An integrated manipulating and dynamic positioning system

An integrated manipulating and dynamic positioning system for the underwater pipeline and cable detecting and repairing equipment (in short, PCDR) has been described in the paper. The paper has introduced the system from the following aspects: its control system architecture, system integration, working mode, man-machine display, control policy and pipe position keeping simulation result. The manipulation console has been assembled in PCDR equipment and finished the surface and underwater sea trial in the Bohai Sea. The trivial has shown that the system operation was stable, the man-machine display was straight forward and the manipulation was easy which alleviated the working intensions of the working staff.