摘要
为了全面评估全海深无人遥控潜水器(ROV)在不同模式配置、不同作业深度及工况下的脐带缆受力状态,提高脐带缆在全海深ROV系统应用的安全性和可靠性,开展了全海深ROV非金属铠装脐带缆动态力学理论分析与研究。针对铠缆系统水下运动具有小应变和大位移的几何特点,基于几何精确梁理论和虚功原理建立全海深非金属铠装脐带缆三维非线性有限元模型,基于所建立的动力学模型并结合工作母船升沉与海流联合激励,对脐带缆在全海深应用环境下扭转特性、在位运行等动态力学特性进行分析和研究。实验结果得出5000 m左右潜深为该全海深脐带缆系统的共振区域。研究结果可为全海深ROV非金属铠装脐带缆的安全应用及配套绞车优化设计提供理论依据。
In order to comprehensively evaluate the stress state of the umbilical cable of the full ocean depth unmanned remotely operated vehicle(ROV)in different mode configurations,operating depths and working conditions,and to improve the safety and reliability of the umbilical cable,the dynamic theoretical analysis and research on the nonmetallic armored umbilical cable are carried out.In view of the geometric characteristics of the underwater motion of the armor cable system with small strain and large displacement,a three-dimensional non-linear finite element model of the non-metallic armor umbilical cable is established based on the geometric exact beam theory and virtual work principle.Based on the dynamic model,combined with the joint excitation of ship heave and the current,the dynamic characteristics such as torsion property and real-time operation state of the umbilical cable applied in full ocean depth environment are analyzed and studied.And the experimental results show that the resonance region of the umbilical cable is about 5000 m.Moreover,the conclusions can provide a theoretical basis for the safety application of non-metallic armored umbilical cable of full ocean depth ROV and the optimal design of the matching winch.
作者
王海龙
张奇峰
全伟才
崔雨晨
闫兴亚
Wang Hailong;Zhang Qifeng;Quan Weicai;Cui Yuchen;Yan Xingya(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169;National-Local Joint Engineering Laboratory of Marine Mineral Resources Exploration Equipmentand Safety Technology,Hunan University of Science and Technology,Xiangtan 411201;University of Chinese Academy of Sciences,Beijing 100049)
出处
《高技术通讯》
CAS
2021年第12期1293-1302,共10页
Chinese High Technology Letters
基金
国家重点研发计划(2017YFC03056)资助项目。
关键词
全海深遥控潜水器(ROV)
非金属铠装脐带缆
动态特性
共振区域
full ocean depth remotely operated vehicle(ROV)
non-metal armored umbilical cable
dynamic characteristics
resonance zone
