贴底起伏观测拖体的设计及设计平台的开发
摘要
本文对水下平台设计理论进行了分析,研究了水下平台的总布置、型线设计、结构设计、浮性及稳性等特性,结合工程实际需要,设计出了一个贴底起伏观测拖体,这个水下平台通过拖缆与支持母船相连接,拖动水平平台前进,同时,水下平台的能源也是由母船通过拖缆供应,驱动电机控制前后翼板运动以实现上下起伏。贴底起伏观测拖体能够搭载各种设备对在海底进行资源勘探、环境监测及水文数据采集等作业任务。
本文对Maxsurf三维船体模型生成模块进行了概念性的介绍,并对该软件的建模特点作了分析研究。在此基础上,借助Maxsurf强大的三维曲面建模能力,建立了贴底起伏观测拖体的三维建模,并运用Maxsurf的静水力计算模块,对该水下平台的设计方案进行研究论证。
本文最后以贴底起伏观测拖体设计方案为基础,探讨性的开发出了一种能够提供快速设计的平台。这个设计平台,可以在水下平台的有效载荷、作业海区、工作水深等设计条件发生变化的条件下,通过改变浮筒及翼板的相关参数自动生成出一个新的满足任务要求的设计方案。
A remotely operated vehicle (ROV) of Close to Seabed Fluctuation is designed based on demand of project. The ROV connected to the mother ship with a towing hawser, and the energy of the ROV is supplied by the mother ship. The ROV can be used for exploring resource, monitoring environment, collecting data with the equipment installed on the ROV.
The 3D module generation with Maxsurf is introduced in this paper, and the feature of modeling is studied. On this basis, with the powerful 3D modeling of Maxsurf, the 3D model of the ROV is built with the module of Hydrostatic Calculation.
Based on the design proposal of the ROV, a platform is developed which can carry out a new design plan rapidly. When the payload’working depth and marine regions etc change, we can obtain a new design which meets the requests.
本文对Maxsurf三维船体模型生成模块进行了概念性的介绍,并对该软件的建模特点作了分析研究。在此基础上,借助Maxsurf强大的三维曲面建模能力,建立了贴底起伏观测拖体的三维建模,并运用Maxsurf的静水力计算模块,对该水下平台的设计方案进行研究论证。
本文最后以贴底起伏观测拖体设计方案为基础,探讨性的开发出了一种能够提供快速设计的平台。这个设计平台,可以在水下平台的有效载荷、作业海区、工作水深等设计条件发生变化的条件下,通过改变浮筒及翼板的相关参数自动生成出一个新的满足任务要求的设计方案。
A remotely operated vehicle (ROV) of Close to Seabed Fluctuation is designed based on demand of project. The ROV connected to the mother ship with a towing hawser, and the energy of the ROV is supplied by the mother ship. The ROV can be used for exploring resource, monitoring environment, collecting data with the equipment installed on the ROV.
The 3D module generation with Maxsurf is introduced in this paper, and the feature of modeling is studied. On this basis, with the powerful 3D modeling of Maxsurf, the 3D model of the ROV is built with the module of Hydrostatic Calculation.
Based on the design proposal of the ROV, a platform is developed which can carry out a new design plan rapidly. When the payload’working depth and marine regions etc change, we can obtain a new design which meets the requests.
引文
[1]张宁.浅论我国深海载人潜水器的发展趋势及管理体制.海洋开发与管理,2008,08: 37~40
[2]蒋安之.遥控潜水器在近海石油工业中的运用与存在问题.上海造船,1995,2:52~55
[3] J.M.Zhu,Development of Undersea Technology in China,Ocean’89,Marine Technology Society, 1989: 1366~1370
[4]陈建平.我国潜水器发展状况及存在问题.机器人技术与应用,1999,2:7~9
[5] T.H.Koh,M.W.S.Lau,E.Low etal.Development and Improvement of an Underactuated Underwater Robotic Vehicle.Oceans’02 MT/IEEE, 2039~2044
[6]刘涛.大深度潜水器结构分析与设计研究:[博士学位论文].中国船舶科学研究中心,2001
[7] Wake.M. Maxsurf now in Windows 95 and Windows NT. Naval Architect, 1997,4: 34~37
[8]徐田甜. Maxsurf软件在计算机辅助船舶设计与建造领域的应用.船舶工业技术信息,2001,190:12~23
[9]钱卫星. Maxsurf软件在方案设计中的应用.江苏船舶,2002,19(02):23~25
[10]石清.激光雷迪尔级帆船船体水动力性能研究及应用:[硕士学位论文].武汉体育学院图书馆,2007
[11] Barsky.B.A, Beatly.J.C. Local control of bias and tension in Beta-splines. ACM Trams on graphics, 1983, 2:109~134
[12]方学智,刘厚森,刘增荣.船舶设计原理.武汉:华中理工大学出版社,1998,113~121
[13]沈国鉴.潜艇设计原理.上海:上海交通大学出版社,1988.148~158
[14] Ross C.T.F. Underwater External pressure, statics and dynamics, Elseiver AppliedScience,1990
[15]朱继懋.潜水器设计.上海:上海交通大学出版社,1992. 91~170
[16] Molnar. L, Omerdic. E, Toal. D.etal.Design of an Advanced AUV for Deployment Close to the Seabed and Other Hazards. Oceans 2005–Europe, 2005,2:975~ 980
[17]林焰,纪卓尚.船舶型线设计方法研究.上海交通大学学报,1994, 28 (1):16~23
[18]叶彬,刘涛,胡勇.深海载人潜水器外部结构设计研究.船舶力学,2006,10:105~114
[19]邹劲,史冬岩,刘旸.计算机辅助船舶设计.哈尔滨:哈尔滨工程大学出版社,2002.93~139
[20] H.A.Jackson, Submarine Parameters, International Symposium on Naval Submarine, 1983
[21]张涛,刘土光,刘均等.藕节形大深度潜水器耐压壳体优化设计.船舶力学,2008,12:100~109
[22]伍莉,刘土光,张涛等.藕节形大深度潜水器耐压壳体强度与稳定性分析.船海工程,2004,10:189~194
[23] Smith,C.S., Design of Marine Structures in Composite materials. Elsevier, Applied Science Publisher. London, 1990
[24] Smith,C.S., Design of Submersible pressure Hulls in Composite Marine Structures, Vol.4 No.2, 1991:271~350
[25]胡勇,赵俊海,刘涛等.大深度载人潜水器上的复合材料轻外壳结构设计研究.中国造船,2007,48(1):51~57
[26]н.н.叶费姆也夫.潜艇理论基础.鲁谦译.北京:国防工业出版社,1975:25~150
[27]郝艳仲.水下机器人运动稳定性的研究:[硕士学位论文].浙江大学图书馆,2006
[28] Abkowitz M.A.Stability and Motion Control of Ocean Vehicles,M.I.T.press,1969
[29]郝艳仲.水下机器人运动稳定性的研究:[硕士学位论文].浙江大学图书馆,2006
[30]刘春梅.遥控式水下机器人运动控制技术的研究:[硕士学位论文].哈尔滨工程大学图书馆,2007
[31]刘小峰.海洋探测机器人操纵性及运动仿真研究:[硕士学位论文].哈尔滨工程大学图书馆,2007
[32]林小平,刘祖源,程细得.操纵运动潜艇水动力计算研究.船舶工程,2006,03:12~15
[33]吴秀恒.船舶操纵性与耐波性.北京:人民交通出版社,1999.57~78
[34]林小平,刘祖源,程细得.操纵运动潜艇水动力计算研究.船舶工程,2006,03:12~15
[35] Eppler R.Airfoils Design and Data.Berlin:Springer-Verlag,1990
[36] Eppler R,Somers D.M. A Computer Program for the Design and Analysis Low-Speed Airfoils.NASA TM, 1980
[37]王献孚.船用翼理论.北京:国防工业出版社,2000,1~88
[38] J.N. Newman: Marine Hydrodynamics. MIT Press, 1977
[39] J.N.Newman.船舶流体动力学.周树国译.北京:人民交通出版社,1986
[40]高正红,朱军,詹浩.基于设计变量相关性的翼型设计方法.航空学报,2009,03:430~444
[41]赵俊海,汪本强,侯德永等.大深度稳定翼设计方法的研究.船舶力学,2008,12:89~99
[42]赵俊海,汪本强,侯德永等.大深度稳定翼设计方法的研究.船舶力学,2008,12:89~99
[43] T.Nakano,N.Fujisawa,Y.oguma etal. Experimental study on flow and noise characteristics of NACA0018 airfoil. Journal of Wind Engineering and Industrial Aerodynamics, 2007(95): 511~531
[44] Ronad A.Watrod.Computer Aider Design of a Techered Vehicle for Deep Ocean Viewing.Hydro Products Inc.Report, 1978
[45]施国庆,朱克强.水下缆控潜水器运动特性分析.华东船舶工业学院学报,1993,3,1~8
[46]в.и.叶果洛夫.水下拖曳系统.俞骧,戈华译.北京:海洋出版社,1989,40~72
[2]蒋安之.遥控潜水器在近海石油工业中的运用与存在问题.上海造船,1995,2:52~55
[3] J.M.Zhu,Development of Undersea Technology in China,Ocean’89,Marine Technology Society, 1989: 1366~1370
[4]陈建平.我国潜水器发展状况及存在问题.机器人技术与应用,1999,2:7~9
[5] T.H.Koh,M.W.S.Lau,E.Low etal.Development and Improvement of an Underactuated Underwater Robotic Vehicle.Oceans’02 MT/IEEE, 2039~2044
[6]刘涛.大深度潜水器结构分析与设计研究:[博士学位论文].中国船舶科学研究中心,2001
[7] Wake.M. Maxsurf now in Windows 95 and Windows NT. Naval Architect, 1997,4: 34~37
[8]徐田甜. Maxsurf软件在计算机辅助船舶设计与建造领域的应用.船舶工业技术信息,2001,190:12~23
[9]钱卫星. Maxsurf软件在方案设计中的应用.江苏船舶,2002,19(02):23~25
[10]石清.激光雷迪尔级帆船船体水动力性能研究及应用:[硕士学位论文].武汉体育学院图书馆,2007
[11] Barsky.B.A, Beatly.J.C. Local control of bias and tension in Beta-splines. ACM Trams on graphics, 1983, 2:109~134
[12]方学智,刘厚森,刘增荣.船舶设计原理.武汉:华中理工大学出版社,1998,113~121
[13]沈国鉴.潜艇设计原理.上海:上海交通大学出版社,1988.148~158
[14] Ross C.T.F. Underwater External pressure, statics and dynamics, Elseiver AppliedScience,1990
[15]朱继懋.潜水器设计.上海:上海交通大学出版社,1992. 91~170
[16] Molnar. L, Omerdic. E, Toal. D.etal.Design of an Advanced AUV for Deployment Close to the Seabed and Other Hazards. Oceans 2005–Europe, 2005,2:975~ 980
[17]林焰,纪卓尚.船舶型线设计方法研究.上海交通大学学报,1994, 28 (1):16~23
[18]叶彬,刘涛,胡勇.深海载人潜水器外部结构设计研究.船舶力学,2006,10:105~114
[19]邹劲,史冬岩,刘旸.计算机辅助船舶设计.哈尔滨:哈尔滨工程大学出版社,2002.93~139
[20] H.A.Jackson, Submarine Parameters, International Symposium on Naval Submarine, 1983
[21]张涛,刘土光,刘均等.藕节形大深度潜水器耐压壳体优化设计.船舶力学,2008,12:100~109
[22]伍莉,刘土光,张涛等.藕节形大深度潜水器耐压壳体强度与稳定性分析.船海工程,2004,10:189~194
[23] Smith,C.S., Design of Marine Structures in Composite materials. Elsevier, Applied Science Publisher. London, 1990
[24] Smith,C.S., Design of Submersible pressure Hulls in Composite Marine Structures, Vol.4 No.2, 1991:271~350
[25]胡勇,赵俊海,刘涛等.大深度载人潜水器上的复合材料轻外壳结构设计研究.中国造船,2007,48(1):51~57
[26]н.н.叶费姆也夫.潜艇理论基础.鲁谦译.北京:国防工业出版社,1975:25~150
[27]郝艳仲.水下机器人运动稳定性的研究:[硕士学位论文].浙江大学图书馆,2006
[28] Abkowitz M.A.Stability and Motion Control of Ocean Vehicles,M.I.T.press,1969
[29]郝艳仲.水下机器人运动稳定性的研究:[硕士学位论文].浙江大学图书馆,2006
[30]刘春梅.遥控式水下机器人运动控制技术的研究:[硕士学位论文].哈尔滨工程大学图书馆,2007
[31]刘小峰.海洋探测机器人操纵性及运动仿真研究:[硕士学位论文].哈尔滨工程大学图书馆,2007
[32]林小平,刘祖源,程细得.操纵运动潜艇水动力计算研究.船舶工程,2006,03:12~15
[33]吴秀恒.船舶操纵性与耐波性.北京:人民交通出版社,1999.57~78
[34]林小平,刘祖源,程细得.操纵运动潜艇水动力计算研究.船舶工程,2006,03:12~15
[35] Eppler R.Airfoils Design and Data.Berlin:Springer-Verlag,1990
[36] Eppler R,Somers D.M. A Computer Program for the Design and Analysis Low-Speed Airfoils.NASA TM, 1980
[37]王献孚.船用翼理论.北京:国防工业出版社,2000,1~88
[38] J.N. Newman: Marine Hydrodynamics. MIT Press, 1977
[39] J.N.Newman.船舶流体动力学.周树国译.北京:人民交通出版社,1986
[40]高正红,朱军,詹浩.基于设计变量相关性的翼型设计方法.航空学报,2009,03:430~444
[41]赵俊海,汪本强,侯德永等.大深度稳定翼设计方法的研究.船舶力学,2008,12:89~99
[42]赵俊海,汪本强,侯德永等.大深度稳定翼设计方法的研究.船舶力学,2008,12:89~99
[43] T.Nakano,N.Fujisawa,Y.oguma etal. Experimental study on flow and noise characteristics of NACA0018 airfoil. Journal of Wind Engineering and Industrial Aerodynamics, 2007(95): 511~531
[44] Ronad A.Watrod.Computer Aider Design of a Techered Vehicle for Deep Ocean Viewing.Hydro Products Inc.Report, 1978
[45]施国庆,朱克强.水下缆控潜水器运动特性分析.华东船舶工业学院学报,1993,3,1~8
[46]в.и.叶果洛夫.水下拖曳系统.俞骧,戈华译.北京:海洋出版社,1989,40~72