Design And Implementation Of Submarine Cable Inspection AUV Based On Vector Propulsion Of Double Propeller

Submarine power cables are mainly used in areas such as island power supply,cross-sea power grid connection,offshore wind farms,etc.However,due to the complex structure of the submarine cable itself and the harsh operating environment,the submarine cable is prone to cable damage or even breakage.In order to reduce the occurrence of failures,it is necessary to conduct regular inspections on the operating status of submarine cables to discover potential risks in advance.Aiming at the current difficult situation of submarine cable inspection and maintenance in China,this paper designs a submarine cable inspection autonomous underwater vehicle(Autonomous Underwater Vehicle,AUV),and analyzes the mechanical structure,dynamics modeling,hydrodynamic coefficient,The motion simulation and other aspects were studied and the principle prototype was built.This article first designs the overall plan of the submarine cable inspection AUV according to the submarine cable inspection requirements and technical indicators,and obtains the overall layout of the submarine cable inspection AUV;then according to the overall layout drawing,the overall mechanical structure design of the AUV is carried out,including the submarine cable inspection For precise detection scenarios,we propose and design a dual thruster vector propulsion module,which can make the AUV still have good maneuverability at low speeds.According to the AUV underwater operating conditions,the AUV cabin is designed for pressure and sealing.The optimal design wall thickness of the cabin and the head was obtained through theoretical calculations,and the accuracy of the theoretical calculations was verified by software simulation and pressure test;then the kinematics,dynamics modeling and combined external force analysis of the submarine cable inspection AUV were deduced.The six-degree-of-freedom dynamic equation of the AUV under the action of the combined external force is solved by using the Fluent software to solve the viscous hydrodynamic coefficient,and the inertial hydrodynamic coefficient is estimated by the approximate calculation method;finally,according to the solved kinematics and dynamics model,Matlab software is used to simulate the AUV's diving and rotation motion.The simulation results show that the submarine cable inspection AUV structure design is reasonable,and the functional sailing test of the principle prototype verifies the accuracy of the motion simulation results.The test results of the submarine cable inspection pool show that the prototype of the submarine cable inspection AUV designed in this project can detect the changes in the magnetic field around the underwater cable and autonomously follow the underwater cable.The vector propulsion module of the tail double thruster makes the AUV have It has good maneuverability and can still steer flexibly at low speeds,which is more suitable for applications where submarine cable inspections require fine detection at low speeds.