RU2394720C2 - Method of dynamic positioning of manned underwater apparatus above work object - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to underwater apparatuses, particularly to methods of oceanologic research underwater works performed from manned underwater apparatus. Proposed method consists in development of ACS for manned underwater apparatus (MUA) propulsion assembly and maintenance of MUA in position set by operator under effects of natural phenomena or operation of MUA manipulators. Proposed system comprises acoustic beacon, data preliminary processing unit that analyses deviation of MUA from preset position, propulsion system comprising six screw propulsors located at octahedron apices, twelve auxiliary thrust devices and propulsors control unit that varies magnitude and direction of stop vector in response to (servo) control system.

EFFECT: expanded scope of works to be performed from MUA board.

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Description

Technical field

The present invention relates to vehicles in the aquatic environment, measuring equipment and methods for carrying out oceanological research and underwater technical work from the side of an inhabited underwater vehicle.

State of the art

The dynamic positioning of an object - its stabilization at a given point in space - is widely used on surface research, drilling and ship-raising vessels. The development of the method of stabilizing ships at sea made it possible to carry out drilling operations (re-commissioning a drilling tool at depths of up to 6000 m), lifting a part of a submarine near the Hawaiian Islands, stabilizing the lighting complex at depths of up to 4000 m above a given area for the purpose of filming the sunken German ship Bismarck ".

It should be noted that the most undeveloped and not integrated into the general complex of inhabited underwater vehicles (OPA) were stabilization systems of OPA over the object of work. The only experience in creating a dynamic positioning system for OPA in the Russian Federation is its implementation at OPA "OSA", and even then at the level of a prototype. On the well-known MIR apparatuses, systems of dynamic positioning above an object do not exist [1]. Huge funds spent on the creation of inhabited and uninhabited underwater vehicles (PA) do not give the expected effect, since the vehicles remain observation platforms and it is difficult to perform even simple technological operations on them.

At the moment, there are engineering studies on the creation of dynamic positioning systems for OPA. For the implementation of dynamic positioning, two systems are needed: a developed system of active propulsors and a system of information about linear and angular displacements of OPA relative to a given point at the bottom.

To solve the stabilization problem, it is necessary to solve the synthesis problem of the OPA propulsion complex, which would be able to ensure the formation of the total thrust vector in the full sphere of space, which requires redundancy of the propulsion complex. An inhabited underwater vehicle as an object, the position of which in space is determined by six degrees of freedom, must have at least 6 movers arranged in such a way that each pair of movers controls one linear and one angular displacement of the OPA to form the named spatial vector of the total emphasis. However, due to a number of functional and structural reasons, 6 movers are difficult to position on the OPA so that they control any movement of the device in space. It is necessary to establish a larger number of them, which determines the redundancy of the propulsion complex.

For the theoretical possibility of identifying and analyzing the role of each of the movers, controlling its influence and degree of participation in the formation of the resulting thrust vector and the speed of the OPA movement, a basic and additional coordinate system is introduced.

The basic coordinate system is placed at the center of the OPA. Additional coordinate systems are placed at the beginning at the points of application of the thrust vector of each mover. This procedure allows you to select each mover, the emphasis created by him and to control its magnitude in magnitude and direction. The mathematical model of such a propulsion system allows one to formulate the focus control of each propulsion system and theoretically solve the problem of adapting the system to changing conditions. Figure 1 shows the base and additional coordinate systems [2, 3, 4, 5].

IP Chubarenko proposed an original generalized approach to the choice of the structure of the locomotive complex of the OPA in the form of convex regular polyhedra (tetrahedron, cube, octahedron, dodecahedron) [1]. At the tops of the polyhedrons are movers. With this approach, the designed underwater vehicle, depending on the number and location of propulsors, can be represented by the corresponding volumetric figure, which simplifies the theoretical solution to the problem of the layout of the propulsion system of the OPA. Figure 2. variants of propulsion systems are presented and values of their redundancy coefficient for each case are given.

In conclusion, we note that the task of creating a dynamic positioning system for the OPA was not solved in practice, with the exception of creating a prototype at the OPA "OSA". The prior art in this direction is characterized by theoretical studies of the layout of the propulsion system of the OPA.

SUMMARY OF THE INVENTION

In the present invention, the problem of expanding the front of work that can be performed on board an inhabited underwater vehicle (OPA), reducing the time required to complete the work, increasing the safety of work due to the dynamic positioning of the OPA, i.e. giving it the quality of a fixed platform for the duration of work under the conditions of external disturbances caused by natural phenomena or the operation of a handling-technological complex.

To implement the invention, the authors developed a system for dynamic positioning of the OPA over the object of work, which is an integral part of the navigation system of the OPA. In figure 3. its structural diagram is given. Two subsystems are composed of means to ensure dynamic positioning of the OPA over the object of work included in the system: a subsystem for controlling the position of the OPA in the space above the object of work by acoustic beacons and a propulsion subsystem.

The subsystem for monitoring the position of the OPA over the object of work is part of the navigation system of the OPA and includes acoustic beacons (1.1, 1,2 ... l.n), which are installed in the work area, a preliminary information processing unit that analyzes the deviation from the specified position of the OPA.

The propulsion subsystem includes six screw propellers (2.1, 2.2, ... 2.n) located at the vertices of the octahedron, and twelve thrusters (3.1, 3.2, ..., ... 3.n), built on the principle that allows the use of the marine environment, in which the vessel moves as a working fluid in accordance with the law of Lorentz [6]. In the selected thrusters, there is no mechanical stage in the transfer of propulsion energy to the environment (ship propeller), they have the maximum matching of the parameters of the energy source (electric) with the load characteristics of the consumption devices (drives), are organically integrated into the propulsion subsystem of the OPA.

Thrusters are located in two pieces in close proximity with each screw drive on two sides in the same plane, the position of which is determined during mooring tests of the fire safety switch at the beginning of work or after refitting the fire safety switch, which changed its external configuration. The thrusters adjust the direction of the thrust vector of the screw propeller.

The created system of dynamic positioning of the OPA allows you to provide the required speed for working out the emerging mismatch signals - deviations from the given position, i.e. adaptation of the OPA propulsion system to external disturbing influences from the external environment, since its subsystems have a certain redundancy.

The main element of the OPA dynamic positioning system is the central computer (4), which provides information output from the preliminary information processing unit, which analyzes the deviation from the given position of the OPA above the object of work (5), to the control panel of the entire system (6), and the issuance of information to the operator panel (7 ) and at the command of the operator through the local communication line (8) to the control unit of the propulsion system (9), which provides dynamic positioning, i.e. keeping the OPA in the state of a fixed platform in the position set by the operator above the work item, and the work area is pre-equipped with acoustic beacons.

Possibility of implementation

The dynamic positioning system of the inhabited underwater vehicle (OPA) above the object of work on the instructions of the operator solves the whole range of work to give and hold the OPA in the state of a fixed platform in the position set by the operator above the object of work.

The system of dynamic positioning of the OPA over the object of work consists of two subsystems: a subsystem for controlling the position of the OPA in the space above the object of work and the propulsion subsystem.

The subsystem for controlling the position of the OPA in the space above the object of work includes acoustic beacons (1.1, 1.2, 1.3, ... 1.n), a preliminary information processing unit that analyzes the deviation from the given position of the OPA in the area of work pre-equipped with acoustic beacons.

The propulsion subsystem includes six screw propellers located at the vertices of the octahedron (2.1, 2.2, ... 2.6), and twelve thrusters (3.1, 3.2, ... 3.12), which are located two in close proximity to each screw propulsion, and a block control engines, changing the magnitude and direction of the vector of their impact at the command of the central computer.

The main element of the OPA dynamic positioning system is the central computer (4), which provides information output from the preliminary information processing unit, which analyzes the deviation from the given position of the OPA above the object of work (5), to the control panel of the entire system (6), information is transmitted to the operator panel (7 ) and at the command of the operator through the local communication line (8) to the control unit of the propulsion system (9), which provides dynamic positioning, i.e. keeping the OPA in the state of a fixed platform in the position set by the operator above the work item.

The methodology for conducting underwater technical work with an inhabited underwater vehicle equipped with a dynamic positioning system is that in the area where the object of work is located, the operator of the inhabited underwater vehicle takes the bottom topography, sets acoustic beacons, sets the OPA in a position convenient for work, gives a command dynamic positioning system to remember the position of the OPA in relation to the beacons and to hold the OPA in a predetermined position under external influences caused by natural phenomena or the operation of devices handling and technological complex OPA.

The inhabited underwater vehicle equipped with the proposed dynamic positioning system acquires the qualities of a fixed platform above the object of work and allows the crew to perform various types of underwater technical work.

Information sources

1. Smirnov G.V., Eremeev V.N., Ageev M.D., Korotaev G.K., Yastrebov B.C., Motyzhev S.V. “Oceanology. Means and methods of oceanological research. " M .: Nauka, 2005, 795 pp.

2. Hackman D., Cody D. "Underwater tool": Per. from English - L .: Shipbuilding, 1985. - 128 p.

3. Rakitin I.Ya. "Underwater robotic systems" - M., 2002. 191 p.

4. Marine technology, edited by academician M. D. Ageev, issue 3, “Underwater robots and their systems”, Dalnauka, Vladivostok, 2000.

5. Voitov D.V. "Underwater inhabited vehicles" - M .: LLC "Publishing house ACT": LLC "Publishing house Astrel", 2002. - 303 p., 16 p. silt.

6. Dozorov T.A., Smirnov G.V. Patent of Russia No. 2271302, cl. B63H 19/00 (2006.01). A method for moving a body in a marine environment and a device for its implementation.

Claims (1)

A method for dynamically positioning an inhabited underwater vehicle (OPA) over an object of work, which consists in creating a system for dynamically positioning an OPA over an object of work, consisting of a subsystem for controlling the position of the OPA in space above the object of work, including acoustic beacons and a preliminary information processing unit that analyzes the deviation of the OPA from a given position, and the propulsion subsystem, which includes six screw propellers located at the vertices of the octahedron, and twelve thrusters residents, changing the magnitude and direction of the stop vector by the command of the central computer controlling, through a local communication line, outputting information from the subsystem for monitoring the position of the OPA in the space above the work item to the control panel of the entire system, information to the operator panel and, at the command of the operator, to the motion control unit a subsystem providing dynamic positioning of the OPA over the object of work, characterized in that in the area where the object of work is located, the operator of the OPA shoots the bottom topography, acoustic beacons, set the OPA in a position convenient for work, give a command to the dynamic positioning system to remember the position of the OPA in relation to the beacons and to hold the OPA in a predetermined position above the work object under external influences caused by natural phenomena or the operation of devices of the OPA handling and technological complex .

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