| ROV近底行走装置水平面动力学建模及稳定性分析 |
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| 引用本文： | 王冠达,葛彤,邓春楠,赵敏.ROV近底行走装置水平面动力学建模及稳定性分析[J].船舶工程,2015,37(1):95-99. |
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| 作者姓名： | 王冠达 葛彤 邓春楠 赵敏 |
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| 作者单位： | 上海交通大学 船舶海洋与建筑工程学院 水下工程研究所,上海交通大学 船舶海洋与建筑工程学院 水下工程研究所,上海交通大学 船舶海洋与建筑工程学院 水下工程研究所,上海交通大学 船舶海洋与建筑工程学院 水下工程研究所 |
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| 摘 要： | 针对深海管线埋设ROV底部行走装置——滑撬进行动力学建模与分析。分析滑撬运动过程中的受力,建立动力学模型,通过实验验证模型的适用性。根据5种典型的滑橇外形,制作缩尺度模型,进行泥池中的拖动实验,对实验数据进行分析和对比,选出最优滑橇外形。在ROV近底滑行状态下的三自由度动力学模型基础上,对稳定性进行分析,得出稳定性判据,结果表明合理的滑橇设计能够提高系统的运动稳定性。
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| 关 键 词： | 深海管线埋设ROV 滑橇 动力学建模 稳定性分析 |
| 收稿时间： | 6/9/2014 12:00:00 AM |
| 修稿时间： | 2014/8/18 0:00:00 |
Dynamic Modeling and Stability Analysis of Sled Device of ROVin Horizontal Plane |
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| WANG Guan-d,GE Tong,DENG Chun-nan and ZHAO Min.Dynamic Modeling and Stability Analysis of Sled Device of ROVin Horizontal Plane[J].Ship Engineering,2015,37(1):95-99. |
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| Authors: | WANG Guan-d GE Tong DENG Chun-nan and ZHAO Min |
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| Institution: | Underwater Engineering Research Institude,Shanghai Jiao Tong University,Underwater Engineering Research Institude,Shanghai Jiao Tong University,Underwater Engineering Research Institude,Shanghai Jiao Tong University, |
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| Abstract: | The dynamic modeling and analysis of the sled device of sea-pipeline burying ROV has been studied in this paper. The dynamic model of the sled device has been established by analyzing the forces acting on the moving device, and its applicability has been testified through experiments. Reduced-scale models are made based on five kinds of sled devices with typical configurations. The optimal sled device is selected by analyzing the test data of dragging experiment of different sled devices in mud pool. The stability analysis is performed based on three-dimensional dynamic model of ROV in skidding mode, and the stability criterion has demonstrated that optimized sled device could increase the stability of ROV system in skidding mode. |
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| Keywords: | sea-pipeline burying ROV sled device dynamic modeling stability analysis |
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