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OBLIQUE TOWING TEST AND MANEUVER SIMULATION AT LOW SPEED AND large drift angle FOR DEEP SEA OPEN-FRAMED REMOTELY OPERATED VEHICLE

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Journal of Hydrodynamics 2012年第2期24卷 280-286页

作者： FAN Shi-bo LIAN Lian REN Ping HUANG Guo-liang State Key Laboratory of Ocean Engineering Shanghai Jiao Tong University Shanghai 200240 China Chinese Underwater Technology Institute Shanghai Jiao Tong University Shanghai 200231 China

This article presents the newly designed oblique towing test in the horizontal plane for the scaled model of 4 500 m deep sea open-framed Remotely Operated Vehicle （ROV）,which is being researched and developed by Shanghai Jiao Tong *** hydrodynamics coefficients measurement is significant for the maneuverability and control system *** scaled model of ROV was constructed by 1：*** tests of large drift angle were conducted through large Amplitude Horizontal Planar Motion Mechanism （LAHPMM） under low *** regression method is adopted to process the test data and obtain the related hydrodynamic *** were designed for the horizontal plane motion of large drift angle to verify the coefficients *** the results show that the data can satisfy with the design requirements of the ROV developed.

关键词： Remotely Operated Vehicle (ROV) scaled model large drift angle multiple regression large Amplitude Horizontal Planar Motion Mechanism (LAHPMM)

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Dynamic Modeling and Investigation of Maneuver Characteristics of A Deep-Sea Manned Submarine Vehicle

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China Ocean Engineering 2009年第3期23卷 505-516页

作者：谢俊元须文波张华徐鹏飞崔维成 College of Information Engineering Jiangnan University China Ship Scientific Research Center

A deep-sea Manned Submarine Vehicle （MSV） is usually required to move at a low forward speed and a low rotational speed when it executes investigation tasks. In this condition, the motion is in large drift angles, and the maneuverability hydrodynamic forces cannot be expressed properly in the conventional mathematical model of submersible motion. In this paper, firstly, a general equation of MSV with six-freedom motion is presented, and the numerical simulation of descent/ascent motion and helix motion is conducted to reveal the general maneuver characteristics of MSV. Secondly, according to the data of captive model tests of large drift angles of MSV, the regression analysis of position hydrodynamic forces and rotation hydrodynamic forces is carried out, and the results of regression analysis of maneuverability hydrody- namic characteristics are analyzed to reveal the special maneuver characteristics. Thirdly, a special new mathematical model of MSV with the whole range of drift angles motion is presented, which can be used to predict hydrodynamic performance of motion in the 0° - 180° range of drift angles. The results are applied to the design of maneuverability hydrodynamic forces, development of control system and simulator of a practical MSV.

关键词： Manned Submarine Vehicle ( MSV) dynamic and kinematic modeling large drift angle numerical simulation

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