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Comanche

 

Телеуправляемый подводный аппарат

 

Sub-Atlantic Ltd. Comanche Work-Class electric ROV (Remotely Operated Vehicle) benefits from enhanced capabilities provided by a powerful control system, proportional work-class 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 StatorshieldTM Technology

Auto-Functions

Up to 250 kg / 550 lbs Payload

Multiple Video Channels

Multi-Sensor Interface

Deep Live Boat or TMS Operation

New SubCanTM 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 is a small work-class ROV system that has been designed to carry two manipulators such as the Schilling ‘Orion’ models. It incorporates a fully electric, seven thruster propulsion system, configured to provide high thrust and lifting capability. Two hydraulic systems can be incorporated to provide power for manipulators, tools and skids. A 3000 Volt/400 Hz power transmission system allows the use of a small diameter tether, giving the COMANCHE excellent station keeping during long tether excursions. The COMANCHE has been designed using Sub-Atlantic’s small vehicle technologies making it extremely cost effective and simple to operate & maintain by a two-man crew.

 

Propulsion System

The vehicle is propelled by seven Sub-Atlantic thrusters incorporating brushless DC electric motor, propeller and nozzle, arranged in the following configuration:

• 4 off SPE-250 horizontal thrusters in a vectored configuration producing good all round thrust and

control.

• 3 off SPE-250 vertical thrusters, 2 at the front and 1 at the rear, providing good manipulator lifting and pitch control.

 

Telemetry System

Fibre-Optic telemetry system providing;

• 3 off simultaneous Video

• 4 off RS232

• 2 off RS485

Vehicle Communication utilises 1 off RS485 channel. The vehicle Uplink/Downlink includes 16 analogue channels and 32 digital switch channels all with 12 bit resolution.

 

Optional Equipment

The Comanche ROV system will support the following range of additional equipment that is available as options to the standard specification:

• Industry Standard Cameras

• High Definition Sonar Systems

• Pipe Tracking Systems

• Profiling Sonar

• Side Scan Sonar

• Bathymetric & Oceanographic Sensors

• CP and Wall Thickness Probes

• Hydraulic Tools, Valve Packs and HPU’s

• Manipulator Systems

• Cable Cutters

• Torque Tools

 

Comanche System Specification


ROV General Specification

Depth Rating ............................................................................2000 msw (6560 fsw) standard (deeper options)

Payload (2000msw exc. manipulators)..................................185 kg (410 lb) standard to 250kg (551 lbs) lead ballast

Height ...............................................................................................................................1250mm (49.2 in.)

Length ...............................................................................................................................2100mm (82.7 in.)

Width ................................................................................................................................1300 mm(51.2 in.)

Mass in Air (2000msw)..........................................................based on 185 kg (410 lb) payload - 1130 kg (2490 lb)

Max. Thrust @ 0 Knots with zero voltage losses:

Forward ............................................................................................................................... 225 kgf (496 lbf)

Reverse................................................................................................................................ 225 kgf (496 lbf)

Lateral ..................................................................................................................................225 kgf (496 lbf)

Vertical.........................................................................................................................up to 225 kgf (496 lbf)

Max.Velocity/Operational Current (zero tether excursion):

Forward..................................................................................................................................1.5 m/s (3.0 Kt)

Reverse..................................................................................................................................1.5 m/s (3.0 Kt)

Lateral ................................................................................................................................. 1.25 m/s (2.5 Kt)

Vertical................................................................................................................................. 0.75 m/s (1.5 Kt)

Turning Rate ..................................................................................................120 Degrees per Second (approx)

ROV Power Requirements .....................................................................................440 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 .................................................................................................................................355 mm (14.0 in.)

Width ..................................................................................................................................483 mm (19.0 In.)

Depth...................................................................................................................................450 mm (17.7 In.)

Mass............................................................................................................................................12 kg (27 lb)

SCU Power Requirements........................................................................................220/240 Vac 50/60 Hz 2 kVA

HCU

Height ...................................................................................................................................160 mm (6.3 in.)

Width ..................................................................................................................................480 mm (18.9 In.)

Depth.....................................................................................................................................230 mm (9.1 In.)

Mass.............................................................................................................................................1.5 kg (3 lb)

TPU

Height .................................................................................................................................650 mm (25.6 in.)

Width ..................................................................................................................................630 mm (24.8 In.)

Depth...................................................................................................................................505 mm (19.9 In.)

Mass..............................................................................................................................(approx.)50 kg (330 lb)

 

Tether and Main Lift Cable Dimensions

Tether (standard) .....................................................................................................25.5 mm / 1.0 in. diameter

Main Lift Umbilical (standard 3000 Volt system) ..............................................................25.5 mm / 1.0 in. diameter