为提升海底管道巡检系统中无人航行潜水器（ROV）的效率并确保系统稳定运行，构建了多耦合ROV海底管道巡检系统动力学模型。此模型描述了拖船、拖缆与ROV及海洋环境的相互作用，并研究了动态拖缆长度变化及能耗控制，模拟定缆长和变缆长条件下拖缆的力学行为，量化拖缆长度对ROV拉力和速度的影响。结果显示，拖缆长30 m时，能耗较其他长度降低约31%～53%。在固定缆长下，ROV的最优巡航范围为水平位移25.7～30 m，垂直深度–20～–35.6 m，实现约43%的能耗优化。该模型和方法为提高水下系统巡检效率提供了理论指导和参数配置建议。
In order to enhance the efficiency of remotely operated vehicles (ROV) in seabed pipeline inspection systems and ensure stable system operation, a multi-coupled dynamic model for ROV seabed pipeline inspection systems is developed. This model describes the interactions among tugboats, tow cables, ROV, and the marine environment. The study investigates dynamic tow cable length variations and energy consumption control by simulating the mechanical behavior of tow cables under fixed and variable cable length conditions, and quantifying the impact of tow cable length on ROV tension and speed. The results indicate that at a tow cable length of 30 m, energy consumption is reduced by approximately 31% to 53% compared to other lengths. Under fixed cable length conditions, the optimal cruising range of the ROV is between horizontal displacements of 25.7～30 m and vertical depths of –20～–35.6 m, achieving approximately 43% energy optimization. This model and methodology provide theoretical guidance and parameter configuration recommendations for improving the inspection efficiency of underwater systems.
2025,47(24): 169-174 收稿日期：2024-12-23
DOI：10.3404/j.issn.1672-7649.2025.24.027
分类号：U661.33；P754
基金项目：国家自然科学基金资助项目（52301390）；山东省自然科学基金资助项目（ZR2022QE072）
作者简介：孙宁松(1973-),男,硕士,高级工程师,研究方向为油气工程(含浅海油田海洋工程)建设管理
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