深海作业机器人电动系缆管理系统及其控制研究

Investigation on an Electric Tether Management System and its Control for Deep-sea Remotely Operated Vehicles

系缆在深海有缆作业机器人(remotely operatedvehicle,ROV)作业时起到能量供给、信息传输等重要作用。为了进一步合理规划系缆的收放、调控ROV水下运动范围,文章提出了一种以永磁电机作为动力执行单元的新型系缆管理系统,并结合系缆实际工作要求,设计了水面-水下控制系统及其逻辑控制方法。该电动系缆管理系统由滚筒、滑动轮、永磁电机及其驱动器等组成,相比传统的以液压动力系统作执行单元的系缆管理系统,其体积更小;其滚筒通过链传动控制水平往复绞线器运动,从而确保滚筒与绞线器的运动同步,保证缆能正确地缠绕在滚筒上。文章结合放缆与收揽典型运行模式下系缆的运动状态,对滚筒与滑动轮的力矩与速度状态进行了分析,并通过实验对电动TMS控制系统及其控制逻辑的有效性进行验证。结果表明,该电动系缆管理系统能正常配合ROV开展水下作业,有利于有缆机器人系统稳定高效工作。

In deep-sea operations,tethers play a vital role in providing energy supply and information transmission for remotely operated vehicles(ROVs).To further refine the collect and release planning of the tether and to regulate ROVs'underwater range of motion,this study proposes a novel tether management system powered by permanent magnet synchronous motors.The surface-underwater control systems and their logical control methods have been thoughtfully designed to meet the tether's working requirements.The electric tether management system comprises components such as a drum,sheave,permanent magnet motor,and respective drivers,presenting a more compact structure than traditional hydraulic-powered tether management systems.Through a sprocket,the system ensures synchronicity between the drum and the spooler for a corrugated motion,facilitating correct tether winding around the drum.By analytically considering the torque and speed statuses of the drum and sheave across typical tether pick-up and pay-out modes,this study validates the effectiveness of the electric tether management system's control and logic.The results indicate that the electric tether management system can efficiently collaborate with the ROV to perform underwater operations,thereby contributing to stable and efficient ROV system operation.