缆控布放大型负浮力潜器稳态仿真

Simulation on the Stable Process of Cable Controlled Deployment of Large Negative Buoyancy Submersible

采用集中质量法建立缆绳稳态分析模型,对不同海流、潜器负浮力和推进器推力下的缆索系统进行了仿真分析。结果表明,高海流环境下潜器的水下偏移距离可达数百米。在大深度布放时,缆绳受到的海流力远大于潜器的受力,潜器阻力优化对提高布放精度的改善有限。增大负浮力可显著减小水下偏移量,但是随着负浮力的增加,其效益递减。潜器偏移量随着推进器推力的增加线性减小,通过插值得到了回到布放点所需的推进器推力,作为推进系统的设计输入。在推动潜器回到布放点的过程中,缆绳张力变化微小,垂向距离海底高度始终在30 m以上,具有较大的安全范围。

The cable steady-state simulation model is established using lumped mass method to carry out simulation analysis on hawser system under different currents,submersible negative buoyancies and propeller powers.The simulation results show that the underwater migration distance can reach several hundred meters in high current environment.When deployed in large depth,the cable flow resistance is much greater than the submersible resistance and the benefit of improving submersible resistance is low.Though increasing the negative buoyancy can significantly reduce the underwater migration distance,the efficiency lowers with the increase of negative buoyancy.As the thrust increases,the submersible offset decreases linearly.The thrust required for the submersible to reach precise deployment can be obtained through interpolation.The thrust can be the input of propulsion system.In the process of pushing the submersible back to the deployment point,the cable tension changes little,and the vertical distance from the seabed is always more than 30 meters,which means safety height is enough.