核电水池水下焊接ROV线缆稳态力学特性

Steady-state mechanical characteristics of cable for an underwater welding ROV for nuclear reaction pool

设计搭载有焊接装置的有缆水下机器人(ROV);建立部分处于空气中、部分处于水下的线缆稳态力学模型;将常微分方程组形式的模型求解问题转化为初始值求解问题,并以ROV和线缆之间连接点的状态值为初始值,通过四阶龙格-库塔算法求解得到ROV运动速度、水深、线缆入水角和线缆长度等因素与线缆的张力、法向剪切力和副法向力矩等稳态力学特性之间的变化规律。研究结果表明:本文所提出的方法可用于评估多种因素对ROV稳态运动的影响,并能够为改进ROV的设计和控制策略提供参考。

Remotely operated vehicle(ROV)with a weld device was designed.A steady-state theoretical model of a cable partially in reaction pool water and partially in air was constructed.The problem of solving an ordinary differential equation(ODE)set was considered as the problem of solving the initial value problem based on the state value of connection point between the vehicle and cable.The change rules between various factors(i.e.,velocity,water depth,entry water angle,water density and cable length)and the steady-state mechanical characteristic(i.e.tension,normal shear force and bi-normal moment)was obtained by the fourth order Runge?Kutta method.The results show that the proposed method can be used to evaluate the effect of various factors on ROV steady-state motion,and provide reference for the improvement of the design and control strategy of ROV.