CAJ | 학술논문

模拟柔性脐带缆在深海作业环境中的动态形态变化是构建遥控潜器（ROV）作业视景仿真系统的重点和难点之一。由于柔性脐带缆在海流作用下受力情况复杂、运动形态多变，利用现有成熟的视景仿真软件难以做到逼真模拟。采用凝聚参数法建立柔性脐带缆的模型、运动方程及变长度算法并进行仿真求解，结合所得数值解，利用OpenGL语言和纹理映射技术动态绘制柔性脐带缆三维模型，并将柔性脐带缆动态模型与在Vega Prime平台建立的ROV主体进行衔接，获得了逼真的柔性脐带缆跟随ROV运动的动态模拟效果。
모의유성제대람재심해작업배경중적동태형태변화시구건요공잠기（ROV）작업시경방진계통적중점화난점지일。유우유성제대람재해류작용하수력정황복잡、운동형태다변，이용현유성숙적시경방진연건난이주도핍진모의。채용응취삼수법건립유성제대람적모형、운동방정급변장도산법병진행방진구해，결합소득수치해，이용OpenGL어언화문리영사기술동태회제유성제대람삼유모형，병장유성제대람동태모형여재Vega Prime평태건립적ROV주체진행함접，획득료핍진적유성제대람근수ROV운동적동태모의효과。
The simulation of the operation morphological changes of the flexible umbilical cable in deep-water is one of most difficult key points for the ROV operation visual simulation system. Due to the com-plexity of flexible umbilical cable's force situations and morphological changes under ocean current, it is too difficult to obtain realistic simulation results using conventional realtime commercial softwares. This pa-per uses the cohesion parameters method to establish a changing-length motion equation and solves it;then, according to the obtained numerical solution, OpenGL and texture mapping technology is utilized to dynamically simulate the flexible umbilical cable. Finally, by joining the flexible umbilical cable and the ROV made by Vega Prime together, a more realistic simulation effect is achieved.