摘要
针对海底大范围移动考察和定点精细作业的需求,提出一种全海深着陆车.为提高着陆车潜浮运动性能,解决配载参数和潜浮时间问题,设计着陆车配有两级压载铁.基于着陆车潜浮过程动力学和运动学的分析模型,结合配载参数与重心位置函数,利用ICEM和Fluent水动力分析软件对其阻力、升力、纵倾力矩进行计算,采用最小二乘法对其水动力参数进行辨识,最终建立了潜浮运动特性与配载参数的数学模型.通过调整两级压载铁的质量与位置,实现对着陆车潜浮姿态和速度的控制,进而研究其运动性能和优化潜浮过程时间.分析结果显示,当一级压载铁和二级压载铁质量分别为53 kg和50 kg,安装位置分别为0.38 m和0.58 m时,着陆车的最短下潜和上浮时间分别为5.39 h和5.98 h.优化配载参数后的着陆车具有最佳潜浮运动性能,能够以最短时间完成潜浮运动,为海底科考作业提供更多时间.
A full ocean depth landing vehicle is proposed to meet the requirements of large-scale mobile investigations and precise fixed-point operations on the seabed. A landing vehicle with two-stage ballasts is designed to improve the divingfloating motion performances and solve the problems of the loading parameters and the diving-floating time. The drag, lift and tilting moment of the landing vehicle are calculated by ICEM and Fluent hydrodynamic analysis software based on the dynamics and kinematics analysis model of the landing vehicle during diving and floating motion, the loading parameters and the position of the center of gravity. The hydrodynamic parameters are identified by the least squares method. Eventually, the mathematical model of the diving-floating motion performance and the loading parameter is established. The diving-floating speed and posture of the landing vehicle are controlled by adjusting the mass and position of two-stage ballasts, and then the motion performance and the time of the diving-floating process are studied and optimized. The analysis results show that the shortest diving and floating time of the landing vehicle are 5.39 h and 5.98 h respectively, when the primary and secondary ballasts are 53 kg and 50 kg respectively, and the installation positions are 0.38 m and 0.58 m respectively. After optimizing the loading parameters, the landing vehicle has the best diving-floating motion performance and can complete diving-floating motion in the shortest time, which provides more time for scientific research and operation on the seabed.
作者
孙洪鸣
郭威
周悦
孙鹏飞
张有波
SUN Hongming;GUO Wei;ZHOU Yue;SUN Pengfei;ZHANG Youbo(College of Engineering Science and Technology,Shanghai Ocean University,Shanghai 201306,China;Institute of Deep-sea Science and Engineering,Chinese Academy of Sciences,Sanya 572000,China;Shanghai Engineering Research Center of Hadal Science and Technology,Shanghai 201306,China)
出处
《机器人》
EI
CSCD
北大核心
2020年第2期207-214,共8页
Robot
基金
国家自然科学基金重点项目(51439004)
国家自然科学基金(51879175)
上海市科委科技创新行动计划(15DZ1207000).
关键词
全海深
着陆车
压载铁
机构设计
运动性能
full ocean depth
landing vehicle
ballast
mechanism design
motion performance
