rov introduction
DESCRIPTION
ROV Pilot and Maintenance introductory note for new personnel going into offshore subsea intervention engineeringTRANSCRIPT
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Benefits of distributed control systemsin Electric ROV development and operation.
Saab Seaeye Ltd
Matt Bates
Sales Director September 2013
Aim:
To outline the benefits of using a distributed control system architecture in the design and operation of Electric underwater vehicles...
Contents:
1. Greater system flexibility
2. Improved vehicle control
3. Increased vehicle information
4. Rapid product development
5. Future developments
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What is a distributed control system ?
Typical ‘non-distributed’ control system
A processor surface and subsea
Multiple interface cards
Analogue signals
Many parallel connections
All processing by single programme
© Saab Seaeye 2009
What is a distributed control system ?
Typical ‘non-distributed’ control system
A processor surface and subsea
Multiple interface cards
Analogue signals
Many parallel connections
All processing by single programme
Complicated vehicle electronics pod
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© Saab Seaeye 2009
Microprocessor in each device
Connected direct to surface processor via serial network
All digital signals
Minimal interconnections
What is a distributed control system ?
© Saab Seaeye 2009
Seaeye’s First Distributed System
Falcon launched 2002
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© Saab Seaeye 2009
Seaeye’s First Distributed System
Success in markets outside the offshore industry
Next steps – further node based devices with increased ‘intelligence’
Falcon launched 2002
© Saab Seaeye 2009
The iCON System
Collection of microprocessor based ROV devices and associated software modules.
Flexible remote controlled power distribution system with soft fusing
Self power management in each node
Programmable HMI using a mix of touchscreens, modular switch panels and conventional joysticks.
Autopilots
Maintenance management system
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© Saab Seaeye 2009
1. System Flexibility
Add building blocks with minimal impact to the rest of the system
Auto-detection of hardware
Possible to connect devices in parallel e.g. further thrusters or lighting
Common software and hardware interface – standardised connectors & reduced spares
Simpler to understand & maintain
© Saab Seaeye 2009
2. Improved vehicle control
All iCON devices listen and respond to commands
Intelligent nodes provide more ‘real’ information…better feedback to the devices internal control loop for greater response & more accurate feedback to main vehicle control logic
Opportunity to change the control method to suit vehicle or application – e.g speed, current, torque
Local voltage compensation
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© Saab Seaeye 2009
2. Improved vehicle control
Better manoeuvrability and stability - Key for efficient Inspection work & a challenge to achieve with small / light electric vehicles
Leave the pilot (or AUV control system) to concentrate on the task
© Saab Seaeye 2009
Seaeye Leopard
Demand for more thrust, but challenge to control
Double eagle 6 dof control system for stabilization
smaller electronics pods for greater flow through frame
Thrust Fwd: 493kg Lat: 377kg Vert: 225kg
Frontal Area 1.36m2
More thrust in same footprint
2. Improved vehicle control
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© Saab Seaeye 2009
3. Increased Vehicle Information
Most important for the user
Advances in micro sensors (small, cheap, reliable) e.g. vibration, temperature, rate sensors
More data from sensors and actuators
Why so useful ?...
© Saab Seaeye 2009
3. Increased Information keep the vehicle in the water
Equipment failures & damage is inevitable so create an architecture that can accommodate
Automatically identify fault and adapt
Hovering AUV – power management, adaptive mission & fault logging
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3. Increased Information
Greater monitoring & simpler diagnostics
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3. Increased Information
Minimise service / repair time – information allows diagnosis on the fly and preparation for corrective action
Faster maintenance with distributed architecture – rapid replacement
Less technical skill / training required
Access information remotely via the web
improved maintenance planning and reporting (client and manufacturer)
remote support
system performance monitoring
remote upgrades
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© Saab Seaeye 2009
4. Rapid Product Development
Sabertooth Hybrid in 8 months
© Saab Seaeye 2009
iCON
2011
2012
2013
2014
Subject to contract timing
OPS
Double Eagle
SAROV
Falcon
Digital Family
Sabertooth
SubROV
Jaguar
Cougar XTi
4. Common Software
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© Saab Seaeye 2009
5. Future DevelopmentsMaintenance Management System
Maintenance Schedule / Reporting
Spares, Tools and consumables Inventory
Risk Assessment & Skills
Built in Self Test
System Analysis e.g. Dive time vs
load / environment
Pre-emptive maintenance from analysis e.g. prop balance, bearings
© Saab Seaeye 2009
5. Future Developments
Resident Vehicles
Essential to get maximum information back and ability to adapt
Minimum comms link requirements
Further node based actuators and sensors required
Extend to other systems e.g. LARS, video suite, tooling, 3rd party sensors
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© Saab Seaeye 2009
5. Summary
Distributed control systems:
1. Increase system flexibility
2. Improve vehicle control – more capable vehicles
3. Increase vehicle information – increased operational efficiency & lessen technical maintenance skills
4. Speed up product development
Beneficial to increase the ‘intelligence’ of the building blocks that go into make underwater vehicles.
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© Saab Seaeye 2009
Seaeye iCON Control System - Integrated Capabilities