11000米ARV总体设计与关键技术研究
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摘要
由于脐带缆的影响，传统ROV的作业范围受到很大限制。AUV的作业范围较大，但不能实现精细定点作业，人工无法及时干预。因此，中船重工七〇二所在国内较早提出了复合型水下机器人(ARV，Autonomous&Remotely-operated Vehicle)的概念。ARV技术是对最新ROV和AUV技术的组合运用，用微细光缆代替传统电缆。这样，ARV既具有AUV大面积水下探测和搜索的功能，又可以通过微细光缆像ROV一样进行手动实时遥控作业。ARV的出现代表了未来深海无人潜水器的一个重要发展方向。
本文以11000米全海深复合型水下机器人（ARV）的研制攻关为背景，具体研究工作如下：
（1）11000米ARV总体概念设计
本文针对ARV在水面和海底之间大深度的上浮下潜以及ARV在深海海底复杂地形下的综合机动与作业两方面的水动力性能，提出了一种双扁平体的ARV总体构型方案。综合考虑光缆对ARV本体水下机动的影响，海面风浪流和母船运动的影响，以及光缆在水下的力学性能、光传输性能，光缆是一次性使用还是可重复的等多方面因素，首次提出了11000米ARV脐带缆概念方案以及全系统布放回收工作流程。
（2）11000米ARV水动力仿真研究
根据11000米ARV总体概念方案,本文进行了主体线型及螺旋桨布置方案的设计。在此基础上，采用RNG k模型对ARV进行了水动力数值计算，分析了ARV的相关水动力性能。最后对ARV的运动进行了动力学建模，为后续运动控制算法研究奠定了基础。
（3）11000米ARV控制技术研究
本文提出了一种包括人工干预层在内的新型ARV自主控制体系结构，对关键的远距离、高纵深水声通信方案作了初步探讨，并针对水下组合导航、自主避障和运动控制等相关技术分别提出了改进算法，提高了ARV适应水下复杂环境的综合能力。通过数值仿真，初步验证了相关算法的有效性。
（4）11000米ARV光纤应用技术研究
由于目前国内尚无成功应用在深海潜器上的微细光缆，本文首次提出了11000米深海主脐带光缆、微细光缆以及被动放线团的设计方案。采用集中质量法建立了深海长距离微细光缆张力模型，计算微细光缆的张力分布，验证了微细光缆的工作安全性。
（5）11000米ARV的关键技术验证
为了对11000米ARV部分关键技术进行深入探索，七〇二所先后开展了“海筝Ⅰ型”ARV原理样机和“海筝Ⅱ型”ARV产品的研制工作。通过ARV样机的研制，成功完成了多项重要/关键技术的攻关、试验验证和水下应用。
综上所述，本文着眼于11000米ARV总体概念设计，较为系统的分析并对11000米ARV关键技术开展了深入的研究工作，并研制了两型ARV试验样机对相关技术进行了试验验证。通过上述研究和技术验证，取得了一批有价值的技术成果，为11000米ARV的研制打下了坚实的技术基础。
The range of traditional ROVs are restricted by umbilical cable largely. Although AUVsare free without tether, they cannot achieve precision fix station operation and timely manualintervention. In order to combine the advantages of ROV and AUV, CSSRC proposed theconcept of ARV (Autonomous&Remotely-operated Vehicle). While the conventional tether isreplaced by micro fiber optic cable, ARV not only can take long range search as AUV, but alsocan be remotely operated like ROV. The appearance of ARV represents an importantdevelopment direction of future deep-sea unmanned vehicle.
With the background to develop ARV system with full ocean depth, the specific researchwork is shown as follows:
(1)General concept design
A double flat overall configuration of11,000meters ARV is chosen after comparison andanalysis with respect to great range of fluctuation between the surface and seafloor as well ascomprehensive maneuvering characteristics and work performance in complicated topographicconditions of bottom. Then, this paper proposes the concept plan of11,000meters ARV’s opticalcable and the launch&recovery procedure of the whole system for the first time through theoverall consideration of the effect on ARV’s underwater maneuvering, the interference caused bysea wave and mothership motion, underwater mechanical property and optical transmissionperformance as well as optical cable’s reusability.
(2)Hydrodynamic simulation study
This paper has fromed the body lines and the propeller arrangment at the base of generalconcept design. Then, the RNGk model is used for numerical calculation. Thecorresponding hydrodynamic performance of ARV is also analyzed. Finally, the dynamic modelis established as the foundation for the subsequent motion control algorithm research.
(3)ARV system control study
This paper proposes a new hybrid control structure of ARV, including surface manualintervention layer. Then, preliminary discussion on remote and deep hydro-acousticcommunication scheme is made. Besides, with respect to underwater integrated navigation,autonomous obstacle avoidance, motion control, the advanced algorithms are put forward toimprove ARV’s ability of adapting complicated underwater environment. Through numericalsimulation, the related algorithms are verified well.
(4) Optical cable application technology
As a result of the fact that optical cable has not been applied successfully in domesticsubmersibles nowadays, the paper put forward the design of11,000meters main tether cable,micro optical cable and passive release clew for the first time. The micro optical cable’s model,established by the method of focus quality can calculate the distribution of strain. According tothe computation of static surface tension, the micro optical cable can perform safely under theoperation condition.
(5) Experimental verification of key technology
In order to exploring key techniques of ARV with full depth, the R&D work on “Sea-Kite I”ARV as principle prototype and “Sea-Kite II” ARV are continuously carried out by the CSSRC.Through the research of ARV’s principle prototype, several important/key technologicalbreakthroughs are made. Underwater tests indicate that the performance of ARV’s engineeringprototype is stable, its technology direction is correct and application prospect is wide.
The thesis begins with the general concept design of the11,000meters ARV, and thenexplores in its key technology. Two experimental prototype have been developed for the keytechnology verification. Through the above research and experimental verification, a series ofvaluable technological achievements are gained, which lays a solid foundation for thedevelopment of ARV at11000m level.
本文以11000米全海深复合型水下机器人（ARV）的研制攻关为背景，具体研究工作如下：
（1）11000米ARV总体概念设计
本文针对ARV在水面和海底之间大深度的上浮下潜以及ARV在深海海底复杂地形下的综合机动与作业两方面的水动力性能，提出了一种双扁平体的ARV总体构型方案。综合考虑光缆对ARV本体水下机动的影响，海面风浪流和母船运动的影响，以及光缆在水下的力学性能、光传输性能，光缆是一次性使用还是可重复的等多方面因素，首次提出了11000米ARV脐带缆概念方案以及全系统布放回收工作流程。
（2）11000米ARV水动力仿真研究
根据11000米ARV总体概念方案,本文进行了主体线型及螺旋桨布置方案的设计。在此基础上，采用RNG k模型对ARV进行了水动力数值计算，分析了ARV的相关水动力性能。最后对ARV的运动进行了动力学建模，为后续运动控制算法研究奠定了基础。
（3）11000米ARV控制技术研究
本文提出了一种包括人工干预层在内的新型ARV自主控制体系结构，对关键的远距离、高纵深水声通信方案作了初步探讨，并针对水下组合导航、自主避障和运动控制等相关技术分别提出了改进算法，提高了ARV适应水下复杂环境的综合能力。通过数值仿真，初步验证了相关算法的有效性。
（4）11000米ARV光纤应用技术研究
由于目前国内尚无成功应用在深海潜器上的微细光缆，本文首次提出了11000米深海主脐带光缆、微细光缆以及被动放线团的设计方案。采用集中质量法建立了深海长距离微细光缆张力模型，计算微细光缆的张力分布，验证了微细光缆的工作安全性。
（5）11000米ARV的关键技术验证
为了对11000米ARV部分关键技术进行深入探索，七〇二所先后开展了“海筝Ⅰ型”ARV原理样机和“海筝Ⅱ型”ARV产品的研制工作。通过ARV样机的研制，成功完成了多项重要/关键技术的攻关、试验验证和水下应用。
综上所述，本文着眼于11000米ARV总体概念设计，较为系统的分析并对11000米ARV关键技术开展了深入的研究工作，并研制了两型ARV试验样机对相关技术进行了试验验证。通过上述研究和技术验证，取得了一批有价值的技术成果，为11000米ARV的研制打下了坚实的技术基础。
The range of traditional ROVs are restricted by umbilical cable largely. Although AUVsare free without tether, they cannot achieve precision fix station operation and timely manualintervention. In order to combine the advantages of ROV and AUV, CSSRC proposed theconcept of ARV (Autonomous&Remotely-operated Vehicle). While the conventional tether isreplaced by micro fiber optic cable, ARV not only can take long range search as AUV, but alsocan be remotely operated like ROV. The appearance of ARV represents an importantdevelopment direction of future deep-sea unmanned vehicle.
With the background to develop ARV system with full ocean depth, the specific researchwork is shown as follows:
(1)General concept design
A double flat overall configuration of11,000meters ARV is chosen after comparison andanalysis with respect to great range of fluctuation between the surface and seafloor as well ascomprehensive maneuvering characteristics and work performance in complicated topographicconditions of bottom. Then, this paper proposes the concept plan of11,000meters ARV’s opticalcable and the launch&recovery procedure of the whole system for the first time through theoverall consideration of the effect on ARV’s underwater maneuvering, the interference caused bysea wave and mothership motion, underwater mechanical property and optical transmissionperformance as well as optical cable’s reusability.
(2)Hydrodynamic simulation study
This paper has fromed the body lines and the propeller arrangment at the base of generalconcept design. Then, the RNGk model is used for numerical calculation. Thecorresponding hydrodynamic performance of ARV is also analyzed. Finally, the dynamic modelis established as the foundation for the subsequent motion control algorithm research.
(3)ARV system control study
This paper proposes a new hybrid control structure of ARV, including surface manualintervention layer. Then, preliminary discussion on remote and deep hydro-acousticcommunication scheme is made. Besides, with respect to underwater integrated navigation,autonomous obstacle avoidance, motion control, the advanced algorithms are put forward toimprove ARV’s ability of adapting complicated underwater environment. Through numericalsimulation, the related algorithms are verified well.
(4) Optical cable application technology
As a result of the fact that optical cable has not been applied successfully in domesticsubmersibles nowadays, the paper put forward the design of11,000meters main tether cable,micro optical cable and passive release clew for the first time. The micro optical cable’s model,established by the method of focus quality can calculate the distribution of strain. According tothe computation of static surface tension, the micro optical cable can perform safely under theoperation condition.
(5) Experimental verification of key technology
In order to exploring key techniques of ARV with full depth, the R&D work on “Sea-Kite I”ARV as principle prototype and “Sea-Kite II” ARV are continuously carried out by the CSSRC.Through the research of ARV’s principle prototype, several important/key technologicalbreakthroughs are made. Underwater tests indicate that the performance of ARV’s engineeringprototype is stable, its technology direction is correct and application prospect is wide.
The thesis begins with the general concept design of the11,000meters ARV, and thenexplores in its key technology. Two experimental prototype have been developed for the keytechnology verification. Through the above research and experimental verification, a series ofvaluable technological achievements are gained, which lays a solid foundation for thedevelopment of ARV at11000m level.
引文
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