非线性时滞深海作业系统碰撞振动行为及其稳定性研究

For a solution of operation safety within heavy duty marine equipments, a new dynamical problem of time delay system discovered in sea trial, the mechanism of collision-vibration behavior and its instability for nonlinear remotely operated system with time delay, is proposed from the interdisciplinary fields of ocean engineering and time delay system dynamics. . The purpose is to investigate the influence of time delay factors on the collision-vibration dynamical behavior and its instability of remotely operated system. The parametric domains, complicated bifurcation phenomena and instability mechanism of collision-vibration behavior are explored, by means of solving the established time delay dynamical equation and its stability eigenvalue equation with nonlinearity and time delay. The parametric domains, perturbed motion instability conditions and umbilical failure boundary of collision-vibration behavior are analyzed with different time delay, so as to enrich and deepen the understanding of time delay factors on the dynamics of remotely operated system.. This proposal extends the application of time delay system dynamics in the field of ocean engineering, and provides a theoretical frame for the solution of operation safety and design for remotely operated system. Correspondingly, the study of time delay system dynamics in the field of ocean engineering contributes to the discovery of new nonlinear phenomena and the development of new theory involved in time delay system dynamics.

针对海洋工程中重大深海装备的作业安全需求，从实际海试中发现并从海洋工程和时滞系统动力学交叉领域提炼出了非线性时滞深海作业系统碰撞振动行为及其稳定性研究这一新的时滞系统动力学课题。. 通过建立并求解时滞与非线性耦合作用下的深海作业系统时滞动力学方程，探索在时滞、非线性因素耦合作用下出现碰撞振动行为的参数空间及复杂分岔现象，并应用特征根法进行稳定性分析，以确定时滞因素对深海作业系统碰撞振动动力学行为及其稳定性的影响。通过分析不同时滞参数对碰撞振动行为参数空间、受扰动后的运动失稳条件和缆索系统失效极限边界的影响，丰富人们对非线性时滞深海作业系统碰撞振动行为的认识，为重大深海装备的作业安全和合理设计提供理论支撑。课题拓宽了时滞系统动力学在海洋工程中的应用研究，同时在海洋工程这一特定学科领域开展相关研究，有助于发现新的非线性时滞现象并推动时滞系统动力学新理论和新方法的发展。

针对深海作业系统中重大深海装备作业安全需求，基于多体系统动力学理论建立了水面支持系统-TMS-ROV多体耦合系统动力学方程，通过建立并求解时滞与非线性耦合作用下的深海作业系统时滞动力学方程，探索在时滞、非线性因素耦合作用下深海作业系统出现碰撞振动行为的参数空间及复杂动力学现象，并进行系统稳定性分析，以确定时滞因素对深海作业系统碰撞振动动力学行为及其稳定性的影响，以丰富人们对非线性时滞深海作业系统碰撞振动行为的认识，为重大深海装备的作业安全和合理设计提供理论支撑。. 课题拓宽了时滞系统动力学在深海作业系统作业中的应用研究，同时在重大深海装备这一特定学科领域开展相关研究，有助于发现新的非线性时滞现象并推动时滞系统动力学新理论和新方法的发展。