Usually the underwater remotely operated vehicle (ROV) endures the longitudinal stability while it maneuvers in the current, which leads to the inefficiency of the operation and exploration. In order to promote the longitudinal stability of the vehicle, we apply the numerical simulation technique incorporating the PD and PID controllers with anti-pitch performance to study the response of the ROV in the current. The 4th order Runge-Kutta method and multi-step shooting method are adopted to solve the ROV motions including the umbilical cable effect and the related hydrodynamic coefficients are obtained by PMM test. The present results reveal that both PID and PD controllers can achieve the anti-pitch performance which will stabilize the aptitude of the ROV operating in the current and consequently makes the ROV equip with the anti-current potential.
|Number of pages||8|
|Journal||Journal of Taiwan Society of Naval Architects and Marine Engineers|
|Publication status||Published - 2009 Feb|
All Science Journal Classification (ASJC) codes
- Ocean Engineering
- Mechanical Engineering