Research On Hydrodynamics And Motion Corresponding Performance Of 1200 Meter Deep Water Working Remotely Operated Vehicle(ROV)

Remotely Operated Vehicle(ROV)is one of the most widely used underwater vehicles in ocean engineering.It can be divided into observation type and work type according to its realizable functions.Deep-sea working underwater vehicle has complex structure,various functions and strong underwater operation ability.It is widely used in underwater building support,underwater archaeological work,seabed search and salvage and other fields.This paper relies on the scientific research project of Jiangsu High-tech Ship Collaborative Innovation Center-serialized ROV research and development of key components.In view of the actual needs of underwater engineering of ships and offshore platforms,the research and development of deepwater ROV and related subsystems and key components are carried out.The hydrodynamic performance of the robot is studied based on CFD numerical method.The resistance performance of umbilical cord cable is studied by combining theoretical calculation with numerical solution.The open water performance of the propeller is studied by using the sliding grid method,and the motion performance of the propeller under the fully coupled state of the ROV body and the propeller is investigated based on the volume force method.System composition of ROV and implementation of each system are based on modular design ideas.Underwater body material selection,structure design of the function modules and key equipment selection of the ROV are completed.Relying on finite element analysis software of the key components of the ROV strength check and finite element analysis.Adjusting the center of gravity and center of gravity of the overall structure according to the principle of static stability.Finally,relying on the 3D design software SolidWorks to complete the virtual assembly work of the underwater prototype.According to the scheme design of the underwater vehicle,the manufacture and selection of the components of the underwater vehicle are completed,and the prototype of the underwater vehicle is successfully built and debugged.Specific work is as follows:Based on the idea of modular design,the system composition of deep-sea ROV is defined,and the implementation schemes of each system are determined.The selection of material for each module,the design of structure form and the determination of appropriate installation and fixing mode are completed.Based on the finite element analysis software,the strength check and stability analysis of the key components of ROV are carried out.According to the principle of static stability,the position of buoyancy center and center of gravity of the body structure is adjusted.Finally,the virtual assembly of the whole prototype of underwater vehicle is completed by using the three-dimensional design software SolidWorks.The hydrodynamic model of the underwater vehicle is established,and the hydrodynamic performance of the ROV structure at different speeds is simulated based on CFD numerical calculation method.In this paper,the resistance performance of umbilical cord cable is compared with that of structure body by the combination of theoretical calculation and numerical software simulation.The results are in good agreement.The resistance performance of umbilical cord cable and structure body coupling model under direct navigation is studied numerically.The open water performance of the propeller was numerically studied based on the sliding grid method,and its thrust performance was verified by the pool experiment.Based on the volumetric force method,the motion response performance of the ROV structure under multi-propeller coupling is numerically studied,and the control strategy table of the propeller is formed,which provides a reference for the development and design of the control system.According to the ROV system design and the processing drawings of each component,the production of each component was completed by appropriate mechanical processing means.Completing the debugging of various parts,modules and the whole of the ROV system on assembly flow chart.Finally,a series of performance tests for ROV were carried out.And the results show that the navigation,observation and operation functions are able to meet the design requirements.