LU504656B1 - Method for constructing a six-degree-of-freedom ROV operation simulation platform - Google Patents
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Abstract
The invention discloses a method for constructing a six-degree-of-freedom ROV operation simulation platform, which comprises a integrated control platform, an instructor control system, a marine environment simulation system, a simulation platform calculation system, an ROV control system, a display system and a database storage system, wherein the construction method comprises step (1) calculating hydrodynamic coefficient and time delay function of a mother ship according to a profile of the mother ship; step (2) establishing a finite difference model of umbilical cables and heaving piles by adopting a beam model, and calculating shape and tension at both ends; step (3) establishing boundary conditions of the umbilical cables and the heaving piles in a coupling model; step (4) modeling a mooring management system by using a bar element model; step (5) nonlinear ROV maneuverability equation; and step (6) establishing a dynamic model of the manipulator considering the pose of the ROV.
Description
LU504656
METHOD FOR CONSTRUCTING A SIX-DEGREE-OF-FREEDOM ROV OPERATION
SIMULATION PLATFORM
The invention relates to a method for constructing a six-degree-of-freedom remote operated vehicle (ROV) operation simulation platform, which belongs to the field of ships.
Since the ocean is an important reserve base for modern oil and gas resources, the reserves of offshore oil and gas resources have increased by more than 2 times from shallow water, deep water to ultra-deep water, and the development of deep-water and ultra-deep water oil and gas resources has gradually become a global focus. The use of oil production reserve equipment puts forward higher requirements. Remotely controlled underwater robot (ROV) plays an important role in the installation and use of offshore structures and equipment. ROV is responsible for observing the installation status, inspecting the installation area, releasing and recovering tethered cables during the installation phase of structures and equipment and responsible for monitoring underwater equipment and operating deep water underwater equipment during the production process. Due to the complex underwater environment, it has become a major problem to safely and efficiently control ROVs and complete tasks. In order to improve operating efficiency and reduce the risk of equipment damage, the present invention invented a simulation platform for a six-degree-of-freedom ROV operating system.
The existing ROV simulation and operation simulation systems have the following deficiencies: 1. Limitations of operating scenarios: in the simulation module of the existing system, the
ROV and the local operating environment are the main body for ROV simulation and control. The operating scenarios are limited to the ROV and its surrounding waters, while the actual ROV operations comprise water surface and underwater various structures in both scenarios.
2. Lack of influencing factors for ROV operations: the factors affecting ROV operations in the existing ROV simulation and operation simulation systems only comprise cables, 794656 manipulators, and ocean currents, but in actual operations, ROV operating systems also comprise mother ships, umbilical cables, and mooring management systems (TMS) and mooring lines, environmental factors also comprise waves and winds encountered by the mother ship, and currents encountered by the repeater. 3. Unrealistic ROV motion response: due to the lack of factors such as water surface scene, mother ship and TMS in the existing ROV simulation and operation simulation systems, it is impossible to simulate the influence of mother ship movement in wind and waves on underwater TMS and ROV.
Purpose of the present invention: in order to overcome deficiencies in the prior art, the present invention provides a method for constructing a six-degree-of-freedom ROV operation simulation platform, which can not only realistically reflect six-degree-of- freedom motion of the ROV, but also realistically simulate the influence of surface mother ship, umbilical cables and manipulator on the ROV operation system consisting of it.
Aiming at the deficiencies in the prior art, an overall solution of the present invention is realized as follows: 1. establishing a marine environment simulation system comprising a sea wind module, a sea wave module, and a sea current module to simulate water surface scenes, which comprising. average wind speed, significant wave height, characteristic period, flow velocity distribution, etc., which provides parameters for the calculation of wind, wave and current loads of various underwater structures; 2. establishing a mathematical model of the mother ship, the finite difference model of the heaving piles and umbilical cables based on the beam model, and the dynamic model of the mooring management system based on the element model, and the above mathematical models can calculate the wind, wave and current loads of each structure.
A simulation platform calculation system is established to calculate the motion and force of the mother ship, the TMS and the cables; and 3. coupling the umbilical cables and heaving piles with the mother ship and ROV through kinematics and dynamic boundary conditions, simulating the influence of ship and TMS motion on ROV navigation and operation, and improving the authenticity of ROV operation simulation. 7504656
Beneficial effects: advantages of the present invention compared with the prior art are as follows: 1. The six-degree-of-freedom ROV operation simulation platform of the present invention comprises an integrated control platform, an instructor control system, a marine environment simulation system, a simulation platform calculation system, an ROV manipulation system, and a display system to form a complete ROV operation simulation system, which can meet requirements of teaching, coupling system research, ROV simulation experiments and ROV operation training. 2. The marine environment simulation system of the present invention comprises a sea wind module, a sea wave module, and a sea current module to realize a real, complex and random marine environment simulation, restore multi-body motion coupling during
ROV underwater operations, which is close to the actual ROV underwater operations situation and solve a problem of poor training effect. 3. The simulation platform calculation system of the present invention comprises a main control module, a mother ship simulation module, an umbilical cable simulation module, an ROV simulation module, and a manipulator simulation module to realize the simulation of multiple mutually coupled objects in ROV operations. 4. The simulation platform calculation system of the present invention calculates the motion of the six-degree-of-freedom of the ROV based on the maneuverability model including nonlinear asymmetric hydrodynamics, and more accurately reflects the influence of asymmetric geometry of the ROV on hydraulic pressure thereof, which improves accuracy of ROV motion simulation. 5. The complex TMS and ROV are discretized with rod elements in the same size to simulate the deployment and recovery process. Each rod element has the hydrodynamic coefficient of the discrete structure, comprising drag coefficient and inertial force coefficient. Considering the change of the structure coefficient with the immersion depth and motion frequency, the hydrodynamic forces such as wave force, resistance and slamming force of the rod element are calculated by Morrison equation, and motion of the structure is calculated by the time-domain dynamic model. The method takes into account the interference of immersion depth and construction on local or global hydrodynamics,
and more accurately calculates the time-frequency dynamic response of the TMS and the
LU504656
ROV in the process of gradually entering water.
Fig. 1 is a structural diagram of a six-degree-of-freedom ROV operation simulation platform;
Fig. 2 is a structural diagram of an instructor control system;
Fig. 3 is a structural diagram of a marine environment simulation system;
Fig. 4 is a structural diagram of a simulation platform calculation system;
Fig. 5 shows the simulation platform coupling dynamics model;
Fig. 6 is a structural diagram of a ROV control system.
Hereinafter, the present invention will be further described in conjunction with the accompanying drawings.
As shown in Figs 1-6, a method for constructing a six-degree-of-freedom ROV operation simulation platform comprises the following steps: Step 1: the integrated control platform starts the instructor control system, the marine environment simulation system, the simulation platform calculation system, the ROV control system and the display system through network. Hardware operation is monitored during the operation of the operation simulation platform to ensure safe and stable operation of the hardware equipment during the ROV operation simulation process.
Step 2: according to an instructor's instructions, as shown in Figure 2, the instructor control system comprises the following steps: 1. the instructor control system releasing training subjects: determining training sea area and environment including reference altitude, one-hour average wind speed and frequency at the reference altitude; significant wave height, characteristic period, and direction expansion function; water depth and tidal current velocity; publishing initial position and attitude of the mother ship, ROV, and TMS; arranging job tasks including parameter settings of training scenarios, underwater man-made structures, and training time.
2. monitoring training process, when the ROV operation simulation platform is running, it
LU504656 controls the start, pause, continuation, and end of the training for the instructor to complete ROV operation simulation training; 3. setting up emergencies, comprising sudden changes in marine and atmospheric environments, equipment failures in ROV operating systems. 4. evaluating and reproducing, comprising recording the training process, comprehensive evaluation of the driver's operation based on the data recorded in the ROV operation simulation process, loading the recorded training process and other operating functions;
Step 3: the marine environment simulation system, comprises a sea wind module, a sea wave module, a sea current module, and a display module, as shown in Figure 3, comprising the following steps: 1. The sea wind module generates a wind spectrum and calculates the time history of wind speed distribution according to the reference altitude issued by the instructor control system, the one-hour average wind speed and frequency at the reference altitude. 2. The wave module generates wave spectrum and direction spectrum according to the significant wave height, characteristic period, and direction expansion function issued by the instructor control system, and calculates the wave elevation time history. 3. The sea current module calculates wind speed-induced flow velocity component according to the wind speed, and calculates flow velocity distribution time history according to water depth and tidal current velocity issued by the instructor control system. 4. The display module creates weather effects such as sunny, rainy, and foggy days based on the atmospheric and sea state data imported by the instructor control system, and simulates the effects of the sun, moon, sky, light, horizon, etc.; it creates ocean effects based on data of the sea wave module, including undulating, sun/moon lit ocean colors.
Step 4: the calculation system of the simulation platform comprises a main control module, a mother ship simulation module, an umbilical cable simulation module, an ROV simulation module, a manipulator simulation module, comprising the following steps: 1. The main control module is used for the operation scheduling and data management of the ROV operation simulation platform, as shown in Figure 5; the signal output terminals of the mother ship simulation module, umbilical cable simulation module, ROV simulation module, and manipulator simulation module are connected with the signal input terminal of the main control module for simulating attitude and operation of the mother ship, TMS and ROV. The mother ship simulation module receives data from the
LU504656 marine environment simulation system and the umbilical cable simulation module, and calculates the motion and position of the mother ship and the A-shape frame based on the time-domain ship seakeeping equation. The umbilical cable simulation module receives data of the ocean current module, the mother ship simulation module and the
ROV simulation module, calculates the shape and tension of the umbilical cables and the heaving piles based on the beam model and the finite difference method, and calculates the pose of the repeater TMS based on the bar element model. The manipulator simulation module receives data from the ROV simulation module, and calculates joint velocity, acceleration and force based on a dynamic model established by the Newton-
Euler method. 2. Establishing the mathematical model of the mother ship: the mother ship simulation module calculates the motion of the mother ship based on the time-domain seakeeping equation, and the transformation of the mother ship's speed from the satellite coordinate system to the seakeeping coordinate system: n= CA = Jo(y)v, (1) in the formula: # and 7 are the velocity and displacement of the mother ship in the seakeeping coordinate system, & and @, are the linear velocity and angular velocity respectively; J,(n) is the transformation matrix of the mother ship between the seakeeping coordinate system and the satellite coordinate system; v, is the mother ship velocity in satellite coordinate system.
Establish a six-degree-of-freedom dynamic model of the mother ship in the satellite coordinate system: . t
Mp, + CrpoVo +C ovo + Dv, + [ Kot — NO —Ue,|dy +G,1 (2) = Tyino F Twaveo + Tcableo in the formula: M, is the sum of the mass of the mother ship and the additional mass;
Crzo and C,, are the centripetal force and Coriolis force matrix of the rigid body and the fluid respectively; D, is the damping matrix; K,(/-7) is the delay function, wherein ¢ is the simulation time, y is the integration variable; U is the longitudinal speed of the mother ship; e, is the longitudinal unit vector; G, is the stiffness matrix of the mother ship;
Tango IS the wind load; 7, is the wave load; v,, is the relative speed of the mother ship
LU504656 with the ocean current in the satellite coordinate system, and T..1 is the tension of the umbilical cables, which is marked in the direction of the seakeeping coordinate system as:
T cable = [F0 Fos E05 F0) 70 FAZ. — FX 10, FX ro — Foy sl (3) wherein FF, F,, are the tensions of the top of the umbilical cables in the direction of the seakeeping coordinate system, calculated by the umbilical cable simulation module based on the beam model, (x,y ,,z,) IS the coordinates of the top of the A-shape frame relative to the center of gravity of the mother ship in the direction of the seakeeping coordinate system, and linear velocity of the top of the A-shape frame in the seakeeping coordinate system is:
Up Vo) =& +0, <T 4) wherein U,./W, are respectively the longitudinal, transverse and vertical velocities of the top of the A-shape frame in the seakeeping coordinate system, r is the vector radius of the top of the A-shape frame, and é, and à, are respectively the linear and angular velocities of the mother ship in the satellite coordinate system. 3. The umbilical cable simulation module is based on the beam model, and the finite difference method is used to calculate the shape of the umbilical cables and heaving piles, the tension at both ends of the TMS and the tension 7... at the A-shape frame end. (1) Creating the beam model of the umbilical cables and heaving piles: oY oY
H—=P—+ 5
Os ot Q ©)
Y=[e S, Su vweoo Qo Q (6) in the formula: Y is the vector consisting of umbilical axial strain , normal stress S,, tangential stress S, , axial velocity u , normal velocity v, tangential velocity w, axial and normal rotation angles ¢ and o of the element, torsion rate (2, normal curvature £2, and tangential curvature 42 ; s is the umbilical micro-element length; 7 is the simulation time;
H is the coefficient matrix related to the mass, added mass, diameter, axial and normal rotation angle, velocity and axial strain of umbilical element; P is the coefficient matrix
LU504656 related to mass, speed and stiffness; Q is a vector related to §,, S,, 2, £2, £2 and the axial and normal rotation angle, velocity, flow velocity, resistance coefficient and stiffness of the microelement. (2) Establishing boundary conditions of the umbilical cables and the heaving piles in a coupling model: the top of the umbilical cable is the mother ship, and the bottom is the TMS, and the tension at the top and bottom of the umbilical cable in the direction of the seakeeping coordinate system is as follows:
Foon = | Eds, COS Pro.) COS Bom) T Socom sin Pony + A COS Pio ny sin Oo.
Foon = | Eds, SIN Oro. COS Or. + Snço.m) COS Pry + Spon SIN Pro.) SIN Bom | (7)
Flom = [-EAe,,, SiN O9. + Sy, COS Oo. wherein Fo Fo Fo. are the longitudinal, transverse and vertical tensions of the seakeeping coordinate system, E is the Young's modulus of the umbilical cables, 4 is the cross-sectional area of the umbilical cables, and the subscript (0, n) represents the parameters of the bottom or top, O represents the parameters of the top and n represents the parameters of the bottom.
The speed at a junction of both ends of umbilical cables and the top of the A-shape frame and TMS is consistent, and the speed at both ends of heaving piles is consistent with that of the ROV and the TMS, the speed at both ends of the umbilical cables or the heaving piles in the direction of the seakeeping coordinate system is:
Uso.) = Wig, COS Pg, COS Oy, 7 Vig SING gy + Weg) COS Pq, SING)
View = Wn SN@ C080, + Yoan) COS Pony + We, SING, SING) (8)
Wom = (Ug, SM O0, n) + YCOSO 0m) wherein U,V, 0. Wo. are respectively the longitudinal, transverse and vertical velocities in the seakeeping coordinate system, and the boundary conditions of the heaving piles and umbilical cables are calculated in a similar way, with TMS and ROV at the top and end of the heaving piles respectively. 3) Establishing the finite difference model of the heaving piles and the umbilical cables:
2 ri pi igi-l i-lgi 2qyi-lyri-1 (1-0) HY At +o, (1-a,)[ HY + HY [Ar +o, HY Ar | U504656 +(1 — a,) P'Y'As+ a, (1 - a,) PY + PY |As + a PY As (9) +(1 — œ,)Q'Asar +a,Q'AsAt = 0 in the formula: «, and a, are difference coefficients; H' and H'' are the coefficient matrices related to the mass, additional mass, diameter, axial and normal rotation angle, velocity and axial strain of the front and rear elements and umbilical elements; P' and
P' are the coefficient matrices of the front and rear microelements and umbilical microelements related to mass, speed and stiffness; Q' and Q”' are the vectors of the front and rear microelements and §,, S,, 42, 42, £2 and the axial and normal rotation angles, velocity, flow velocity, drag coefficient and stiffness of the microelements; Y' and
Y' are the vector Y of the front and rear microelements; Ar is time step; and As is the length of the microelements. (4) Calculating the hydrodynamic force of the TMS and ROV deployment based on the element model, and the dynamic model of the element model:
M, x+ G, x+ D, x+ D, f(x) + K,(x)X = Gy + Mrcable T Mtether (10) in the formula: M, is the sum of TMS mass and additional mass; C, is the centripetal force and Coriolis force matrix of TMS; D,, and D,, are the first-order and second-order hydrodynamic coefficients; K, (x) is the stiffness matrix of TMS; q,, is the current load on the TMS; ¢, ,,. and Am are respectively the tensions at the bottom end of the umbilical cables and the top end of the heaving piles, and the calculation method is consistent with formula (20); x is the displacement of the TMS; x is the velocity of the TMS; x is the acceleration of the TMS ; ¢ is the simulation time; the hydrodynamic coefficient of the bar element is determined according to the form of the discrete structure and the shielding relationship, taking into account the hydrodynamic characteristics dependent on the depth change. Compared with the time-domain simulation method with fixed hydrodynamic coefficients, this model takes into account the interaction between the TMS and ROV structures and the influence of immersion depth, and more accurately calculates the hydrodynamic forces of the TMS and ROV passing through the free liquid surface.
4. The ROV simulation module calculates the motion of the ROV based on the nonlinear
LU504656 asymmetric maneuverability equation, and the six-degree-of-freedom ROV dynamics model:
M,,,v, + Crs, (v, Le + M, + N, .,) + 8 = To thrust + Triciher + T3 manipulator (1 1) in the formula: M,,, is the mass matrix of the ROV; C,,, is the centripetal force and
Coriolis force matrix of the ROV, M,, is the additional mass matrix of the ROV, comprising the main diagonal and off-diagonal additional mass and additional moment of inertia, a total of 36; N, is the drag coefficient matrix; g, is the restoring force matrix;
Tim 1S the thrust of the thruster; =, , Is the tension of the heaving piles, and the calculation method is consistent with formula (7); v, is the ROV speed; v, is acceleration, v , is the speed of the ROV relative to ocean current; v,, is relative acceleration; expression of N, is asymmetrical hydrodynamic force, specifically:
N, = Fv, +F pr |v,| (12) wherein F, and F,, are respectively the second-order symmetric and asymmetric hydrodynamic coefficients. 5. Forward kinematics of the manipulator simulation module comprises finding the roll angle of the manipulator in the case of a given linear motion, using the Denavit-
Hartenberg symbol to establish the generalized coordinates of the kinematic model, and calculating through the Newton iterative method; the inverse kinematics comprises the given rolling angle of the connecting rod to find the linear motion of the end; and the nonlinear dynamic model of the connecting rod of the manipulator is:
Mg + C4, +G,(q,)+ 7, =T, (13) in the formula: M, is the additional mass matrix of connecting rod i; €, is the fluid centripetal force and Coriolis force matrix of connecting rod i; G,(q,) is the restoring force matrix of connecting rod i; 7, is the damping of connecting rod i; T,is the driving force of the manipulator; ÿ, 4. q, are the angular acceleration, angular velocity and rotation angle of the connecting rod i respectively, the boundary conditions of the manipulator is that the base and the end speed of the ROV are equal, and the force on the ROV by the base n of the manipulator is: 7504656
Conia = T= SM + DH En 44 6 En (14) j= JL kl = wherein characters in the formula have the same meanings as those in formula (13), and the subscripts j and k respectively represent the j th and Æ th connecting rods.
Step 5: The ROV control system, as shown in Figure 6, comprises the ROV control module, the control module of the ROV cable management system, and the ROV viewing module. The ROV control module comprises an ROV body control module and a manipulator control module to respectively control motion of the ROV and the manipulator; the control module of the ROV cable management system comprises an umbilical cable retractable system and a heaving pile retractable control, respectively controlling retractable activities of the A-shape frame and the TMS; and the ROV control system solves the digital input and output signals and analog input signals into corresponding engineering quantities through the system processor, and realizes interactive simulation between man and equipment.
In order to verify the validity and effect of the method of the present invention, an example is given to illustrate, wherein the example comprises the following steps: 1. Manually start the integrated control platform, and remotely start the instructor control system, the marine environment simulation system, the simulation platform calculation system, the ROV control system, the display system, etc. through the network, check whether the software and hardware of each system are running stably, and continue to test working process of the simulation platform. 2. After the system is started, the trainer operates the instructor control system to input the atmospheric and marine environment of the ROV operating sea area, determine the initial position and attitude of the mother ship, the ROV, and the TMS, and arrange operational tasks including parameter settings for training scenarios, underwater man- made structures, and training time, then start to run the ROV operation simulation platform, combined with the display system to monitor the ROV simulation training process. During the ROV operation simulation process, the instructor can pause, continue, and end the simulation as needed, or set up emergencies such as sudden changes in the ocean and atmospheric environment, and equipment failures in the ROV operation system.
3. According to the instructions of the instructor, the sea breeze module establishes the wind field, waves, and currents of the ROV operating sea area through the wave module, 994856 wave module, and sea current module, and obtains the wind speed distribution time history, wave elevation time history, and flow velocity distribution time history, and the data are transmitted to the response module in the simulation platform calculation system.
The display module creates weather effects such as sunny, rainy, and foggy days based on the atmospheric and sea state data imported from the instructor control system, and simulates the effects of the sun, moon, sky, light, horizon, etc.; based on the data of the wave module, it creates ocean effects including wave surfaces, undulating, sun/moon lit sea colors. 4. The mother ship simulation module, umbilical cable simulation module, ROV simulation module, and manipulator simulation module in the simulation platform calculation system receive the initial simulation information released by the instructor, and combine the environmental data calculated by the sea wind module to calculate the motion of the mother ship based on the time-domain seakeeping equation, calculate the shape and tension of the umbilical cables and the heaving piles and the TMS motion based on the beam model and the element model, calculate the motion of the ROV based on the nonlinear asymmetric maneuverability equation, and calculate the motion of the manipulator based on the dynamic model based on the Newton-Euler method. The main control module schedules the operation of other modules and manages the data to transfer between the modules. 5. After the trainer issues the command to start the simulation, the driver controls the A- shape frame to release the umbilical cables through the ROV control system and the umbilical cable retraction system. After the ROV and TMS reach the predetermined depth of the task, the driver uses the ROV body control module and the tether retraction control module to control the ROV movement and the TMS to release the tether. When the ROV reaches the vicinity of the underwater target, the driver uses the manipulator control module to control the movement of the manipulator to complete the underwater operation.
After the task is completed, the driver retrieves the heaving piles, ROV and TMS through the ROV control system. During the simulation process, the driver observes the surrounding environment of the ROV through the ROV visual module. 6. The instructor finishes the operation simulation, and uses the operation process recorded by the instructor control system to conduct a comprehensive evaluation of the driver's operation, or perform operations such as loading the recorded training process.
7. After ending of training and evaluation, the integrated control platform closes all systems, and usage of the entire simulation platform completed. 7504656
The present invention can arbitrarily match various operating tasks under different environments and operating objects according to ROV underwater operation training requirements, and restore the actual operating effects of the ROV, the TMS, the mother ship, the heaving piles and the umbilical cables in underwater operations as much as possible, so that the drivers can get a better sense of driving substitution.
The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications should be regarded as falling into the protection scope of the present invention.
Claims (3)
1. A method for constructing a six-degree-of-freedom ROV operation simulation platform, which comprises four parts: an HLA distributed integrated development framework, a system input module, a real-time simulation module and a system output module, wherein the system input module comprises an integrated control platform and an instructor control system, the real-time simulation module comprises a marine environment simulation system, a simulation platform calculation system and a ROV operation system, and the system output module comprises a display system and a database storage system; and each system provides various services described in the interface specification through the runtime support system RTI responsible for communication between systems to achieve interoperability, wherein: the integrated control platform starts the instructor control system, the marine environment simulation system, the simulation platform calculation system, the ROV control system and the display system through network; the instructor control system issues training subjects, intervenes in parameters of a simulation platform equipment and an operating system during training, sets faults and emergencies, and arranges positions and initial states of artificial underwater Christmas tree, manifold, underwater blowout preventers, submarine pipes and templates; the marine environment simulation system releases the marine current, sea wave and sea breeze environment, and sets marine environment conditions, which can be input to the display system for three-dimensional display of the marine environment: the simulation platform calculation system receives the data of the instructor control system and the marine environment simulation system, simulates motions of the mother ship and the A-shape frame at sea, and solves three-dimensional motions of the umbilical cables; receiving data of the ROV control system and calculating the ROV six-degree-of- freedom motion and manipulator motion; the simulation platform calculation system is input into the display system to carry out the third perspective display and ROV visual display of the operating system respectively; the ROV control system is in network communication with the simulation platform calculation system, which is used for collecting the operator's operations and instructions, and displaying the pose of the ROV and monitor visual scene;
the display system receives data of the simulation platform calculation system and is used LU504656 to display the third perspective of the mother ship, the umbilical cables, the ROV, manipulator operation status and marine environment; the database storage system comprises the mother ship, cables, TMS and ROV simulation state data, network transmission, track curve, database storage and real-time drawing of speed curve, comprising the following steps: step 1: calculating hydrodynamic coefficient and time delay function of a mother ship according to mother ship profile, and establishing time domain motion equation according to the mother ship layout and a position of the A-shape frame, . t My, + CrpoVo +C ov. + Dv, + | Ka Nv (r)—Ue ]dy + G,7 (1) = Tyino F Twaveo + Tcableo in the formula: M, is the sum of the mass of the mother ship and the additional mass; Crzo and C,, are the centripetal force and Coriolis force matrix of the rigid body and the fluid respectively; D, is the damping matrix; K,(/-7) is the delay function, wherein ¢ is the simulation time, y is the integration variable; U is the longitudinal speed of the mother ship; e, is the longitudinal unit vector; G, is the stiffness matrix of the mother ship; Tango IS the wind load; 7, is the wave load; v,, is the relative speed of the mother ship with the ocean current in the satellite coordinate system, and z_,,,, is the tension of the umbilical cables, which is marked in the direction of the seakeeping coordinate system as: T cable = [F0 Fos E05 F0) 70 FAZ. — FX 10, FX ro — Foy sl (2) wherein FF, F,, are the tensions of the top of the umbilical cables in the direction of the seakeeping coordinate system, calculated by the umbilical cable simulation module based on the beam model, (x,y ,,z,) IS the coordinates of the top of the A-shape frame relative to the center of gravity of the mother ship in the direction of the seakeeping coordinate system, and linear velocity of the top of the A-shape frame in the seakeeping coordinate system is: Up Vou) =&y +a, xr 5 wherein U,.V,,lW, are respectively the longitudinal, transverse and vertical velocities OF 04656 the top of the A-shape frame in the seakeeping coordinate system, r is the vector radius of the top of the A-shape frame, and é, and à, are respectively the linear and angular velocities of the mother ship in the satellite coordinate system; step 2: establishing a finite difference model of umbilical cables and heaving piles by adopting a beam model, and calculating shape and tension at both ends: creating the beam model of the umbilical cables and heaving piles:
oY oY
H—=P—+ 3 Os ot Q 3) Y=[e S, Su vweoo Qo Q (4)
in the formula: Y is the vector consisting of umbilical axial strain &, normal stress S,, tangential stress S, , axial velocity u , normal velocity v, tangential velocity w, axial and normal rotation angles ¢ and o of the element, torsion rate (2, normal curvature £2, and tangential curvature 42 ; s is the umbilical micro-element length; 7 is the simulation time; H is the coefficient matrix related to the mass, added mass, diameter, axial and normal rotation angle, velocity and axial strain of umbilical element; P is the coefficient matrix related to mass, speed and stiffness; Q is a vector related to §,, S,, 2, £2, £2 and the axial and normal rotation angle, velocity, flow velocity, resistance coefficient and stiffness of the microelement; step 3: establishing boundary conditions of the umbilical cables and the heaving piles in a coupling model: 1) mechanical boundary: the umbilical cables and heaving piles are connected with the mother ship, TMS and ROV, and in the direction of the seakeeping coordinate system, the tension on the top of the umbilical cables or the heaving piles on the mother ship, TMS and ROV is: Foon = | Eds, COS Pro.) COS Bom) T Socom sin Pony + A COS Pio ny sin Oo.
Foon = | Eds, SIN Oro.
COS Or. + Snço.m) COS Pry + Spon SIN Pro.) SIN Bom | (5) Flom = [-EAe,,, SiN O9. + Sy, COS Oo. wherein Fo Fo Fo. are the longitudinal, transverse and vertical tensions of the seakeeping coordinate system, E is the Young's modulus of the umbilical cables, 4 is the cross-sectional area of the umbilical cables, and the subscript (0, n) represents the LU504656 parameters of the bottom or top, O represents the parameters of the top and n represents the parameters of the bottom; 2) motion boundary: the speed at a junction of both ends of umbilical cables and the top of the A-shape frame and TMS is consistent, and the speed at both ends of heaving piles is consistent with that of the ROV and the TMS, the speed at both ends of the umbilical cables or the heaving piles in the direction of seakeeping coordinate system is:
Uso.) = Wig, COS Pg, COS Oy, 7 Vig SING gy + Woo) COS Po) SING) View = Wn SN@ C080, + Yoan) COS Pony + We, SING, SING) (6) Wom = (Ug, SM O0, n) + YCOSO 0m) wherein U,V, 0. Wo. are respectively the longitudinal, transverse and vertical velocities in the seakeeping coordinate system, and the boundary conditions of the heaving piles and umbilical cables are calculated in a similar way, with TMS and ROV at the top and end of the heaving piles respectively; 3) establishing the finite difference model of the heaving piles and the umbilical cables: (1-0, ) HY At +a, (1-a,) | HY + HY [Ar + a, HY Ar +(1 — a,) P'Y'As+ a, (1 - a,) PY + PY |As + a PY As (7) +(1 — œ,)Q'Asar +a,Q'AsAt = 0 in the formula: «, and a, are difference coefficients; H' and H'' are the coefficient matrices related to the mass, additional mass, diameter, axial and normal rotation angle, velocity and axial strain of the front and rear elements and umbilical elements; P' and P' are the coefficient matrices of the front and rear microelements and umbilical microelements related to mass, speed and stiffness; Q' and Q”' are the vectors of the front and rear microelements and §,, S,, 42, 42, £2 and the axial and normal rotation angles, velocity, flow velocity, drag coefficient and stiffness of the microelements; Y' and Y' are the vector Y of the front and rear microelements; Ar is time step; and As is the length of the microelements; step 4. modeling a mooring management system by using a bar element model considering the tension effect of the heaving piles and the umbilical cables:
M, x+ G, x+ D, x+ D, f(x) + K(X)X = Gy, + Grcabie + Gisorner (8) LU504656 in the formula: M, is the sum of TMS mass and additional mass; C, is the centripetal force and Coriolis force matrix of TMS; D,, and D,, are the first-order and second-order hydrodynamic coefficients; K, (x) is the stiffness matrix of TMS; q,, is the current load on the TMS; ¢, ,,. and gq, are respectively the tensions at the bottom end of the umbilical cables and the top end of the heaving piles, and the calculation method is consistent with formula (7); x is the displacement of the TMS; x is the velocity of the TMS; x is the acceleration of the TMS ; ¢ is the simulation time; the hydrodynamic coefficient of the bar element is determined according to the form of the discrete structure and the shielding relationship, taking into account the hydrodynamic characteristics dependent on the depth change; step 5: nonlinear ROV maneuverability equation, considering the influence of the heaving pile tension and the manipulator: M,,,v, + Crs, (v, Le + M, + N, .,) + 8 = To thrust + Triciher + T3 manipulator (1 0) in the formula: M,,, is the mass matrix of the ROV; C,g is the centripetal force and Coriolis force matrix of the ROV; M,, is the additional mass matrix of the ROV, comprising the main diagonal and off-diagonal additional mass and additional moment of inertia, a total of 36; N, is the drag coefficient matrix; g, is the restoring force matrix; Tim 1S the thrust of the thruster; =, , IS the tension of the heaving piles, and the calculation method is consistent with formula (7); v, is the ROV speed; v, is acceleration, v , is the speed of the ROV relative to ocean current; v,, is relative acceleration; expression of N, is asymmetrical hydrodynamic force, specifically: N) = Fe + Fa |, | (11) wherein F, and F,, are respectively the second-order symmetric and asymmetric hydrodynamic coefficients; and step 6: establishing a dynamic model of the manipulator considering the pose of ROV: forward kinematics of the manipulator simulation module comprises finding the roll angle of the manipulator in the case of a given linear motion, using the Denavit-Hartenberg symbol to establish the generalized coordinates of the kinematic model, and calculating LU504656 through the Newton iterative method; the inverse kinematics comprises the given rolling angle of the connecting rod to find the linear motion of the end; and the nonlinear dynamic model of the connecting rod of the manipulator is: Mg + C4, +G,(q,)+ 7, =T, (12) in the formula: M, is the additional mass matrix of connecting rod i; €, is the fluid centripetal force and Coriolis force matrix of connecting rod i; G,(q,) is the restoring force matrix of connecting rod i; 7, is the damping of connecting rod i; T,is the driving force of the manipulator; ÿ, 4. q, are the angular acceleration, angular velocity and rotation angle of the connecting rod i respectively, the boundary conditions of the manipulator is that the base and the end speed of the ROV are equal, and the force on the ROV by the base n of the manipulator is: T2 manipulator = 7, = >M, q,+ >> Ci q, q,+ > Tp; (1 3) j=1 j=1k=1 j=1 wherein characters in the formula have the same meanings as those in formula (13), and the subscripts j and k respectively represent the j th and Æ th connecting rods.
2. The method for constructing a six-degree-of-freedom ROV operation simulation platform according to claim 1, wherein the calculation system of the simulation platform comprises a main control module, a mother ship simulation module, an umbilical cable simulation module, a ROV simulation module, a manipulator simulation module, wherein: the mother ship simulation module receives data from the marine environment simulation system and the umbilical cable simulation module, and calculates the motion and position of the mother ship and the A-shape frame based on the time-domain ship seakeeping equation; the umbilical cable simulation module receives data of the ocean current module, the mother ship simulation module and the ROV simulation module, calculates the shape and tension of the umbilical cables and the heaving piles based on the beam model and the finite difference method, and calculates the pose of the repeater TMS based on the bar element model; and the manipulator simulation module receives data from the ROV simulation module, and LU504656 calculates joint velocity, acceleration and force based on a dynamic model established by the Newton-Euler method.
3. The method for constructing a six-degree-of-freedom ROV operation simulation platform according to claim 1, wherein the ROV control system comprises a ROV control module, a control module of the ROV cable management system, and a ROV viewing module, wherein: the ROV control module comprises a ROV body control module and a manipulator control module to respectively control motion of the ROV and the manipulator; the control module of the ROV cable management system comprises an umbilical cable retractable system and a heaving pile retractable control, respectively controlling retractable activities of the A-shape frame and the TMS; and the ROV control system solves the digital input and output signals and analog input signals into corresponding engineering quantities through the system processor, and realizes interactive simulation between man and equipment.
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