control.

[0073] In this embodiment, the control adjustment quantity is further decomposed into the cable-laying vessel speed control quantity, the submarine cable tension control quantity, and the burial depth control quantity, and applied to the path control link and the depth control link respectively, so that the control process forms an information flow closed loop of control adjustment quantity, control component, and actuator, thereby completing the coordinated adjustment of submarine cable laying accuracy and burial depth.

[0074] On the other hand, an automated control system for synchronously controlling submarine cable laying accuracy and depth is provided, including: The data acquisition module is used to acquire current submarine cable laying location data, burial depth data, and environmental status data. The deviation calculation module is used to calculate the laying accuracy deviation based on the laying location data and the preset path data, and to calculate the burial depth deviation based on the burial depth data and the target burial depth. The coupling construction module is used to construct coupling errors based on laying accuracy deviation and burial depth deviation. The parameter confirmation module is used to dynamically correct coupling errors based on environmental status data to obtain synchronization control parameters; The adjustment calculation module is used to calculate the control adjustment amount based on the synchronization control parameters; The collaborative control module is used to coordinate the control of the cable laying equipment and the burial equipment according to the control adjustment amount.

[0075] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0076] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for synchronously controlling the accuracy and depth of submarine cable laying based on automated control, characterized in that, include: Acquire current submarine cable laying location data, burial depth data, and environmental status data; The laying accuracy deviation is calculated based on the laying location data and the preset path data, and the burial depth deviation is calculated based on the burial depth data and the target burial depth. A coupling error is constructed based on the aforementioned laying accuracy deviation and burial depth deviation; The coupling error is dynamically corrected based on the environmental state data to obtain synchronization control parameters; Calculate the control adjustment amount based on the aforementioned synchronization control parameters; The cable-laying equipment and the burial equipment are controlled in a coordinated manner according to the control adjustment amount.

2. The method according to claim 1, characterized in that, The calculation of the laying accuracy deviation based on the laying location data and the preset path data, and the calculation of the burial depth deviation based on the burial depth data and the target burial depth, include: Calculate the lateral offset, longitudinal offset, and laying direction offset between the current submarine cable position and the preset path; The laying accuracy deviation is calculated based on the lateral offset, longitudinal offset, and laying direction offset, using the following formula: ,in, This indicates the laying accuracy deviation, where (x,y) represents the current submarine cable position coordinates. r ,y r () represents the reference path coordinates. This indicates a deviation in the laying direction. This represents the directional deviation weighting coefficient; Calculate the depth offset between the current burial depth and the target burial depth, as well as the rate of change of burial depth; The burial depth deviation is calculated based on the aforementioned depth offset and rate of change, using the following formula: ,in, This indicates the deviation in burial depth, where D represents the current burial depth. r Indicates the target burial depth. This indicates the rate of change of burial depth. This represents the rate of change weighting coefficient.

3. The method according to claim 1, characterized in that, The formula for calculating the coupling error based on the laying accuracy deviation and the burial depth deviation is as follows: ,in, Indicates coupling error. Represents the coupling adjustment coefficient, the This indicates the degree of correlation between path deviation and depth deviation. This indicates the degree of difference between path control and depth control.

4. The method according to claim 1, characterized in that, The step of dynamically correcting the coupling error based on the environmental state data to obtain synchronization control parameters includes: Environmental disturbance parameters are calculated based on ocean current velocity, seabed topography parameters, and ship attitude angles. The coupling error is corrected based on the aforementioned environmental disturbance parameters, using the following formula: ,in, This represents the corrected coupling error, where V represents the ocean current velocity and H represents the seabed topography parameters. Indicates the ship's attitude angle. , , Indicates the environmental impact coefficient; According to the corrected coupling error The synchronous control parameters, obtained from the rate of change of the parameters, are expressed as follows: ,in, This refers to the synchronization control parameters. This represents the rate of change of the corrected coupling error. This represents the rate of change weighting coefficient.

5. The method according to claim 1, characterized in that, The formula for calculating the control adjustment amount based on the synchronous control parameters is as follows: Where u represents the control adjustment amount. This refers to the synchronization control parameters. This represents the rate of change of the synchronization control parameter. , Indicates the control coefficient; The calculation of the control adjustment amount based on the synchronous control parameters further includes: The control adjustment amount is limited.

6. The method according to claim 1, characterized in that, The coordinated control of the cable laying equipment and the burial equipment based on the control adjustment amount includes: The control adjustment is decomposed into path control components and depth control components; Adjust the speed of the cable-laying vessel and the tension of the submarine cable based on the path control component; The burial depth actuator of the burial device is adjusted according to the depth control component.

7. The method according to claim 6, characterized in that, In the process of decomposing the control adjustment quantity into path control components and depth control components, the decomposition process involves calculating multiple control quantities based on the control allocation coefficient. The corresponding calculation formula is as follows: v = v0 + a1 * u; T = T0 + a2 * u; d = d0 + a3 * u; Where v represents the speed control amount of the cable-laying vessel, T represents the tension control amount of the submarine cable, d represents the burial depth control amount, v0 represents the initial value of the speed of the cable-laying vessel, T0 represents the initial value of the tension of the submarine cable, d0 represents the initial value of the burial depth, a1, a2, and a3 represent the control allocation coefficients, and u represents the control adjustment amount.

8. A synchronous control system for submarine cable laying accuracy and depth based on automated control, characterized in that, include: The data acquisition module is used to acquire current submarine cable laying location data, burial depth data, and environmental status data. The deviation calculation module is used to calculate the laying accuracy deviation based on the laying position data and the preset path data, and to calculate the burial depth deviation based on the burial depth data and the target burial depth. A coupling construction module is used to construct a coupling error based on the laying accuracy deviation and the burial depth deviation. The parameter confirmation module is used to dynamically correct the coupling error based on the environmental state data to obtain synchronization control parameters; The adjustment calculation module is used to calculate the control adjustment amount based on the synchronization control parameters; The collaborative control module is used to collaboratively control the cable laying equipment and the burial equipment according to the control adjustment amount.

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