核电水池水下焊接ROV线缆稳态力学特性

Remotely operated vehicle (ROV) with a weld device was designed. A steady-state theoretical model of a cable partially in reaction pool water and partially in air was constructed. The problem of solving an ordinary differential equation (ODE) set was considered as the problem of solving the initial value problem based on the state value of connection point between the vehicle and cable. The change rules between various factors (i.e., velocity, water depth, entry water angle, water density and cable length) and the steady-state mechanical characteristic (i.e. tension, normal shear force and bi-normal moment) was obtained by the fourth order Runge-Kutta method. The results show that the proposed method can be used to evaluate the effect of various factors on ROV steady-state motion, and provide reference for the improvement of the design and control strategy of ROV.