A study on hovering motion of the underwater vehicle with umbilical cable

Choi, Hyeung-Sik; Kang, Jin-Il; Ji, Dae-Hyeong; Jeong, Sang-Ki

doi:10.1016/j.oceaneng.2017.02.035

Cited by 57 publications

(11 citation statements)

References 4 publications

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“…Due to the complexity of the physical sea conditions and the omission of some higherorder terms in the modeling process, it is difficult to ensure the accuracy of the parameters. Meanwhile, related studies [39,40] have also shown that the umbilical cable effect also affects the ROV kinetic model to a larger extent. As these factors are difficult to be listed by specific modeling, there are unknown kinetic terms in the kinetic equations that include the above-mentioned influencing factors.…”

Section: Hydrodynamic Modelmentioning

confidence: 99%

Double-Loop Sliding Mode Controller with An Ocean Current Observer for the Trajectory Tracking of ROV

Wang

Sun³

et al. 2021

JMSE

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To solve the trajectory tracking problem of insufficient response and the large tracking error of remotely operated vehicles (ROVs) under the interference of large ocean currents, this paper proposes a double-loop sliding mode controller with an ocean current observer. The designed controller consisted of an outer-loop controller (the position controller) and an inner-loop controller (the velocity controller): the outer controller was designed by the position error, and a reference velocity was created for the inner loop to achieve accurate positioning and attitude tracking. The reference control input was treated as a new target to design the inner-loop controller, enabling the ROV to achieve accurate reference velocity tracking. Based on the theoretical idea of active disturbance rejection control, a kinematic equation-based ocean current observer was designed to estimate and compensate for large unknown currents to ensure accurate trajectory tracking performance under large currents. The simulation results proved that the double-loop sliding-mode control scheme with an ocean current observer always showed good tracking performance, demonstrating the excellent control performance and high robustness of the scheme. Compared with the high-complexity control schemes such as neural network-based PID control or fuzzy sliding mode control, it effectively improves the robustness to ocean current disturbances without increasing the computational effort excessively, and is more practical in ROV systems with limited computational power.

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Section: Hydrodynamic Modelmentioning

confidence: 99%

Double-Loop Sliding Mode Controller with An Ocean Current Observer for the Trajectory Tracking of ROV

Wang

Sun³

et al. 2021

JMSE

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“…This modelling method is proposed in [3] and consists of solving the Cummins [25] equation of motion (7) coupled with the catenary mooring force F m (t) in all degrees of freedom. The convolution term for the radiation damping has been solved through direct numerical integration.…”

Section: Quasistatic Mooring Time Domainmentioning

confidence: 99%

“…In addition to the accuracy of different approaches, it has been found [6] that inaccuracies in structure motions are directly translated into differences on mooring line tensions. However, the QSTD approach has been successfully applied to estimate the umbilical cable influence on underwater vehicles [7,8], accounting for current forces on the umbilical. Other studies [9] have analysed the influence of considering hydrodynamic loads, closely related with the drag forces, on lines with the DynTD approach, resulting in an increase on line tensions.…”

Section: Introductionmentioning

confidence: 99%

A Comparison of Numerical Approaches for the Design of Mooring Systems for Wave Energy Converters

Touzón

Nava

Miguel

et al. 2020

JMSE

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This paper analyses the numerical outcome of applying three different well-known mooring design approaches to a floating wave energy converter, moored by means of four catenary lines. The approaches include: a linearized frequency domain based on a quasistatic model of the mooring lines, a time domain approach coupled with an analytic catenary model of the mooring system, and a fully coupled non-linear time domain approach, considering lines’ drag and inertia forces. Simulations have been carried out based on a set of realistic combinations of lines pretension and linear mass, subject to extreme environmental conditions. Obtained results provide realistic cost and performance indicators, presenting a comparison in terms of total mooring mass and required footprint, as well as the design line tension and structure offset. It has been found that lines’ viscous forces influence significantly the performance of the structure with high pretensions, i.e. >1.2, while there is acceptable agreement between the modelling approaches with lower pretensions. Line tensions are significantly influenced by drag and inertia forces because of the occurrence of snap loads due to the heaving of the floater. However, the frequency domain approach provides an insight towards the optimal design of the mooring system for preliminary designs.

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“…Similarly, simulation and prediction of motion control and station-keeping of both surface and underwater vessels has received significant attention during the same period. For example, motion analysis of coupled unmanned surface vehicles and underwater vehicles [7], modelling the motion behaviour of underwater vehicles while connected with umbilical [8], performance and stability simulation of hovering over-actuated autonomous underwater vehicle (HAUV) robust station-keeping (SK) control algorithm under model uncertainties and ocean current disturbance in the horizontal plane [9].…”

Section: Introductionmentioning

confidence: 99%

ANN-Based Decision Making in Station Keeping for Geotechnical Drilling Vessel

Ramasamy

Hannan

Ahmed

et al. 2021

JMSE

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Offshore vessels (OVs) often require precise station-keeping and some vessels, for example, vessels involved in geotechnical drilling, generally use Spread Mooring (SM) or Dynamic Positioning (DP) systems. Most of these vessels are equipped with both systems to cover all ranges of water depths. However, determining which system to use for a particular operational scenario depends on many factors and requires significant balancing in terms of cost-benefit. Therefore, this research aims to develop a platform that will determine the cost factors for both the SM and DP station-keeping systems. Operational information and cost data are collected for several field operations, and Artificial Neural Networks (ANN) are trained using those data samples. After that, the trained ANN is used to predict the components of cost for any given environmental situation, fieldwork duration and water depth. Later, the total cost is investigated against water depth for both DP and SM systems to determine the most cost-effective option. The results are validated using two operational scenarios for a specific geotechnical vessel. This decision-making algorithm can be further developed by adding up more operational data for various vessels and can be applied in the development of sustainable decision-making business models for OVs operators.

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A study on hovering motion of the underwater vehicle with umbilical cable

Cited by 57 publications

References 4 publications

Double-Loop Sliding Mode Controller with An Ocean Current Observer for the Trajectory Tracking of ROV

Double-Loop Sliding Mode Controller with An Ocean Current Observer for the Trajectory Tracking of ROV

A Comparison of Numerical Approaches for the Design of Mooring Systems for Wave Energy Converters

ANN-Based Decision Making in Station Keeping for Geotechnical Drilling Vessel

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