Hydrodynamic Analysis Of ROV And System Design Of Hardware-in-the-Loop Motion Simulation

The offshore oil and gas industry is a major pillar industry that affects China's economic development and international competitiveness.Remotely Operated Vehicle(ROV)is widely used and studied in depth because of its good mobility,safety and high efficiency in the offshore oil and gas development.Hydrodynamic characteristics is the basis of modeling,controlling,simulation,path planning and positioning of ROV,but it is difficult to study its hydrodynamic characteristics because the Remotely Operated Vehicle has complex shape and underwater working condition has time-varying characteristics.The hydrodynamic characteristics of ROV which is suitable for the complex topography of shallow sea is mainly analyzed in this paper,and the motion controller of ROV is studied under the circumstance that the hydrodynamic coefficients are acquired.Apply the computational fluid dynamic theory,the hydrodynamic characteristic of ROV is analyzed based on Fluent.The 1:1 scale 3D model of ROV was established firstly,and grid division was carried out and computational model is exported in Gambit.The constrain model tests are simulated in Fluent,while the flow fluid and initial boundary of different constrain model tests(include Oblique Route Test?Revolving Arm Test and Planar Motion Mechanism)are set,A full set of hydrodynamic coefficients of ROV are gotten with the slope curve method and regression analysis method respectively.The motion controller of ROV is studied using the method of virtual and Hardware-in-the-Loop(HIL)simulation respectively.The mathematical model of heading and heave motion of ROV is established after ROV hydrodynamic coefficients are obtained.Based on the virtual simulation,the fuzzy PID is proved that it has superiority than the traditional PID when the closed-loop control is designed with the traditional PID and fuzzy PID method respectively.In order to optimize the ROV motion controller further,the HIL which include hardware and software parts were designed,in addition the four-dimension sensor is designed for the ROV simulation test bench.The results of test proves that the ROV motion controller has a good performance in dynamic response after the HIL simulation of ROV was done.A full set of hydrodynamic coefficients of ROV which is suitable for the complex topography of shallow sea are acquired after the research,and the motion controller is designed,thus the foundation is built for further research.