基于水下机器人的电缆井声呐勘测技术

Sonar Survey Technology of Cable Well Based on ROV

针对电缆井因有水导致直接勘测难的问题,提出了一种基于水下机器人平台的声呐成像对电缆井内部状态的直接勘测技术。利用终端滑模控制作为水下机器人的闭环控制,通过采用粒子群优化算法对参数进行优化和干扰观测器对不确定度影响的消除,实现了对水下机器人在电缆井行走位置的准确控制,利用声呐成像技术实现对电缆井内部电缆敷设状态的直接观测。试验结果表明:所提出的改进型滑模控制模型可实现对水下机器人行走位置的精确控制,控制精度达0.1 m,声呐成像传感器可实现对电缆井内部电缆分布状态及电缆尺寸的测量,测量精度优于5%。所提出的基于水下机器人的电缆井声呐勘测技术可实现对电缆井内部状态的直接勘测,大大减轻了作业人员的勘测工作,具有很高的生产实际应用价值。

In order to solve the problem of direct survey of cable well caused by water,a direct survey technique for the internal state of cable wells using sonar imaging based on the remotely operated vehicle(ROV)platforms is proposed.The terminal sliding mode control is used as the closed loop control of ROV.By using the particle swarm optimization algorithm to optimize the parameters and eliminate the influence of the disturbance observer on the uncertainty,the accurate control of the ROV's walking position in the cable well is achieved,and the sonar imaging technology is used to realize the direct observation of the cable laying state in the cable well.The test results show that the improved sliding mode control model can realize the accurate control of the ROV's walking position,with the control accuracy of 0.1 m.The sonar imaging sensor can realize the measurement of the cable distribution status and cable size in the cable well,with the measurement accuracy better than 5%.The proposed sonar survey technology for cable wells based on ROVs can directly survey the internal state of cable wells,greatly reducing the survey work of operators and having high practical ap⁃plication value in production.