急流条件下的水下检测系统运动响应分析  

Motion Response Analysis of Underwater Detection System Under Rapid Current Condition

作　　者：甘进[1,2] 董睿文 王彬[2,3] 吴振磊 GAN Jin;DONG Ruiwen;WANG Bin;WU Zhenlei(School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan 430063, China;Underwater Detection Technology Research Center of Wuhan University of Technology, Wuhan 430063, China;Wuhan Changjiang Waterway Rescue and Salvage Bureau, Wuhan 430014, China)

机构地区：[1]武汉理工大学船海与能源动力工程学院,武汉430063 [2]武汉理工大学水下检测技术研究中心,武汉430063 [3]武汉长江航道救助打捞局,武汉430014

出　　处：《武汉理工大学学报（交通科学与工程版）》2022年第3期467-471,共5页Journal of Wuhan University of Technology（Transportation Science & Engineering）

摘　　要：针对水下机器人(remote operated vehicle,ROV)抗流性能弱,且在急流条件下开展水下检测难度大等问题,设计了一套由ROV、抱缆装置、张紧型锚缆系统,以及声呐设备组成的水下检测系统方案,使其适用于急流条件下水下结构物施工质量和健康状态的检测.采用AQWA软件计算得到多种工况下水下检测系统的运动响应,分析相关设计参数对系统的水动力性能的影响规律.结果表明:在来流角度小于20°的急流条件下,所提出的水下检测系统方案可保证ROV及声呐设备工作的稳定性,满足水下检测的相关技术指标及要求.Aiming at the problems that the underwater robot(ROV)has weak anti-current performance and it is difficult to carry out underwater detection under the condition of rapids,a set of underwater detection system scheme consisting of ROV,cable-holding device,tension anchor cable system and sonar equipment was designed,which is suitable for detecting the construction quality and health status of underwater structures under rapid current condition.The AQWA software was used to calculate the motion response of the underwater detection system under various working conditions,and the influence of related design parameters on the hydrodynamic performance of the system was analyzed.The results show that the proposed underwater detection system scheme can ensure the stability of ROV and sonar equipment and meet the relevant technical indexes and requirements of underwater detection under the condition of rapids with an incoming flow angle less than 20°.

关 键 词：水下机器人 水下检测 AQWA 运动响应 数值计算 急流条件P754.4 

分 类 号：U674.32[交通运输工程—船舶及航道工程]