海流作用下的载人潜水器作业动力学建模与仿真研究  

Research on Dynamic Modeling and Simulation of Manned Submersible Operated under Ocean Current

作　　者：赵桥生[1] 何春荣[1] 李德军 彭超[1] 肖冬林[1] 张家锐 ZHAO Qiaosheng;HE Chunrong;LI Dejun;PENG Chao;XIAO Donglin;ZHANG Jiarui(China Ship Scientific Research Center,Wuxi 214082,China)

机构地区：[1]中国船舶科学研究中心,无锡214082

出　　处：《中国造船》2021年第1期145-152,共8页Shipbuilding of China

基　　金：国家重点研发计划(2016YFC0300600)。

摘　　要：载人潜水器在深海复杂环境下进行作业时,常受到海流的干扰。当进行采样作业时,机械手的运动也会对潜水器主体的姿态产生干扰。为了提高载人潜水器作业水平,以某型载人潜水器为研究对象,建立了海流作用下机械手运动时的载人潜水器动力学模型,对海流作用在潜水器上的水动力进行了仿真分析,研究了海流作用下机械手作业对潜水器运动特性与姿态的影响。仿真结果表明:海流直接作用在潜水器上的水动力远远大于海流间接通过机械手作用在潜水器上的附加水动力;机械手自身运动对载人潜水器运动特性的影响不大;机械手抓取重物对载人潜水器姿态影响较大。In order to improve the precision of the operation of the manned submersible working in deep-sea environment and disturbed by current,a dynamic model of the manned submersible is established to simulate the hydrodynamic force acting on the submersible.The influence of the operation of the manipulator on the motion characteristics and attitude of the submersible is studied.It is shown that the hydrodynamic force of ocean current acting on the submersible is far greater than the one acting on the manipulator,i.e.,the manipulator only has little influence on the motion of the manned submersible.But there is a great impact on the attitude of the manned submersible,when the manipulator grabs heavy objects.

关 键 词：载人潜水器 机械手作业 海流 动力学建模 仿真 

分 类 号：U674.941[交通运输工程—船舶及航道工程]