A finite element cable model and its applications based on the cubic spline curve

Fang, Zifan; He, Qingsong; Xiang, Bingfei; Xiao, Huifang; He, Kongde; Du, Yi

doi:10.1007/s13344-013-0057-1

Cited by 11 publications

(5 citation statements)

References 9 publications

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“…Limitations regarding the operational domain and dimensions of the ROV system is therefore of concern. Fang et al (2013) furthermore presented a finite element cable model using the cubic spline curve as proposed by Buckham et al (2004). The cubic spline model was able to correctly simulate the steady state deflections when compared to experimental results obtained in Zhu et al (2002).…”

Section: Introductionmentioning

confidence: 87%

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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Section: Introductionmentioning

confidence: 87%

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

Eidsvik

Schjølberg

2018

Ocean Engineering

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“…Li et al 20 presented the singular boundary method to reduce discretization errors of the PDE, which was verified the effectiveness by several benchmark examples. Fang et al 21 presented a new finite element model that provided a representation of both the bending and tensional effects, and the cubic spline interpolation function was applied for the trial solution. In addition, Baleanu and colleagues 22,23 proposed an efficient numerical method based on the fractional calculus applying for a biomedical model.…”

Section: Introductionmentioning

confidence: 99%

Analysis of cable effect on dynamic motion of an underwater vehicle for welding of reaction pool

Tao

Sun

et al. 2019

Advances in Mechanical Engineering

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Remotely operated vehicle is a reliable tool in an emergency rescue and routing inspection of a reactor pool. In practice, a cable has been considered as an important part of a vehicle system (i.e. winch, vehicle, and cable) to evaluate and predict the mechanical characteristics, and this article presents a study on a dynamic mechanism modeling of a cable partially in water and air based on an omnidirectional motion, and a numerical simulation is employed. In this work, we programmed the model governed by a partial differential equation set, at the discrete time node which was transformed into an ordinary differential equation set regarded as an initial value problem. The dynamic mechanical characteristics of the lower endpoint (i.e. a connection point between vehicle and cable) and the upper endpoint (i.e. a connection point between cable and winch) were, respectively, quantified with acceleration and a compounded motion including a uniform and rolling motion. A dynamic-state mechanism test was carried out to verify an authenticity of the three-dimensional mechanical model and numerical solution in a circulating tank. The results demonstrated that the presented method was used to evaluate the dynamic mechanism, and held a potential to improve a vehicle design and control strategy.

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“…Rocha [3] trata da modelagem dinâmica de veículos subaquáticos não tripulados do tipo ROV, incluindo a dinâmica do cabo umbilical. Fang [4] estuda os efeitos de torção e flexão T.A.Pouzada; S.C.P.Gomes, Scientia Plena 11, 081332 (2015) 2 em cabos de reboque, utilizando o Método dos Elementos Finitos. Bamdad [5] propõe uma solução analítica para a vibração em cabos que suspendem grandes estruturas.…”

Section: Introductionunclassified

Modelagem dinâmica de cabos para aplicações subaquáticas

Pouzada

Gomes

2015

Scientia Plena

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A modelagem dinâmica de cabos constitui tema de pesquisa de grande importância e aplicação prática na atualidade. No entanto, devido às não linearidades presentes na dinâmica de cabos, bem como à necessidade de se trabalhar com muitos graus de liberdade, desenvolver modelos dinâmicos para estes sistemas torna-se tarefa difícil. Para desenvolver modelos dinâmicos de cabos, o presente artigo utiliza o Método do Formalismo Discreto (Lumped Mass Approach), que supõe o cabo dividido em elos rígidos conectados por articulações elásticas fictícias. Os cabos foram considerados com uma das extremidades articulada a uma estrutura flutuante (navio ou plataforma), enquanto que em sua outra extremidade consideraram-se dois casos: uma carga terminal livre; extremidade fixa a Terra. Os cabos estão submersos e o arrasto hidrodinâmico foi considerado a partir de um modelo simples, proporcional ao quadrado da velocidade. Utilizando-se o formalismo de Euler-Lagrange, foram desenvolvidos os modelos dinâmicos para cabos considerando-se dois, três e quatro elos. Uma vez obtidos estes modelos, foram realizadas simulações, as quais mostraram resultados qualitativamente de acordo com o esperado fisicamente.Palavras-chave: cabos, modelagem, dinâmica.Abstract: Dynamic modeling of cables is a research theme of great importance and practical application nowadays. However, due to non-linearity behavior present on cable dynamics, as well as the need to work with many degrees of freedom, to develop dynamic models for these systems becomes a hard task. To develop dynamic models of cables, this article uses the Lumped Mass Approach Method, which supposes the cable divided in rigid links connected by fictitious elastic joints. The cables were considered with one of its endings articulated to a floating structure (ship or platform), while on the other ending were considered two cases: one free terminal loading; ending fixed to the ground. The cables are submersed and the hydrodynamic drag was considered from a simple model, proportional to the velocity's square. Using the Euler-Lagrange Formalism, the dynamic models for cables considering two, three and four links were developed. Once these models were obtained, simulations were performed, proving the results agreeing qualitatively with the physical expected.Keywords: cables, modeling, dynamic. INTRODUÇÃOA importância da modelagem de cabos em geral está diretamente associada a um setor em crescente desenvolvimento, correlato ao ramo das indústrias petrolífera e naval. Cabos umbilicais utilizados em ROVs (Remotely Operated Vehicles), risers, ou ainda, cabos de reboque, amarração ou ancoragem para estruturas flutuantes requerem atenção especial das empresas envolvidas nestes setores. A modelagem analítica fiel desses cabos, inserindo-os no meio oceânico e aproximando-os de situações reais, torna-se atraente nesse sentido.A maior parte dos artigos científicos encontrados sobre a modelagem de cabos utiliza a técnica de elementos finitos e o interesse final geralmente reside na determinação dos esforço...

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A finite element cable model and its applications based on the cubic spline curve

Cited by 11 publications

References 9 publications

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

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

Analysis of cable effect on dynamic motion of an underwater vehicle for welding of reaction pool

Modelagem dinâmica de cabos para aplicações subaquáticas

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