高海况水下设备的回收技术研究

发布时间：2018-01-23 11:21

本文关键词： 高海况水下设备回收技术捕捉装置　出处：《中国舰船研究院》2015年硕士论文　论文类型：学位论文

【摘要】：高海况水下设备的回收技术已经成为各国开采海洋资源和进行水下军事活动的一个重要支撑,它能完成人力所不及的任务,为军事活动、海洋勘探、灾害预报、环境监测、工程施工及科学研究提供方便、快捷、安全的服务,因而现在世界各国越来越重视高海况水下设备的回收技术,它已经成为各国竞相发展的一个重点技术领域。本文围绕高海况条件下水下设备的回收技术进行了以下研究:1、对海上通用的回收装置进行了对比与分析,结合实际工作环境,通过对水下设备的结构进行研究及对现有船载通用设备进行改进,探索出一种适用于高海况条件下对水下设备进行回收的方法。2、基于分析力学及拉格朗日方程建立了负载及回收装置的动力学模型,根据回收时的可靠性和安全性相关的防摆技术要求对该模型进行了简化,得到了负载摆角的影响因素。3、根据水下设备可用于捕捉的空间几何尺寸,水下设备的作业任务需求、作业环境需求及性能约束条件,综合运用现代设计方法建立了捕捉装置的三维模型。4、建立了回收装置的虚拟样机模型,并对其进行仿真研究与分析,得到了在四级海况激励下捕捉装置的运动轨迹以及引导绳受力变化情况,为作业过程中如何保证辅助架的稳定、准确定位水下设备的起吊点提供参考。建立了回收装置在起吊水下设备时的虚拟样机模型,并对其进行仿真研究与分析,确立了捕捉装置在极限工况下抓钩的受力状况,为捕捉装置进行有限元仿真提供理论依据;提取了水下设备分别在3级、4级海况下的X向、Y向摆动位移曲线,对其摆动影响因素及减摆方法作了简要分析。5、建立了捕捉装置的有限元模型,对捕捉装置的静力学进行了分析,为捕捉装置的优化设计提供了技术支撑;同时建立了捕捉装置的虚拟样机模型,对捕捉装置的运动学与动力学进行了仿真分析研究,检验了捕捉装置功能是否满足要求,同时确定了捕捉装置的运动性能是否在合理范围内。
[Abstract]:The recovery technology of high sea condition underwater equipment has become an important support for countries to exploit marine resources and carry out underwater military activities. It can accomplish tasks beyond human power, such as military activities, ocean exploration, disaster prediction. Environmental monitoring, engineering construction and scientific research provide convenient, fast and safe services. Therefore, countries all over the world pay more and more attention to the recovery technology of high sea condition underwater equipment. It has become a key technical field for the development of various countries. This paper has carried out the following research on the recovery technology of underwater equipment under high sea conditions, and compared and analyzed the general recovery equipment at sea. Combined with the actual working environment, by studying the structure of underwater equipment and improving the existing shipborne general equipment, a method of recovering underwater equipment under high sea conditions is explored. 2. Based on the analytical mechanics and Lagrange equation, the dynamic model of the load and recovery device is established, and the model is simplified according to the reliability and safety requirements of the anti-swing technology. The influence factors of load swing angle. 3. According to the space geometry size of underwater equipment which can be used to capture, the task requirements of underwater equipment, the operational environment requirements and performance constraints. The 3D model. 4 of the capture device and the virtual prototype model of the recovery device are established by using the modern design method, and the simulation research and analysis of the model are carried out. The moving track of the catch device and the force change of the guiding rope under the excitation of the four-level sea condition are obtained, which is how to ensure the stability of the auxiliary frame in the process of operation. The virtual prototype model of the recovery device in lifting underwater equipment is established, and the simulation research and analysis are carried out. The force condition of catching hook under the limit condition is established, which provides the theoretical basis for the finite element simulation of the capture device. In this paper, the displacement curves of X direction and Y direction swinging of underwater equipment are extracted under the sea condition of grade 3 or 4 respectively. The influencing factors of swing and the method of reducing pendulum are analyzed briefly, and the finite element model of the capture device is established. The statics of the capture device is analyzed, which provides the technical support for the optimum design of the capture device. At the same time, the virtual prototype model of the capture device is established, the kinematics and dynamics of the capture device are simulated and analyzed, and the function of the capture device is verified to meet the requirements. At the same time, it is determined whether the motion performance of the capture device is within a reasonable range.
【学位授予单位】：中国舰船研究院
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：P754

【共引文献】