CN109856751A - Deep-sea cable laying drum type cable laying machine and its laying method - Google Patents
Deep-sea cable laying drum type cable laying machine and its laying method Download PDFInfo
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- CN109856751A CN109856751A CN201811610443.7A CN201811610443A CN109856751A CN 109856751 A CN109856751 A CN 109856751A CN 201811610443 A CN201811610443 A CN 201811610443A CN 109856751 A CN109856751 A CN 109856751A
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- laying
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- frequency converter
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Abstract
The invention discloses a kind of deep-sea cable laying drum type cable laying machines, motor, GPS, optical cable tension sensor, PLC and the industrial personal computer of transducer drive are each equipped with including drum machine, Liang Tai, measured data of the PLC to receive GPS, fathometer, optical cable tension detector, calculate current lay length and required cloth cable speed, motor control signal is issued to frequency converter, and keeps two frequency converters consistent to speed；Industrial personal computer is monitored entire control process, and carry out data deposits reading.The invention also discloses a kind of laying control methods of drum type cable laying machine.Laying-out is divided into several sections by two frequency converters of setting, according to landform, optical cable tension is carried out the measure such as to monitor in real time, to guarantee that entire laying work is steadily efficient.
Description
Technical field
The invention belongs to cable laying machines, and in particular to a kind of deep-sea cable laying drum type cable laying machine and its laying method.
Background technique
Fiber optic communication have with it is roomy, delay it is low, anti-interference many advantages, such as, assume responsibility at present about 90% it is remote lead to
Letter data flow.Drum type cable laying machine is core in mechanical system in deep-sea cable laying work, it be used for by optical cable from
It is pulled out in cable disk and controls optical cable and entered in seawater with certain speed.Due to seafloor terrain difference, how drum is controlled
Formula cable laying machine, which runs smoothly, efficiently carries out the cable laying operation of deep-sea cable, is currently a urgent need to solve the problem.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of deep-sea cable laying drum type cable laying machine and its layings
Method steadily can efficiently carry out the cable laying operation of deep-sea cable.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme that:
On the one hand, a kind of deep-sea cable laying drum type cable laying machine, comprising:
Cable laying machine ontology, including drum machine；
Two are each equipped with the motor of transducer drive, are connected respectively by speed reducer and drive drum machine jointly；
GPS, to speed-position detection；
Fathometer, to detect current cloth cable depth；
Optical cable tension sensor, to detect current optical cable tension；
PLC, receiving the measured data of GPS, fathometer, optical cable tension detector, calculate current lay length and
Required cloth cable speed issues motor control signal to frequency converter, and keeps two frequency converters consistent to speed；
Industrial personal computer is connected with PLC, is monitored to entire control process, and carry out data deposits reading.
Two frequency converter is also each configured with a braking resistor.
The frequency converter uses Danfoss FC302 Series Frequency Converter.
On the other hand, a kind of laying control method of above-mentioned cable laying machine, comprising the following steps:
According to actual landform, laying-out is divided by several sections using surplus laying control mode,
Speed-position detection is carried out respectively by GPS, fathometer, optical cable tension detector, the current cloth cable depth of detection, is detected and is worked as
Preceding optical cable tension；
The measured data that GPS, fathometer, optical cable tension detector are received by PLC calculates current lay length and is somebody's turn to do
Cloth cable speed needed for section issues motor control signal to frequency converter, and keeps two frequency converters consistent to speed；
Entire control process is monitored by industrial personal computer, and carry out data deposits reading.
Two frequency converters of the holding give speed consistent method are as follows: give two frequency converters by short message broadcast communication mode
Identical speed and start stop signal, to guarantee the consistent to speed of two frequency converters, while by the torque percentage of 1# frequency converter with
4-20mA analog signals are output to 2# frequency converter, open the fine speed adjustment function of 2# frequency converter, make 2# frequency converter in total linear speed
On the basis of degree is given, a fine adjustment speed is superimposed according to the loading condition of 1# frequency converter, and then dynamic turns with 1# frequency converter
Square corresponding change, the load to realize 1# and 2# frequency converter are shared.
The monitoring includes the real time monitoring to optical cable tension, comprising: the optical cable that will be measured by optical cable tension sensor
The signal that tension is converted to 4~20mA sends PLC to；And the output torque of every motor is read by communication using PLC, it calculates
The tension of optical cable out.
Using deep-sea cable laying drum type cable laying machine of the invention, have several advantages that
1, heat is realized by the common drive drum machine operating that is rigidly connected using two transducer drives, two motors
Backup, will not influence normal construction a frequency converter tripping grinder；
2, laying-out is divided by several sections according to landform, carries out surplus laying control；
3, optical cable tension is monitored in real time, to ensure to be less than its tension that is broken, avoids occurring in the work progress of deep-sea
Cable breakout will cause loss very serious.
4, operation is monitored using two sets of industrial personal computers of distance.
Detailed description of the invention
The present invention is described in detail with reference to the accompanying drawings and detailed description:
Fig. 1 is the installation schematic illustration of frequency converter of the invention.
Fig. 2 is PLC control principle schematic diagram of the invention.
Fig. 3 is Frequency Converter Control schematic diagram of the invention.
Fig. 4 is different optical cable schematic diagrames used by deep-sea laying of the invention.
Specific embodiment
Deep-sea cable laying drum type cable laying machine of the invention is specifically included that as shown in FIG. 1 to FIG. 2
Cable laying machine ontology, including drum machine；
Two are each equipped with the motor of transducer drive, are connected respectively by speed reducer and drive drum machine jointly；Two become
Frequency device is respectively to drive corresponding motor, respectively to drive two motors, passes through the common drive drum that is rigidly connected
Machine operating, realizes warm back-up, will not influence normal construction a frequency converter tripping grinder.Also, with shallow sea situation
Difference, under deep sea condition, due to the gravity of optical cable itself, actually frequency converter is in brake power generating shape during cloth cable
State, therefore two frequency converters are respectively configured with a 40Kw braking resistor.
GPS, to speed-position detection, wherein position data is used to calculate the routing length that construction ship is walked, speed data
For controlling drum machine revolving speed.GPS device is sent the longitude and latitude of current optical cable place of entry and current ship's speed with the frequency of 1Hz
To PLC.It is to be more suitable for long distance transmission that the RS232 interface that GPS device specifically can be used, which passes through Delta IFD8500 interface conversion,
The message length of RS485 interface, GPS is greater than 100 bytes, therefore completes data using the DVPSCM12 communication module of Delta
It receives and preliminary treatment works, then data are extracted from message according to NMEA protocol specification by PLC.The message used includes:
GPGGA message (wherein including latitude and longitude information), GPVTG message (wherein including ship's speed information).
Fathometer, to detect current cloth cable depth；
Optical cable tension sensor, to detect current optical cable tension.The tension of optical cable needs to monitor in real time, and ensures to be less than
Its tension that is broken, cable breakout otherwise occurs in the work progress of deep-sea will cause loss very serious.In control system
Force signal has two-way source: optical cable tension sensor and motor torque.Wherein, optical cable tension sensor is converted to optical cable tension
The signal of 4~20mA sends PLC to；In addition PLC reads the output torque of every motor by communication, joins further according to machine driving
It counts to estimate the tension of optical cable, available accurate motor torque under closed loop magnetic flux vector mode.
PLC, receiving the measured data of GPS, fathometer, optical cable tension detector, calculate current lay length and
Required cloth cable speed issues motor control signal to frequency converter, and keeps two frequency converters consistent to speed；Delta specifically can be used
The slim PLC of SV2 series carries out logic control, parsing GPS data etc..What SV2 and its expansion module used is all plug type end
Son, quick replacement when conveniently breaking down.
Industrial personal computer is connected with PLC, is monitored to entire control process, and carry out data deposits reading.It specifically can be used remote
Nearly each one group, wherein 1# industrial personal computer runs KingView software, for monitoring and controlling, in addition lays data (including each Route Area
Length, laying slack, the tension protection value etc. of section) it is all directly stored in 1# industrial personal computer, it is completed by Access database big
The typing and storage of amount laying data record operation conditions and generate report.2# industrial personal computer operation remote monitoring software is supervised in real time
The picture for controlling 1# industrial personal computer, can also remotely be controlled when necessary.
According to the complexity of landform, practice of construction route has often divided dozens of even a sections up to a hundred, Mei Gequ
Section will be arranged the data such as independent ship's speed, laying slack, tension protection value, the typing and storage of these huge data all by
Access database is completed, and using the database function of KingView software, the area being presently in is calculated automatically according to GPS data
Section, and each construction data corresponding to the section is passed into PLC.Configuration software is also at regular intervals by the fortune in construction
Row data preserve, and user may be selected to generate the statistical report form in the corresponding period.The data of record include GPS coordinate, ship
The information such as speed, current of electric, motor torque, optical cable tension.
Danfoss FC302 Series Frequency Converter can be used in the frequency converter, and cooperation MCO305 motion control card realizes closing for motor
Ring magnetic flux vector control, it is accurate to control motor operating, it is completed at the same time cable length computing function.Danfoss FC302 frequency converter
The problem of input voltage range is 380~500V ± 10%, can successfully manage voltage instability on ship；The 3C3 anticorrosion of standard configuration
Enhancing coating and 50 DEG C of highest of operation temperature improve reliability of the frequency converter under bad working environments.The long line that MCO305 is used
Driving encoder, has a good interference free performance, and frequency converter can detect automatically encoder whether break down with
Just it is handled in time.
And two motors need that load is made to be evenly distributed to every electricity as far as possible when dragging the same load by rigid connection
On machine, it is otherwise likely to occur laod unbalance, the even opposite situation of torque, this is especially apparent during acceleration and deceleration.
Only make sure that the revolving speed of two motors be unanimously it is inadequate, in order to solve this problem, using the speed of Danfoss frequency converter
Trim (fine speed adjustment) function.It is as shown in Figure 3:
The identical speed of two frequency converters and start stop signal are given by short message broadcast communication mode, to guarantee two
The speed preset of frequency converter is completely the same, while by the torque percentage of 1# frequency converter with the output of 4-20mA analog signals
To 2# frequency converter, open the speed trim function of 2# frequency converter, such 2# frequency converter will on the basis of bus speed is given,
It is superimposed a fine adjustment speed, and then the torque variation of dynamic " following " 1# frequency converter according to the loading condition of 1# frequency converter, with reality
It is now shared with the load of 1# frequency converter.
Typical deep-sea cable is formed by connecting by several different optical cables, is wanted with meeting the work of different water depth environment
It asks, structure such as Fig. 4:
The different optical cable of these types has just been connected according to design length after the completion of production.Thus while in system
Frequency converter works in velocity mode, but the lay length of optical cable also has to accurately control, if midway laying optical cable is excessive,
It may cause finally that log in section optical cable inadequate；If midway laying optical cable is very few, and may cause with more fragile deep-sea cable
It logs in.In several hundred or even thousands of kilometers, it is long generally to log in the double armor optical cable that section uses for the laying path length of deep-sea cable
Only several kilometers of degree, so the error of lay length will be within 1%, therefore MCO305 motion control card is installed additional for frequency converter and is come
The current location of motor is obtained, and is read by PLC by communication, it is long the optical cable laid can be calculated further according to mechanical parameter
Degree.
In conclusion deep-sea cable laying drum type cable laying machine and its laying method of the invention, using perfect ginseng
The equipment that number setting options and monitoring function ensure that runs smoothly efficiently, smoothly completes several deep-sea cables in trying out
Any alarm or shutdown do not occur in work progress for cable laying operation, and system stable operation always.System debug also very simple
It is easy, obtain client's favorable comment consistent with owner's.
But those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate this
Invention, and be not used as limitation of the invention, as long as in spirit of the invention, to embodiment described above
Variation, modification will all fall within the scope of claims of the present invention.
Claims (6)
1. a kind of deep-sea cable laying drum type cable laying machine characterized by comprising
Cable laying machine ontology, including drum machine；
Two are each equipped with the motor of transducer drive, are connected respectively by speed reducer and drive drum machine jointly；
GPS, to speed-position detection；
Fathometer, to detect current cloth cable depth；
Optical cable tension sensor, to detect current optical cable tension；
PLC calculates current lay length and required receiving the measured data of GPS, fathometer, optical cable tension detector
Cloth cable speed issues motor control signal to frequency converter, and keeps two frequency converters consistent to speed；
Industrial personal computer is connected with PLC, is monitored to entire control process, and carry out data deposits reading.
2. deep-sea cable laying drum type cable laying machine according to claim 1, it is characterised in that: two frequency converter is also
It is each configured with a braking resistor.
3. deep-sea cable laying drum type cable laying machine according to claim 1 or 2, it is characterised in that: the frequency converter
Using Danfoss FC302 Series Frequency Converter.
4. the laying control method of cable laying machine according to claim 2, which comprises the following steps:
According to actual landform, laying-out is divided by several sections using surplus laying control mode；
Speed-position detection, the current cloth cable depth of detection, the current light of detection are carried out respectively by GPS, fathometer, optical cable tension detector
Cable tension；
The measured data that GPS, fathometer, optical cable tension detector are received by PLC, calculates current lay length and the section
Required cloth cable speed issues motor control signal to frequency converter, and keeps two frequency converters consistent to speed；
Entire control process is monitored by industrial personal computer, and carry out data deposits reading.
5. laying control method according to claim 4, which is characterized in that two frequency converters of the holding give speed consistent side
Method are as follows: the identical speed of two frequency converters and start stop signal are given by short message broadcast communication mode, to guarantee two frequency conversions
Device gives speed unanimously, while the torque percentage of 1# frequency converter is output to 2# frequency converter with 4-20mA analog signals, opens
The fine speed adjustment function of 2# frequency converter makes 2# frequency converter on the basis of bus speed is given, according to the load feelings of 1# frequency converter
Condition is superimposed a fine adjustment speed, and then dynamically with the torque corresponding change of 1# frequency converter, to realize the load of 1# and 2# frequency converter
It is shared.
6. laying control method according to claim 4, which is characterized in that the monitoring includes to the real-time of optical cable tension
Monitoring, comprising: PLC to is sent the signal that the optical cable tension measured is converted to 4~20mA by optical cable tension sensor；And it adopts
The output torque for reading every motor by communication with PLC, calculates the tension of optical cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811610443.7A CN109856751A (en) | 2018-12-27 | 2018-12-27 | Deep-sea cable laying drum type cable laying machine and its laying method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811610443.7A CN109856751A (en) | 2018-12-27 | 2018-12-27 | Deep-sea cable laying drum type cable laying machine and its laying method |
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| CN109856751A true CN109856751A (en) | 2019-06-07 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112520503A (en) * | 2020-12-11 | 2021-03-19 | 中石化石油工程技术服务有限公司 | Cable turntable of submarine cable laying vessel and cable laying machine control device |
| CN114755776A (en) * | 2022-03-18 | 2022-07-15 | 天津市精研工程机械传动有限公司 | Synchronous control system and control method of multi-tire type cable laying machine |
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| CN203691320U (en) * | 2014-01-07 | 2014-07-02 | 湖南工程学院 | Electric locomotive variable-frequency speed-regulating system based on DSP and FPGA |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112520503A (en) * | 2020-12-11 | 2021-03-19 | 中石化石油工程技术服务有限公司 | Cable turntable of submarine cable laying vessel and cable laying machine control device |
| CN114755776A (en) * | 2022-03-18 | 2022-07-15 | 天津市精研工程机械传动有限公司 | Synchronous control system and control method of multi-tire type cable laying machine |
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Application publication date: 20190607 |