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

Ming-Chung Fang, Yu Lun Huang

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題International Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007
頁面120-125
頁數6
DOIs
出版狀態Published - 2007 十月 1
事件International Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007 - Tokyo, Japan
持續時間: 2007 四月 172007 四月 20

出版系列

名字International 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
國家Japan
城市Tokyo
期間07-04-1707-04-20

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Ocean Engineering
  • Water Science and Technology

指紋 深入研究「The simulation of the ROV motion with anti-pitch control in uniform current」主題。共同形成了獨特的指紋。

引用此