潜水器动态收放缆索过程的动力学仿真研究  

Research on coupled dynamics simulation of towing and lifting mission load by submersible

作　　者：郑鹏 王小庆[1] 陈伟 ZHENG Peng;WANG Xiao-qing;CHEN Wei(China Ship Scientific Research Center,State Key Laboratory of hydrodynamics,Wuxi 214082,China)

机构地区：[1]中国船舶科学研究中心水动力学国家重点实验室,江苏无锡214082

出　　处：《舰船科学技术》2022年第7期55-61,共7页Ship Science and Technology

摘　　要：调研了解到部分上述高端装备或其他水下平台在水下作业过程中,可能遇到的载荷吊放、载荷拖曳、载荷回收等工况下缆索张力动态非线性变化的问题。基于Ablow提出的缆索偏微分控制方程,通过在采用有限差分法求解过程中动态调整缆索微元的长度进行缆索收放过程仿真,建立了潜水器-缆索-载荷三者间相互耦合的动力学模型,并基于建立的仿真方法对潜水器拖曳载荷进行变深度航行、潜水器变深度直航过程中起吊载荷过程中缆索-载荷系统对潜水器的影响及缆索自身的动态响应特性进行了研究。结果表明:稳定拖曳过程中,由于缆索-载荷系统的阻力,导致速度降低;拖曳起吊过程中的缆索张力变化明显,且缆索张力对收缆的速度变化敏感;拖曳稳定航行段潜水器速度与理论值一致,表明了本文方法的正确性。According to the investigation, the problem of dynamic nonlinear variation of cable tension may be encountered during the underwater operation of some of the above-mentioned high-end equipment or other underwater platforms under load lifting, load towing, load recovery and other conditions. Based on the cable partial differential governing equation proposed by Ablow, the paper simulates the cable retraction process by dynamically adjusting the length of cable micro element in the process of solving by using the finite difference method, and establishes the dynamic model of the interaction among the submersible, cable and load. Based on the established simulation method, the influence of the tether-load system on the submersible and the dynamic response characteristics of the cable are studied in the process of variable depth navigation with load towing and variable depth navigation with load recovery. The results show that in the process of stable towing, due to the resistance of the cable-load system, the speed decreases. The cable tension changes obviously during the towing process, and the cable tension is sensitive to the change of the cable hauling speed. The velocity of the towed submersible is consistent with the theoretical value, which indicates the correctness of the proposed method.

关 键 词：潜水器 缆索张力 拖曳回收 多体系统 变长度单元 

分 类 号：U674.941[交通运输工程—船舶及航道工程]