ROV水下作业仿真系统的研究

Research on the Simulation System of ROV Underwater Operation

基于水下环境复杂和作业难度大等特点,为了实现水下ROV作业培训,建立了ROV作业视景仿真系统的关键技术方法,进行了ROV和脐带缆的受力分析,讨论了ROV-缆系统运动数学模型的建立方法和求解方法,重点分析了ROV操纵性能预报和运动仿真方法。通过典型工况下ROV直航运动和回转运动的仿真结果可看出,脐带缆主要影响ROV的纵向运动性能。因此,在Vega Prime环境下进行了ROV作业培训的视景模型驱动、碰撞检测、视点切换和软件界面开发等工作,实现了交互的ROV水下作业仿真系统。

Based on the characteristics of water environment complex and difficult operation, this paper establishes the key technology method of the ROV operating system, and analyzes the ROV and umbilical cable stress analysis, and discusses the building method and solving method of the ROV- cable system. The ROV control performance prediction and motion simulation are analyzed. Through simulation results under typical working conditions is ROV direct motion and rotary motion, we can see, main influencing ROV umbilical cable longitudinal motion performance. Therefore, in the VegaPrime environment, the ROV operation training of the visual model driven, collision detection, viewpoint switch and software interface development, etc., to achieve the interactive ROV underwater operating simulation system.