Research On System Design And Key Technology Of ARV With Full Ocean Depth

The range of traditional ROVs are restricted by umbilical cable largely. Although AUVsare free without tether, they cannot achieve precision fix station operation and timely manualintervention. In order to combine the advantages of ROV and AUV, CSSRC proposed theconcept of ARV (Autonomous&Remotely-operated Vehicle). While the conventional tether isreplaced by micro fiber optic cable, ARV not only can take long range search as AUV, but alsocan be remotely operated like ROV. The appearance of ARV represents an importantdevelopment direction of future deep-sea unmanned vehicle.With the background to develop ARV system with full ocean depth, the specific researchwork is shown as follows:(1)General concept designA double flat overall configuration of11,000meters ARV is chosen after comparison andanalysis with respect to great range of fluctuation between the surface and seafloor as well ascomprehensive maneuvering characteristics and work performance in complicated topographicconditions of bottom. Then, this paper proposes the concept plan of11,000meters ARV’s opticalcable and the launch&recovery procedure of the whole system for the first time through theoverall consideration of the effect on ARV’s underwater maneuvering, the interference caused bysea wave and mothership motion, underwater mechanical property and optical transmissionperformance as well as optical cable’s reusability.(2)Hydrodynamic simulation studyThis paper has fromed the body lines and the propeller arrangment at the base of generalconcept design. Then, the RNGk model is used for numerical calculation. Thecorresponding hydrodynamic performance of ARV is also analyzed. Finally, the dynamic modelis established as the foundation for the subsequent motion control algorithm research.(3)ARV system control studyThis paper proposes a new hybrid control structure of ARV, including surface manualintervention layer. Then, preliminary discussion on remote and deep hydro-acousticcommunication scheme is made. Besides, with respect to underwater integrated navigation,autonomous obstacle avoidance, motion control, the advanced algorithms are put forward toimprove ARV’s ability of adapting complicated underwater environment. Through numericalsimulation, the related algorithms are verified well. (4) Optical cable application technologyAs a result of the fact that optical cable has not been applied successfully in domesticsubmersibles nowadays, the paper put forward the design of11,000meters main tether cable,micro optical cable and passive release clew for the first time. The micro optical cable’s model,established by the method of focus quality can calculate the distribution of strain. According tothe computation of static surface tension, the micro optical cable can perform safely under theoperation condition.(5) Experimental verification of key technologyIn order to exploring key techniques of ARV with full depth, the R&D work on “Sea-Kite I”ARV as principle prototype and “Sea-Kite II” ARV are continuously carried out by the CSSRC.Through the research of ARV’s principle prototype, several important/key technologicalbreakthroughs are made. Underwater tests indicate that the performance of ARV’s engineeringprototype is stable, its technology direction is correct and application prospect is wide.The thesis begins with the general concept design of the11,000meters ARV, and thenexplores in its key technology. Two experimental prototype have been developed for the keytechnology verification. Through the above research and experimental verification, a series ofvaluable technological achievements are gained, which lays a solid foundation for thedevelopment of ARV at11000m level.