Overall Design And Research On The Hydrodynamic Performance Of Underwater Remotely Operated Vehicle

The Underwater Remotely Operated Vehicle (ROV) which is a pioneer for exploringand exploiting the ocean has become an important operating facility and is widely used inmany fields such as dam-scanning, installing and maintaining ocean platforms, detection ofmarine resources, maintaining marine pipelines. Based on investigation and analysis aboutthe key technologies of home and abroad ROVs, this paper presented the Mode ConversionUnderwater Remotely Operated Vehicle (MC-ROV) with performance computation andstructural design at first, and then manufactured the ROV prototype with drawings, at lastcarried on underwater experiments.This paper has finished the schema design of MC-ROV and its propelling system. Afterdeep analysis about the structural style, application background, function deployment,mechanical design of existing ROVs, this paper presented the MC-ROV which can easilyand quickly convert between swimming mode and crawling mode. MC-ROV converts byusing the adsorption propeller to move the mode conversion device lead to the drive objectof two longitudinal motors changing. This kind of ROV which is simple to be controlled hasthe high utilization ratio of motors and a large range.This paper has finished detailed designs of every module. After determining thestructural style, materials and the sealing design, this paper checked the strength of theframework, pressure hulls and the conversion device based on finite element softwareSimulation. After doing virtual modeling, structural arrangement and virtual assembly basedon SolidWorks, the ROV was adjusted to balance.By using the CFD software Fluent, this paper analyzed the hydrodynamic characteristicof MC-ROV and finished determining the selection of underwater thrusters. After numericalcalculating the hydrodynamic characteristic of MC-ROV at different speeds when directsailing, swaying and heaving, we got some hydrodynamic coefficients by using the leastsquare method. After numerical calculating the hydrodynamic characteristic of MC-ROV atdifferent speeds when moving with different yaw angles or different pitch angles, we gotforce-yaw or force-pitch curves and analyzed them. The result can be used as a referencewhen predicting kinematic performance and handing performance.This paper has finished the parts machining, assembly of prototype and performanceadjustment. After determining the feature sizes and drawings, this paper finished partsmachining at first, assembled MC-ROV based on the assembly of virtual prototype, and then finished control system installation, communications linesperson and the overallperformance debugging.Finally, MC-ROV was studied by an underwater self-propulsion experiment. Aftermany watertight tests and adjusting balance tests, MC-ROV moved underwater. The resultshowed that researchers can control MC-ROV to direct sail, heave, yaw and camerashooting by using upper computer software and controlling handle.