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中文摘要：
模拟了带有脐带缆的潜水器（ROV）的强非线性流体动力学性能,由于ROV的前进速度与其它方向的运动速度为同一数量级,与传统的潜艇有重要的区别。潜艇中常用的按前进航速线性化处理的技术不能有效地用于潜水器,必须保留其运动方程中尽可能多的非线性项进行模拟。潜器本体的运动模型必须考虑为六自由度,脐带缆的运动必须考虑为三维运动。中继平台的运动幅值,可能会接近甚至超过水面船的运动幅值,这会增加ROV进出坞的困难。缆力对流速比对水面波浪更敏感、对垂向激励比水平激励更敏感。即使是随机波浪激励,深水吊索张力也会具有一定的周期性。近水面时这种周期性消失,两端张力趋于同步。
英文摘要：
The strong nonlinear hydrodynamics performances are modeled on underwater remotely operated vehicle（ROV） including the umbilical cable.There are important differences with conventional submarines because the forward speed of ROV has the same order of magnitude with that of other directions.The linear treatment technology based on forward speed commonly used by the submarine can not be effectively applied in ROV.The nonlinear terms of motion in the equations must be retained as many as possible.ROV model is considered as six degrees of freedom and umbilical cable movement is considered as a three-dimensional space motion.The movement amplitude of the relay platform may be close to or even above the surface ship movement amplitude.This will increase the difficulties of ROV coming in or out of dock.Cable force on the current velocity is more sensitive to the surface wave and vertical excitation is more sensitive than that of horizon.Even the excitation wave is random,and sling tension will lead to the cyclical nature of mutations in deep-water.Near the surface,the periods of tension in two ends disappear and close to synchronize.
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