11000米ARV总体设计与关键技术研究

发布时间：2018-01-11 22:06

  本文关键词：11000米ARV总体设计与关键技术研究　出处：《中国舰船研究院》2014年博士论文　论文类型：学位论文

  更多相关文章： 11000米 ARV 微细光缆 关键技术 试验验证

【摘要】：由于脐带缆的影响，传统ROV的作业范围受到很大限制。AUV的作业范围较大，但不能实现精细定点作业，人工无法及时干预。因此，中船重工七0二所在国内较早提出了复合型水下机器人(ARV，AutonomousRemotely-operated Vehicle)的概念。ARV技术是对最新ROV和AUV技术的组合运用，用微细光缆代替传统电缆。这样，ARV既具有AUV大面积水下探测和搜索的功能，又可以通过微细光缆像ROV一样进行手动实时遥控作业。ARV的出现代表了未来深海无人潜水器的一个重要发展方向。 本文以11000米全海深复合型水下机器人（ARV）的研制攻关为背景，具体研究工作如下： （1）11000米ARV总体概念设计 本文针对ARV在水面和海底之间大深度的上浮下潜以及ARV在深海海底复杂地形下的综合机动与作业两方面的水动力性能，提出了一种双扁平体的ARV总体构型方案。综合考虑光缆对ARV本体水下机动的影响，海面风浪流和母船运动的影响，以及光缆在水下的力学性能、光传输性能，光缆是一次性使用还是可重复的等多方面因素，首次提出了11000米ARV脐带缆概念方案以及全系统布放回收工作流程。 （2）11000米ARV水动力仿真研究 根据11000米ARV总体概念方案,本文进行了主体线型及螺旋桨布置方案的设计。在此基础上，采用RNG k模型对ARV进行了水动力数值计算，分析了ARV的相关水动力性能。最后对ARV的运动进行了动力学建模，，为后续运动控制算法研究奠定了基础。 （3）11000米ARV控制技术研究 本文提出了一种包括人工干预层在内的新型ARV自主控制体系结构，对关键的远距离、高纵深水声通信方案作了初步探讨，并针对水下组合导航、自主避障和运动控制等相关技术分别提出了改进算法，提高了ARV适应水下复杂环境的综合能力。通过数值仿真，初步验证了相关算法的有效性。 （4）11000米ARV光纤应用技术研究 由于目前国内尚无成功应用在深海潜器上的微细光缆，本文首次提出了11000米深海主脐带光缆、微细光缆以及被动放线团的设计方案。采用集中质量法建立了深海长距离微细光缆张力模型，计算微细光缆的张力分布，验证了微细光缆的工作安全性。 （5）11000米ARV的关键技术验证 为了对11000米ARV部分关键技术进行深入探索，七0二所先后开展了“海筝Ⅰ型”ARV原理样机和“海筝Ⅱ型”ARV产品的研制工作。通过ARV样机的研制，成功完成了多项重要/关键技术的攻关、试验验证和水下应用。 综上所述，本文着眼于11000米ARV总体概念设计，较为系统的分析并对11000米ARV关键技术开展了深入的研究工作，并研制了两型ARV试验样机对相关技术进行了试验验证。通过上述研究和技术验证，取得了一批有价值的技术成果，为11000米ARV的研制打下了坚实的技术基础。
[Abstract]:Because of the influence of cord cable, the scope of traditional ROV is greatly restricted, but it can not realize the precise fixed-point operation, so it can not intervene in time. The ARV of composite underwater vehicle was put forward in China. The concept of AutonomousRemotely-operated vehicle. ARV technology is a combination of the latest ROV and AUV technology. The traditional cable is replaced by fine optical cable, which has the function of large area underwater detection and search of AUV. The emergence of manual real-time remote control, such as ROV, can also be carried out through fine optical cables, which represents an important development direction for future deep-sea unmanned submersibles. In this paper, the development of 11000 meters all sea depth composite underwater vehicle (ARV) as the background, the specific research work is as follows: Overall conceptual design of 1000m ARV This paper aims at the hydrodynamic performance of ARV in the deep depth between the surface and the seabed and the comprehensive maneuvering and operation of ARV under the complex terrain of deep seabed. In this paper, a general configuration scheme of ARV with double flat body is proposed. The influence of optical fiber cable on the underwater maneuvering of ARV body, the influence of sea surface wind and wave current and the movement of mother ship, and the mechanical properties of optical fiber cable under water are considered synthetically. For the first time, the concept scheme of 11000 m ARV cord and the whole system layout and recovery workflow are put forward for the first time, such as optical transmission performance, whether the cable can be used at one time or repeatable. Study on Hydrodynamic Simulation of 11000m ARV According to the general concept scheme of 11000 m ARV, the main line and propeller layout scheme are designed in this paper. Based on this, the hydrodynamic numerical calculation of ARV is carried out by using RNG k model. The related hydrodynamic performance of ARV is analyzed. Finally, the dynamic modeling of ARV motion is carried out, which lays a foundation for the research of subsequent motion control algorithms. Research on Control Technology of 11000m ARV In this paper, a new ARV autonomous control architecture, including manual intervention layer, is proposed. The key long distance and high depth underwater acoustic communication schemes are preliminarily discussed, and the underwater integrated navigation is also discussed. Improved algorithms are proposed for autonomous obstacle avoidance and motion control to improve the ability of ARV to adapt to the complex underwater environment. The effectiveness of the algorithm is preliminarily verified by numerical simulation. Research on Application Technology of 11000m ARV Optical Fiber Because there is no fine fiber cable successfully applied to deep sea submersible at present, the 11000 meters deep sea main cord fiber cable is proposed for the first time in this paper. The tension model of deep sea long distance fiber optic cable is established by means of concentrated mass method, and the tension distribution of fine optical fiber cable is calculated, which verifies the working safety of micro optical fiber cable. Verification of key Technologies for 11000m ARV In order to explore the key technology of 11000 meters ARV. The "Haizheng I" ARV principle prototype and the "Haizheng 鈪

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