Control system of an actuator for the actuation of submarine devices

Abstract

Electronic control system for a submarine actuator, said actuator comprising a container body, from which a drive shaft projects that is suitable for inserting in a seat of said submarine device. The system comprises an electronic control board for at least one electric motor arranged inside said container body suitable for moving said drive shaft.

1 - 20 . (canceled) 
     
     
         21 . A system, comprising:
 a submersible actuator, comprising:
 a first electric motor; 
 a second electric motor; and 
 a control circuit configured to control the first and second electric motors in a master-slave configuration to actuate a submersible flow control device. 
   
     
     
         22 . The system of  claim 21 , wherein the control circuit is configured to automatically switch from the first electric motor to the second electric motor in response to an alarm associated with the first electric motor. 
     
     
         23 . The system of  claim 21 , wherein the control circuit is a single common control circuit configured to control the first and second electric motors. 
     
     
         24 . The system of  claim 21 , wherein the control circuit is configured to control the first and second electric motors independently from one another to actuate the submersible flow control device. 
     
     
         25 . The system of  claim 21 , wherein the submersible actuator is configured to receive an emergency control signal that bypasses local control carried out by a logic unit of the control circuit, and the emergency control signal is configured to control the first or second electric motor. 
     
     
         26 . The system of  claim 21 , wherein the control circuit is configured to control a speed value and a direction for rotation of the first and second electric motors based on at least one parameter. 
     
     
         27 . The system of  claim 26 , wherein the at least one parameter comprises feedback indicative of an absorbed current. 
     
     
         28 . The system of  claim 27 , wherein the at least one parameter comprises feedback indicative of an actuator position. 
     
     
         29 . The system of  claim 26 , wherein the at least one parameter comprises feedback indicative of a target position and a current position sensed by a position sensor. 
     
     
         30 . The system of  claim 21 , wherein the control circuit is configured to control at least one of the first or second electric motors based on historical data associated with operation of the submersible actuator. 
     
     
         31 . The system of  claim 30 , wherein the historical data comprises historical control signals received by the control circuit, or historical position data associated with the submersible actuator, or a combination thereof. 
     
     
         32 . The system of  claim 21 , wherein the control circuit is configured to compare a value of a control signal with an average of a number of previous control signals. 
     
     
         33 . The system of  claim 21 , wherein the control circuit is configured to calculate a maximum value for speed based on a total displacement time for the submersible flow control device. 
     
     
         34 . The system of  claim 21 , wherein the submersible actuator comprises a transmission having a worm gear. 
     
     
         35 . The system of  claim 21 , comprising the submersible flow control device. 
     
     
         36 . A system, comprising:
 a submersible actuator, comprising:
 a first electric motor; and 
 a control circuit configured to control the first electric motor to actuate a submersible flow control device, wherein the control circuit is configured to compare a value of a control signal with an average of a number of previous control signals. 
   
     
     
         37 . The system of  claim 36 , wherein the submersible actuator comprises a second electric motor, and the control circuit is configured to selectively control the first or second electric motor to actuate the submersible flow control device. 
     
     
         38 . A system, comprising:
 a submersible actuator, comprising:
 a first electric motor; and 
 a control circuit configured to control the first electric motor to actuate a submersible flow control device, wherein the control circuit is configured to calculate a maximum value for speed based on a total displacement time for the submersible flow control device. 
   
     
     
         39 . The system of  claim 38 , wherein the control circuit is configured to control a speed value and a direction for rotation of the first electric motor. 
     
     
         40 . The system of  claim 38 , wherein the submersible actuator comprises a second electric motor, and the control circuit is configured to selectively control the first or second electric motor to actuate the submersible flow control device.