ARV—微细光缆耦合系统的数值模拟研究

Numerical research on ARV-fiber optical microcable coupled dynamics

混合型水下机器人(ARV)是一种自带能源并可通过微细光缆进行水面操作作业的新型水下机器人。通常的潜水器-脐带缆耦合系统一般采用集中质量法对缆索进行建模分析,忽略缆索弯曲的影响。由于微细光缆的直径较小,文章针对ARV与微细光缆这一新的耦合系统,建立了二维控制方程。该控制方程考虑了微细光缆的弯曲影响。由控制方程得到的非线性偏微分控制方程采用有限差分法和标准的Newton-Raphson方法求解。通过采用M atlab@实现数值模拟分析,给出了几种操作机动下的仿真结果。

ARV（Autonomous Remotely-operated Vehicle）was a new kind of submersible that can be remotely operated surface through a thin fiber optical microcable.Usually,coupled dynamics of submersible and cable are researched using lumpend-mass method and the bending stiffness of the cable was neglected.The paper addressed the coupled dynamics of an ARV and near neutrally-buoyant fiber optical microcable system.The two dimensional inextensible form of the governing equations and compatibility relations was given,the governing equations also considered the bending stiffness of the cable.Finite-difference approach and Newton-Raphson iteration scheme was applied to solve the nonlinear partial differential equations.To study the submersible-tether problem,the cable algorithm was coupled with a vehicle simulation routine based on Matlab and results were presented for several operational maneuvers.