The nonlinear finite element modeling and performance analysis of the passive heave compensation system for the deep-sea tethered ROVs

Quan, Weicai; Liu, Yinshui; Zhang, Aiqun; Zhao, Xufeng; Li, Xiaohui

doi:10.1016/j.oceaneng.2016.10.011

Cited by 36 publications

(7 citation statements)

References 22 publications

(20 reference statements)

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“…The cable will be subjected to shape deformation; the degree of deformation will be based on the actual current speed. From a study done by Quan (2016b), who developed a graphical representation to determine the deformation process showing the initial shape of the cable as being a vertical line which showed a tendency to incline under the influence of ocean current. In the same paper, he further stated, that in the case of compensation there was a smaller heave than the uncompensated one, the load is still lifted under the action of ocean current, but the cable tension is compensated effectively.…”

Section: Influence Of Environmental Loadsmentioning

confidence: 99%

Numerical simulation of a passive heave compensator for scientific research ships

Persaud

Leng

2019

J. nav. arch. mar. engg.

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Research vessels are commonly used on a daily basis for ocean exploration and payload handling. However, due to unpredictable wave motion on the ship and the flexibility of the cable, the heave of the ship is unavoidable and causes danger during operations, loss of payload, possible damages to expensive equipment and prolong period of downtime. A compensator system is an essential part of operations to mitigate this effect and to ensure safety, reduce down-time of operation and increase efficiency while providing longer and better duration of operation even in harsh conditions. In this article, a passive heave compensator system with cylinder, accumulator and depth compensator connected in series by pressured pipes developed for a scientific research ship with length of 68m and breath of 16m is analyzed along the coast of Guyana, South America. The payload used in this analysis is 200 ton. The working principle of the heave compensation system is described, the parameters affecting the performance of the system are simulated and analyzed using MatLab. A 3D model of the system is built using SolidWorks and schematic drawings are produced from AutoCAD. The compensation rate of the system is higher than 77% under the influence of the input wave and the system has a response of an average setting time of 18s. The point of maximum load exerted is at the splash zone. For a typical most probable extreme significant wave height, Hs= 2.3m, period T= 6s and direction μ= 45° in the operational area, the reduction in heave motion when the vessel is equipped with the heave compensator is approximately 77% compared to 47% reduction when the vessel is without a compensator.

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Section: Influence Of Environmental Loadsmentioning

confidence: 99%

Numerical simulation of a passive heave compensator for scientific research ships

Persaud

Leng

2019

J. nav. arch. mar. engg.

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“…Dynamic modeling of the shipboard cranes with wave compensation is an important aspect of the research on various cranes. Wave compensation is mainly divided into three categories: passive compensation [4][5][6], active compensation [7][8][9], and semiactive compensation [10][11][12]. Wave compensation [13][14][15] is the earliest technology applied to ensure the safety of ships at sea in severe weather [16].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Analysis of the Telescopic Sleeve Antiswing Device for Shipboard Cranes

Wang

Chen

et al. 2021

Mathematical Problems in Engineering

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In order to explore the dynamic characteristics of the telescopic sleeve antiswing device for shipboard cranes under coupling excitation, a three-dimensional dynamic model of the ship crane telescopic sleeve antiswing device is established in this study, and the accuracy of the model is verified through experiments. By dynamic analysis, the influence of sleeve extension and contraction, damper parameters, and ship excitation on the payload swing is found; meanwhile, the influence of payload swing on ship stability is discovered. At the same time, the simulation results show that the three-dimensional dynamic model can accurately simulate the swing reduction characteristics of the antiswing device. The in-plane and out-plane angles of the swing are reduced by 70% and 90%. The research results have great significance to further explore the antiswing mechanism and structural design of the mechanical antiswing device.

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“…To solve this problem, the heave compensation system has been developed and applied to many marine operation equipment in the past 50 years, such as deep-sea oil and gas drilling, deep-sea towed detection, deep-sea salvage and rescue [2]- [4]. Heave compensation systems could eliminate the heave movement of the operating platform relative to the payload and decouple the payload movement from the ship's movement, which can avoid severe rope slack and reduce the peak rope tension [5], [6]. Generally, heave compensation systems can be classified as passive heave compensation…”

Section: Introductionmentioning

confidence: 99%

Constant Tension Control of Hybrid Active-Passive Heave Compensator Based on Adaptive Integral Sliding Mode Method

et al. 2020

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Heave compensation systems are of great importance to the safety and efficiency of marine operations subject to irregular-wave excitation. While many efforts have been made to improve the displacement compensation control, only a few of researchers pay their attention on tension compensation control. This paper presents an adaptive robust integral sliding mode control (ARISMC) based on the back-stepping method to realize constant tension control of hybrid active-passive heave compensator (HAHC) applied to heavy deep-sea towing systems. The proposed ARISMC is intended to overcome the effects of parametric uncertainties, uncertain nonlinearities, and external disturbances in the electro-hydraulic system of HAHC. The stability of the whole system is proved using common Lyapunov method. To verify the effectiveness of the proposed controller, we carried out a number of simulations and experiments using the measured heave motion data under different sea conditions. The results demonstrate that the ARISMC controller presented in this paper has better advantages than the traditional PI controller in the accuracy and robustness of tension compensation. INDEX TERMS Adaptive robustness, constant tension, heave compensation, heavy tow, integral sliding mode.

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The nonlinear finite element modeling and performance analysis of the passive heave compensation system for the deep-sea tethered ROVs

Cited by 36 publications

References 22 publications

Numerical simulation of a passive heave compensator for scientific research ships

Numerical simulation of a passive heave compensator for scientific research ships

Dynamic Modeling and Analysis of the Telescopic Sleeve Antiswing Device for Shipboard Cranes

Constant Tension Control of Hybrid Active-Passive Heave Compensator Based on Adaptive Integral Sliding Mode Method

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