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。
The dynamic modeling and analysis of the sled device of sea-pipeline burying RO V has been studied 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.
出处
《船舶工程》
北大核心
2015年第1期95-99,共5页
Ship Engineering
