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Prototype Development and Experiment Study on Double Articulated Mating Skirts of Submersible

Author: TangDeDong
Tutor: WangLiQuan
School: Harbin Engineering University
Course: Mechanical and Electronic Engineering
Keywords: Underwater mating Pressure shell strength Pressure shell stability Sealing groove optimization Servo control
CLC: U674.941
Type: PhD thesis
Year: 2010
Downloads: 26
Quote: 0
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Abstract

With the increasing scarcity of land resources, Humanity will turn their attention to the vast ocean, and military control of the ocean, ocean exploration on the scientific sense, development of marine resources within the economic field that are attended highly by every country. Underwater mating technology is a key technology to the above-mentioned underwater work. Today novel submersible underwater mating device and technology are developed actively around the world.When the wrecked submarine is in the condition that the the angle of trim and heel is bigger, it is very difficult to mate with rescue vehicle. To solve this problem, a new type of underwater mating device has been designed in this paper. The underwater rescue angle can be increased, and manipulation difficulty that the rescue submarine mate to the disable submarine can be reduced, and the mating success rate and efficiency can be improved by using this device, so it has important theoretical significance and practical value. It has broad application prospect in the ocean development and submarine rescue fields.The current situation and development tendency of the submarine rescue device and mating technology are summarized in this paper. By comparing and analyzing, a novel articulated mating skirt project is introduced. Specific structure of the mating skirt is designed. Articulated skirt mating kinematics model is established, and articulated skirt mating process is simulated. Correctness of the kinematic model is verified. Working field of the articulated skirt is confirmed.Because of the articulated skirt is required to work in a depth of 1,000 m deep water, strength and stability of the articulated skirt pressure hull must be reliably ensured. Using analytic method and the finite element method to check the strength of the fixed skirt and orient skirt and angle skirt, the structure size of the pressure shell is determined, and the thickness of pressure shell is optimized. The least mass of the articulated skirt is achieved. Mating collision dynamics equation of the submersible is established, and the dynamic strength of the optimized skirt during the collision is simulated.According to the articulated skirt working characteristics, its sealing structure is designed. Because of seal groove dimensions of the articulated skirt are non-standard design, finite element numerical simulation method is used to study and optimize the structure. The sealing ring stress concentration is reduced and its service life is extended and reliable sealing effect is obtained.In order to control the position and orientation of the articulated skirt precisely, the hydraulic servo system of the articulated skirt is studied in the paper. The working principle of the servo system is introduced, system models that position is controlled by the hydraulic servovalve are established and its frequency characteristics are analyzed through simulation. Finally its controller is designed, so the speediness and precision of the control system is improved.The experimental prototype of articulated skirt is developed, and the complete experiment system is established. Sealing performance and rotational flexibility and strength and stability of the articulated skirt pressure hull are all tested.The results showed that the articulated skirt can be revolved flexibly, and its position and pose can be controlled accurately, and its strength and stability are to meet the requirements, reliable seal is realized after successfully mate.

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