光纤微缆对SARV操纵性的影响分析

以新概念小型自治遥控水下机器人SARV及其光纤微缆系统为研究对象,在对光纤微缆进行受力分析的基础上,采用集中质量法建立了光纤微缆的动力学模型。结合作业中SARV载体的实际运动,利用直接计算法分析了不同运动状态下光纤微缆对SARV载体产生的附加力和附加力矩及其对SARV载体操纵性的影响,并提出了合理的操纵建议。为SARV载体端设计光纤微缆释放装置张力控制提供了一定的理论依据,在一定程度上有助于完善SARV控制系统,提高SARV航行的稳定性。

A new generation of Small Autonomous and Remotely operated Vehicle(SARV) and it’s Fiber Optic Micro Cable(FOMC) sys-tem are the research objects. Based on the force analysis of FOMC, the dynamic model of FOMC is set up by means of lumped mass method. Combined with the actual movements of SARV during the working process, the additional forces and moments that induced by FOMC for SARV and their effects on SARV moving speed are studied in each moving state of SARV, using the direct calculation method, and reasonable manipulative methods are proposed. These are the academic principles for tension controlling of FOMC releasing system inside SARV body, and can perfect SARV control system and improve SARV maneuverability to a certain extent.

中国科学院创新基金(03F6060601)