波浪作用下平台吊放遥控水下机器人系统共振响应研究  

Research on Resonance Response of Platform Lowering ROV System Under Wave Action

作　　者：李文喆 常安腾 曹航语 杜君峰[1] Li Wenzhe;Chang Anteng;Cao Hangyu;Du Junfeng(College of Engineering,Ocean University of China,Qingdao 266003,China)

机构地区：[1]中国海洋大学工程学院,山东青岛266100

出　　处：《中国海洋大学学报（自然科学版）》2024年第3期99-106,共8页Periodical of Ocean University of China

基　　金：国家自然科学基金基础科学中心项目(52088102)资助。

摘　　要：针对平台吊放遥控水下机器人(Remotely operated underwater vehicle, ROV)过程中产生的复杂的共振现象会激发ROV剧烈的摆动和纵荡响应,从而影响下放安全的问题,本文基于Orcaflex软件建立了平台-吊缆-ROV耦合运动系统的数值仿真模型,采用时域分析方法,研究波浪作用下平台吊放ROV过程的空中下放阶段和水中下放阶段的共振响应特性。结果表明:空中下放阶段,单摆共振周期公式可以估算吊缆-ROV系统摆动周期,系统共振周期随缆长增加而不断增大;由于吊缆-ROV系统会同平台发生纵摇的谐振,下放过程中出现共振摆动和纵荡响应尤为剧烈的阶段。水中下放阶段,本文对单摆公式进行了修正,系统摆动周期估算误差低于4%;海水阻尼使系统共振摆角随缆长增加而减小,共振摆动得到明显抑制;流荷载导致吊缆-ROV系统共振周期的增大,且流速越大,共振周期增加越明显。在常见海况下放ROV时,下放过程存在共振区,可通过选择合适的下放速度以减小下放过程中的共振效应。Aiming at the problem that the complex resonance phenomena in the process of ROV lowering from the platform,which excites the ROV’s violent swing,surge response and affect the lowering safety,this paper establishes a numerical simulation model of the Platform-Cable-ROV coupling system based on Orcaflex software,and adopts the time-domain analysis method.The resonance response characteristics of air-lowering stage and water-lowering stage under wave action are studied.The results show that the swing period of the Cable-ROV system can be estimated by simple pendulum formula in the air-lowering stage,and the system resonance period increases with the increase of cable length.In addition,due to the resonance between the Cable-ROV system and the pitch of the platform,the resonance swing and surge response are particularly intense in the lowering process.In the water-lowering stage,the pendulum formula is modified,and the estimation error of swing period is less than 4%.Seawater damping makes the resonant swing angle of system decrease with the increase of cable length,and the resonant swing of ROV in water is significantly suppressed.The effect of ocean current leads to the increase of the resonance period of the Cable-ROV system,and the larger the flow velocity,the more obvious the increase of the resonance period.When ROV is lowered in common ocean conditions,there is a resonance zone in the lowering process.The resonant effect can be reduced by selecting an appropriate lowering speed.

关 键 词：平台-吊缆-ROV耦合运动系统 共振响应 摆动角度 吊缆张力峰值 

分 类 号：P751[交通运输工程—港口、海岸及近海工程]