深海潜标上层剖面测量平台动力学分析与仿真

发布时间：2018-02-28 05:35

本文关键词： 剖面测量系统升降平台静力学分析动力学分析动力学仿真　出处：《国家海洋技术中心》2017年硕士论文　论文类型：学位论文

【摘要】：海洋环境立体监测技术是海洋科学和技术的重要组成部分,而深海剖面测量系统是构成立体监测必不可少的一环。剖面测量系统通过搭载在主浮体上的水下绞车控制升降平台的上下运动,利用平台上的水文测量仪器实现对海水剖面的定点测量。通过升降速度和数据采集的频率,实现不同分辨率的测量。当平台运动到水面,将通过北斗模块将数据传回岸边基站。本文首先介绍了目前国内外相关的海洋剖面监测技术,分析了剖面测量系统的基本功能和组成部分。同时介绍了几种典型的剖面测量系统,分析其各自不同的适用环境和工作条件。综合比较各自发展现状与差别,提出了本文研究意义。同时介绍了升降平台在系统中的重要性和价值,进一步确定了主要研究目的,并提出了本文研究工作的技术路线和研究内容。在对升降平台相关研究中,本文首先对整个系统的组成和重要部分进行说明,根据各个组成部分的特点开展了静力学分析。同时重点分析了升降平台、系缆绳、主浮体的相关静力学姿态和受力。然后对运动下的升降平台、系缆绳、主浮体开展了动力学分析。并根据设定的不同海况,结合实际工作流程,确定不同的受力阶段,再给出了相应的整体动力学方程。之后,本文给出方程求解所需的初始条件、边界条件、计算方法以及步骤。通过相关的力学分析模型的建立和求解方法的介绍,展开了静力学仿真、电机运动仿真和动力学仿真。给出了系统在静止状态下系统姿态、主浮体位置和关键节点的受力;给出了为满足平台正常工作倾角范围内电机的合适转速与建议;给出了电机运动下系统上层的运动姿态与受力。最后在国家海洋技术中心动力环境实验室依据特定工况进行了电机运动控制平台模型的实验,验证了在相应的电机转速下平台倾斜角与仿真是吻合的,验证了动力学仿真的相应结果正确性。
[Abstract]:Stereoscopic monitoring of the marine environment is an important component of marine science and technology, The deep-sea profile measurement system is an indispensable part of stereoscopic monitoring. The profile measurement system controls the up-and-down movement of the lifting platform through an underwater winch mounted on the main floating body. The fixed-point measurement of sea water profile is realized by using the hydrological measuring instrument on the platform. The measurement of different resolutions is realized by the lifting speed and the frequency of data acquisition. When the platform moves to the water surface, The data will be transmitted back to the base station through the Beidou module. Firstly, this paper introduces the relevant ocean profile monitoring technology at home and abroad. This paper analyzes the basic functions and components of the profile measurement system, introduces several typical profile measurement systems, analyzes their different applicable environments and working conditions, and comprehensively compares their development status and differences. At the same time, the importance and value of the lifting platform in the system are introduced, the main research purposes are further determined, and the technical route and research contents of the research work in this paper are put forward. In this paper, the composition and important parts of the whole system are explained, and the statics analysis is carried out according to the characteristics of each component. At the same time, the lifting platform and mooring cable are analyzed emphatically. Then the dynamic analysis of lifting platform, mooring rope and main floating body under motion is carried out. According to different sea conditions, combined with actual work flow, different stress stages are determined. After that, the initial conditions, boundary conditions, calculation methods and steps for solving the equations are given. The static simulation, motor motion simulation and dynamics simulation are carried out. The system attitude, the position of the main floating body and the force of the key nodes are given in the static state. In order to satisfy the normal working angle range of the platform, the proper speed and suggestion of the motor are given. The motion attitude and force of the upper layer of the system under the motor motion are given. Finally, the model of the motor motion control platform is carried out in the dynamic environment laboratory of the National Marine Technology Center according to the specific working conditions. It is verified that the tilt angle of the platform is consistent with the simulation under the corresponding motor rotation speed, and the correctness of the corresponding results of the dynamic simulation is verified.
【学位授予单位】：国家海洋技术中心
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：P715

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