潜水器双转裙对接装置样机的研制及其实验研究
|
摘要
随着陆地资源的日益紧缺,人类将目光投向了广袤的海洋,军事上的综合制海、科学上的海洋探测、经济上的海洋资源开发受到各国高度重视。水下对接技术是完成上述水下作业的关键技术之一,目前世界各国都在积极研发潜水器的新型对接装置及技术。
为解决失事潜艇纵横倾角过大救援对接极为困难的问题,本文研制了一种新型的水下对接装置,利用该装置可以增大水下对接时救援的倾斜角度,降低对接过程中潜水器的操纵难度,提高对接的成功率及效率,具有重要的理论意义和实用价值,在海洋开发及援潜救生的领域中具有广阔的应用前景。
论文综述了国内外援潜救生装备及其对接技术的发展现状,通过对比分析,提出了采用活动转裙的新型对接装置总体方案,设计了对接转裙的具体结构,建立了转裙对接运动方程,进行了转裙对接作业时的运动仿真,验证了运动方程模型的正确性,确定了对接转裙可行的作业范围。
由于潜水器设计指标是在1000米水深区域内作业,转裙耐压壳的强度及稳定性必须得到可靠的保证。文中对转裙的固定裙、方位裙及角度裙利用解析法和有限元方法进行了承载能力分析,确定了耐压壳的结构尺寸,并对其进行了优化设计,确保转裙的质量最小。建立了潜水器对接碰撞的动力学方程,并对优化后转裙对接碰撞的动强度进行了仿真分析。
根据转裙的工作特点,设计了转裙的密封结构,由于转裙的密封槽尺寸为非标设计,利用有限元方法进行了密封结构的数值模拟研究,优化了密封槽的结构尺寸,减小了密封圈的应力集中,延长了密封圈的使用寿命,获得了可靠的密封效果。
为了实现转裙位姿的精确控制,进行了转裙的液压伺服控制系统研究,建立了液压伺服阀控位置控制系统模型,对液压伺服系统频率特性进行仿真和分析,设计了该系统的控制器,改善了系统响应的快速性和精度。
研制了转裙的实验样机,设计了完整的转裙样机实验系统。对转裙的密封性能、转动灵活性、耐压壳体的强度及稳定性进行实验研究。结果显示所研制的转裙对接作业时运转灵活、位姿控制精确、强度及稳定性均满足要求、对接成功后密封可靠。
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.
为解决失事潜艇纵横倾角过大救援对接极为困难的问题,本文研制了一种新型的水下对接装置,利用该装置可以增大水下对接时救援的倾斜角度,降低对接过程中潜水器的操纵难度,提高对接的成功率及效率,具有重要的理论意义和实用价值,在海洋开发及援潜救生的领域中具有广阔的应用前景。
论文综述了国内外援潜救生装备及其对接技术的发展现状,通过对比分析,提出了采用活动转裙的新型对接装置总体方案,设计了对接转裙的具体结构,建立了转裙对接运动方程,进行了转裙对接作业时的运动仿真,验证了运动方程模型的正确性,确定了对接转裙可行的作业范围。
由于潜水器设计指标是在1000米水深区域内作业,转裙耐压壳的强度及稳定性必须得到可靠的保证。文中对转裙的固定裙、方位裙及角度裙利用解析法和有限元方法进行了承载能力分析,确定了耐压壳的结构尺寸,并对其进行了优化设计,确保转裙的质量最小。建立了潜水器对接碰撞的动力学方程,并对优化后转裙对接碰撞的动强度进行了仿真分析。
根据转裙的工作特点,设计了转裙的密封结构,由于转裙的密封槽尺寸为非标设计,利用有限元方法进行了密封结构的数值模拟研究,优化了密封槽的结构尺寸,减小了密封圈的应力集中,延长了密封圈的使用寿命,获得了可靠的密封效果。
为了实现转裙位姿的精确控制,进行了转裙的液压伺服控制系统研究,建立了液压伺服阀控位置控制系统模型,对液压伺服系统频率特性进行仿真和分析,设计了该系统的控制器,改善了系统响应的快速性和精度。
研制了转裙的实验样机,设计了完整的转裙样机实验系统。对转裙的密封性能、转动灵活性、耐压壳体的强度及稳定性进行实验研究。结果显示所研制的转裙对接作业时运转灵活、位姿控制精确、强度及稳定性均满足要求、对接成功后密封可靠。
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.
引文
[1]曾恒一,李清平,吴应湘.开发深海资源的海底空间站技术.中国造船.2006,47(增刊)：1-8页
[2]李宁, 曾恒一,李清平.海洋石油工业的现状与挑战.2005年中国船舶工业发展论坛论文集.2005：61-66页
[3]伊武军.资源、环境与可持续发展.北京：海洋出版社,2001
[4]张莉.海洋国土的特征及中国海上安全问题.中国海洋大学学报.2008(4)：15-17页
[5]谢祚水,罗广恩编.现代潜艇.哈尔滨：哈尔滨工程大学出版社,2007
[6]黄波,许建,杨学宁编著.特种潜艇.武汉：华中科技大学出版社,2008
[7]刘琳琨.从俄加潜艇救援失败看潜艇救援.当代海军.2004(12)：58-59页
[8]崔维成,叶聪,顾继红.国际援潜救生装备体系现状与发展趋势.船舶力学.2008,12(5)：830-831页
[9]付本国,孟庆鑫,刘汉明.深潜救生艇现状及发展趋势.海洋工程.2007,25(4)：121-126页
[10]Frank Owen. Submarine Rescue with an Australian Twang, lnDepth Rescue. A Newsletter for Submarine Rescue Professionals.2004,1(3):1-6P
[11]English J. Submarine rescue systems:An international priority using BC technology. Innovation.2003,7(4):12-15P
[12]侯恕萍,严浙平.深潜救生艇的现状及发展趋势.船舶工程.2004,26(4)：1-4页
[13]John Porteous. Evaluation of movie lights for use on DSRV alvin. Underwater Photography:Scientific and Engineering Applications.1984:199-202 P
[14]齐耀久.美国海军“长尾鲨”级核潜艇.现代舰船.2004(10)：26-28页
[15]S.Brian Cable. Guideline system for the Navy's submarine rescue ship (ASR) class. Oceans'88.1280-1285P
[16]K.E.Taylor. Development of the RN submarine escape system. Engineering in Medicine.1972,1(5):104-111P
[17]单舟.美国海军深潜救生艇.现代舰船.2002,12：24-25页
[18]黄喜平.电动对接装置机械臂设计和电机驱动的研究.哈尔滨工程大学硕士论文,2007
[19]H.W.Grob. Sea Trials on the New US Navy Submarine Rescue System. Oceans 2007.1-7P
[20]http://www.ismerlo.org/newsHistory.html
[21]Michael J. Dehaemer. Undersea technologies in the former Soviet Union. Naval engineers journal.1995(11):85-92P
[22]曾勇,张建平译.潜艇应急救生艇.国外船舶工程.2004(9)：36-38页
[23]陈伯华,龚国川.国外海军援潜救生技术与装备研究进展.2008,51(6)：355-356页
[24]薛晶.援潜救生系统装备概况.船舶工程.2009,31(1)：71-74页
[25]Kenneth P Kerr. Deep submergence rescue vehicle (DSRV) ship of opportunity towing study. Oceans'80.316-318P
[26]Johan Onnermark. URF, the swedish rescue submarine-special design features. Oceans 76.24-26P
[27]Nick Stewart. Submarine escape and rescue:a brief history. Journal of Military and Veterans'Health.2008,17(1)
[28]安洪瑞.水下运载器智能对接装置控制系统的研究.哈尔滨工程大学硕士论文,2007
[29]Richard Jones. U.K.'s submarine rescue efforts. Sea Technology.1993,34(12):29-32P
[30]Perry Slingsby Systems, LTD. Operming and Maintenance manual for the LR5 SRV. North York:Perry Slingsby Systems, LTD.2001:1-5P
[31]http://www.naval-technology.com/projects/lr5
[32]候恕萍.水下运载器主动对接装置控制技术研究.哈尔滨工程大学博士论文,2005
[33]常艳艳.深潜救生艇对接装置虚拟样机及仿真系统的研究.哈尔滨工程大学硕士论文,2005
[34]Robert Karniol. South Korea seeks rescue submarine. Jane's Defence Industry. 2006,225P
[35]Robert Karniol. Korea seeks DSRV capability. Jane's Defence Weekly.2006,483P
[36]常艳艳,孟庆鑫,王贺春.深潜救生艇及其对接装置的现状及发展趋势.船舶工程.2010,32(1)：5-7页
[37]张良,陈建平.世界各国援潜救生系统发展状况.机器人技术与应用.2001(3)：17-20页.
[38]顾靖华,曾光会,杨健.外军潜艇脱险救生技术概况及发展趋势.船舶科学技术.2005,(6)：93-96页
[39]http://www.kockums.se/en/products-services/submarines-systems/submarine-rescue-s ystems/s-srv/
[40]孟卓.深潜救生艇新型对接装置控制系统研究.哈尔滨工程大学博士论文,2000
[41]http://www.mod.uk/DefenceInternet/DefenceNews/EquipmentAndLogistics/Submarin ersSalvationNewRescueSystemCompletesTrials.htm
[42]http://www.idpm.biz/downloads/submarine_escape.pdf
[43]M.Holmes, R.Hrabe, J.Leadmon, et al. Advances in submarine escape. Royal Institution of Naval Architects International Conference Warship 2005. London, United Kingdom.2005:148-200P
[44]张志明,薛晶.国外援潜救生系统现状及发展趋势.船舶.2005(6)：5-7页
[45]L.Roberts, J.Turner. Submarine escape and rescue operations-The holistic approach to safety. Royal Institution of Naval Architects International Conference Warship. 2008:159-169P
[46]George K.Wolfe, B.K.Miller Jr. SwRI researchers help design a next-generation submarine rescue vehicle. Technology Today.2006:1-7P
[47]http://www.oceanworks.com/submarineRescueSystems.php
[48]苗兰森,刘沛,张理等.澳大利亚水下逃生与救援技术.海洋技术.2003,22(3)：106-110页
[49]http://www.oceanworks.com/submarineRescueSystems.php
[50]Geroge K.Wolfe, B.K. Miller. Voyage from the bottom of the sea. Technology Today. 2006(2):1-7P
[51]D.C.Brown. Submarine escape and rescue in today's royal navy. Royal Naval Medical Service.1999(3):145P
[52]Dzirhan Mahadzir. Australia and US counsel Malaysian submarine safety. Jane's Navy International.2006(9):25-27P
[53]http://www.phnx-international.com/Submarine%20Rescue.htm
[54]Robert Andrew Gold. Development of a Procedure for the Selection of Candidate Vessels of Opportunity in Support of the Submarine Rescue Diving and Recompression System. Master of Science MIT,2005.52-57P
[55]苗兰森,胡勇.援潜救生钟综述.海洋技术.2009,28(3)：93-110P
[56]http://en.wikipedia.org/wiki/McCann_Rescue_Chamber
[57]陈建平.发展我国载人深潜器的几点思考.机器人技术与应用.2001(2)：33-36页.
[58]吴时国,罗永康.关于我国发展载人深潜器的建议.海洋科学.2001,25(11)：23-24页
[59]晓阳.我国第一艘深潜救生艇完成实验.船艇.1987(1)：11页
[60]朱继懋,徐得胜.7103深潜救生艇论文集.1984(12)：12-28页
[61]陈建平.援潜救生新概念——立体救生系统的发展思路.机器人技术与应用.2001(2)：21-24页
[62]许广清.8A4水下机器人控制系统.船舶工程.1997(03)：42-25页
[63]李晔,常文田,孙玉山等.自治水下机器人的研发现状与展望.机器人技术与应用.2007(01)：25-31页
[64]李一平,封锡盛."CR-01"6000m自治水下机器人在太平洋锰结核调查中的应用.高技术通讯.2001(01)：85-87页
[65]李一平,燕奎臣.“CR-02”自治水下机器人在定点调查中的应用.机器人.2003,25(04)：359-362页
[66]郭治龙.我国第一台救生钟.航海.1989(06)：27页
[67]陈建平.潜水救生钟液压伺服控制系统设计调试.液压与气动.2000(06)：21-23页
[68]王晓东,孟庆鑫,王立权等.新型水下对接装置的研制.中国造船.2002(6)：95-98页
[69]王艳妮.深潜救生艇新型对接装置控制系统研究.哈尔滨工程大学硕士论文,2000
[70]张也影编著.流体力学.第二版.北京：高等教育出版社,1999
[71]D.B. Marco, A J. Healey, R. B. Mcghee. Autonomous underwater vehicles:hybrid control of mission and motion. Autonomous Robots.1996 (3):169-186P
[72]茅及愚,张向明等.救援潜器对接系统活动转裙密封技术研究.润滑与密封.2000(5)：47-48页
[73]蔡自兴编著.机器人学.北京：清华大学出版社,2000
[74]邱桂林著.潜艇建造工艺学.北京：国防工业出版社,1982
[75]C.Garland. Design and fabrication of deep-diving submersible pressure hulls. SNAME Transactions.1968 (76):161-179P
[76]侯海量,朱锡,刘润泉.爆炸消除921A钢焊接残余应力试验.焊接学报.2004,25(1)：119-123页
[77]马力,闫永贵,钱建华.907A、921A钢的抗冲刷腐蚀和磨蚀性能.腐蚀科学与防护技术.2006,18(5)：364-366页
[78]于彬,冷鸿祥.921A与16Mn异种钢焊接材料的选择.机械工程师.2007(5)：154-155页
[79]中国船级社.潜水系统和潜水器入级与建造规范.北京：人民交通出版社,1996
[80]朱继懋主编.深潜器设计.上海：上海交通大学出版社,1992
[81]郑津洋主编.过程设备设计.北京：化学工业出版社,2005
[82]谢祚水等编著.潜艇结构分析.武汉：华中科技大学出版社,2004
[83]潘治.深海潜器耐压圆柱壳结构计算和校核方法研究.海洋技术.2008,27(2)：83-87页
[84]C.T.F.Ross. Pressure vessels under external pressure:statics and dynamics. Elsevier Science,Inc.,New York,1990
[85]Tanguy Messager, Mariusz Pyrz, Bernard Gineste, Pierre Chauchot. Optimal laminations of thin underwater composite cylindrical vessels. Composite Structures.2002,58(4):529-537P
[86]徐猛.水下机器人载体结构的优化设计.西北工业大学,硕士论文,2006
[87]施德培,李长春编著.潜水器结构强度.上海：上海交通大学出版社,1991
[88]A.Vaziri, H.E.Estekanchi. Buckling of cracked cylindrical thin shells under combined internal pressure and axial compression. Thin-Walled Structures.2006,44(2):141-151P
[89]S.S. Ahn, M. Ruzzene. Optimal design of cylindrical shells for enhanced buckling stability:Application to supercavitating underwater vehicles. Finite Elements in Analysis and Design.2006,42(11):99-102P
[90]陆蓓,刘涛,崔维成.深海载人潜水器耐压球壳极限强度研究.船舶力学.2004,8(1)：51-58页
[91]李良碧,王仁华,俞铭华,王自力.深海载人潜水器耐压球壳的非线性有限元分析.中国造船.2005,46(4)：11-17页
[92]S.R. Heller. Structural design of spherical shells subjected to uniform external pressure. Naval Engineers Journal.1974,88(6):45-50P
[93]CC Liang, SW Shiah, CY Jen, HW Chen. Optimum design of multiple intersecting spheres deep-submerged pressure hull. Ocean Engineering.2004,31(2):177-199P
[94]J.Bachut, K.Magnucki. Strength, stability, and optimization of pressure vessels:Review of selected problems. Applied Mechanics Reviews.2008,61 (1-6):0608011-06080133P
[95]CC Liang, CY Hsu, HR Tsai. Minimum weight design of submersible pressure hull under hydrostatic pressure. Computers & Structures.1997,63(2):187-201P
[96]Walter wundedich, Ursula Albenin. Buckling behaviour of imperfect spherical shells. Non-Linear Mechanics.2002(37):589-604P
[97]D.Boote, D.Mascia. On the nonlinear analysis method ologies for thin spherical shell under external pressure with different finite-element codes. Ship Research.1989,33 (4):318-325P.
[98]M.A.Krenzke, T.J.Kiernen. The effect of initial imperfections on the collapse strength of deep spherical shell. AD612100,1965.
[99]C.Schoof, L.Goland, D.Lo. Pressurized Rescue Module System Hull and Transfer Skirt Design and Experimental Validation. Oceans 2007.2007:1-8P
[100]王自力.船舶碰撞损伤机理与结构耐撞性研究.上海交通大学博士论文,2000
[101]特雷劳尔(英)(L.R.G Treloar)著；王梦蛟译.橡胶弹性物理学.北京：化学工业出版社,1982
[102]杨晓翔著.非线性橡胶材料的有限单元法.北京：石油工业出版社,1999
[103]E.I.Rivin, B.S.Lee. Experimental study of load-deflection and creep characteristics of compressed rubber components for vibration control devices.Journal of Mechanical Design.1994,116(6):539-549P
[104]陈敏,汤文成,张逸芳等.阀门密封结构中超弹性接触问题的有限元分析.中国机械工程.2007,18(15)：1773-1775页
[105]余志洋.丁腈橡胶X形密封结构及失效分析的数值模拟研究.哈尔滨工业大学.硕士学位论文,2005
[106]I.Green, C.English. Stresses and deformation of compressed elastomeric O-ring sealing.14th International Conference on Fluid Sealing. Firenze,Italy.1994:83-95P
[107]H.T.Banks, G.A.Pinter, O.H.Yeoh. Analysis of bonded elastic blocks.Mathematical and Computer Modelling.2002,36(7):875-888P.
[108]R. G. Wensel, R. Metcalfe et al. O-ring seal studies for space shutle solid rocket booster joints. Canadian Aeronautics and Apace Jounral.1988,34 (4):204-21P
[109]E. H. Lee, R. M.Mameehing. Concerning elastic and plastic components of deformation. Intemaltional Journal of Soilds and Structuers.1980,16(7):15-72P
[110]孙健.橡胶密封圈性能分析和浮动端面密封数值求解.北京科技大学.博士学位论文,2006
[111]E. M.Arruda, M. C.Boyce. A Three-dimensional constitutive model for the large strech behavior of rubber elastic materials. Journal of the Mechanics and Physics of Solids.1993(41):389-412P
[112]MMooney. A theory of large elastic deformaiton. Jounral of Applied Physic.1940(11):582-592P
[113]R.T.Deam, S.F.Edwards.The theory of rubber elasticity. Philosophy Transaction of Royal Society London.1976,A280:317-353P
[114]王隽.船舶艉轴密封装置O形橡胶密封圈失效分析.润滑与密封.2007,32(4)：163-166页
[115]H.Kags.Stress analysis of a tire under vertical load by a finite element method. Tire Science & Technology.1987,5(2):102-118P
[116]T. W. Giants, B. Vitou. O-ring resilience study. ADA402958.2001.12-46P
[117]R.M.Hofillan. Nonlinear elastic-plastic analysis using modified finite quasiprism element Finite Eelmenst in Aalnysis and Design.2004(40):449-460P
[118]Nilkanth, Vinay. Analysis of Gask-O-Seal design using nonlinear FEA. Ameircan society of Mechanical Engieers.1990,21(9):14-18P
[119]张利平主编.液压传动与控制.西安：西北工业大学出版社,2005
[120]Li Shang, Gang Zhao, Keding Zhao. Study on Electro-Hydraulic Position Servo System with High Accuracy. New Achievement in Fluid Power Engineering.1993:34-39P
[121]Senglin Wu. Study on Control of Twin-Hydraulic Motor Synchrodrive System.Journal of Mechanical Engineering.1993(3):165-170P
[122]曹立文.水下金刚石绳锯机切割技术的研究与工程样机的研制.哈尔滨工程大学博士论文,2006
[123]宋志安编著.基于MATLAB的液压伺服控制系统分析与设计.北京：国防工业出版社,2007
[124]李永堂.液压系统建模与仿真.北京：冶金工业出版社,2003
[2]李宁, 曾恒一,李清平.海洋石油工业的现状与挑战.2005年中国船舶工业发展论坛论文集.2005：61-66页
[3]伊武军.资源、环境与可持续发展.北京：海洋出版社,2001
[4]张莉.海洋国土的特征及中国海上安全问题.中国海洋大学学报.2008(4)：15-17页
[5]谢祚水,罗广恩编.现代潜艇.哈尔滨：哈尔滨工程大学出版社,2007
[6]黄波,许建,杨学宁编著.特种潜艇.武汉：华中科技大学出版社,2008
[7]刘琳琨.从俄加潜艇救援失败看潜艇救援.当代海军.2004(12)：58-59页
[8]崔维成,叶聪,顾继红.国际援潜救生装备体系现状与发展趋势.船舶力学.2008,12(5)：830-831页
[9]付本国,孟庆鑫,刘汉明.深潜救生艇现状及发展趋势.海洋工程.2007,25(4)：121-126页
[10]Frank Owen. Submarine Rescue with an Australian Twang, lnDepth Rescue. A Newsletter for Submarine Rescue Professionals.2004,1(3):1-6P
[11]English J. Submarine rescue systems:An international priority using BC technology. Innovation.2003,7(4):12-15P
[12]侯恕萍,严浙平.深潜救生艇的现状及发展趋势.船舶工程.2004,26(4)：1-4页
[13]John Porteous. Evaluation of movie lights for use on DSRV alvin. Underwater Photography:Scientific and Engineering Applications.1984:199-202 P
[14]齐耀久.美国海军“长尾鲨”级核潜艇.现代舰船.2004(10)：26-28页
[15]S.Brian Cable. Guideline system for the Navy's submarine rescue ship (ASR) class. Oceans'88.1280-1285P
[16]K.E.Taylor. Development of the RN submarine escape system. Engineering in Medicine.1972,1(5):104-111P
[17]单舟.美国海军深潜救生艇.现代舰船.2002,12：24-25页
[18]黄喜平.电动对接装置机械臂设计和电机驱动的研究.哈尔滨工程大学硕士论文,2007
[19]H.W.Grob. Sea Trials on the New US Navy Submarine Rescue System. Oceans 2007.1-7P
[20]http://www.ismerlo.org/newsHistory.html
[21]Michael J. Dehaemer. Undersea technologies in the former Soviet Union. Naval engineers journal.1995(11):85-92P
[22]曾勇,张建平译.潜艇应急救生艇.国外船舶工程.2004(9)：36-38页
[23]陈伯华,龚国川.国外海军援潜救生技术与装备研究进展.2008,51(6)：355-356页
[24]薛晶.援潜救生系统装备概况.船舶工程.2009,31(1)：71-74页
[25]Kenneth P Kerr. Deep submergence rescue vehicle (DSRV) ship of opportunity towing study. Oceans'80.316-318P
[26]Johan Onnermark. URF, the swedish rescue submarine-special design features. Oceans 76.24-26P
[27]Nick Stewart. Submarine escape and rescue:a brief history. Journal of Military and Veterans'Health.2008,17(1)
[28]安洪瑞.水下运载器智能对接装置控制系统的研究.哈尔滨工程大学硕士论文,2007
[29]Richard Jones. U.K.'s submarine rescue efforts. Sea Technology.1993,34(12):29-32P
[30]Perry Slingsby Systems, LTD. Operming and Maintenance manual for the LR5 SRV. North York:Perry Slingsby Systems, LTD.2001:1-5P
[31]http://www.naval-technology.com/projects/lr5
[32]候恕萍.水下运载器主动对接装置控制技术研究.哈尔滨工程大学博士论文,2005
[33]常艳艳.深潜救生艇对接装置虚拟样机及仿真系统的研究.哈尔滨工程大学硕士论文,2005
[34]Robert Karniol. South Korea seeks rescue submarine. Jane's Defence Industry. 2006,225P
[35]Robert Karniol. Korea seeks DSRV capability. Jane's Defence Weekly.2006,483P
[36]常艳艳,孟庆鑫,王贺春.深潜救生艇及其对接装置的现状及发展趋势.船舶工程.2010,32(1)：5-7页
[37]张良,陈建平.世界各国援潜救生系统发展状况.机器人技术与应用.2001(3)：17-20页.
[38]顾靖华,曾光会,杨健.外军潜艇脱险救生技术概况及发展趋势.船舶科学技术.2005,(6)：93-96页
[39]http://www.kockums.se/en/products-services/submarines-systems/submarine-rescue-s ystems/s-srv/
[40]孟卓.深潜救生艇新型对接装置控制系统研究.哈尔滨工程大学博士论文,2000
[41]http://www.mod.uk/DefenceInternet/DefenceNews/EquipmentAndLogistics/Submarin ersSalvationNewRescueSystemCompletesTrials.htm
[42]http://www.idpm.biz/downloads/submarine_escape.pdf
[43]M.Holmes, R.Hrabe, J.Leadmon, et al. Advances in submarine escape. Royal Institution of Naval Architects International Conference Warship 2005. London, United Kingdom.2005:148-200P
[44]张志明,薛晶.国外援潜救生系统现状及发展趋势.船舶.2005(6)：5-7页
[45]L.Roberts, J.Turner. Submarine escape and rescue operations-The holistic approach to safety. Royal Institution of Naval Architects International Conference Warship. 2008:159-169P
[46]George K.Wolfe, B.K.Miller Jr. SwRI researchers help design a next-generation submarine rescue vehicle. Technology Today.2006:1-7P
[47]http://www.oceanworks.com/submarineRescueSystems.php
[48]苗兰森,刘沛,张理等.澳大利亚水下逃生与救援技术.海洋技术.2003,22(3)：106-110页
[49]http://www.oceanworks.com/submarineRescueSystems.php
[50]Geroge K.Wolfe, B.K. Miller. Voyage from the bottom of the sea. Technology Today. 2006(2):1-7P
[51]D.C.Brown. Submarine escape and rescue in today's royal navy. Royal Naval Medical Service.1999(3):145P
[52]Dzirhan Mahadzir. Australia and US counsel Malaysian submarine safety. Jane's Navy International.2006(9):25-27P
[53]http://www.phnx-international.com/Submarine%20Rescue.htm
[54]Robert Andrew Gold. Development of a Procedure for the Selection of Candidate Vessels of Opportunity in Support of the Submarine Rescue Diving and Recompression System. Master of Science MIT,2005.52-57P
[55]苗兰森,胡勇.援潜救生钟综述.海洋技术.2009,28(3)：93-110P
[56]http://en.wikipedia.org/wiki/McCann_Rescue_Chamber
[57]陈建平.发展我国载人深潜器的几点思考.机器人技术与应用.2001(2)：33-36页.
[58]吴时国,罗永康.关于我国发展载人深潜器的建议.海洋科学.2001,25(11)：23-24页
[59]晓阳.我国第一艘深潜救生艇完成实验.船艇.1987(1)：11页
[60]朱继懋,徐得胜.7103深潜救生艇论文集.1984(12)：12-28页
[61]陈建平.援潜救生新概念——立体救生系统的发展思路.机器人技术与应用.2001(2)：21-24页
[62]许广清.8A4水下机器人控制系统.船舶工程.1997(03)：42-25页
[63]李晔,常文田,孙玉山等.自治水下机器人的研发现状与展望.机器人技术与应用.2007(01)：25-31页
[64]李一平,封锡盛."CR-01"6000m自治水下机器人在太平洋锰结核调查中的应用.高技术通讯.2001(01)：85-87页
[65]李一平,燕奎臣.“CR-02”自治水下机器人在定点调查中的应用.机器人.2003,25(04)：359-362页
[66]郭治龙.我国第一台救生钟.航海.1989(06)：27页
[67]陈建平.潜水救生钟液压伺服控制系统设计调试.液压与气动.2000(06)：21-23页
[68]王晓东,孟庆鑫,王立权等.新型水下对接装置的研制.中国造船.2002(6)：95-98页
[69]王艳妮.深潜救生艇新型对接装置控制系统研究.哈尔滨工程大学硕士论文,2000
[70]张也影编著.流体力学.第二版.北京：高等教育出版社,1999
[71]D.B. Marco, A J. Healey, R. B. Mcghee. Autonomous underwater vehicles:hybrid control of mission and motion. Autonomous Robots.1996 (3):169-186P
[72]茅及愚,张向明等.救援潜器对接系统活动转裙密封技术研究.润滑与密封.2000(5)：47-48页
[73]蔡自兴编著.机器人学.北京：清华大学出版社,2000
[74]邱桂林著.潜艇建造工艺学.北京：国防工业出版社,1982
[75]C.Garland. Design and fabrication of deep-diving submersible pressure hulls. SNAME Transactions.1968 (76):161-179P
[76]侯海量,朱锡,刘润泉.爆炸消除921A钢焊接残余应力试验.焊接学报.2004,25(1)：119-123页
[77]马力,闫永贵,钱建华.907A、921A钢的抗冲刷腐蚀和磨蚀性能.腐蚀科学与防护技术.2006,18(5)：364-366页
[78]于彬,冷鸿祥.921A与16Mn异种钢焊接材料的选择.机械工程师.2007(5)：154-155页
[79]中国船级社.潜水系统和潜水器入级与建造规范.北京：人民交通出版社,1996
[80]朱继懋主编.深潜器设计.上海：上海交通大学出版社,1992
[81]郑津洋主编.过程设备设计.北京：化学工业出版社,2005
[82]谢祚水等编著.潜艇结构分析.武汉：华中科技大学出版社,2004
[83]潘治.深海潜器耐压圆柱壳结构计算和校核方法研究.海洋技术.2008,27(2)：83-87页
[84]C.T.F.Ross. Pressure vessels under external pressure:statics and dynamics. Elsevier Science,Inc.,New York,1990
[85]Tanguy Messager, Mariusz Pyrz, Bernard Gineste, Pierre Chauchot. Optimal laminations of thin underwater composite cylindrical vessels. Composite Structures.2002,58(4):529-537P
[86]徐猛.水下机器人载体结构的优化设计.西北工业大学,硕士论文,2006
[87]施德培,李长春编著.潜水器结构强度.上海：上海交通大学出版社,1991
[88]A.Vaziri, H.E.Estekanchi. Buckling of cracked cylindrical thin shells under combined internal pressure and axial compression. Thin-Walled Structures.2006,44(2):141-151P
[89]S.S. Ahn, M. Ruzzene. Optimal design of cylindrical shells for enhanced buckling stability:Application to supercavitating underwater vehicles. Finite Elements in Analysis and Design.2006,42(11):99-102P
[90]陆蓓,刘涛,崔维成.深海载人潜水器耐压球壳极限强度研究.船舶力学.2004,8(1)：51-58页
[91]李良碧,王仁华,俞铭华,王自力.深海载人潜水器耐压球壳的非线性有限元分析.中国造船.2005,46(4)：11-17页
[92]S.R. Heller. Structural design of spherical shells subjected to uniform external pressure. Naval Engineers Journal.1974,88(6):45-50P
[93]CC Liang, SW Shiah, CY Jen, HW Chen. Optimum design of multiple intersecting spheres deep-submerged pressure hull. Ocean Engineering.2004,31(2):177-199P
[94]J.Bachut, K.Magnucki. Strength, stability, and optimization of pressure vessels:Review of selected problems. Applied Mechanics Reviews.2008,61 (1-6):0608011-06080133P
[95]CC Liang, CY Hsu, HR Tsai. Minimum weight design of submersible pressure hull under hydrostatic pressure. Computers & Structures.1997,63(2):187-201P
[96]Walter wundedich, Ursula Albenin. Buckling behaviour of imperfect spherical shells. Non-Linear Mechanics.2002(37):589-604P
[97]D.Boote, D.Mascia. On the nonlinear analysis method ologies for thin spherical shell under external pressure with different finite-element codes. Ship Research.1989,33 (4):318-325P.
[98]M.A.Krenzke, T.J.Kiernen. The effect of initial imperfections on the collapse strength of deep spherical shell. AD612100,1965.
[99]C.Schoof, L.Goland, D.Lo. Pressurized Rescue Module System Hull and Transfer Skirt Design and Experimental Validation. Oceans 2007.2007:1-8P
[100]王自力.船舶碰撞损伤机理与结构耐撞性研究.上海交通大学博士论文,2000
[101]特雷劳尔(英)(L.R.G Treloar)著；王梦蛟译.橡胶弹性物理学.北京：化学工业出版社,1982
[102]杨晓翔著.非线性橡胶材料的有限单元法.北京：石油工业出版社,1999
[103]E.I.Rivin, B.S.Lee. Experimental study of load-deflection and creep characteristics of compressed rubber components for vibration control devices.Journal of Mechanical Design.1994,116(6):539-549P
[104]陈敏,汤文成,张逸芳等.阀门密封结构中超弹性接触问题的有限元分析.中国机械工程.2007,18(15)：1773-1775页
[105]余志洋.丁腈橡胶X形密封结构及失效分析的数值模拟研究.哈尔滨工业大学.硕士学位论文,2005
[106]I.Green, C.English. Stresses and deformation of compressed elastomeric O-ring sealing.14th International Conference on Fluid Sealing. Firenze,Italy.1994:83-95P
[107]H.T.Banks, G.A.Pinter, O.H.Yeoh. Analysis of bonded elastic blocks.Mathematical and Computer Modelling.2002,36(7):875-888P.
[108]R. G. Wensel, R. Metcalfe et al. O-ring seal studies for space shutle solid rocket booster joints. Canadian Aeronautics and Apace Jounral.1988,34 (4):204-21P
[109]E. H. Lee, R. M.Mameehing. Concerning elastic and plastic components of deformation. Intemaltional Journal of Soilds and Structuers.1980,16(7):15-72P
[110]孙健.橡胶密封圈性能分析和浮动端面密封数值求解.北京科技大学.博士学位论文,2006
[111]E. M.Arruda, M. C.Boyce. A Three-dimensional constitutive model for the large strech behavior of rubber elastic materials. Journal of the Mechanics and Physics of Solids.1993(41):389-412P
[112]MMooney. A theory of large elastic deformaiton. Jounral of Applied Physic.1940(11):582-592P
[113]R.T.Deam, S.F.Edwards.The theory of rubber elasticity. Philosophy Transaction of Royal Society London.1976,A280:317-353P
[114]王隽.船舶艉轴密封装置O形橡胶密封圈失效分析.润滑与密封.2007,32(4)：163-166页
[115]H.Kags.Stress analysis of a tire under vertical load by a finite element method. Tire Science & Technology.1987,5(2):102-118P
[116]T. W. Giants, B. Vitou. O-ring resilience study. ADA402958.2001.12-46P
[117]R.M.Hofillan. Nonlinear elastic-plastic analysis using modified finite quasiprism element Finite Eelmenst in Aalnysis and Design.2004(40):449-460P
[118]Nilkanth, Vinay. Analysis of Gask-O-Seal design using nonlinear FEA. Ameircan society of Mechanical Engieers.1990,21(9):14-18P
[119]张利平主编.液压传动与控制.西安：西北工业大学出版社,2005
[120]Li Shang, Gang Zhao, Keding Zhao. Study on Electro-Hydraulic Position Servo System with High Accuracy. New Achievement in Fluid Power Engineering.1993:34-39P
[121]Senglin Wu. Study on Control of Twin-Hydraulic Motor Synchrodrive System.Journal of Mechanical Engineering.1993(3):165-170P
[122]曹立文.水下金刚石绳锯机切割技术的研究与工程样机的研制.哈尔滨工程大学博士论文,2006
[123]宋志安编著.基于MATLAB的液压伺服控制系统分析与设计.北京：国防工业出版社,2007
[124]李永堂.液压系统建模与仿真.北京：冶金工业出版社,2003