Improved design and longitudinal pitch optimization of underdriven ROV

doi:10.3785/j.issn.1006-754X.2024.03.200

Chinese Journal of Engineering Design

2024, Vol. 31

Issue (4): 483-490 DOI: 10.3785/j.issn.1006-754X.2024.03.200

Optimization Design

Improved design and longitudinal pitch optimization of underdriven ROV

Zhe XU¹(

),Wei DAI¹,Yu CAO¹,Yongguo LI¹(

),Shun ZHANG²

^1.College of Engineering Science and Technology, Shanghai Ocean University, Shanghai 201306, China
^2.AutoSubsea Vehicles Inc. , Shanghai 201306, China

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Abstract

Aiming at the problems of large changes in longitudinal pitch amplitude and longitudinal pitch angle caused by the flow field when the remotely operated vehicle (ROV) sails at high speed, a method for achieving high speed underdriven ROV operated with zero longitudinal pitch or slight longitudinal pitch by matching and selecting structural parameters of the extended chassis and the tailplane was proposed. Based on the lattice Boltzmann method (LBM), a six-degree-of-freedom simulation experiment was carried out by using the wall adaptive refinement algorithm combined with the structural parameters of the ROV to simulate the ROV sailing motion. The numerical analysis for the ROV with different height of extended chassis and tailplane was analyzed numerically to obtain the relationship between the structural parameters of extended chassis and tailplane and the longitudinal pitch amplitude and longitudinal pitch angle. By comparing the rotating torque of ROVs with similar sailing performance, the relationship between ROV stability and tailplane height was determined under the same extended chassis conditions. The orthogonal experiments for structure optimization of the extended chassis and tailplane were conducted, and the longitudinal pitch data of the ROV under different experimental schemes were fitted by using genetic algorithm. Combined with the actual requirements, the height of the extended chassis and tailplane was determined, and the correctness of the ROV longitudinal pitch design scheme was verified by the actual test. The results showed that the reasonable match of the extended chassis and tailplane structure could effectively reduced the longitudinal pitch amplitude of underdriven ROVs, so as to achieve slight longitudinal pitch sailing motion of ROVs without amplitude compensation. The research results can provide reference for improving the longitudinal pitch motion of relevant underwater devices.

Key words： remotely operated vehicle lattice Boltzmann method longitudinal pitch six-degree-of-freedom simulation structure optimization

Received: 31 August 2023 Published: 26 August 2024

CLC:

TP 242

Corresponding Authors: Yongguo LI E-mail: xuzhe@shou.edu.cn;yg-li@shou.edu.cn

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Cite this article:

Zhe XU,Wei DAI,Yu CAO,Yongguo LI,Shun ZHANG. Improved design and longitudinal pitch optimization of underdriven ROV. Chinese Journal of Engineering Design, 2024, 31(4): 483-490.

URL:

https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2024.03.200 OR https://www.zjujournals.com/gcsjxb/Y2024/V31/I4/483

欠驱动型ROV改进设计与纵倾优化

针对无人遥控潜水器（remotely operated vehicle, ROV）在高速航行时因受流场作用而导致纵倾幅值、纵倾角度变化较大的问题，提出通过搭配选择扩展底盘和尾翼结构参数的方法来实现欠驱动型ROV的零纵倾或微纵倾高速运动。基于格子玻尔兹曼方法（lattice Boltzmann method, LBM），通过壁面自适应细化算法，结合ROV的结构参数进行六自由度仿真实验，以模拟ROV的航行运动。对扩展底盘和尾翼高度不同的ROV分别进行数值分析，得到扩展底盘、尾翼的结构参数与ROV纵倾幅值、纵倾角度的关系。通过对航行表现相似的ROV的旋转力矩进行比较，确定了在相同扩展底盘条件下ROV的稳定性与尾翼高度的关系。开展了扩展底盘和尾翼结构优化正交实验，利用遗传算法对不同实验方案下ROV的纵倾数据进行了拟合处理。结合实际需求确定了扩展底盘和尾翼的高度，并通过实际测试验证了ROV纵倾优化设计方案的正确性。结果表明，合理搭配扩展底盘和尾翼的结构可有效减小欠驱动型ROV的纵倾幅值，从而实现ROV在无幅值补偿时的微纵倾航行运动。研究结果可为相关水下装置纵倾运动的改进提供参考。

关键词： 无人遥控潜水器, 格子玻尔兹曼方法, 纵倾, 六自由度仿真, 结构优化

Fig.1 Physical diagram of underdriven ROV

参数	数值
主体质量/kg	65
主体外形尺寸^①/(mm×mm×mm)	550 $×$ 820 $×$ 500
扩展底盘尺寸^①/(mm×mm×mm)	550 $×$ 830 $×$ 200
垂向推进器数量/个	2
水平推进器数量/个	8
最大水平推力/N	700
正浮力/N	20

Table 1 Main structural parameters of underdriven ROV

Fig.2 Calculation domain for underdriven ROV

Fig.3 Sailing motion cloud map of underdriven ROV

Fig.4 Comparison of measured and simulated values of longitudinal pitch amplitude and longitudinal pitch angle of underdriven ROV

Fig.5 Three-dimensional models of underdriven ROV with different heights of extended chassis

Fig.6 Effect of extended chassis height on longitudinal pitch of underdriven ROV (t=3 s)

Fig.7 Installation position and structure of underdriven ROV tailplane

Fig.8 Effect of tailplane height on longitudinal pitch of underdriven ROV (t=3 s)

Fig.9 Comparison of rotating torque of underdriven ROV with tailplane height of 35, 40, 45 mm

参数及函数	数值及表达式
种群数量/个	100
最大迭代数/次	500
交叉概率	0.5
变异概率	0.07
目标函数	$F (x, ? y) = c 1 + c 2 x + c 3 y + c 4 x 2 + c 5 y 2 + c 6 x y + c 7 y 3 + c 8 y 4 + c 9 x 2 y + c 10 x y 2 + c 11 x 2 y 2 + c 12 x 3 + c 13 x 3 y + c 14 x y 3$
适应度函数	$E ① = 1 N ∑ h = 1 N (F h - z h) 2$

Table 2 Parameter setting for genetic algorithm

Fig.10 Relationship surface between longitudinal pitch amplitude of underdriven ROV and height of extended chassis and tailplane

Table 3 Optimum tailplane height corresponding to 7 groups of extended chassis height

Fig.11 Underdriven ROV prototype after optimization

Fig.12 Comparison of longitudinal pitch amplitude and longitudinal pitch angle of underdriven ROV before and after optimization


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