A method, system, and equipment storage medium for jet spraying control of a submarine optical cable trenching plow

Abstract

This application belongs to the field of jettison control, specifically relating to a jettison control method, system, and equipment storage medium for a submarine optical cable trenching plow. The method includes: obtaining an integral rate coefficient based on the deviation signal of the jettison control method for the submarine trenching plow; generating a jettison control signal to control the jettison quantity based on the integral rate coefficient and the deviation signal; calculating the soil shear strength under jettison energy based on the jettison energy density and the soil softening coefficient; generating a feedforward control quantity based on the soil shear strength and the soil softening coefficient; generating a disturbance compensation quantity based on the observer state control equation; obtaining a total control signal based on the jettison control signal, the feedforward control quantity, and the disturbance compensation quantity; and controlling the jettison of the submarine trenching plow based on the total control signal. This application improves control accuracy and response speed, reduces the power consumption of the mother vessel, and enhances operational efficiency and safety.

Description

Technical Field

[0001] This application belongs to the field of jetting control, specifically relating to a jetting control method, system, equipment, and storage medium for a submarine optical cable trenching plow. Background Technology

[0002] In submarine optical cable or cable laying operations, a mother ship-towed plow-type trenching robot (hereinafter referred to as "trenching plow") is typically used. This trenching plow has high structural strength and strong soil-breaking ability. The actuator on the trenching plow body is hydraulically driven and mainly includes mechanical structures such as front slipper, plow blade, and cable presser. It has high reliability and is widely used in underwater trenching and cable laying.

[0003] Currently, trenching plows rely primarily on a mother vessel for propulsion when operating underwater, using the plow blades to break the soil and create trenches. They also incorporate a simple spraying system for pre-spraying the trenching direction. In previous designs, the operation of the spraying pump motor relied on manual judgment and control by the construction personnel based on geological conditions and real-time tension feedback. This made trenching plow operations highly dependent on the experience of the operators, and the spraying system's response to towing forces was lag-dependent, failing to adaptively adjust pump performance, leading to over- or under-spraying and consequently, extremely unstable tension on the mother vessel. Although the traction winch in the trenching plow deployment and recovery system may have a passive release function, errors in tension transmission and calculation, and slow hydraulic system response still make trenching plow operations a high-energy-consuming and high-risk task for the mother vessel.

[0004] While traditional PID control can achieve feedback regulation, it suffers from integral saturation and response lag when faced with abrupt changes in seabed soil conditions causing sudden disturbances in towing force. By the time the jetting effect becomes apparent, the mother ship's load has often exceeded its limits, leading to severe cable vibration or even interruption of the laying operation. This chain-like lag of "sensing-decision-execution-effectiveness" makes it difficult for a single PID control to maintain stable towing force under high-speed towing conditions. Existing technologies have not revealed how to compensate for the dynamic time delay of jetting action lags behind soil softening.

[0005] Traditional PID control parameters remain fixed and cannot adapt to the gradual changes in soil conditions during long-distance laying. Submarine pipelines can be laid over distances of tens to hundreds of kilometers, with soil conditions alternating between silt, sand, and hard clay. In soft soil sections, excessive jetting leads to energy waste, while in hard soil sections, slow response causes frequent triggering of the mother ship's thrust protection threshold, requiring repeated manual parameter adjustments, resulting in low automation and reliance on experience. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a jetting control method, system, and equipment storage medium for a submarine optical cable trenching plow, which significantly improves control accuracy and response speed, reduces power consumption of the mother ship, and improves operational efficiency and safety.

[0007] A method for controlling the jetting of a trenching plow for submarine optical cables, comprising: Obtain the real-time drag force of the seabed trenching plow; The deviation signal is obtained by comparing the real-time drag force with the preset safe drag force; The integral rate coefficient is obtained based on the deviation signal, and a jet control signal for controlling the basic jet volume is generated based on the integral rate coefficient and the deviation signal. The jetting energy density is obtained by measuring the effect of the water flow energy at the plow nozzle outlet on the seabed per unit length. The soil shear strength under jetting energy is calculated based on the jetting energy density and the soil softening coefficient, whereby the soil softening coefficient characterizes the soil’s sensitivity to jetting energy. The feedforward control quantity is generated based on the soil shear strength and the soil softening coefficient. The observer state control equations for the seabed trenching plow are set according to the deviation signal; The disturbance compensation amount is generated based on the observer state control equation; The total control signal is obtained based on the jet control signal, the feedforward control quantity, and the disturbance compensation quantity. The jetting of the seabed trenching plow is controlled according to the overall control signal.

[0008] Optionally, obtaining the integral rate coefficient based on the deviation signal includes: The rate of change of drag force is calculated based on the real-time drag force and the sampling period. Set the baseline integral rate; The integral rate coefficient is obtained based on the rate of change of the drag force and the reference integral rate.

[0009] Specifically, the jetting control signal is a basic feedback control quantity, which is generated by combining the deviation between the real-time drag force and the preset safe drag force with the integral rate coefficient. The target of the jetting is the basic jetting quantity of the jetting system. When the drag force deviates from the safe value, the soil breaking resistance of the trenching plow is brought back to the target range by adjusting the basic jetting quantity.

[0010] The feedforward control quantity is a predictive compensation quantity for the properties of seabed soil, which solves the disturbance caused by changes in soil shear strength. By sensing changes in soil hardness in advance, a predictive compensation quantity is superimposed on the jetting control signal to adjust the jetting energy in advance and avoid large fluctuations in drag force caused by sudden changes in soil resistance.

[0011] The disturbance compensation amount is an observational compensation amount for unknown external disturbances. It uses an observer to estimate the unknown disturbances of the system (such as ocean current impacts and topographic relief) and generates a compensation amount to offset the impact of these disturbances on the drag force.

[0012] Optionally, a jet control signal for controlling the basic jet amount is generated based on the integral rate coefficient and the deviation signal, expressed as:

[0013] in, This is the jet control signal. , as well as These are the proportional, integral, and differential gain coefficients, respectively. The deviation signal is given by t, where t is time. This is the integral rate coefficient.

[0014] Optionally, the jetting energy density, obtained from the effect of the water kinetic energy at the plowshare nozzle outlet on the seabed per unit length, is expressed as:

[0015] in, For jet energy density, The jet flow rate, The pressure difference across the nozzle. This represents the jetting efficiency coefficient.

[0016] Optionally, the soil shear strength calculated based on the jetting energy density and the soil softening coefficient under jetting energy is expressed as follows:

[0017] in, for At any given time, the soil shear strength This represents the initial shear strength of the soil. is the soil softening coefficient.

[0018] Optionally, the step of generating the feedforward control quantity based on the soil shear strength and the soil softening coefficient is expressed as:

[0019] in, This is the feedforward control quantity. This is the feedforward gain.

[0020] Optionally, the observer state control equation for the seabed trenching plow is set according to the deviation signal, expressed as:

[0021] in, For the deviation signal The tracking estimate, This is an estimate of the rate of change of the deviation. To expand the state variables, To control the nominal gain of the channel, , as well as For observer feedback gain, and It is a nonlinear function. To track deviations, and It is a non-linear exponent. The width of the linear interval. for The derivative of for The derivative of for The derivative of This is a deviation signal. This is the total control quantity.

[0022] A jetting control system for a submarine optical cable trenching plow includes: The acquisition module is used to acquire the real-time drag force of the seabed trenching plow; The deviation signal generation module is used to obtain a deviation signal by comparing the real-time drag force with the preset safe drag force; The jet control signal generation module is used to obtain the integral rate coefficient based on the deviation signal, and to generate a jet control signal for controlling the basic jet quantity based on the integral rate coefficient and the deviation signal. The jetting energy density generation module is used to obtain the jetting energy density based on the effect of the water flow energy at the plow nozzle outlet on the seabed per unit length. The soil shear strength calculation module is used to calculate the soil shear strength under the action of jetting energy based on the jetting energy density and the soil softening coefficient, wherein the soil softening coefficient characterizes the soil's sensitivity to jetting energy. The feedforward control quantity generation module is used to generate feedforward control quantities based on the soil shear strength and the soil softening coefficient. The setting module is used to set the observer state control equations of the seabed trenching plow according to the deviation signal; The compensation module is used to generate disturbance compensation amount according to the observer state control equation; The total control signal generation module is used to obtain the total control signal based on the jet control signal, the feedforward control quantity, and the disturbance compensation quantity. The control module is used to control the jetting of the seabed trenching plow according to the overall control signal.

[0023] A terminal device includes a memory and a processor. The memory stores a computer program that can run on the processor. When the processor loads and executes the computer program, it employs a jet-jet control method for underwater trenching plows.

[0024] A computer-readable storage medium storing a computer program, which, when loaded and executed by a processor, employs a jet-jet control method for a seabed trenching plow.

[0025] The beneficial effects of this invention are: 1. By introducing a soil softening dynamics model into the feedforward channel and actively estimating and compensating for unmodeled disturbances through an extended state observer, a smart jetting control method for towed trenching plows with time-delay compensation and active disturbance suppression is provided. Utilizing real-time monitored towing force as the core feedback signal, and employing sonar data and vibration signals as auxiliary signals, the system dynamically adjusts the pump motor speed under the action of a central processing unit and motor frequency converter, thereby regulating the jetting water pressure and flow rate, forming a closed-loop control system. This fundamentally solves the aforementioned problems, significantly improving control accuracy and response speed, reducing the power consumption of the mother vessel, and improving operational efficiency and safety.

[0026] 2. A predictive feedforward compensation mechanism based on a jetting energy-soil softening dynamics model. An exponential decay model is established between the cumulative energy density of jetting and the shear strength of the soil to predict the resistance change trend in the short term and generate the feedforward compensation amount in advance. This fundamentally solves the problem of increased load on the mother ship after jetting. It also avoids ineffective jetting in soft soil sections, reducing power consumption by water pumps and fuel consumption by the mother ship.

[0027] 3. A jet-jet control method for seabed trenching plows using a third-order nonlinear extended state observer (ESO) is introduced to achieve active estimation and real-time compensation of multi-source disturbances. Unmodeled factors such as abrupt soil changes, ocean current impact, and equipment efficiency degradation are uniformly extended into the total system disturbance. Fast tracking is achieved through a nonlinear fal function observer.

[0028] 4. By dynamically interacting and coordinating the jet control signal, the feedforward control quantity, and the disturbance compensation quantity, a composite control architecture combining closed-loop feedback, feedforward prediction, and disturbance observation is constructed, achieving multi-dimensional and high-precision jet control optimization.

[0029] Among them, the jetting control signal serves as the core of the basic feedback regulation, using drag force deviation as the driving force to correct the jetting reference output in real time; the feedforward control quantity, based on the predicted information of soil shear strength changes, compensates and corrects the jetting control signal in advance, offsetting drag force fluctuations caused by geological disturbances and solving the lag defect of single feedback control; the disturbance compensation quantity is estimated in real time through the observer's state control equation and offsets unmodeled external disturbances such as ocean currents and topographical changes, further correcting the regulation deviation of the jetting control signal. The three do not act independently, but achieve information exchange and dynamic coupling through the deviation signal: the predicted result of the feedforward control quantity can assist the jetting control signal to converge quickly, the observed result of the disturbance compensation quantity can correct the deviation of the feedforward model, and the feedback output of the jetting control signal provides the observer with the basis for state updates, forming a closed-loop interactive mechanism of "prediction-feedback-correction".

[0030] This interactive collaboration of multiple control variables breaks through the limitations of traditional single control methods. It improves geological adaptability through feedforward prediction, ensures adjustment accuracy through feedback control, and enhances anti-interference capability through disturbance compensation. The complementary effect of the three significantly improves the stability of towing force control and the efficiency of jetting operations, effectively avoiding problems such as excessive towing force, insufficient or excessive jetting, and significantly improving the safety and reliability of offshore optical cable trenching operations in complex marine environments. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the underwater trenching plow structure of the present invention.

[0032] Figure 2 This is a schematic diagram illustrating the jetting control method for a submarine optical cable trenching plow according to the present invention.

[0033] Explanation of reference numerals in the attached drawings: 1. Mother vessel; 2. Control room; 3. Towing cable; 4. Seabed; 5. Umbilical cable; 6. Tension sensor; 7. Water pump motor unit; 8. Plow blade; 9. High-pressure nozzle; 10. Slipper; 11. Vibration sensor; 12. Sonar. Detailed Implementation

[0034] A jetting control method for a submarine optical cable trenching plow, such as Figure 1 As shown, the present invention includes: S1. Obtain the real-time drag force of the seabed trenching plow; Specifically, the hardware components of the control system of the invention include: a tension sensor, a vibration sensor, a pressure sensor, a sonar, a water pump motor unit, a frequency converter, a central processing unit, and a human-machine interface.

[0035] A tension sensor is installed at the connection point between the trenching plow and the towing cable to measure the total drag force applied to the trenching plow in real time. The vibration sensor is installed at the base of the plow blade to measure vibration data; the pressure sensor is used to monitor the pressure of the water pump's jet flow. The sensors possess high precision, high reliability, corrosion resistance, and high-pressure resistance.

[0036] Sonar is installed at the front of the trenching plow to detect obstacles and terrain ahead, and the geological information it provides can be used by the control system for prediction.

[0037] The water pump and motor unit (at least two) are installed on the plow body. The water pump is connected to the nozzle at the plow blade by a high-pressure water pipe. The motor drives the high-pressure water pump to generate a high-pressure water jet for soil pre-cracking and lubrication.

[0038] A frequency converter is used to receive command signals from a logic controller and output variable frequency AC power to drive a motor, thereby precisely controlling the motor speed.

[0039] The central processing unit has the following functions: Receive the tension signal value from the tension sensor It receives plow blade vibration frequency information from vibration sensors and receives the safe drag force set by the operator. The control algorithm is executed to generate specific control commands (start / stop, target frequency) and send them to the frequency converter.

[0040] The human-machine interface is located in the mother ship's control room and is used to set parameters such as the pulling range, control mode, and alarm threshold for operators, as well as monitor real-time data and alarm information.

[0041] The overall structure diagram of the trenching plow is as follows: Figure 1 As shown. In Figure 1 In this diagram, 1 represents the mother ship; 2 is the control room located on the mother ship, containing a human-machine interface system and a programmable logic controller; 3 is the towing cable between the trenching plow and the mother ship; 4 is the seabed; 5 is the umbilical cable used for communication and power supply between the trenching plow and the surface control room; 6 is the tension sensor installed at the towing point of the trenching plow; 7 is the water pump motor unit installed on the trenching plow; 8 is the blade of the trenching plow; 9 is the high-pressure nozzle installed on the blade with the spray direction facing forward; 10 is the skid shoe of the trenching plow, which can keep the front of the trenching plow stable; 11 is the vibration sensor installed at the root of the blade; and 12 is the sonar installed at the front of the trenching plow body, used to detect obstacles and seabed information ahead.

[0042] S2. Obtain the deviation signal by comparing the real-time drag force with the preset safe drag force; Specifically, the real-time drag force is first collected by a tension sensor installed at the drag point of the trenching plow. and compared with the preset safe drag force target value Compare and generate deviation signals :

[0043] in, It can be set according to the mother ship's power performance and the safety factor of the towing cable.

[0044] S3. Obtain the integral rate coefficient based on the deviation signal, and generate a jet control signal for controlling the basic jet volume based on the integral rate coefficient and the deviation signal. Specifically, to avoid overshoot and oscillation caused by integral saturation in traditional PID controllers when drag force changes drastically, this invention employs a variable-speed integral rate adaptive adjustment strategy. Integral rate coefficient. It is negatively correlated with the absolute value of the rate of change of drag force, and is dynamically adjusted according to the following nonlinear function: The step of obtaining the integral rate coefficient based on the deviation signal includes: The rate of change of drag force is calculated based on the real-time drag force and the sampling period. Set the baseline integral rate; The integral rate coefficient is obtained based on the rate of change of the drag force and the reference integral rate.

[0045] The integral rate coefficient is expressed as:

[0046] in, The baseline integral rate, ranging from 0.8 to 1.2, is initially set by the human-machine interface. The suppression coefficient, The rate of change of drag force is calculated in real time by the PLC using the differential method. , The sampling period is For real-time drag force, This is the integral rate coefficient.

[0047] In this embodiment, when At that time, the system will force Limited to 0.3 The following are the rules for implementing rapid freezing of integrals and dynamic freezing of integral rates: When deviation... and When the deviation continues to increase, forced =0 until the deviation begins to converge, to prevent deep saturation.

[0048] The injection control signal for controlling the basic injection quantity is generated based on the integral rate coefficient and the deviation signal, and is expressed as follows:

[0049] in, This is the jet control signal. , as well as These are the proportional, integral, and differential gain coefficients, respectively. The deviation signal is given by t, where t is time. This is the integral rate coefficient.

[0050] S4. The jetting energy density is obtained based on the effect of the water kinetic energy at the plow nozzle outlet on the seabed per unit length. Specifically, to address the response delay caused by the lag between jetting action and soil softening, this application constructs a mechanism model between jetting energy accumulation and soil shear strength attenuation, which is used to generate predictive feedforward compensation. .

[0051] The jetting energy density, obtained from the effect of the water kinetic energy at the plowshare nozzle outlet on a unit length of seabed, is expressed as follows:

[0052] in, For jet energy density, The jet flow rate, The pressure difference across the nozzle. The jetting efficiency coefficient reflects the effective proportion of water jet energy transferred to the soil, with an initial value of 0.65.

[0053] Jet efficiency correction rule: Calculate theoretical hydraulic power Q represents the flow rate. For pressure difference, the actual measured motor power U is voltage, I is current. This is the power factor. When If the continuous drop exceeds 15%, it is determined that the nozzle is clogged or worn. In this case, press... The exponential decay correction model was implemented, triggering a maintenance warning.

[0054] S5. Calculate the soil shear strength under the action of jetting energy based on the jetting energy density and the soil softening coefficient, wherein the soil softening coefficient characterizes the soil's sensitivity to jetting energy. The soil shear strength calculated based on the jetting energy density and the soil softening coefficient under jetting energy is expressed as follows:

[0055] in, for The soil shear strength at any given time, expressed in kPa, directly affects drag resistance. The initial shear strength of the soil, in kPa, is the intensity of the ground reflection through the forward-looking sonar. Inversion obtained, ,coefficient The value is determined through self-learning from the data of the first 50 meters of operation, with an initial value of 0.8. The soil softening coefficient characterizes the soil's sensitivity to jetting energy. It is identified online using in-situ test data. The identification algorithm is as follows: when the actual rate of decrease in drag force deviates from the model prediction by more than 15%, an activation is triggered. The recursive least squares update.

[0056] S6. Generate feedforward control quantities based on the soil shear strength and the soil softening coefficient. The feedforward control quantity generated based on the soil shear strength and the soil softening coefficient is expressed as follows:

[0057] in, This is the feedforward control quantity. This is the feedforward gain.

[0058] S7. Set the observer state control equations for the seabed trenching plow based on the deviation signal; Specifically, to estimate and compensate for total disturbances including abrupt changes in soil properties, ocean current impact, and jet erosion efficiency degradation in real time, this application employs a third-order nonlinear extended state observer. This observer extends the unmodeled dynamics of the system and external disturbances into new state variables. This enables real-time tracking and compensation.

[0059] Based on the aforementioned deviation signal, the observer state control equation for the seabed trenching plow is set as follows:

[0060] in, For the deviation signal The tracking estimate, This is an estimate of the rate of change of deviation, reflecting the dynamic characteristics of the system. To expand the state variables, the total system disturbance (including soil parameter perturbations, ocean current disturbances, sensor noise, etc.) is estimated in real time. This is the total control quantity. To track deviations, To control the nominal gain of the channel, a value of 0.8 to 1.2 is used, calibrated according to the rated operating conditions of the water pump. and The nonlinear exponents are set to 0.5 and 0.25 respectively, to adjust the observation sensitivity for small and large deviations. for The derivative of for The derivative of for The derivative of The width of the linear interval. , , The observer feedback gain is tuned using the bandwidth method: , , , The observer bandwidth is expressed in rad / s and its value is based on the seabed hardness coefficient. Dynamic tuning:

[0061] in, This is the baseline bandwidth.

[0062] Drag force deviation The second-order dynamics can be expressed as: ,in, For systems without modeled dynamics, External disturbances To control the channel nominal gain, the total disturbance is... Define as a new state variable At this point, the system state expands to [ , , This constitutes a third-order system, in which... for The derivative of for The derivative of .

[0063] The observer equations are solved simultaneously for the three state variables through numerical integration recursion. , , Each step is based on the current moment. , and the state at the previous moment [ , , Calculate the state at the next moment to achieve real-time estimation and tracking of the internal state of the system. Initialize to the system initial deviation , , All values ​​are initialized to 0 and subsequently updated in real time via state equations.

[0064] Soil hardness identification rules: A MEMS triaxial vibration accelerometer is installed at the base of the plow blade, with a sampling rate of 2kHz. The cutting frequency is extracted using Fast Fourier Transform. .like It was determined to be soft silt. =0.2; if It was determined to be medium-hardness sandy soil. =0.6; if It was determined to be a layer of hard clay or rock. =1.0. Observer bandwidth Follow Automatic adjustment.

[0065] It is a nonlinear function. For deviation, It is a non-linear exponent. The width of the linear interval.

[0066] Among them, nonlinear functions Defined as:

[0067] S8. Generate disturbance compensation amount according to the observer state control equation; Specifically, the disturbance compensation amount is expressed as:

[0068] in, This is the disturbance compensation amount.

[0069] S9. Obtain the total control signal based on the jet control signal, the feedforward control quantity, and the disturbance compensation quantity. Specifically, the overall control signal is represented as follows:

[0070] in, This is the disturbance compensation amount. This is the jet control signal. This is the feedforward control variable.

[0071] S10. Control the jetting of the seabed trenching plow according to the overall control signal.

[0072] Specifically, the main control signal, after being amplitude-limited (limited to the 0-50Hz frequency range corresponding to [0, 100]%), is sent to the frequency converter via the fieldbus protocol to drive the water pump motor speed. Adjust according to the following linear relationship:

[0073] in, This is the rated speed of the motor.

[0074] A jetting control system for a submarine optical cable trenching plow includes: The acquisition module is used to acquire the real-time drag force of the seabed trenching plow; The deviation signal generation module is used to obtain a deviation signal by comparing the real-time drag force with the preset safe drag force; The jet control signal generation module is used to obtain the integral rate coefficient based on the deviation signal, and to generate a jet control signal for controlling the basic jet quantity based on the integral rate coefficient and the deviation signal. The jetting energy density generation module is used to obtain the jetting energy density based on the effect of the water flow energy at the plow nozzle outlet on the seabed per unit length. The soil shear strength calculation module is used to calculate the soil shear strength under the action of jetting energy based on the jetting energy density and the soil softening coefficient, wherein the soil softening coefficient characterizes the soil's sensitivity to jetting energy. The feedforward control quantity generation module is used to generate feedforward control quantities based on the soil shear strength and the soil softening coefficient. The setting module is used to set the observer state control equations of the seabed trenching plow according to the deviation signal; The compensation module is used to generate disturbance compensation amount according to the observer state control equation; The total control signal generation module is used to obtain the total control signal based on the jet control signal, the feedforward control quantity, and the disturbance compensation quantity. The control module is used to control the jetting of the seabed trenching plow according to the overall control signal.

[0075] This application also discloses a terminal device, including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor loads and executes the computer program, a jetting control method for a submarine optical cable trenching plow is used.

[0076] The terminal device can be a computer device such as a desktop computer, a laptop computer, or a cloud server. The terminal device includes, but is not limited to, a processor and a memory. For example, the terminal device may also include input / output devices, network access devices, and buses.

[0077] The processor can be a central processing unit (CPU). Of course, depending on the actual use, it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc., and this application does not limit it.

[0078] The memory can be an internal storage unit of the terminal device, such as a hard disk or RAM of the terminal device, or an external storage device of the terminal device, such as a plug-in hard disk, smart memory card (SMC), secure digital card (SD), or flash memory card (FC) equipped on the terminal device. Furthermore, the memory can be a combination of internal storage units and external storage devices of the terminal device. The memory is used to store computer programs and other programs and data required by the terminal device. The memory can also be used to temporarily store data that has been output or will be output. This application does not limit this.

[0079] In this terminal device, the jetting control method of the submarine optical cable trenching plow in the above embodiment is stored in the memory of the terminal device and loaded and executed on the processor of the terminal device for convenient use.

[0080] This application also discloses a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it employs a jetting control method for a submarine optical cable trenching plow as described in the above embodiments.

[0081] The computer program can be stored in a computer-readable medium. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or certain middleware. The computer-readable medium includes any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the computer-readable medium includes, but is not limited to, the above-mentioned components.

[0082] The above-described method for controlling the jetting of a submarine optical cable trenching plow is stored in the computer-readable storage medium and loaded and executed on the processor to facilitate the storage and application of the method.

[0083] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of protection of this application is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of one or more embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0084] One or more embodiments in this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments in this application should be included within the protection scope of this application.

Claims

1. A jet-jet control method for a trenching plow for submarine optical cables, characterized in that, include: Obtain the real-time drag force of the seabed trenching plow; The deviation signal is obtained by comparing the real-time drag force with the preset safe drag force; The integral rate coefficient is obtained based on the deviation signal, and a jet control signal for controlling the basic jet volume is generated based on the integral rate coefficient and the deviation signal. The jetting energy density is obtained by measuring the effect of the water flow energy at the plow nozzle outlet on the seabed per unit length. The soil shear strength under jetting energy is calculated based on the jetting energy density and the soil softening coefficient, whereby the soil softening coefficient characterizes the soil’s sensitivity to jetting energy. The feedforward control quantity is generated based on the soil shear strength and the soil softening coefficient. The observer state control equations for the seabed trenching plow are set according to the deviation signal; The disturbance compensation amount is generated based on the observer state control equation; The total control signal is obtained based on the jet control signal, the feedforward control quantity, and the disturbance compensation quantity. The jetting of the seabed trenching plow is controlled according to the overall control signal.

2. The jetting control method for the submarine optical cable trenching plow according to claim 1, characterized in that, The step of obtaining the integral rate coefficient based on the deviation signal includes: The rate of change of drag force is calculated based on the real-time drag force and the sampling period. Set the baseline integral rate; The integral rate coefficient is obtained based on the rate of change of the drag force and the reference integral rate.

3. The jetting control method for the submarine optical cable trenching plow according to claim 1, characterized in that, The injection control signal for controlling the basic injection amount is generated based on the integral rate coefficient and the deviation signal, and is expressed as follows: in, This is the jet control signal. , as well as These are the proportional, integral, and differential gain coefficients, respectively. The deviation signal is given by t, where t is time. This is the integral rate coefficient.

4. The jetting control method for the submarine optical cable trenching plow according to claim 1, characterized in that, The jetting energy density, obtained from the effect of the water kinetic energy at the plowshare nozzle outlet on a unit length of seabed, is expressed as follows: in, For jet energy density, The jet flow rate, The pressure difference across the nozzle. This represents the jetting efficiency coefficient.

5. The jetting control method for the submarine optical cable trenching plow according to claim 4, characterized in that, The soil shear strength calculated based on the jetting energy density and the soil softening coefficient under jetting energy is expressed as follows: in, for At any given time, the soil shear strength This represents the initial shear strength of the soil. This is the soil softening coefficient.

6. The jetting control method for the submarine optical cable trenching plow according to claim 5, characterized in that, The feedforward control quantity generated based on the soil shear strength and the soil softening coefficient is expressed as follows: in, This is the feedforward control variable. This is the feedforward gain.

7. The jetting control method for the submarine optical cable trenching plow according to claim 1, characterized in that, The observer state control equation for setting the seabed trenching plow based on the deviation signal is expressed as follows: in, For the deviation signal The tracking estimate, This is an estimate of the rate of change of the deviation. To expand the state variables, To control the nominal gain of the channel, , as well as For observer feedback gain, and It is a nonlinear function. To track deviations, and It is a non-linear exponent. The width of the linear interval. for The derivative of for The derivative of for The derivative of This is a deviation signal. This is the total control quantity.

8. A jet-jet control system for a submarine optical cable trenching plow, characterized in that, include: The acquisition module is used to acquire the real-time drag force of the seabed trenching plow; The deviation signal generation module is used to obtain a deviation signal by comparing the real-time drag force with the preset safe drag force; The jet control signal generation module is used to obtain the integral rate coefficient based on the deviation signal, and to generate a jet control signal for controlling the basic jet quantity based on the integral rate coefficient and the deviation signal. The jetting energy density generation module is used to obtain the jetting energy density based on the effect of the water flow energy at the plow nozzle outlet on the seabed per unit length. The soil shear strength calculation module is used to calculate the soil shear strength under the action of jetting energy based on the jetting energy density and the soil softening coefficient, wherein the soil softening coefficient characterizes the soil's sensitivity to jetting energy. The feedforward control quantity generation module is used to generate feedforward control quantities based on the soil shear strength and the soil softening coefficient. The setting module is used to set the observer state control equations for the seabed trenching plow based on the deviation signal. The compensation module is used to generate disturbance compensation amount according to the observer state control equation; The total control signal generation module is used to obtain the total control signal based on the jet control signal, the feedforward control quantity, and the disturbance compensation quantity. The control module is used to control the jetting of the seabed trenching plow according to the overall control signal.

9. A terminal device, comprising a memory and a processor, characterized in that, The memory stores a computer program that can run on a processor, and when the processor loads and executes the computer program, it employs the method described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is loaded and executed by the processor, it employs the method described in any one of claims 1 to 7.

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