本文關(guān)鍵詞：11000米ARV總體設(shè)計與關(guān)鍵技術(shù)研究　出處：《中國艦船研究院》2014年博士論文　論文類型：學(xué)位論文

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【摘要】：由于臍帶纜的影響，傳統(tǒng)ROV的作業(yè)范圍受到很大限制。AUV的作業(yè)范圍較大，但不能實現(xiàn)精細定點作業(yè)，人工無法及時干預(yù)。因此，中船重工七0二所在國內(nèi)較早提出了復(fù)合型水下機器人(ARV，AutonomousRemotely-operated Vehicle)的概念。ARV技術(shù)是對最新ROV和AUV技術(shù)的組合運用，用微細光纜代替?zhèn)鹘y(tǒng)電纜。這樣，ARV既具有AUV大面積水下探測和搜索的功能，又可以通過微細光纜像ROV一樣進行手動實時遙控作業(yè)。ARV的出現(xiàn)代表了未來深海無人潛水器的一個重要發(fā)展方向。 本文以11000米全海深復(fù)合型水下機器人（ARV）的研制攻關(guān)為背景，具體研究工作如下： （1）11000米ARV總體概念設(shè)計 本文針對ARV在水面和海底之間大深度的上浮下潛以及ARV在深海海底復(fù)雜地形下的綜合機動與作業(yè)兩方面的水動力性能，提出了一種雙扁平體的ARV總體構(gòu)型方案。綜合考慮光纜對ARV本體水下機動的影響，海面風(fēng)浪流和母船運動的影響，以及光纜在水下的力學(xué)性能、光傳輸性能，光纜是一次性使用還是可重復(fù)的等多方面因素，首次提出了11000米ARV臍帶纜概念方案以及全系統(tǒng)布放回收工作流程。 （2）11000米ARV水動力仿真研究 根據(jù)11000米ARV總體概念方案,本文進行了主體線型及螺旋槳布置方案的設(shè)計。在此基礎(chǔ)上，采用RNG k模型對ARV進行了水動力數(shù)值計算，分析了ARV的相關(guān)水動力性能。最后對ARV的運動進行了動力學(xué)建模，，為后續(xù)運動控制算法研究奠定了基礎(chǔ)。 （3）11000米ARV控制技術(shù)研究 本文提出了一種包括人工干預(yù)層在內(nèi)的新型ARV自主控制體系結(jié)構(gòu)，對關(guān)鍵的遠距離、高縱深水聲通信方案作了初步探討，并針對水下組合導(dǎo)航、自主避障和運動控制等相關(guān)技術(shù)分別提出了改進算法，提高了ARV適應(yīng)水下復(fù)雜環(huán)境的綜合能力。通過數(shù)值仿真，初步驗證了相關(guān)算法的有效性。 （4）11000米ARV光纖應(yīng)用技術(shù)研究 由于目前國內(nèi)尚無成功應(yīng)用在深海潛器上的微細光纜，本文首次提出了11000米深海主臍帶光纜、微細光纜以及被動放線團的設(shè)計方案。采用集中質(zhì)量法建立了深海長距離微細光纜張力模型，計算微細光纜的張力分布，驗證了微細光纜的工作安全性。 （5）11000米ARV的關(guān)鍵技術(shù)驗證 為了對11000米ARV部分關(guān)鍵技術(shù)進行深入探索，七0二所先后開展了“海箏Ⅰ型”ARV原理樣機和“海箏Ⅱ型”ARV產(chǎn)品的研制工作。通過ARV樣機的研制，成功完成了多項重要/關(guān)鍵技術(shù)的攻關(guān)、試驗驗證和水下應(yīng)用。 綜上所述，本文著眼于11000米ARV總體概念設(shè)計，較為系統(tǒng)的分析并對11000米ARV關(guān)鍵技術(shù)開展了深入的研究工作，并研制了兩型ARV試驗樣機對相關(guān)技術(shù)進行了試驗驗證。通過上述研究和技術(shù)驗證，取得了一批有價值的技術(shù)成果，為11000米ARV的研制打下了堅實的技術(shù)基礎(chǔ)。
[Abstract]:Because of the influence of cord cable, the scope of traditional ROV is greatly restricted, but it can not realize the precise fixed-point operation, so it can not intervene in time. The ARV of composite underwater vehicle was put forward in China. The concept of AutonomousRemotely-operated vehicle. ARV technology is a combination of the latest ROV and AUV technology. The traditional cable is replaced by fine optical cable, which has the function of large area underwater detection and search of AUV. The emergence of manual real-time remote control, such as ROV, can also be carried out through fine optical cables, which represents an important development direction for future deep-sea unmanned submersibles. In this paper, the development of 11000 meters all sea depth composite underwater vehicle (ARV) as the background, the specific research work is as follows: Overall conceptual design of 1000m ARV This paper aims at the hydrodynamic performance of ARV in the deep depth between the surface and the seabed and the comprehensive maneuvering and operation of ARV under the complex terrain of deep seabed. In this paper, a general configuration scheme of ARV with double flat body is proposed. The influence of optical fiber cable on the underwater maneuvering of ARV body, the influence of sea surface wind and wave current and the movement of mother ship, and the mechanical properties of optical fiber cable under water are considered synthetically. For the first time, the concept scheme of 11000 m ARV cord and the whole system layout and recovery workflow are put forward for the first time, such as optical transmission performance, whether the cable can be used at one time or repeatable. Study on Hydrodynamic Simulation of 11000m ARV According to the general concept scheme of 11000 m ARV, the main line and propeller layout scheme are designed in this paper. Based on this, the hydrodynamic numerical calculation of ARV is carried out by using RNG k model. The related hydrodynamic performance of ARV is analyzed. Finally, the dynamic modeling of ARV motion is carried out, which lays a foundation for the research of subsequent motion control algorithms. Research on Control Technology of 11000m ARV In this paper, a new ARV autonomous control architecture, including manual intervention layer, is proposed. The key long distance and high depth underwater acoustic communication schemes are preliminarily discussed, and the underwater integrated navigation is also discussed. Improved algorithms are proposed for autonomous obstacle avoidance and motion control to improve the ability of ARV to adapt to the complex underwater environment. The effectiveness of the algorithm is preliminarily verified by numerical simulation. Research on Application Technology of 11000m ARV Optical Fiber Because there is no fine fiber cable successfully applied to deep sea submersible at present, the 11000 meters deep sea main cord fiber cable is proposed for the first time in this paper. The tension model of deep sea long distance fiber optic cable is established by means of concentrated mass method, and the tension distribution of fine optical fiber cable is calculated, which verifies the working safety of micro optical fiber cable. Verification of key Technologies for 11000m ARV In order to explore the key technology of 11000 meters ARV. The "Haizheng I" ARV principle prototype and the "Haizheng 鈪

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