深海绞车回收ROV速度的仿真分析

Simulation Analysis on Deep-Sea Winch for ROV Recovering Speed

针对深海绞车收缆时ROV回收速度不平稳问题,采用AMESim软件对系统进行建模,分析卷筒转动惯量、脐带缆刚度、ROV质量等参数对ROV回收速度的影响。结果表明:卷筒转动惯量增大,其响应变慢,调整时间增长,超调量减小;缆的刚度增大,动态响应变快,调整时间减小,稳定性好;ROV质量增加,其动态响应变慢,调整时间变长。

In order to solve the problem of unstable ROV recovering speed when deep-sea winch recovering the cable, this article modelled the system by using AMESim software and analyzed the factors that have effect on ROV recovering speed, including drum rotating inertia, umbilical cable stiffness and ROV quality, etc. The result shows several phenomena. When the rotating inertia increased , the response would be slowed down, the adjustment period would be extended, and the overshoot would be reduced. when the cable stiffness increased, the dynamic response would be accelerated, the adjustment period would be shortened, and the stability would be better. When the ROV quality increased, the dynamic response would be slowed down and the adjustment period would be extended.