The simulation of the ROV motion with anti-pitch control in uniform current

Ming-Chung Fang, Yu Lun Huang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In the paper, a hydrodynamic numerical model for predicting the ROV motion with anti-pitch control is presented. The six degrees of freedom of equations of motions are formulated, which includes the coupled effect due to the current and the umbilical cable. Because of the umbilical cable on the ROV, the two-point boundary value problem with respect to a set of first order ordinary differential equation system arises and a multi-step shooting method is suggested to solve this problem. The anti-pitch technique including the depth keeping, either by PD control or PID control, is proposed to maintain the attitude of ROV in the current to reduce the resistance and other disturbance. The results reveal that both controlled techniques can indeed reduce the pitch motion and keep the desired depth for the ROV even in strong current. The hydrodynamic model developed here can therefore serve as a useful tool to improve the performance of the ROV operated in uniform current.

Original languageEnglish
Title of host publicationInternational Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007
Pages120-125
Number of pages6
DOIs
Publication statusPublished - 2007 Oct 1
EventInternational Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007 - Tokyo, Japan
Duration: 2007 Apr 172007 Apr 20

Publication series

NameInternational Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007

Other

OtherInternational Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007
CountryJapan
CityTokyo
Period07-04-1707-04-20

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Ocean Engineering
  • Water Science and Technology

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  • Cite this

    Fang, M-C., & Huang, Y. L. (2007). The simulation of the ROV motion with anti-pitch control in uniform current. In International Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007 (pp. 120-125). [4231185] (International Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007). https://doi.org/10.1109/UT.2007.370951