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中文摘要：
建立带缆遥控潜水器（TROV）系统空间运动模型,探讨支持船-吊缆-中际站-脐带缆-潜水器多体之间的强非线性耦合运动机理。潜器的运动考虑为六自由度,缆索分段的三维动态方程中采用了“凝集参数”模型与平均切向量非线性流体动力载荷处理技术,通过计算非均匀缆索的动张力和瞬态构型,预报导致脐带缆保护层及其内部光电传输芯线结构破坏的巨大瞬间突变载荷,对避免谐振,延长缆索寿命和最大限度地扩大ROV系统安全操作的范围,确保潜水器安全入坞和回收,节约试验费,避免作业事故都具有重要意义。
英文摘要：
The paper presents a multi-body model of space motion for a deep-sea tethered remotely operated vehicle （TROV）system.The principle of a strong nonlinear coupling movement between the support ship, umbilical tether, cage and vehicle is discussed. The movement of ROV is considered as having six freedoms. The lumped mass model is applied and an average tangential vector technique is included in three dimensional dynamic response equations of cable-segment. Snap loads damage the armour and internal conductors of the tether can be predicted by computing the dynamic tension and instant configuration of ununiform cable. The investigation is important in avoiding resonance, extending cable life, broadening the operational area of ROV, insuring docking and calling-back ROV insafety, saving the trial expense and avoiding operating accident.
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