【作者】 裴轶群；

【导师】 易宏；

【作者基本信息】 上海交通大学 ， 船舶与海洋结构物设计制造， 2011， 硕士

【摘要】 深海拖曳系统(以下简称深拖系统)是由拖船,拖缆(缆绳),拖体为主要组成部分的综合探测系统。它可应用于海底地貌拍摄,海洋资源勘探,沉没物体搜寻等水下作业。它具有探测面积广,作业效率高,操控性能好等诸多优势,是深海探测领域中一种重要的技术手段。计算机仿真与控制技术的发展与应用为深拖系统的研究工作提供了一种便捷、可靠且有效的方法。不管是用数值计算方法对深拖系统运动进行分析,还是用仿真模块对拖体航行进行闭环控制研究,计算机都能较为方便地给出理想的结果。并且这些结果对于深拖系统进行实际作业有着比较重要的参考价值。文章首先采用集中质量法,对拖缆进行离散,并对离散的缆绳单元进行受力分析,最后以拖船和拖体为边界条件,建立一组关于系统的运动方程组。利用数值分析方法解此运动方程组,得到一组可以描绘系统运动的数值解。在这基础上,文章不光对系统参数进行详细的分析,得到了不同参数对系统的影响;还进一步地分析了一级深拖系统和二级深拖系统各自的运动性能,比较了两者的异同。同时,对于二级深拖系统良好的升沉补偿能力进行了较为深入的研究,为深拖系统定高航行提供了一种效果不错的方案。除了对深拖系统本身的运动性能分析,文章从控制理论入手,寻求以拖体姿态以及航行轨迹调控的控制策略。为此,文章考虑了由拖缆向拖体的单向作用,以及拖体首尾升降舵和垂直推进器的作用,利用PID控制原理进行定高航行控制模块的设计。本文的研究工作将有利于进一步了解深拖系统的运动性能,也为今后的深拖系统的设计优化工作提供有效的参考。更多还原

【Abstract】 Deep sea towed system (DSTS) is composed of ship, cable and towed vehicle. It is mainly used for the seabed’s photographing, the exploration of the sea resource and the search for the immersed objects. It is one of the most important tech in the area of deep sea exploration, because of its vast scope, high efficiency as well as good maneuvering.The development and use of the computer simulation and control tech provides a way of DSTS’s research----convenient, reliable and effective. By this way, ideal result would be obtained both in the analysis of motion performance and research of consta- nt-depth control. Also these results will be valuable when DSTS goes to work in the r- eal sea.This passage firstly use lumped mass method when do force analysis for the unit of the dispersed cable. Then the system’s motion equations can be established by add- ing the boundary conditions of the ship and towed vehicle. A series of data that could describe the system’s motion will be obtained by using numerical analysis methods.Besides, the system’s parameters will be discussed carefully to understand their effect to the system. The one-level system and second-level system is taken into acco- unt as well. The second-level’s heave compensation is studied in depth for providing a better choice of constant-depth control.Except for the above, the control tactics of the towed vehicle’s posture and track is discussed here based on the control theory. The single action from the cable to the towed vehicle and the elevator rudder as well as vertical thruster is considered. The constant-depth control module is designed by the PID method.This passage would help when DSTS is under designing or optimizing.更多还原