基于Modelica语言的ROV力学系统建模与仿真

Modeling and simulation of ROV mechanical system based on Modelica

本文针对因ROV在水下作业过程中的非线性及耦合运动特性而导致采用传统Simulink建模方法效率低下的问题,将Modelica语言应用于ROV力学系统建模过程中,提出了一种通用的、面向对象的水下航行器运动建模方法。简要介绍了Modelica语言的特性和优点,应用其面向对象的建模思想构建仿真框架,将ROV力学系统按受力性质进行分析、分类与模块功能划分,定义共用、可重用的底层运动学与力学连接器作为模块间交互接口,实现各模块由数学模型到仿真模型转化。在顶层模型中通过组件实例化整合各模块,应用组件连接机制,创建完整的ROV力学系统。选取工况对其运动特性进行仿真,分析仿真结果,以验证建模方法便捷性和正确性。

As the nonlinear and coupling motion characteristics of an ROV operating underwater lead to modeling inefficiency by using the traditional Simulink,Modelica is applied to the modeling process of a ROV mechanics system.The features and advantages of Modelica are introduced briefly,and its object-oriented modeling idea is applied to build a simulation framework.A general,object-oriented underwater vehicle motion modeling method is proposed.The ROV mechanical system is analyzed,classified and divided into module functions according to the mechanical properties.The common and reusable underlying kinematics and mechanics connectors are defined as interactive interfaces between modules to realize the transformation of each module from mathematical model to simulation model.In the top model,each module is integrated by component instantiation while the component connection mechanism is applied to create a complete ROV mechanical system.To verify the convenience and correctness of the modeling method,the movement characteristics of the ROV mechanics system are simulated under selected operating conditions and the simulation results are analyzed.