海管监测ARV总体设计与试验

Overall Design and Implementation of Marine Pipeline Monitoring ARV

摘要:

在深水海管监测中，特别是对于海管着泥点定位和管线屈曲的监测，现有采用 ROV（Romotely Operated Vehicle）搭配多功能作业母船的监测技术方案存在监测成本高，船舶交叉作业风险高等缺点。提出一种具备扁平体构型、多推进器布置的新型混合式水下机器人 ARV（Autonomous Remotely Vehicle）。该 ARV 兼顾了 AUV（Autonomous Underwater Vehicle）智能性和 ROV 实时传输特点，可以满足海管铺设过程中自主性和实时监测的需求。根据设计目标和任务要求，采用模块化设计思想，完成了 ARV 的总体设计，并着重给出了艇型、耐压舱、推进系统以及控制系统的设计方案。为验证 ARV 的运动控制性能，在水池深水池进行试验测试，完成 ARV 定深、定向、定速控制实验，并模拟实际海管铺设过程完成了海管着泥点监测任务，实验结果表明控制系统能够有效支持 ARV 完成相关作业，验证了 ARV 的总体设计方法和控制系统的可行性和有效性。

Abstract:

In deepwater offshore pipeline monitoring，especially for the monitoring of mud point location and pipeline buckling，the existing monitoring technology scheme using ROV（Remotely Operated Vehicle）with multi-function operating mother ship has the disadvantages of high monitoring cost and high risk of ship crossing. In this paper，a new hybrid ARV（Autonomous Remotely Vehicle）with a flat body configuration and multi-propeller arrangement is proposed. The ARV takes into account the intelligence of AUV（Autonomous Underwater Vehicle） and the real-time transmission ability of ROV，which can meet the requirements of autonomy and real-time monitoring in the process of offshore pipeline laying. According to the design objectives and task requirements，the overall design of the ARV is completed with modular design idea，and the design scheme of the hull，the pressurization chamber，the propulsion system and the control system is emphatically described. In order to verify the motion control performance of ARV，experimental tests are carried out in the deep pool，and the ARV depth，orientation and constant speed control experiments are completed. At the same time，the actual monitoring of sea pipe is simulated. The experimental results show that the control system designed in this paper can effectively support ARV to complete the related work，and verify the feasibility and effectiveness of the overall design method and the control system of ARV.