开架式ROV动力匹配稳态与动态设计方法  

Power Matching Stability and Motion Design Method of Open-shelf ROV

作　　者：高胜[1] 赵璇[1] 李美杰 张丽巍 王克宽 GAO Sheng;ZHAO Xuan;LI Meijie;ZHANG Liwei;WANG Kekuan(School of Mechanical Science and Engineering,Northeast Petroleum University,Heilongjiang Daqing 163318,China;CNPC Engineering Technology R ＆ D Company Limited,Beijing 102206,China)

机构地区：[1]东北石油大学机械科学与工程学院,黑龙江大庆163318 [2]中国石油集团工程技术研究有限公司,北京102206

出　　处：《船舶工程》2018年第8期87-93,共7页Ship Engineering

基　　金：中石油水下检测维护机器人系统开发关键技术研究(GCY-2c-17-6-1)

摘　　要：针对开架式ROV的设计,提出一种将稳态匹配与动态匹配相结合的动力匹配研究方法。首先,根据所设计的ROV,运用Fluent软件对其进行水阻力仿真,得出ROV在不同航速下的阻力;其次,对螺旋桨进行特性分析,进而对比螺旋桨不同参数对推力和阻力匹配的影响,考虑螺旋桨功率与电机功率匹配,完成ROV的稳态匹配;最后,加入动态分析得到最终的动力匹配,并证明其具有较好的运动稳定性及机动性。The paper proposes a power matching method based on static and dynamic combination aimed at the design of open-shelf ROV. First of all, according to the designed ROV, the water resistance simulation is carried out by Fluent software, and the resistance of ROV at different speed is obtained, followed by the analysis on the characteristics of the propeller. Then the influence of different propeller parameters on thrust and resistance matching is compared. Considering the matching of propeller power and motor power, at this point the static matching of ROV is completed. Finally, dynamic analysis is added to get the final dynamic matching, and it is proved that it has good motion stability and mobility.

关 键 词：ROV 动力匹配 稳定性 机动性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]