全海深ARV被动升沉补偿系统缆绳张力控制分析

Cable tension control analysis of the passive heave compensation of ARV for full ocean depth

本文以上海海洋大学深渊科学技术研究中心研发的11 000 m全海深复合型无人潜水器(ARV)的吊放为研究对象,考虑潜水器在大深度水深吊放与回收过程中的平稳性与安全性等问题,为消除母船升沉运动对潜水器吊放与回收的影响,防止带缆因张力不均而破坏甚至断裂,造成ARV损坏,结合特定海况下的吊放回收要求,提出了一种适应于全深海ARV吊放回收的被动升沉补偿系统。本文简述了被动升沉补偿系统的组成及其工作原理,对油缸进行了尺寸计算,利用AMESim软件对该系统进行了建模与仿真分析,并重点分析了缆绳的张力控制。数值计算和分析结果表明,该系统的缆绳张力满足全海深ARV吊放回收的使用要求,通过解决升沉补偿技术问题,分析了缆绳的张力控制。

In consideration of the stability and safety in the launch and recovery process of a hybrid autonomous and remotely-operated unmanned vehicle（ ARV） in the great depth sea, to eliminate the influence of the heave movement of the mother ship,to prevent cable from being damaged and even ruptured,or ARV from being damaged due to cable’s uneven tension,this paper presents a passive heave compensation system that adapts to the launch and recovery of the ARV for＂11 000 m ＂ full ocean depth,which was developed by Hadal Science and Technology Center of Shanghai Ocean University. The paper first describes the components of the passive heave compensation system and its operating principle. The oil cylinder dimensions were calculated,then,a mathematical model was established and a simulation analysis of the passive heave compensation system was made using the software AMESim. Numerical calculation and analysis results show that the system can meet the requirement of the launch and recovery of the ARV for full ocean depth. Research of passive heave compensation system has analyzed cable tension control by solving the problem about heavecompensation.