Saab Seaeye LTD: Benefits of Distributed Control Systems in Electric ROV Development and Operation
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NdomaduSaab Seaeye LTD: Benefits of Distributed Control Systems in Electric ROV Development and Operation
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NdomaduSaab Seaeye Ltd
Benefits of distributed control systems
in Electric ROV development and operation.
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
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
Saab Seaeye 2009
What is a distributed control system ?
Microprocessor in each
device
Connected direct to surface
processor via serial network
All digital signals
Minimal interconnections
Saab Seaeye 2009
Seaeyes First Distributed System
Falcon launched 2002
Saab Seaeye 2009
Seaeyes First Distributed System
Falcon launched 2002
Success in markets outside the offshore industry
Next steps further node based devices with increased intelligence
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
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
informationbetter 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
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
2. Improved vehicle control
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
Seaeye Leopard
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
Saab Seaeye 2009
3. Increased Information
Greater monitoring & simpler diagnostics
Saab Seaeye 2009
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
Saab Seaeye 2009
4. Rapid Product Development
Sabertooth Hybrid in 8 months
Saab Seaeye 2009
4. Common Software
OPS
Digital
Family
SAROV
Double
Eagle
SubROV
Falcon
Cougar XTi
Sabertooth
iCON
Jaguar
2011
2012
2013
Subject to
contract timing
2014
Saab Seaeye 2009
5. Future Developments
Maintenance 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
Saab Seaeye 2009
10
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.
Saab Seaeye 2009
11
Seaeye iCON Control System - Integrated Capabilities
Saab Seaeye 2009
12
