A Multi-Body Space-Coupled Motion Simulation for a Deep-Sea Tethered Remotely Operated Vehicle

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

“…It has been proven in literature that lumped mass approximation is consistent with the dynamics of an actual highly flexible cable (Huang, 1994), and a lumped mass approach has accuracy equivalent to that of more complex methods (Kamman and Huston, 1999). Zhu et al (2008) also showed that the lumped mass parameter model is an effective tool to simulate nonlinear coupled movement of a multi-body systems such as ROV cages. For the lumped mass matrix to be nonsingular, rotary inertia must be included and this is done by including the term m e αl 2 .…”

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

“…Fang et al (2007) investigated the motions of an observationclass ROV with the umbilical cable effect, and the two-end boundary value problem on the umbilical cable was suggested to be solved by a multi-step shooting method. Zhu et al (2008), Zhu et al (2009) presented a cable model for ROV built by using lumped mass method and dynamic response for the whole system was simulated. Moreover, Huo et al (2011) proposed a dynamic equation system for underwater cable based on Euler-Bernoulli beam theory by using finite difference method.…”

Automatic generation of dynamic models of cables

“…A static analysis of two-dimensional cables is also made in Dreyer and Van Vuuren (1999), using numerical solution of both continuous and discrete models. Discrete approach was used specially in static analysis: Raman-Nair and Williams (2005) have used a discrete model to reproduce structural forces acting into a flexible marine riser under effects of flow and pressure of fluid within the riser; Zhu et al (2008) proposed a discrete model to determine the forces that an umbilical cable exerts on a ROV (Remotely Operated Vehicle).…”