General Design And Research On Hydrodynamic Performance Of Rotatable Underwater Remotely Operated Vehicle(ROV)

Remotely Operated Vehicle(ROV)is the most widely used underwater vehicle,which is a research hotspot recently.It plays an important role in marine engineering,underwater engineering,aquatic biology,marine geography,underwater archaeology and many other fields.In this paper,a new ROV scheme and ontology structure design for multi DOF flexible motion and real-time observation under water is developed.Based on the CFD numerical simulation method,the hydrodynamic performance is preliminarily studied.The feasibility of numerical simulationprediction of motion and dynamics of ROV body and multi thruster in fully coupled state is verified by sliding mesh method.According to the design scheme,the ROV prototype was made and the system was debugged.The ROV function verification and navigation test were carried out in indoor pool and outdoor open waters.The ROV system schemeis determined based on the modular design method.Underwater body material selection,structure design of the function modules and key equipment selection of the ROV are completed.The compressive cabin and frame structure strengthunder different working conditions are verified based on the finite element method.Static stabilityperformanceof the ROVis verifiedaccording to the center of buoyancy and the center of gravity criterion.The virtual prototype is assembledthrough 3d CADmethod finally.The ROV system dynamics model is established.Hydrodynamic performance of six degrees of freedom of the ROV underwater ontology and umbilical cable under different working conditionsare calculatedbased on CFD numerical simulation method.The dynamic effects of umbilical cable on ROV ontology under different operating depths and speeds are summarized.Preliminary simulation calculation of coupling motion and dynamics between ROV ontology muti propellers during straight navigation and roll motion is carried out based on multi domain flow field data transfer through sliding mesh method,verifingthe feasibility of the multi thruster ROV motions anddynamicsnumerical prediction method.According to the ROV system and underwater ontology structure design scheme,parts processing drawings are completed.To determine the optimal production process and complete parts manufacturing and assemblythrough mechanical processing and other means.Completing the ROV system each function module,the whole project prototype assembly and debugging on land.Finally the indoor tank trial and functional verification test,outdoor open waters on sea trial are carried out.The results show that the navigation,observation and operation functions are able to meet the design requirements.The small sized ROV systemdeveloped in this paper is comprehensive,flexible,high stability and low cost,which can make up for the lack of underwater robotics industry and change the status of dependence on foreign products.It has positive significanceto promote the development of our ship and marine engineering industry,the progress of marine geography,water biology and other related disciplines.