WO1992020607A1 - Treuil pour remorquage d'objets immerges - Google Patents
Treuil pour remorquage d'objets immerges Download PDFInfo
- Publication number
- WO1992020607A1 WO1992020607A1 PCT/FR1992/000389 FR9200389W WO9220607A1 WO 1992020607 A1 WO1992020607 A1 WO 1992020607A1 FR 9200389 W FR9200389 W FR 9200389W WO 9220607 A1 WO9220607 A1 WO 9220607A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- inclination
- winch
- cable
- boom
- towing
- Prior art date
Links
- 230000010355 oscillation Effects 0.000 claims description 5
- 230000036461 convulsion Effects 0.000 abstract 1
- 238000005259 measurement Methods 0.000 abstract 1
- 241000251468 Actinopterygii Species 0.000 description 25
- 230000000694 effects Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000010354 integration Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002250 progressing effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/56—Towing or pushing equipment
- B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
Definitions
- the present invention relates to winches which allow a tent to be towed behind a tractor building such as an oceanographic vessel, a submerged object such as a "fish", containing for example a sonar for mapping the seabed.
- a tractor building such as an oceanographic vessel
- fish a submerged object
- To facilitate handling the cable passes over a mad pulley located at one end of an articulated arm at its other end on the boat, so that by turning around this articulation the arm passes from an extended position where the pulley overlooks the sea at a raised position where it overlooks the deck of the boat.
- the arm also includes, at the level of this pouJie, a cradle-forming device on which the fish rests after it has been raised.
- the traction cable is itself large and heavy. Therefore we cannot neglect its weight compared to that of the fish and it also undergoes a significant drag. On the other hand, it presents an important arrow compared to the straight line joining the fish to the boat. Under the effect of the waves the boat presents disordered movements which are reflected on the cable and on the fish. Due to the effects seen above, the movement of the fish does not reproduce that of the boat and it is therefore not possible to simply compensate, when processing sonar signals for example, the movements of the fish taking into account the movements. boat. On the other hand, the stresses on the cable due to these movements are completely excessive and they should be minimized as much as possible.
- a known solution to this problem consists in supporting the arm with the aid of a jack connected to a pneumatic accumulator, so that the arm oscillates around its point of articulation on the boat so that the head of the arm follows a substantially rectilinear trajectory at a speed approximately - ⁇ S constant.
- this result is only obtained very roughly with such a passive system.
- the natural frequency of this set is in most cases relatively close to that of the swell, which results in 0 resonance phenomena capable of aggravating the stresses applied to you. to the cable.
- the invention provides a winch for towing submerged objects, comprising an arrow having a base which can pivot on a substantially horizontal axis and a head provided with a mad pulley intended to support a towing cable, main means for keeping this boom raised relative to the horizontal at an angle of inclination ⁇ (variable around an average value ⁇ n allowing towing operations, mainly characterized in that it also comprises means for varying the inclination of the arrow around CX., so as to limit variations in the tensile force on the cable.
- Figure 1 the arm 100 of the winch, which is comparable to the boom of a crane which supports the towing cable of the fish.
- This arrow 100 is articulated at one end by means of a pin 101 on a frame not shown, which is itself fixed on the deck of the towing building.
- the drum 102 of the winch which contains the towing cable 103 rotates around this axis 101.
- This cable 103 starts from the drum 102, rotates around a mad pulley 104 situated at the other end of the arm 100 and then descends down . When the cable is unwound, it therefore enters the sea
- this arrow has an angle Ot. with the horizontal.
- the jack 105 lowers the boom so as to place the end of the latter carrying the pulley 104 at- above the surface of the water, in order to have a correct clearance of the cable 103 relative to the rear of the boat.
- the angle * __ is then relatively small.
- the arrow 100 tends to oscillate around the axis 101 under the effect of variations in the traction force due to these movements. Indeed, the efforts are transferred to the load cylinder 105, which being for example of the hydraulic type tends to oscillate under the action of these forces around the point of equilibrium which has been fixed by the means of inflation of the cylinder .
- the elastic assembly formed by all of these elements, and in particular by the boom and the load cylinder does not allow the tensile forces imposed on the cable 103 by these movements to be properly damped relative.
- a control cylinder 106 which is connected to a servovalve 107 supplied by a pump 108.
- An electronic control device 109 makes it possible to control the servovalve 107 so as to supply the servo actuator 106 by two supply pipes 110 and 111. In this way, the actuator 106 pushes the boom upwards or pulls it downwards so as to maintain a substantially constant tensile force on the cable 103, and also a substantially constant altitude at the end of the arrow.
- sensors 118 are used located in the fish 117 and which measure the trim of this fish.
- the signals from these sensors are applied to the control unit 109 by a connection shown separately on the figure, but which in practice passes through the towing cable 103, according to an arrangement known in the art.
- This housing operates in open loop by applying to the servo-valve. 107 signals tending to reduce the fish plate to 0.
- the cylinder is fed in one direction and if it decreases, it is fed in the other.
- the box 109 is therefore equivalent to a differential amplifier.
- this system works in open loop, a relatively large gain can be used without risking too much oscillation, at least to some extent.
- an accelerometric sensor 112 fixed to the end of the boom supporting the pulley 104 can be used, as shown in FIG. 2.
- This sensor is arranged so as to substantially measure the vertical component of the acceleration.
- the signals from the accelerometer 112 are therefore applied to the control device 109 in which they undergo a treatment which makes it possible to apply control signals to the servovalve 107 to power the jack 106 in such a way that the vertical acceleration at the level of the head of the arrow is minimal.
- the electronic control unit 109 implements a control method quite similar to those known in current techniques. The method used consists for example of a double integration leading to a command in the position of the arrow, or a simple integration leading to a speed command, the parameters of these commands making it possible to minimize the instantaneous value of the accelerated ⁇ ration.
- two detectors 113 and 114 are used, of the end-of-travel type for example, which are placed on either side of the boom at positions corresponding to the maximum permissible travel, for example ⁇ 5 °. around the setpoint value of the angle o ⁇ . These devices are connected to the control unit 109, and when the arrow actuates one of them, it emits a signal which is detected in this control unit, which results in a signal correction.
- the force applied by the load actuator 105 remains substantially equal to F n at all times, whereas the force exerted by the control cylinder 106 varies between F- -F n and F ..- F-. since it sometimes reinforces and sometimes thwarts the action of the load cylinder. Under these conditions, the work developed by the pump 108 is therefore equal to the area hatched in vertical hatching, which is much smaller than the previous one.
- the boom of the crane has a triangular shape whose base is fixed on the axis 101 and which re ceives ⁇ head pulley 104. This triangle is formed by two arms.
- the load cylinder 105 is fixed on one of the two arms and the control cylinder 106 on the other.
- the control cylinder 106 In view of the scale to be used for parts forming the crane, because of the ongoing effort of traction to bear, there is no laugh ⁇ that efforts bias caused by this provision lead to operational problems or distortions of the whole.
- ⁇ in Figure 5 which was limited to organs useful for understanding the variant, is fed not only the actuator 106 by the servovalve 107 but also the actuator 105.
- the actuator 105 includes, quite normally, a first chamber 301 located on the other side of the thrust axis 302 relative to a piston 308 and supplied by a pressure tank 303 which makes it possible to obtain, with the jack 105, a substantially constant force F n whatever the depression of the rod 302.
- the cylinder 105 further comprises on the side of the push rod a second chamber 304, which is itself supplied by the servovalve 107 so as to counteract the effect of the pressure exerted in the chamber 301.
- the servo ⁇ valve 107 supplies the actuator 106 so as to reinforce the action of the actuator 105.
- the actuator 106 can be supplied in two different ways:
- a cylinder 106 is used which is smaller than the cylinder 105 so that the chamber 305, located on the other side of the push rod 306 relative to the piston 309 of this jack has a cross section of area equal to that of chamber 304, taking into account the size of the push rod 302.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Jib Cranes (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Earth Drilling (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA002103363A CA2103363C (fr) | 1991-05-21 | 1992-04-30 | Treuil pour remorquage d'objets immerges |
US08/150,064 US5381909A (en) | 1991-05-21 | 1992-04-30 | Winch for towing submerged objects |
DE69217050T DE69217050T2 (de) | 1991-05-21 | 1992-04-30 | Winde zum schleppen von unterwasserobjekten |
EP92911013A EP0584190B1 (fr) | 1991-05-21 | 1992-04-30 | Treuil pour remorquage d'objets immerges |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR91/06110 | 1991-05-21 | ||
FR9106110A FR2676725B1 (fr) | 1991-05-21 | 1991-05-21 | Treuil pour remorquage d'objets immerges. |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1992020607A1 true WO1992020607A1 (fr) | 1992-11-26 |
Family
ID=9412956
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR1992/000389 WO1992020607A1 (fr) | 1991-05-21 | 1992-04-30 | Treuil pour remorquage d'objets immerges |
Country Status (6)
Country | Link |
---|---|
US (1) | US5381909A (fr) |
EP (1) | EP0584190B1 (fr) |
CA (1) | CA2103363C (fr) |
DE (1) | DE69217050T2 (fr) |
FR (1) | FR2676725B1 (fr) |
WO (1) | WO1992020607A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015140526A1 (fr) * | 2014-03-18 | 2015-09-24 | Bibby Marine Survey Services Limited | Plateforme sous-marine |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2714663B1 (fr) * | 1993-12-30 | 1996-01-26 | Thomson Csf | Treuil à moteur hydraulique, notamment pour hélicoptère muni d'un sonar. |
FR2735645B1 (fr) * | 1995-06-16 | 1997-07-25 | Thomson Csf | Emetteur acoustique remorque |
US6222899B1 (en) | 1998-07-30 | 2001-04-24 | The United States Of America As Represented By The Secretary Of The Navy | System for determining the deployed length of a flexible tension element |
US6494158B1 (en) * | 2000-11-24 | 2002-12-17 | The United States Of America As Represented By The Secretary Of The Navy | Method for reducing strum in tow cables |
AU2011200406B2 (en) * | 2008-07-05 | 2014-02-27 | Watertow Pty Ltd | Container and System for Transporting Water |
WO2010003194A1 (fr) * | 2008-07-05 | 2010-01-14 | Marecon Pty Ltd | Conteneur et système de transport d’eau |
NO336245B1 (no) * | 2010-09-21 | 2015-06-29 | Rolls Royce Marine As | Hivkompensert kran |
US9323236B2 (en) * | 2012-12-05 | 2016-04-26 | Aai Corporation | Fuzzy controls of towed objects |
CA2962404C (fr) * | 2014-08-29 | 2022-05-31 | Teledyne Instruments, Inc. | Treuil de navire avec moteur commande par ordinateur |
GB201419394D0 (en) * | 2014-10-31 | 2014-12-17 | Saipem Spa | Offshore lifting of a load with heave compensation |
US10207905B2 (en) | 2015-02-05 | 2019-02-19 | Schlumberger Technology Corporation | Control system for winch and capstan |
US10042067B1 (en) * | 2017-09-25 | 2018-08-07 | The United States Of America As Represented By The Secretary Of The Navy | Safety system for a towed source |
CN115504362B (zh) * | 2022-11-18 | 2023-03-10 | 中国海洋大学 | 一种浅海船只打捞的通用型提升设备 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3282568A (en) * | 1964-10-12 | 1966-11-01 | Continental Oil Co | Combined electrical signals for constant depth towed submerged barges |
FR2032323A1 (fr) * | 1969-02-03 | 1970-11-27 | Westinghouse Electric Corp | |
US3549129A (en) * | 1968-09-03 | 1970-12-22 | Global Marine Inc | Motion dampening device |
CA904208A (en) * | 1968-03-15 | 1972-07-04 | W. W. Pfieffer Frank | Towing system shock absorbing means |
CA996505A (en) * | 1973-07-04 | 1976-09-07 | British Columbia Research Council | Heave compensating cranes |
DE2758246A1 (de) * | 1976-12-27 | 1978-06-29 | Santa Fe Int Corp | Verfahren und vorrichtung zur fernueberwachung der lage bzw. haltung eines unterwasser-schleppobjekts bei einem unterwasser-schleppsystem |
FR2403263A1 (fr) * | 1977-09-15 | 1979-04-13 | Havre Chantiers | Dispositif pour travaux sous-marins comportant un corps immerge relie par un cable a un support flottant |
US4754442A (en) * | 1986-05-27 | 1988-06-28 | Her Majesty The Queen In Right Of Canada, As Represented By The Minister Of National Defence | Variable depth sonar line handling system |
WO1991007310A1 (fr) * | 1989-11-21 | 1991-05-30 | Thomson-Csf | Treuil pour remorquage d'objets immerges |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3150860A (en) * | 1962-07-13 | 1964-09-29 | Ling Temco Vought Inc | Tension control device |
US3596070A (en) * | 1969-12-08 | 1971-07-27 | Us Navy | Winch control system for constant load depth |
US4462330A (en) * | 1979-07-30 | 1984-07-31 | The United States Of America As Represented By The Secretary Of The Navy | Current stabilized underwater platform |
FR2614598B1 (fr) * | 1987-04-29 | 1989-06-09 | Thomson Csf | Bouee aeroportable largable, notamment pour ecoute sous-marine |
FR2614869B1 (fr) * | 1987-05-07 | 1989-07-28 | Eca | Systeme perfectionne d'exploration et de surveillance de fonds sub-aquatiques par un engin submersible, et de commande de celui-ci |
FR2629787B1 (fr) * | 1988-04-12 | 1991-01-25 | Thomson Csf | Bouee sous-marine munie de moyens de stabilisation hydrodynamique et destinee a etre suspendue, notamment a un helicoptere |
FR2637561B1 (fr) * | 1988-10-11 | 1990-11-16 | Thomson Csf | Dispositif destine a maintenir sous l'eau les engins sous-marins remorques, et procede d'utilisation |
FR2638258B1 (fr) * | 1988-10-21 | 1991-10-31 | Thomson Csf | Mecanisme du type bras articule et antenne de sonar equipee d'un tel mecanisme |
FR2640799B1 (fr) * | 1988-12-20 | 1990-12-21 | Thomson Csf | Mecanisme pour l'obtention d'un mouvement de translation en milieu marin et sonar equipe d'un tel mecanisme |
FR2660144B1 (fr) * | 1990-03-23 | 1992-05-29 | Thomson Csf | Dispositif de suspension pour base acoustique. |
NO170866C (no) * | 1990-07-12 | 1992-12-16 | Geco As | Fremgangsmaate og anordning til stabilisering av seismiskeenergikilder |
-
1991
- 1991-05-21 FR FR9106110A patent/FR2676725B1/fr not_active Expired - Fee Related
-
1992
- 1992-04-30 WO PCT/FR1992/000389 patent/WO1992020607A1/fr active IP Right Grant
- 1992-04-30 CA CA002103363A patent/CA2103363C/fr not_active Expired - Fee Related
- 1992-04-30 US US08/150,064 patent/US5381909A/en not_active Expired - Lifetime
- 1992-04-30 EP EP92911013A patent/EP0584190B1/fr not_active Expired - Lifetime
- 1992-04-30 DE DE69217050T patent/DE69217050T2/de not_active Expired - Fee Related
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3282568A (en) * | 1964-10-12 | 1966-11-01 | Continental Oil Co | Combined electrical signals for constant depth towed submerged barges |
CA904208A (en) * | 1968-03-15 | 1972-07-04 | W. W. Pfieffer Frank | Towing system shock absorbing means |
US3549129A (en) * | 1968-09-03 | 1970-12-22 | Global Marine Inc | Motion dampening device |
FR2032323A1 (fr) * | 1969-02-03 | 1970-11-27 | Westinghouse Electric Corp | |
CA996505A (en) * | 1973-07-04 | 1976-09-07 | British Columbia Research Council | Heave compensating cranes |
DE2758246A1 (de) * | 1976-12-27 | 1978-06-29 | Santa Fe Int Corp | Verfahren und vorrichtung zur fernueberwachung der lage bzw. haltung eines unterwasser-schleppobjekts bei einem unterwasser-schleppsystem |
FR2403263A1 (fr) * | 1977-09-15 | 1979-04-13 | Havre Chantiers | Dispositif pour travaux sous-marins comportant un corps immerge relie par un cable a un support flottant |
US4754442A (en) * | 1986-05-27 | 1988-06-28 | Her Majesty The Queen In Right Of Canada, As Represented By The Minister Of National Defence | Variable depth sonar line handling system |
WO1991007310A1 (fr) * | 1989-11-21 | 1991-05-30 | Thomson-Csf | Treuil pour remorquage d'objets immerges |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015140526A1 (fr) * | 2014-03-18 | 2015-09-24 | Bibby Marine Survey Services Limited | Plateforme sous-marine |
Also Published As
Publication number | Publication date |
---|---|
CA2103363C (fr) | 2003-12-16 |
DE69217050D1 (de) | 1997-03-06 |
FR2676725A1 (fr) | 1992-11-27 |
CA2103363A1 (fr) | 1992-11-22 |
DE69217050T2 (de) | 1997-05-15 |
FR2676725B1 (fr) | 1998-01-09 |
US5381909A (en) | 1995-01-17 |
EP0584190B1 (fr) | 1997-01-22 |
EP0584190A1 (fr) | 1994-03-02 |
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