COMANCHE Small Work ROV System

Transcription

1 COMANCHE Small Work ROV System Our Comanche Work-Class electric ROV benefits from enhanced capabilities provided by a powerful control system, proportional workclass manipulator arms, tooling hydraulic system, survey interfaces and generous payload capacity Two 7 Function Work-Class Manipulator Capability 2,000 / 3,000 / 6,000 Metre (6,500 / 10,000 / 20,000 Feet) Depth Ratings 3000 Volt, 400 Hz Power System Long, Small Diameter, Low Drag Tether Capability 15 kw / 20 HP Hydraulic Power Unit 12 or 16 Station GFVP Seven 100 kgf / 220 lbf Brushless DC Thrusters using Statorshield TM Technology Auto-Functions Up to 250 kg / 550 lbs Payload Multiple Video Channels Multi-Sensor Interface Deep Live Boat or TMS Operation New SubCan TM Control System Comanche incorporates a fully electric, seven thruster propulsion system, configured to provide high thrust and lifting capability. It uses a 3000 Volt, 400 Hz power transmission system from surface to ROV resulting in a small tether, main lift cable and launch/recovery system. This transmission system makes it particularly suited for long tether excursions and deep live-boating operations. Comanche is equipped with additional power sources to allow the use of a 15 kw / 20 hp hydraulic power unit for running tools and work skids and for rig support intervention tasks. When compared with hydraulic work-class systems, the Comanche provides important customer benefits with regard to capital and operational expenditure, simplicity of use and requires less deck space. Comanche (12 Sept 2007) Page 1

2 Live Boat or TMS Operation The Comanche can be free-flown in live boating mode or with our cage type TMS systems (see TMS data sheet). The small diameter tether allows long cable excursions. Compact Control Surface equipment consists 3 units Surface Control Unit (SCU) Hand Control Unit (HCU) PDU (Power Distribution Unit). The SCU is generally supplied as a portable flight case system. Alternatively, the 8U x 19 rack mount control module can be supplied loose for fitting into customers own control rack. The HCU (top), SCU (left ) and PDU (right) are compact for operation in small control spaces. The three units are linked by interconnecting cables with plugs and sockets Comanche System Specification ROV General Specification Depth Rating msw (6560 fsw ) standard (deeper options) Payload (2000msw exc. manipulators) kg (410 lb) standard to 250kg (551 lbs) lead ballast Height mm (49.2 in.) Length mm (82.7 in.) Width mm (51.2 in.) Mass in Air (2000msw)...based on 185 kg (410 lb) payload kg (2490 lb) Max. 0 Knots with zero voltage losses: Forward kgf (496 lbf) Reverse kgf (496 lbf) Lateral kgf (496 lbf) Vertical...up to 225 kgf (496 lbf) Max.Velocity/Operational Current (zero tether excursion): Forward m/s (3.0 Kt) Reverse m/s (3.0 Kt) Lateral m/s (2.5 Kt) Vertical m/s (1.5 Kt) Turning Rate Degrees per Second (approx) ROV Power Requirements Vac 3ph 50/60 Hz 35 kva Thrusters...7 Total, 4 vectored horizonals and 3 verticals Pan & Tilt Unit...1 x Electric Heavy Duty Tilt Unit...1 x Electric Heavy Duty Auxillary Hydraulic System...4 kw (5.3 HP) or 15 kw (20 HP) options Valve Pack...12 or 16 Station General Function Valve Pack Manipulator 1...Orion 7-Function with Rate or Proportional Control Manipulator 2...Orion 4 or 7-Function Rate Control ROV Control System...SubCan Frame...Polypropylene with aluminium alloy central load frame Surface Equipment General Specification SCU Height mm (14.0 in.) Width mm (19.0 In.) Depth mm (17.7 In.) Mass...12 kg (27 lb) SCU Power Requirements...220/240 Vac 50/60 Hz 2 kva HCU Height mm (6.3 in.) Width mm (18.9 In.) Depth mm (9.1 In.) Mass kg (3 lb) TPU Height mm (25.6 in.) Width mm (24.8 In.) Depth mm (19.9 In.) Mass...(approx.)50 kg (330 lb) Tether and Main Lift Cable Dimensions Tether (standard) mm / 1.0 in. diameter Main Lift Umbilical (standard 3000 Volt system) mm / 1.0 in. diameter Comanche (12 Sept 2007) Page 2

3 Reliable Thrusters Comanche uses a 7 thruster configuration to provide maximum horizontal and vertical lifting capability. 4 x SPE250 horizontal thrusters in a 45 degree vectored confi guration producing very high all round thrust. 3 x SPE250 vertical thrusters, 2 vectored outward at front to clear the vehicle lower deck (leaving it free of cut-outs in way of tools and skids) and a single pitch thruster at the rear to counteract manipulator loading effects. Sub- Atlantic s SPE250 highreliability brushless DC thruster develops 100 kgf (220 lbf) of static thrust in both directions. It incorporates our unique Statorshield TM technology that allows the thruster to continue working in the event of water ingress past the shaft seal. Statorshield TM Technology Equates to Reliability Subsea thrusters are prone to water entering through the shaft seals and causing short circuit failure of the stator windings. Statorshield TM technology eliminates this problem by the introduction of an internal sealed diaphragm located between the rotor and stator, creating two separate isolated and sealed volumes (Rotor cavity and Stator cavity). Water cannot reach the stator and electronics through the shaft seal preventing a catastrophic failure due to shaft seal leakage. Operation can continue until the machine is recovered when the rotor cavity can be flushed, seals replaced and refilled with oil. SubCan TM Control System Comanche deliveries from 2008 will include our newest technology SubCan TM control system. Simple, Intuitive Control GUI The topside graphical user interface and the hardware controller are designed in such a way as to enable the operator to control the ROV in the simplest and most effective manner. ROV control feedback such as heading, pitch, roll, etc. are displayed on a 17 inch touch screen monitor. The touch screen also enables the operator to access setup and diagnostic information relating to the inner workings of the control system. The GUI pages are arranged in a hierarchical order with the top page providing the day to day control of the ROV. The top page displays various alarm information for rapid fault diagnosis of the control system sub-assemblies and components. Diagnostic information from each control sub-system, ROV, TMS and Surface can also be accessed from this page. The status of the surface and sub-sea communication can be monitored from certain GUI pages. At the most detailed level, information regarding the control system health is available on various GUI pages. For example the individual voltages, currents and temperatures can be monitored for each of the main control system PCBs. Robust, Flexible and Compact Electronics The subsea part of the control system consists of three stacked PCBs that are expandable to increase capacity. The basic stack provides the following capacity: The printed circuit boards (PCB) are protected on all I/O from over voltage, reverse voltage and over current. This is achieved by utilsing transient voltage suppressors, fuses, self healing fuses and internally protected high side drivers. Hub PCB 1 off Ethernet 10/100 BaseT. 1 off RS485/RS232 to Baud. 4 off RS232 to Baud. 3 off CAN (Controller Area Network) to 1M bit/s 4 off switch-able power channels, 8 amps each, to 24VDC. Isolate-able ground fault system. Single axis rate gyro. I/O PCB 1 1 off RS485/RS232 to Baud. 1 off RS232 to Baud. 2 off CAN (Controller Area Network) to 1M bit/s. 12 off analogue outputs, +/-5ma, 16 bit resolution. 24 off digital outputs, 1 amp, high side driver, maximum 20 amps. 4 off solid state relay outputs, +/-15VDC and high impedance, 100mA. 8 off analogue inputs, +/-10VDC, 0-5VDC software selectable, 12 bit resolution. 16 off digital inputs, contact closure to activate. 5V supply to 100mA. I/O PCB 2 1 off RS485/RS232 to Baud. 1 off RS232 to Baud. 2 off CAN (Controller Area Network) to 1M bit/s. 16 off relay outputs, SPDT, NO, NC, C, 250VAC to 5 amps. 16 off analogue inputs, +/-10VDC, 0-5VDC software selectable, 12 bit resolution. 5V supply to 1A. Common to all PCBs Up to 16 jumper selectable addresses. Voltage current and temperature feedback. All the communication, power and I/O channels are over voltage and over current protected. Comanche (12 Sept 2007) Page 3

4 The Sub-CAN control system is a modular design based around the multidrop network CAN (Controller Area Network). Modules can be added or taken away depending upon the control system requirements; providing commonality of parts and spares. Robust Communication Link Communication between the topsides software and the main sub-sea control system PCB employs a 16 bit CRC (cyclic redundancy check) to ensure maximum robustness of communicated instructions and feedback. Increased Diagnostic Feedback The Sub-CAN control system provides diagnostic feedback of voltage, current and temperature on each individual control system PCB as well as ground fault detection on both high and low voltages, enabling rapid fault fi nding. Comanche (12 Sept 2007) Page 4

5 Fibre Optic Telemetry Surface/ROV communication is via a Focal 907plus telemetry module. This fi bre optic module incorporates 4 x video, 4 x RS233 and 2 x RS485 for transmission through a single fi rbe. Ethernet, ECL and other various telemetry interfaces are also available. Additional modules can be added to increase capability. Electronics Pod All the main vehicle electronics are housed in a single 3,000 metre / 10,000 feet rated pressure pod with electrical and fi bre connectors fi tted on one of the end caps. The internal electronics rack is fi tted to the end cap and is quickly removable for fast access. Survey Pod Comanche can be supplied with a survey pod which allows easy intefacing of multiple sensors to the ROV. The survey pod includes multiple electrical connectors for RS232, RS485 and power. The pod is generally confi gured to suit specifi c customer requirements. Lighting 4 off 250-Watt halogen lamps, dimmer controlled on 2 circuits with a fast access lamp fuse pod. Additional lighting such as HID can be provided. Camera Facilities Tilt unit. Pan & Tilt Unit. 3 - simultaneous video channels per telemetry module. Junction Box A dedicated junction box is provided for the fast re-termination of the tether. Vehicle Power Outlet The transformer box provides a 600 Vdc power outlet to drive external equipment up to 715 kw (20 hp). Optional drive pod can be supplied to drive ac motors. Frame High impact resistance & buoyant polypropylene. Central load frame in aluminium alloy suitable for all manipulator loadings and through-frame-lift of 0.75 Tonnes Optional bullet for live-boating. Buoyancy Four separate modules with closed cell micro-spheres, Rated 2000 msw (6560 fsw). Options to 6000 msw / 19,680 fsw. Hydraulic System Comanche can be supplied with either a 4kW/5.4HP or 15 kw/20hp hydaulic systems with 12 or 16 station valve packs. 12 Station General Function Valve Pack. Manipulators The frame is designed to accept 2 x Schilling Orion manipulators, generally confi gured with 1 x 7-Function proportional or rate arm and 1 x 4-Function rate grabber. Surface Equipment SCU (Surface Control Unit) 2 off 15 TFT Colour monitors Light dimmers Automatic depth, heading and altitude controls Tether/Umbilical turns counter Video overlay system Earth leakage protection system HCU (Hand Control Unit) 2 x control joysticks Light dimmer controls Camera and Tilt controls Digital switches Auto-function control Joystick trims Thruster power trims TMS tether pay in/out PDU (Power Distribution Unit) Power inverter and filtering 3000 Volt transformer Line insulation current monitor Deck cable entry gland Tether The Comanche uses an 21 mm / 0.83 in. diameter tether. A larger neutral tether is also available. Main Lift Umbilical Sub-Atlantic ROVs use a common 25.5 mm / 1.0 in. diameter umbilical suitable for all our open frame vehicles, simplifying spares and interchangeability between systems. Sensors & Equipment The Comanche ROV system will support a range of sensors and equipment, typically:- Cameras, Sonar s, Oceanographic Sensors, Work class hydraulic manipulators Tool skids, survey skids, hydraulic power units to 15 kw / 20 hp, torque tools,. Tether Management System Available in three sizes, Sub-Atlantic s cage type TMS is reknown in the industry for ruggedness, reliability and simplicity. Size 3 suitable for Comanche 500 metres capacity of 21 mm diameter tether Stainless steel telescopic frame allowing underslung tool skids on ROV Fully electric, single drive motor Refer to Cage Type TMS data sheet. Launch & Recovery Systems and Control Cabins Launch and recovery systems can be supplied to different depth requirements and formats. Various sizes and configurations available A60 and Zoned specifications Comanche (12 Sept 2007) Page 5

6 Comanche ROV Dimensions Size 3TMS Dimensions The specification details are illustrative for marketing purposes only. Actual equipment may be different as a result of product improvement or other reasons. Specific interface and performance information should be reconfirmed at time of order placement. Comanche (12 Sept 2007) Page 6