海底管线检测与维修装置智能综合操纵和动力定位系统

浅海海底管线电缆检测与维修装置(简称PCDR装置)系国内第一艘用于浅海海底管线电缆检测与维修的特种作业装置,智能综合操纵和动力定位(简称IODP)系统是其中的核心操控设备.本文主要介绍IODP系统的技术性能指标、系统组成和计算机选型方案、分层递阶智能控制结构、工作方式、综合显示与集中操纵设计思想,并给出对线控位功能仿真试验结果.IODP系统已完成该装置在长江的水面和潜浮控制航行试验,结果表明:系统运行可靠、人机界面形象直观,操纵灵活.

The Intelligent Operation and Dynamic Positioning System of the Shallow Sea Pipeline Detecting and Repairing Equipment

The shallow sea underwater pipeline and cable detecting and repairing equipment(in short, PCDR) is built, and it is the first equipment for this kind of special task in China. The intelligent operation and dynamic positioning system (in short, IODP) is a kernel control sub-equipment of the PCDR equipment. This paper introduces IODP system from the following aspects, such as the important technical features, system composition and computer scheme, control architecture and operation modes, design idea of integrated control and display. Some function simulating results are also proposed in this paper. The IODP system has been assembled and has finished the surface trial, the diving and floating test in the Yangtse River. The results show that the IODP system has advantages such as performance reliable, man-machine interface visual, steering feasible and effective.