| Ocean is getting more and more inportant to human beings for its tremendous storage of energy which is considered indispensible for growing world economy in future.With the increasing of marine research and exploration to deep water, underwater vehicles, especially Remotely Operated Vehicles (ROV), have been playing a crucial role in fulfilling various underwater missions.The ROV for deep water is expected to having an outstanding preformance and high cost, and also taking a risk of safety, since it will work under a deep ocean environment, where exist the uncertainty, once the watching and tracking for the ROV failed, it would bring a very large loss.To this end, it is the purpose that conducting the Research on Underwater Simulation Technology in the means of Numerical and Scene Simulation Technology, to simulate ROV's operation process underwater, test ROV's performance and pre-assess the feasibility of operation, instead of the operation of a real ROV.In this paper, following works have been done:Firstly,the load applied to the ROV and towing cable have been analysed; the steady movement mathematical model of the cable-body system have been established;the mutual coupling between the ROV and towing cable has been studied with the use of the lumped-mass method, and furtherly the equation of six-freedom degree motion for ROV has been derived;In addition, to a domestic open-frame ROV for the study, based on the cable-body room for the equation of six-freedom degree motion for ROV, and his equation have been solved with the use of the fourth order Runge-Kutta method; The ROV motion simulation and control performance prediction have been carried out and the simulation results in the typical conditions of ROV's movement have been given;and the movement performance of the ROV have been analysed;And finally,upon the equation of six-freedom degree motion for the ROV, the motion simulation has been programmed by using VC++; the ROV and marine environment have been modeled by using Creator,a recognized software for three dimensional modelling; And based on the parameters of six-freedom degree motion outputing from ROV motion simulation system, the visual simulation for ROV underwater operation will be handled by running VC++and Vega. |
