Dynamic Modeling Investigation And Motion Simulator Development Of Deep-sea Human Occupied Vehicle

As the population on the earth explodes, the resources supplied from the land approaches the limit. Many countries have focused their attention of economic development on the sea. This is because there are very rich resources in the sea including water, energy, mineral and biology. In the 21st century, the human beings will enter an era of sea economy. Many new industries such as sea oil and gas, sea chemistry and deep sea exploitation of minerals will occur.Deep sea explorations are indispensable not only for the investigation of marine creatures, microorganisms, minerals and other resources hidden under the deep water, but also for the geophysical research into the structure and behavior of the earth. According to the rules by the International Seabed Authority (ISA), it is required to use a deep-sea human occupied vehicle (HOV) to do mapping and sampling near hydrothermal sulfide deposit and Co-rich crusts filed. There are, up to now, Japan, Russia, France and America which have deep-sea HOVs because of complex technology and high expenses.This thesis originates from a national high technology research and development program (Grant No. 2002AA401002) with a great ambition to design and produce the deepest HOV in the world. This research is motivated by tremendously difficulties existing in operation, guidance and automatic control of underwater vehicles in that they operate in a remote and hazardous environment. Based upon rich test data obtained by our team, this thesis is concerned with navigation dynamics including maneuverability prediction of the deep-sea HOV, modeling of a Underwater Vehicle-Manipulator System(UVMS), Special mathematical modeling of HOV with the whole range of drift angles motion,Simulating with operation and training of HOV,and the new estimate method of the navigate skill of HOV.The hydrodynamic character of HOV is distinguished from Submarine and unmanned underwater vehicle such as AUV, ROV, because of large differences existing in principal dimensions, configuration and general arrangement. As for the background and content, this thesis is the first one in this filed in China. The main contributions and the original conclusions are summarized as follows:1. According to rich data of captive model tests, hydrodynamic models are established for different motions to the equation of HOV with six-degree-of-freedom. firstly, a general equation of HOV with six-freedom motion is presented, The equation is adopted to predict general maneuverability accurately by numerical integration. And the numerical simulation of descent/ascent motion and helix motion is executed to reveal the general maneuver characteristics of HOV. And , according to rich datum of captive model tests of large drift angles of HOV,the regression analysis of position hydrodynamic forces and rotation hydrodynamic forces is executed , and the results of regression analysis of maneuverability hydrodynamic characteristics are expatiated to reveal the special maneuver characteristics. And, a new special mathematical model of HOV with the whole range of drift angles motion is presented, Based upon the hydrodynamic model with variable drift angle, reasonable results are gained by the successful prediction of the HOV maneuvering.The results in this section make the foundation for the maneuverability prediction,simulation and controller design of the HOV.2. Base on requirement of motion simulation of HOV,the dynamics of Underwater Vehicle-Manipulator System(UVMS) is presented. The dynamics and kinematics of an HOV-Manipulator System are studied in some detail. And dynamics of three-freedom underwater manipulator and the Inertia-matrix,centrifugal and Coriolis- matrix,gravity terms,viscous hydrodynamic force expressions are expatiated. The kinematics of three-freedom underwater manipulator is modeled. Based on three-freedom manipulator sampling case in deep-sea, numerical simulation results are obtained to illustrate the roll,pitch characteristics of HOV. The motion equation is implemented to construct the first HOV simulator for operation and training -A Man-In-Loop Simulation System.3. The first HOV simulator for operation and training is developed in China. The simulator is a real-time hardware-in-loop based on virtual reality,which make operator being personally on the scene by setting a virtual world. It is very valuable to save training time and expenses.4.Base on the theory and principle of general fuzzy assessment ,A new estimate method of the navigate skill for HOV is presented; The system frame and model structure of the navigate skill is expatiated; The assessment ingredient and proportion of navigate skill for HOV is introduced. The estimate method of the navigate skill is implemented to simulation training and trial pool for HOV.The investigation in the thesis has been put into practice partly during the design process of the deep-sea HOV. Furthermore, it also has some practical use in other underwater vehicles such as UUV,AUV,ROV and torpedo.