The Mating Capability Research On Mating Device Of Subsea Vehicle

With the development of productive forces and the depth study on the ocean,more and more countries focus on the field of ocean which is still in the preliminary stages of development,including the development of marine resources in economy field,submarine,AUV activities in military field and the long term sea floor space station construction,those can't do without the research and development of subsea vehicle.The study on subsea vehicle docking is one of its key technologies.After doing the researches on subsea docking technology and taking the characteristics of China's marine environment in consideration,this thesis formulates the overall scheme of the subsea vehicles docking device,the device is constituted by three parts,dynamic docking device,buffering device and locking device.The research on subsea vehicle docking devices' performance mainly reflected in the stability and reliability during docking process.The stability of docking devices is mainly affected by the impact force during docking process.This thesis firstly analyzes the impact force during the docking process and builds the docking model.Then conducts simulation to get the influence on docking device of different initial docking velocities by using dynamic software.Including the change of parameters such as speed,acceleration and stress.Then chooses the most appropriate initial velocity by comparing the results of the simulation.In order to improve the stability of the docking process,this thesis designs an electro-hydraulic proportional hydraulic buffer device and builds a simulation model to analyze the cushioning effect of different design parameters.As the complex conditions of sea floor,especially the size and direction of the ocean current is changeable,the docking state which is realized by the difference pressure about inside and outside of the docking group will separate by the dash of the ocean current.In order to ensure the reliability of docking,the mushroom head locking mechanism is designed.Through matching with three mushroom that uniform arranged in mating skirt and locking mechanism in docking platform,the reliable connection between the carrier and the submersible is realized.Then conduct the cosimulation of ANSYS and Fluent to analyze its locking capability in the subsea environment.This thesis designs the docking strategy and control system which includes host computer,lower computer and their communication mode.The core of the host computer is the console,we can directly operate the docking device through the console.The core of the lower computer is PLC,which can control the hydraulic actuators by controlling hydraulic valves,thereby realize the corresponding action of the docking device.