Abstract
A multi-body coupled dynamic model is developed to simulate the motion of a Tethered Remotely Operated Vehicle (TROV) system. A strong nonlinear coupling motion between umbilical tether and ROV is discussed.The movement of ROV is considered as six-degrees of freedom. The lumped mass model is applied and an averaged tangential vector technique is included in the three-dimensional dynamic response equations of the cable-segments. The model can simulate the three-dimensional transient coupled motion of the complex multi-body system in typical ship maneuvering conditions and can be used in either a towing problem or a tethered underwater vehicle problem. Simulation results are seen to fit well with the experiment.
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Project supported by the National Natural Science Foundation of China (Grant Nos. 10572063 and 50639020), the State Key Laboratory of Ocean Engineering (Shanghai Jiaotong University) (Grant No. 0502) and the Program for Changjiang Scholars and Innovative Research Team in University ( Grant No. IRT0734).
Biography: Zhu Ke-qiang (1956-), Male, Ph. D., Professor
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Zhu, Kq., Zhu, Hy., Zhang, Ys. et al. A Multi-Body Space-Coupled Motion Simulation for a Deep-Sea Tethered Remotely Operated Vehicle. J Hydrodyn 20, 210–215 (2008). https://doi.org/10.1016/S1001-6058(08)60048-7
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DOI: https://doi.org/10.1016/S1001-6058(08)60048-7