基于载人潜水器的深海敷缆运动仿真

提出了基于载人潜水器搭载海底敷缆装置的深海敷缆作业方式，建立了载人潜水器深海敷缆运动的二维稳态模型，仿真分析了余量敷缆时不同航行速度和放缆速度组合、潜水器相对海流速度、敷设余量、航行高度和海缆重量等参数对敷缆运动的影响。分析发现海缆张力随着敷设速度、潜水器相对海流速度、海缆重量的增大而增大，随着敷设余量的增大而减小；海缆水中位形曲线随着敷设速度、潜水器相对海流速度增大而趋于平缓，随着海缆重量的增大而更加陡峭，放缆速度的变化则对海缆位形曲线无影响；潜水器航行高度的变化对缆形和张力分布都没有影响，只是随着高度的增加，缆形和张力在原来的高度基础上有一定的延伸。

Simulation Research on Deep-Sea Cable Laying of Manned Submarine

A type of underwater vehicle for manned submarine in cable laying is proposed in this paper. A two-dimensional steady-state model for cable laying of manned submarine is established. The influences of combination of different velocity of manned submarine and cable pay-out, relative velocity between manned submarine and currents, cable laying allowance, sailing height of manned submarine and cable weight on cable laying configuration and tension distribution are analyzed. The analysis shows that tension of cable increases with laying velocity, relative velocity between manned submarine and currents, cable weight, and decreases with increasing cable laying allowance. Cable laying configuration tends to be gentle with increasing laying velocity, relative velocity between manned submarine and currents, and tends to be steep with increasing cable weight. The change of cable pay-out rate has no influence on cable laying configuration. Sailing height of manned submarine has no influence on cable laying configuration and tension distribution. However, cable laying configuration and tension have certain extension on the original height with increasing sailing height of manned submarine.