深海可移动平台的全向推进技术研究

深海可移动平台是青岛海洋地质研究所针对大洋地质调查过程中提出的精准取样、定点投放等新需求, 创新研发的新一代通用型深海地质调查装备。全向推进系统是该平台的核心关键技术之一。笔者从工作实际需求出发, 阐述了深海可移动平台的整体设计思路;通过对平台整体的数学建模与力学分析, 给出了平面全向推进系统的数理模型;根据不同参数与控制变量, 模拟了大洋地质调查过程中全向推进系统的仿真结果。

RESEARCH OF THE OMNIDIRECTIONAL PROPULSION TECHNOLOGY FOR THE DEEP-SEA MOVABLE PLATFORM

The Deep-sea Movable Platform is a new generation of multi-purpose deep-sea survey equipment innovatively developed by Qingdao Institute of Marine Geology in response to the new requirements of precise sampling and fixed-point sample delivery during oceanic geological survey. The omnidirectional propulsion system is one of the key techniques of the platform. This paper elaborated the general idea of design for the deep-sea movable platform. Through mathematic modeling and mechanical analysis of the platform, the mathematical and physical models of the planar omnidirectional propulsion system is presented. According to different parameters and control variables, the simulation results of the omnidirectional propulsion system in the process of simulating oceanic geological survey are discussed.