A geometrically exact formulation for three-dimensional numerical simulation of the umbilical cable in a deep-sea ROV system

Quan, Weicai; Zhang, Zhuying; Zhang, Aiqun; Zhang, Qifeng; Tian, Yu

doi:10.1007/s13344-015-0016-0

Cited by 20 publications

(11 citation statements)

References 17 publications

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“…Steady configuration in different depth-ocean currents at 3000 meters using inputs given in Table 1. in (Quan et al, 2015).…”

Section: Nl Model-based Controllermentioning

confidence: 99%

“…The second case study is to simulate the response of the ROV using the nonlinear modelbased controller described in the previous section with and without including the effects of the umbilical cable. The last case study is to apply the model on a tether management system as described in Quan et al (2015) and compare the the steady state responses. A tethermanagement system (TMS) is normally used for deep-sea ROV operations and can be viewed as a heavy pendulum (negative buoyancy) going from the surface ship down to the ROV.…”

Section: Simulationsmentioning

confidence: 99%

“…The proposed umbilical model is applied to a submerged cage(TMS) and simulated with different current velocities using the cable-system parameters given in Quan et al (2015). Fig.…”

Section: Submerged Cage (Tether Management System)mentioning

confidence: 99%

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Time Domain Modeling of ROV Umbilical using Beam Equations

Eidsvik

Schjølberg

2016

IFAC-PapersOnLine

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This paper presents a finite element model for representing the cable dynamics of a typical ROV(Remotely Operated Vehicle) umbilical. The goal is to produce a model able to capture the most important dynamic effects of the umbilical affecting the ROV by solving the Euler-Bernoulli beam equations using finite element method. The model is general and is applicable to a wide variety of deep-sea ROV systems. The presented model is demonstrated by numerical examples for umbilical and ROV systems, both for steady state and dynamic response. The model is further validated by comparison with published results.

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“…Steady configuration in different depth-ocean currents at 3000 meters using inputs given in Table 1. in (Quan et al, 2015).…”

Section: Nl Model-based Controllermentioning

confidence: 99%

Section: Simulationsmentioning

confidence: 99%

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Time Domain Modeling of ROV Umbilical using Beam Equations

Eidsvik

Schjølberg

2016

IFAC-PapersOnLine

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“…The frequency of prototype can be obtained from the analytic method and numeric method, and here it is computed via the phase-cross method. The underwater umbilical cable system for a deep-sea ROV refer to (Quan et al, 2014(Quan et al, , 2015 is chosen as the prototype, whose nonlinear dynamic characteristics is firstly analyzed to get the time series of response, and the power spectrum then is used to estimate the transfer function, which is defined as is the auto power spectrum of z s . From Eq.…”

Section: Natural Frequency and Spring-load Scale Modelmentioning

confidence: 99%

Scale model test of a semi-active heave compensation system for deep-sea tethered ROVs

et al. 2016

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“…The tether imposes additional forces on the ROV. Cable drag, inertia and stiffness forces are transferred to the ROV and can in some cases dominate the overall response of the ROV (Eidsvik and Schjølberg, 2016).For deep and ultra deep waters a Tether Management System (TMS) is applied to reduce these loads, but the cable will still have a large impact on the ROV response (Quan et al, 2015). Today these forces are mostly counteracted by human operators and the skills of the operator is therefore crucial for the mission success rate.…”

Section: Introductionmentioning

confidence: 99%

Finite element cable-model for Remotely Operated Vehicles (ROVs) by application of beam theory

Eidsvik

Schjølberg

2018

Ocean Engineering

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Increasing autonomy, efficiency and safety for Remotely Operated Vehicles (ROVs) is crucial for future subsea operations and requires accurate models for optimal control, operations and design. This involves precise modeling of the cable in conjunction with the ROV response. This paper presents a novel threedimensional cable model for Remotely Operated Vehicles using Euler-Bernoulli beam theory. The presented model is implemented in Matlab and takes into account the most important effects related to the response of underwater cables and ROVs. Following beam theory bending stiffness is also included, making the model applicable for low tension scenarios. The presented model is modified to allow for compression of the cable. The resulting non-linear equations are discretized spatially by the Galerkin finite element method and solved temporally by the Newmark-β time integration scheme. The model is verified experimentally in ocean tank experiments on a real ROV system. A numerical example is presented and the results are compared to previous published results. Lastly, a sensitivity analysis for the hydrodynamic parameters is presented.

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A geometrically exact formulation for three-dimensional numerical simulation of the umbilical cable in a deep-sea ROV system

Cited by 20 publications

References 17 publications

Time Domain Modeling of ROV Umbilical using Beam Equations

Time Domain Modeling of ROV Umbilical using Beam Equations

Scale model test of a semi-active heave compensation system for deep-sea tethered ROVs

Finite element cable-model for Remotely Operated Vehicles (ROVs) by application of beam theory

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