On the motions of the underwater remotely operated vehicle with the umbilical cable effect

Ming Chung Fang, Chang Shang Hou, Jhih Hong Luo

Research output: Contribution to journalArticle

45 Citations (Scopus)

Abstract

In this paper, a hydrodynamic model is developed to simulate the six degrees of freedom motions of the underwater remotely operated vehicle (ROV) including the umbilical cable effect. The corresponding hydrodynamic forces on the underwater vehicle are obtained by the planar motion mechanism test technique. With the relevant hydrodynamic coefficients, the 4th-order Runge-Kutta numerical method is then adopted to solve the equations of motions of the ROV and the configuration of the umbilical cable. The multi-step shooting method is also suggested to solve the two-end boundary-value problem on the umbilical cable with respect to a set of first-order ordinary differential equation system. All operation simulations for the ROV including forward moving, ascending, descending, sideward moving and turning motions can be analyzed, either with or without umbilical cable effect. The current effect is also taken into consideration. The present results reveal that the umbilical cable indeed significantly affects the motion of the ROV and should not be neglected in the simulation.

Original languageEnglish
Pages (from-to)1275-1289
Number of pages15
JournalOcean Engineering
Volume34
Issue number8-9
DOIs
Publication statusPublished - 2007 Jun 1

All Science Journal Classification (ASJC) codes

  • Environmental Engineering
  • Ocean Engineering

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