Deep sea tether rapid deployment device

Abstract

The application provides a deep-sea cable fast laying device, which comprises a buoyancy driver serving as a main device for providing driving force, a propeller serving as an auxiliary device for providing driving force, a sensor for acquiring a measured upward velocity of the buoyancy driver, a propeller control module for controlling the propeller to provide upward thrust when the measured upward velocity is less than a preset upward velocity, controlling the propeller to provide downward thrust when the measured upward velocity is greater than the preset upward velocity, and calculating and controlling the rotating speed of the propeller according to the difference between the measured upward velocity and the preset upward velocity. The application can significantly improve the upward velocity by providing additional thrust through the propeller, and the amount of buoyancy material can be appropriately reduced to reduce the weight of the system. The rotating speed and direction of the propeller are controllable, which can significantly improve the upward velocity and also prevent the upward velocity from being too fast by reversing.

Description

Technical Field

[0001] This invention relates to the field of deep-sea cable deployment equipment technology, and in particular to a rapid deployment device for deep-sea cable systems. Background Technology

[0002] Existing rapid deployment devices for deep-sea moorings (such as the Spider system) utilize buoyancy to achieve the deployment and retrieval of deep-sea moorings, offering advantages such as good concealment and flexible deployment. However, deep-sea deployment devices using pure buoyancy propulsion present the following technical challenges:

[0003] (1) Large weight: Pure buoyancy drive requires carrying a large amount of buoyancy material to provide sufficient driving force, resulting in a large overall weight of the system and increasing the load requirements for deploying ships;

[0004] (2) Slow speed: The buoyancy-driven upward speed is limited, resulting in slow response and low efficiency for long-distance deployment or emergency recovery scenarios;

[0005] (3) Poor adaptability: In sea areas with ocean currents, the upward trajectory driven by pure buoyancy is difficult to control, resulting in low positioning accuracy. Summary of the Invention

[0006] This invention provides a rapid deployment device for deep-sea cable systems, which addresses the shortcomings of existing deep-sea deployment devices that use pure buoyancy drive, resulting in large weight, slow speed, and poor adaptability. The invention adds a thruster to the existing deep-sea deployment device, combining the thruster with buoyancy drive to form a hybrid drive mode.

[0007] This invention provides a rapid deployment device for deep-sea cable systems, comprising:

[0008] A buoyancy actuator, serving as the main device providing driving force;

[0009] A thruster, serving as an auxiliary device to provide driving force;

[0010] A sensor is used to obtain the measured upward speed of the buoyancy actuator;

[0011] The thruster control module is used to control the thruster to provide upward thrust when the measured ascent speed is less than the preset ascent speed; to control the thruster to provide downward thrust when the measured ascent speed is greater than the preset ascent speed; and to calculate and control the rotational speed of the thruster based on the difference between the measured ascent speed and the preset ascent speed.

[0012] According to the present invention, a rapid deployment device for deep-sea cable tethers is provided, wherein the buoyancy actuator includes a floating frame for mounting buoyancy materials;

[0013] Thrusters are installed at the four corners of the floating frame, and the axial direction of the thrusters is consistent with the longitudinal axis of the floating frame.

[0014] A rapid deployment device for deep-sea cable tethers provided by the present invention further includes:

[0015] A turntable, fixed to the buoyancy actuator, is used to hang one end of a cable;

[0016] A base located in the deep sea, equipped with a power source, and the other end of a cable connected to the power source and a detector, the cable being used to transmit information and electrical energy;

[0017] The propulsion device is an underwater electric propulsion device, powered by a power source on the base via a cable. The propulsion device moves horizontally under hydraulic control, and the thrust of the propulsion device is adjusted to affect the ascent process.

[0018] According to the present invention, a rapid deployment device for deep-sea cable tethers is provided, wherein the sensor is a depth sensor, and the depth sensor obtains the original velocity signal of the buoyancy actuator by differentiating the depth change data of the buoyancy actuator; the original velocity signal is filtered to obtain a filtered velocity signal; and the filtered velocity signal is smoothed to obtain the measured ascent speed.

[0019] According to the present invention, a rapid deployment device for deep-sea cable systems is provided, wherein the rotational speed of the thruster is calculated by a standard incremental PID controller.

[0020] According to the present invention, a rapid deployment device for deep-sea cable systems is provided, wherein the thruster is a bidirectional hydraulic thruster, and the thruster control module is used for:

[0021] If the measured ascent speed is less than the preset ascent speed, the bidirectional hydraulic thruster is controlled to rotate forward to provide upward thrust and increase the ascent speed; if the measured ascent speed is greater than the preset ascent speed, the bidirectional hydraulic thruster is controlled to rotate in reverse to provide downward thrust and slow down the ascent speed.

[0022] According to the present invention, a rapid deployment device for deep-sea cable systems is provided. When the number of thrusters is multiple, the thruster control module is used for:

[0023] The total rotational speed of the multiple thrusters is calculated based on the difference between the measured ascent speed and the preset ascent speed.

[0024] Calculate the total upward thrust of the multiple thrusters based on the total rotational speed of the multiple thrusters and the preset thrust coefficient;

[0025] The total upward thrust is evenly distributed to each thruster;

[0026] The rotational speed of each thruster is calculated and controlled based on the thrust distributed equally among each thruster and the preset thrust coefficient.

[0027] According to the present invention, a rapid deployment device for deep-sea cable systems is provided. When the thruster is an electric thruster, the relationship between the thrust and rotational speed of the thruster is as follows:

[0028] ;

[0029] in, Let i be the thrust of the i-th thruster. Let be the rotational speed of the i-th thruster. The preset thrust coefficient of the thruster at time t.

[0030] According to the deep-sea cable tethering rapid deployment device provided by the present invention, the thruster control module is further used for:

[0031] Based on the maximum thrust of each thruster and the preset thrust coefficient, calculate the maximum thrust provided by each thruster and the sum of the maximum thrusts provided by the multiple thrusters;

[0032] Calculate the ratio between the sum of the maximum thrust provided by multiple thrusters and the underwater net buoyancy of the deep-sea cable tether rapid deployment device;

[0033] If the ratio is not within a preset range, the ratio is adjusted.

[0034] The deep-sea cable tethering rapid deployment device provided by this invention has the following beneficial effects:

[0035] The existing SPIDER system uses pure buoyancy drive, which results in a large deployment device weight, slow ascent speed, and poor adaptability in complex deep-sea conditions.

[0036] This invention adds a thruster assembly to the existing SPIDER framework structure. The thruster, combined with buoyancy drive, forms a hybrid drive mode. The additional thrust provided by the thruster significantly increases the ascent speed; the amount of buoyancy material can be appropriately reduced, thereby lowering the system weight; the thruster's rotational speed and direction are controllable, significantly increasing the ascent speed while also allowing for reversal to prevent excessive ascent.

[0037] This invention overcomes the shortcomings of pure buoyancy drive, which is characterized by large weight and slow speed. It is equivalent to adding adjustable buoyancy, which improves the efficiency, stability and sea condition adaptability of deep-sea cable laying. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the overall structure of the deep-sea cable system rapid deployment device provided by the present invention;

[0040] Figure 2 This is a top view schematic diagram of the overall structure of the deep-sea cable rapid deployment device provided by the present invention;

[0041] Figure 3 This is a schematic diagram of the processing flow of the thruster control module in the deep-sea cable system rapid deployment device provided by the present invention.

[0042] Figure label:

[0043] 1: Floating frame; 2: Thruster; 3: Turntable; 4: Cable; 5: Base. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0045] The following is combined with Figure 1 and 2 A rapid deployment device for deep-sea cable tethers according to the present invention includes:

[0046] A buoyancy actuator, serving as the main device providing driving force;

[0047] Thruster 2 serves as an auxiliary device to provide driving force;

[0048] A sensor is used to obtain the measured upward speed of the buoyancy actuator;

[0049] The thruster control module is used to control the thruster to provide upward thrust when the measured ascent speed is less than the preset ascent speed; to control the thruster to provide downward thrust when the measured ascent speed is greater than the preset ascent speed; and to calculate and control the rotational speed of the thruster based on the difference between the measured ascent speed and the preset ascent speed.

[0050] This embodiment can add a thruster assembly to the existing SPIDER frame structure, or it can add a thruster assembly to other existing deep-sea deployment devices that utilize buoyancy.

[0051] Figure 1 and Figure 2 The original structure of the SPIDER frame is retained, including the floating frame 1 for mounting buoyancy materials, the turntable 3 for mounting the cable system, the cable 4 for connecting the detector and transmitting information and power, and the base 5 for settling on the bottom and mounting the power supply and control system processing unit.

[0052] A thruster control module is added to the control system to adjust the thruster's magnitude and direction in real time based on the measured ascent speed measured by sensors (such as depth sensors or inertial measurement units).

[0053] In this embodiment, the thruster is combined with buoyancy drive to form a hybrid drive mode. The additional thrust provided by the thruster can significantly increase the ascent speed; the amount of buoyancy material can be appropriately reduced, thereby reducing the system weight; the thruster speed and direction are controllable, which can significantly increase the ascent speed while also reversing to prevent the ascent speed from being too fast.

[0054] Based on the above embodiments, the buoyancy actuator in this embodiment includes a floating frame 1 for mounting buoyancy materials;

[0055] Four small hydraulic bidirectional thrusters are symmetrically installed at the four corners of the floating frame 1, and the axial direction of the thrusters 2 is consistent with the longitudinal axis of the floating frame 1.

[0056] Based on the above embodiments, this embodiment also includes:

[0057] Turntable 3, which is fixed on the buoyancy actuator, is used to hang one end of cable 4;

[0058] The base 5 is located in the deep sea and is equipped with a power source. The other end of the cable 4 is connected to the power source and the detector. The cable 4 is used to transmit information and electrical energy.

[0059] The thruster 2 is an underwater electric thruster, powered by a power source on the base 5 via a cable. The thruster moves horizontally under hydraulic control, and the thrust of the thruster 2 is adjusted to affect the ascent process.

[0060] Based on the above embodiments, the sensor in this embodiment is a depth sensor. The depth sensor obtains the original velocity signal of the buoyancy actuator by differentiating the depth change data of the buoyancy actuator; the original velocity signal is filtered to obtain a filtered velocity signal; and the filtered velocity signal is smoothed to obtain the measured buoyancy speed.

[0061] The depth sensor measures depth change data and then performs differentiation, filtering, and smoothing to obtain the measured ascent speed.

[0062] Specifically, the control module is a single-loop speed control structure. Let the depth of the depth sensor measuring device be... Regarding the surfacing process:

[0063] ;

[0064] in, Let be the measured ascent speed at time t.

[0065] In practical discrete sampling, the backward difference approximation is used:

[0066] ;

[0067] in, This is the original velocity signal corresponding to the k-th sample. and These are the depths of the k-th and (k-1)th samples, respectively. The sampling period.

[0068] The original velocity signal contains low-frequency noise. A second-order Butterworth low-pass filter (cutoff frequency 0.3Hz) is used to filter it to obtain the filtered velocity corresponding to the k-th sample. The measured ascent speed corresponding to the k-th sample was then obtained by smoothing using a moving average. :

[0069] ;

[0070] Where N is the number of samples, Let be the filtered velocity corresponding to the ki-th sample.

[0071] Based on the above embodiments, the rotational speed of the thruster in this embodiment is calculated by a standard incremental PID (Proportional-Integral-Derivative) controller.

[0072] like Figure 3 As shown, the thruster control module adjusts the ascent speed according to the preset buoyancy. Compared with the measured ascent speed deviation The thruster rotation speed is calculated using a standard incremental PID controller.

[0073] ;

[0074] in, It is the speed of the thruster (in rad / s or rpm). It is proportional gain. It is integral gain. It is the differential gain. It is the thruster rotation speed (with direction) corresponding to the k-1th sampling. and These are the deviations corresponding to the k-1 and k-2 sampling times, respectively.

[0075] Based on the above embodiments, the thruster in this embodiment is a bidirectional hydraulic thruster, and the thruster control module is used for:

[0076] If the measured ascent speed is less than the preset ascent speed, the bidirectional hydraulic thruster is controlled to rotate forward to provide upward thrust and increase the ascent speed; if the measured ascent speed is greater than the preset ascent speed, the bidirectional hydraulic thruster is controlled to rotate in reverse to provide downward thrust and slow down the ascent speed.

[0077] The thruster is a bidirectional hydraulic thruster, and the direction of rotation is determined by the sign of the deviation.

[0078] ;

[0079] in, This represents a reversal, which provides downward thrust to slow the upward speed. It represents forward rotation, which provides upward thrust to increase the speed of ascent.

[0080] Based on the above embodiments, in this embodiment, when the number of thrusters is multiple, the thruster control module is used for:

[0081] The total rotational speed of the multiple thrusters is calculated based on the difference between the measured ascent speed and the preset ascent speed.

[0082] Calculate the total upward thrust of the multiple thrusters based on the total rotational speed of the multiple thrusters and the preset thrust coefficient;

[0083] The total upward thrust is evenly distributed to each thruster;

[0084] The rotational speed of each thruster is calculated and controlled based on the thrust distributed equally among each thruster and the preset thrust coefficient.

[0085] Thrust distribution employs an equal-distribution strategy. All four thrusters receive the same rotational speed command.

[0086] ;

[0087] in, , , and The rotational speeds of the four thrusters are all equal to their assigned rotational speeds. .

[0088] The even distribution of thrust from the thrusters is to prevent the thrusters from generating torque that could alter the equipment's attitude during ascent. This also means that these four thrusters are not involved in attitude control, unless otherwise specified. This is based on the premise that the equipment itself will not experience significant attitude tilting during actual sea trials under the original design, and its design with a lower center of gravity and higher center of buoyancy provides a certain degree of self-correction capability.

[0089] However, when the error is evenly distributed (meaning the four thrusts are not necessarily exactly the same), the speed control itself has a certain error. Even at the same speed, the thrust generated under different flow fields will not be exactly the same, i.e., the thrust coefficient... (May differ) When the error does not exceed the original correction capability of the equipment, it can be considered as being able to ensure a stable attitude during the ascent process, thus ignoring the attitude instability caused by differential error.

[0090] Based on the above embodiments, in this embodiment, for the electric thruster, the relationship between thrust and rotational speed at low advance speeds (rising speed on the order of 1 m / s) can be approximated as follows:

[0091] ;

[0092] in, Let i be the thrust of the i-th thruster. Let be the rotational speed of the i-th thruster. The preset thrust coefficient of the thruster at time t (calibrated through bench tests).

[0093] The total upward thrust generated by the four thrusters for:

[0094] .

[0095] Based on the above embodiments, the thruster control module in this embodiment is further used for:

[0096] Based on the maximum thrust of each thruster and the preset thrust coefficient, calculate the maximum thrust provided by each thruster and the sum of the maximum thrusts provided by the multiple thrusters;

[0097] Calculate the ratio between the sum of the maximum thrust provided by multiple thrusters and the underwater net buoyancy of the deep-sea cable tether rapid deployment device;

[0098] If the ratio is not within the preset range, the maximum thrust provided by each thruster and / or the underwater net buoyancy of the deep-sea cable rapid deployment device are adjusted so that the ratio is within the preset range.

[0099] Assuming the maximum rotational speed of the thruster is The maximum thrust provided by the thruster is .

[0100] Hybrid drive mode: buoyancy propulsion is the primary driving force, while the thrusters serve as auxiliary power, and the maximum thrust provided by the thrusters can be adjusted. and equipment underwater net buoyancy This allows for the regulation of the ratio between the two. To flexibly meet actual deployment needs.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rapid deployment device for deep-sea cable systems, characterized in that, include: A buoyancy actuator, serving as the main device providing driving force; A thruster, serving as an auxiliary device to provide driving force; A sensor is used to obtain the measured upward speed of the buoyancy actuator; The thruster control module is used to control the thruster to provide upward thrust when the measured ascent speed is less than the preset ascent speed; If the measured ascent speed is greater than the preset ascent speed, the thruster is controlled to provide downward thrust; the rotational speed of the thruster is calculated and controlled based on the difference between the measured ascent speed and the preset ascent speed.

2. The rapid deployment device for deep-sea cable systems according to claim 1, characterized in that, The buoyancy actuator includes a floating frame for mounting buoyancy materials; Thrusters are installed at the four corners of the floating frame, and the axial direction of the thrusters is consistent with the longitudinal axis of the floating frame.

3. The rapid deployment device for deep-sea cable systems according to claim 1, characterized in that, Also includes: A turntable, fixed to the buoyancy actuator, is used to hang one end of a cable; A base located in the deep sea, equipped with a power source, and the other end of a cable connected to the power source and a detector, the cable being used to transmit information and electrical energy; The propulsion device is an underwater electric propulsion device, powered by a power source on the base via a cable. The propulsion device moves horizontally under hydraulic control, and the thrust of the propulsion device is adjusted to affect the ascent process.

4. The rapid deployment device for deep-sea cable systems according to claim 1, characterized in that, The sensor is a depth sensor, which measures the depth change data of the buoyancy actuator, performs differentiation, and obtains the original velocity signal of the buoyancy actuator; the original velocity signal is then filtered to obtain a filtered velocity signal. The measured ascent speed is obtained by smoothing the filtered speed signal.

5. The rapid deployment device for deep-sea cable systems according to claim 1, characterized in that, The rotational speed of the thruster is calculated using a standard incremental PID controller.

6. The rapid deployment device for deep-sea cable systems according to claim 1, characterized in that, The thruster is a bidirectional hydraulic thruster, and the thruster control module is used for: If the measured ascent speed is less than the preset ascent speed, the bidirectional hydraulic thruster is controlled to rotate forward to provide upward thrust and increase the ascent speed; if the measured ascent speed is greater than the preset ascent speed, the bidirectional hydraulic thruster is controlled to rotate in reverse to provide downward thrust and slow down the ascent speed.

7. The rapid deployment device for deep-sea cable systems according to claim 1, characterized in that, When there are multiple thrusters, the thruster control module is used for: The total rotational speed of the multiple thrusters is calculated based on the difference between the measured ascent speed and the preset ascent speed. Calculate the total upward thrust of the multiple thrusters based on the total rotational speed of the multiple thrusters and the preset thrust coefficient; The total upward thrust is evenly distributed to each thruster; The rotational speed of each thruster is calculated and controlled based on the thrust distributed equally among each thruster and the preset thrust coefficient.

8. The rapid deployment device for deep-sea cable systems according to claim 7, characterized in that, When the thruster is an electric thruster, the relationship between the thrust and the rotational speed of the thruster is as follows: ； in, Let i be the thrust of the i-th thruster. Let be the rotational speed of the i-th thruster. The preset thrust coefficient of the thruster at time t.

9. The rapid deployment device for deep-sea cable systems according to claim 7, characterized in that, The thruster control module is also used for: Based on the maximum thrust of each thruster and the preset thrust coefficient, calculate the maximum thrust provided by each thruster and the sum of the maximum thrusts provided by the multiple thrusters; Calculate the ratio between the sum of the maximum thrust provided by multiple thrusters and the underwater net buoyancy of the deep-sea cable tether rapid deployment device; If the ratio is not within a preset range, the ratio is adjusted.

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