Engtek SubSea Systems

Transcription

1 Engtek SubSea Systems A Division of Engtek Manoeuvra Systems Pte Ltd SubSea Propulsion Technology AUV Propulsion and Maneuvering Modules Engtek SubSea Systems A Division of Engtek Manoeuvra Systems Pte Ltd, offers a unique "Series" of AUV Propulsion / Fin and Position Modules, designed as off-the-shelf Propulsion, Fin Control, providing the AUV builder, a "major building block" for maneuverability, position keeping and/or SubSea Dynamic Positioning capabilities. The AUV APM Module utilizes a very efficient thruster assembly, arrangement of Fins "quad configuration and controllers mounted in a light weight aluminum (carbon-fibre composite is available) Module. The AUV Modular APM is complete with the following major components. A Standard Complete Modular designed unit Main AUV Propulsor Four Fin Actuators. Electronic Control Package for simplified integration of Propulsion, Control and Communication. A Modular design approach for the AUV manufacture offering the basic building block... The APM Module. Leave Propulsion and Maneuverability to the experts... and use your expertise and imagination in creating the additional building blocks required for Shallow and Deep Water operations into the 21st Century.

2 Engtek SubSea Systems AUV/ROV Propulsion Systems Page 2 of 6 The Propulsor Main Module (Single Propeller) is offered in four basic sizes with power ranges as follows: Model A9PM A12PM A18PM A21PM Module Diameter Thruster Power Options Prop RPM Developed Thrust Control Fins Quad Total Ft² Module Power Options 9 inch 375 watts lbs-f 24/48 Vdc mm 560 watts lbs-f 24/48 Vdc 12 inch 600 watts lbs-f As required 48 Vdc mm 900 watts lbs-f by vehicle 48 Vdc 18 inch 1200 watts lbs-f body design 48/72 Vdc mm 1800 watts lbs-f 48/72 Vdc Each fin 2500 watts lbs-f individually 48/72 Vdc 21 inch 3750 watts lbs-f controlled 48/72/ mm 4500 watts lbs-f 48/72/ watts lbs-f 48/72/140 Higher Power options, special configurations and voltages offered please contact engineering Control Power Required 12/24 Vdc Motor Controllers (ECU) Boards are offered for full speed control functions and incorporated inside the Module. The Fin Actuator Assembly and control electronics are housed within the oil filled, pressure compensated housing. Design Options SubSea Ocean Systems offers a series of standard designs for various propulsion Modules bested suited for your application. All propulsion modules come complete with thruster motor controllers, fin actuators with full serial RS232/485 links and subsea connectors. The design options are as follows: Main Standard Module (Single Propeller)

3 Engtek SubSea Systems AUV/ROV Propulsion Systems Page 3 of 6 Main Standard Module (Dual Counter-Rotating Propellers) The New Counter Rotation design assures that No Gyroscopic Moments are transferred to the ROV vehicle. Very fast response times are assured with Silent & Vibration Free Operation PumpJet Propulsion Modules Depth of Operation The APM Modules are available in four design configurations for depth operation Series Depth of Operation 1 Upto 300 Metres 2 Upto 600 Metres 3 Upto 1500 Metres 4 Upto 3000 Metres 5 Upto 6000 Metres

4 SubSea Ocean Systems AUV/ROV Propulsion Systems Page 4 of 6 Optional Equipment Carbon fiber Composite Module for light weight operation. The standard module is constructed of marine grade aluminum. Nozzle - Type 19B kort design RS232 Communication (2-wire system) between all controllers and positioning source. Positioning Control Module Model PCM100 - AUTOPILOT Propulsor Drive Description The SubSea Propulsion Electric Drive Module(s) proposed for this design are a complete DC Drive System integrated into a Power Hybrid Module. It has the function of many high performance packaged drives while providing the flexibility of a modular form factor. The Electric Drive Module controls SubSea Propulsion Thruster System and Actuators in a broad range of Sensorless A Variable Speed and Constant Torque Operation. The SubSea DC Electric Drive Module incorporates all the power electronics and control building blocks required to precisely control the dc permanent magnet, brushless thruster motor. Each section of the drive has been carefully engineered for utility, ruggedness, and performance in a wide range of operating conditions. As a whole, they form a flexible, reliable motor drive platform for the SubSea Thruster Electric Series. The Control Modules are normally mounted and designed as an integral part of the Main Propulsor Module one (1) atmosphere housing. The Housing rated up to 600 meter ocean depth. 4 modules can be mounted inside the one housing and furnished complete with power and communication connectors of our or client design and manufacture. Also furnished is a water intrusion alarm as well as serial communications to a customer furnished control system. In speed mode, The Drive System accepts speed commands from various sources including; Serial RS422 Port, Analog input References (+/- 10v or 4-20ma), Digital Presets (using Digital Inputs) or Digital Inputs (Jog, Digital Potentiometer, etc.). In torque mode, the speed regulator is disabled and current becomes proportional to commanded torque producing motor torque output. Sinusoidal phase orientation occurs by accurate measuring shaft position and driving Optional Positioning Control Module The Positioning Control Module is the heart of the Propulsion and Fin control system providing full thruster control and fin operation. The PCM3DMC mission controller system provides 3D control of an Autonomous Underwater Vehicle (AUV), including a complete self-tuning autopilot function. This system is designed for both manufactures and users of Auv's and achieves a flexible embedded processor solution to the problem of complex vehicle control, without the need for time consuming and high risk bespoke software.

5 SubSea Ocean Systems AUV/ROV Propulsion Systems Page 5 of 6 The setup and programming is achieved via an intuitive Graphic User Interface running under Windows 98/2000. This allows the system to be easily configured for each thruster, control surfaces and navigation input. For mission control, waypoints including depth and hover can be programmed via this simple interface. The user can define complex mission scenarios including abort sequences. Alternatively the system can accept control via acoustic ink direct from a proprietary remote-vehicle control program. The modular concept allows for easy expansion to multiple thruster / multiple control surfaces by using several cards whilst maintaining the simple set-up and programming of a single card. The PCM3DMC Remote Control/Autonomous Vehicle System provides Advanced self-tuned autopilot control modes, track and hover Remote controlled operation Auto heading, for minimum operator workload Fully autonomous operation Autonomous with capability for operator intervention Convert mode zero command link transmissions Surveillance The PCM3DMC autopilot system is ideally suited to auv surveillance requirements. Typically the autopilot guides the vehicle to the survey area, and then follows a predefined route while payload instruments are brought to bear on the field of interest weather it be side scan sonar, radar, visual/infrared imagery, chemical or radiation sensors, or other customer supplied sensors. The PCM3DMC autopilot modes take care of navigation and control while its command and control link is configured to control the payload instruments. The instruments may be automatically switched on at specific waypoints, or they may be remotely controlled by the operator using the command link. An additional data logging processor may be used for automatic data logging of navigational data as well as payload sensor data, for detailed post-mission analysis. Propulsion + Fin Control Interfaces The PCM3DMC s very versatile machinery interfaces allow connection to a wide range of Propulsors and actuators. Follow-up, in which an analogue voltage is used to govern an actuator set point PWM, as used for a wide range of servo actuators. The pulse repetition frequency and min/max duty cycles are programmable Closed loop control, in which the PCM3DMC drives the Propulsor towards a set point, with the achieved setting being sent back via an analogue connection. The inputs and outputs are all user-configurable and programmable. Remote Controlled Mine Hunting The PCM3DMC system is ideally suited to remotely controlled and autonomous mine hunting auv submerged vehicles.

6 SubSea Ocean Systems AUV/ROV Propulsion Systems age 6 of 6 Mine hunting involves operating payload sensor systems over a pre-programmed mission track. The PCM3DMC is capable of driving the auv over the track, at low speeds, and hovering within a defined area when the sensors detect an object of interest. The system provides command and control channels for remote control and monitoring the payload. A comprehensive remote control interface allows the operator to intervene and investigate suspicious contacts; or to download new mission data remotely. A special control mode allows the vehicle to stay on a fixed station relative to a hoist ship. This may be used for instance, to scan the area ahead of a warship or submarine underway. The PCM3DMC Remote Control/Autonomous Vehicle System provides Advanced self-tuned autopilot control modes, track and hover Remote controlled operation Auto heading, for minimum operator workload Fully autonomous operation Autonomous with capability for operator intervention Convert mode zero command link transmissions The system provides a number of spare channels for controlling payload systems using the same command link. Optional Features: Hover modes (dependent on Propulsors fitted) over point or within defined area. Automatic vehicle-following Expansion capability to handle upto 240 digital channels, 60 analogue input/30 analogue output channels. Onboard data recorder for logging of payload data alongside time stamped data. Note: On submittal of customer furnished drawings for the basic vehicle dimensional configuration, SubSea Propulsion Systems will produce dimensional drawings of the module with connector and attaching details. Engtek SubSea Systems Pte Ltd Engtek SubSea Systems 50 Kian Teck Road- Singapore Tel: Fax: amsthrusters@aol.com