关键词: 动力学仿真, 钢丝绳模型, 联合仿真, 消摆控制, 张力控制

Abstract: In order to reduce the swing of underwater device and the tension fluctuation of wire rope, taken the recovery drum and anti-sway drum as actuating mechanism, the control strategy of unilateral anti-sway and rope tension is presented for underwater device. The dynamic model of steel cable is established by discrete beam finite elements and the relative nodal displacements method. The winding contact model between wire rope and drum is also introduced. Taken self-developed launch and recovery device as research object, combined technology of virtual prototype and control, the study of kinematics, kinetic and control strategy is carried out in the process of recovering underwater device. The dynamics simulation model is established in software RecurDyn, and the collaborative simulation model of mechanical system and control is built for launch and recovery device, which the algorithm is designed to control unilateral anti-sway and tension in software RecurDyn library Colink. The kinetic and collaborative simulation is studied, which provides the theoretical basis and data references about improving the stability and safety, reducing dynamic load, optimizing overall structure, guiding conceptual design for launch and recovery and underwater device.

Key words: Dynamic and Control Strategy of Launch and Recovery Device in Harsh Sea Conditions