Numerical Prediction Of Underwater Remotely Operated Vehicle(ROV) Under Autonomous Navigation Mode

Remotely Operated Vehicle(ROV),as the most widely used submersible,has been one of the hotspots of academic research in recent years.It is divided into the observable and the operational.The observable ROV has the advantages of being small and exquisite,manoeuvrable and economical.It can take the place of divers into the dangerous environment or deep-water environment,and complete the observation and monitoring tasks of ports,offshore structures and so on.It shows the attractive prospect in both civil engineering and military field.In this paper,a new type of observable ROV scheme and ontology structure design for multi DOF flexible motion and real-time observation under water is developed.Based on SolidWorks 3d modeling code,computational fluid dynamics code Fine/Marine,the ROV system dynamics model,prototype production and water-tank experiments and other research methods,the numerical simulation of autonomous underwater vehicle's maneuverability is carried out.The three-dimensional model of the observable ROV is completed.The hydrodynamic performance is preliminarily studied.According to the design scheme,the ROV prototype was made and the system was debugged.The ROV function verification and navigation test were carried out in indoor pool and outdoor open waters.The main research contents include:Based on the modular design method,The ROV system scheme is determined.Underwater body material selection,structure design of the function modules and key equipment selection of the ROV are completed.Static stability performance of the ROV is verified according to the center of buoyancy and the center of gravity criterion,and the compressive cabin and frame structure strength under different working conditions are verified based on the finite element method.Finally,the three-dimensional model of ROV prototype is completed.Based on CFD numerical simulation method,the hydrodynamic performance of the ROV underwater ontology and umbilical cable in different working conditions are calculated,and the dynamic effects of umbilical cable on ROV ontology under different operating depths and speeds are summarized.Based on the slip mesh method,open-water performance of the T200 ducted propeller is numerically calculated,and the open-water performance curve is given.The pressure distribution and thrust generating mechanism for duct are summarized.The ROV multi paddle coupled system dynamics model is established.Based on the slip mesh method,the numerical simulation for the dynamic problems of the ROV multi paddle coupled system under direct,submergence movements are calculated.The numerical prediction for the maneuverability of the observable ROV under autonomous navigation mode is carried out,which validates the feasibility of the numerical prediction method for ROV motion.According to the ROV system and underwater ontology structure design scheme,the optimal manufacturing process is determined.The parts are manufactured and assembled by mechanical processing and other means.Each function module of the ROV system is completed,and the whole prototype is assembled and debugged on land.Finally,the indoor tank and outdoor open-waters trial are carried out.The results show that the navigation and observation functions achieve the design requirements.