【摘要】 研究了用于维护和检修中国渤海海域输油管道的浅海管道检测艇的操纵性和运动仿真,提出了浅海海底管道检测艇的水动力学方程。为了更好地了解在配置上与一般潜器不同的浅海海底管线检测艇的动力学性能,通过水动力系数分析,研究了浅海海底管线检测艇的操纵性。最后根据运动方程建立了仿真系统,并通过仿真试验结果验证了仿真试验平台的可行性和可靠性。更多还原

【Abstract】 In order to maintain the pipelines which transmit oil from oil fields in Bohai sea area,underwater vehicle for pipeline detection and maintenance(PDM-UV) is designed.In this paper,the maneuverability and motion simulation of PDM-UV are studied.A general dynamic equation to describe the hydrodynamics of PDM-UV is presented.In order to get better understanding of the PDM-UV’s dynamics which is somewhat different from that of normal underwater vehicles in configuration,the maneuverability is discussed considering hydrodynamic coefficients and experiment results.Finally,the whole motion simulation system is introduced and simulation results are presented to demonstrate the feasibility and correctness of the simulation platform.更多还原