缆控布放大型潜器水下钟摆运动仿真

Simulation of the Underwater Swing Process of Cable Controlled Deployment of Large Vehicle

为了对潜器下潜拉动缆绳产生的钟摆下潜运动过程进行研究,采用集中质量法进行缆索系统建模,得到潜器速度、缆绳形态和缆绳张力的变化过程。结果表明:缆绳张力极值发生在收紧缆绳初期,该阶段张力冲击短暂,但是幅值大,可达十几吨。在之后的下潜过程中,缆绳张力较小。整个运动过程中,潜器运动速度较低,在平衡位置的位移振荡幅值也较小,始终处于安全可控的状态。因而,除了初期具有张力冲击过大问题,其余阶段安全问题不突出。当收紧缆绳时,缆绳长度越长或倾角越大,缆绳张力冲击越弱,张力幅值也显著减小。

In order to research on the swing and diving process of the vehicle dragging the control cable,the paper uses the lumped method to build the model of cable problem,and obtains the change process of vehicle velocity,cable shape and cable tension.The results show that the maximum cable tension occurs at the beginning of tightening the cable,which is of short duration but large,about more than ten tons.In the diving process,the cable tension is small.In the whole movement,the vehicle moves slowly,and has small displacement oscillation amplitude around the balance position,so,the vehicle is always in a safe and controllable state.In addition to the tension impact problem at the beginning of dragging process,the safety problem of the remaining process is not prominent.When tightening the cable,the longer the cable length or the greater the cable angle,the weaker the cable tension impact and the smaller the tension amplitude.