Dynamics Modeling and Motion Simulation of USV/UUV with Linked Underwater Cable

Abstract

This paper describes a study on the dynamic modeling and the motion simulation of an unmanned ocean platform to overcome the limitations of existing unmanned ocean platforms for ocean exploration. The proposed unmanned ocean vehicle combines an unmanned surface vehicle and unmanned underwater vehicle with an underwater cable. This platform is connected by underwater cable, and the forces generated in each platform can influence each other’s dynamic motion. Therefore, before developing and operating an unmanned ocean platform, it is necessary to derive a dynamic equation and analyze dynamic behavior using it. In this paper, Newton’s second law and lumped-mass method are used to derive the equations of motion of unmanned surface vehicle, unmanned underwater vehicle, and underwater cable. As the underwater cable among the components of the unmanned ocean platform is expected to affect the motion of unmanned surface vehicle and unmanned underwater vehicle, the similarity of modeling is described by comparing with the cable modeling results and the experimental data. Finally, we constructed a dynamic simulator using Matlab and Simulink, and analyzed the dynamic behavior of the unmanned ocean platform through open-loop simulation.

Development and Field Test of Unmanned Marine Vehicle (USV/UUV) With cable

“…The UUV tracks the USV while exploring the ocean, and serves to deliver the acquired information in real time. Before platform development, we studied the effect of reducing the underwater cables' impact through a multibody dynamics simulation of the UMV [15]. Our results revealed that the USV and UUV moving with a similar speed in order to maintain a fixed relative formation is effective.…”

“…Therefore, the input of the thruster was determined using the difference of the control input for each control target. The control input of the USV can be expressed as equations (14) and (15).…”

Self-management of the umbilical of a ROV for underwater exploration

“…These methods are perfect to simulate a large number of segments in real-time and are memory efficient when an accurate physical model is not necessary. When an accurate knowledge of the cable dynamic is required, the Lumped-mass-spring method [4,12,13] and the segmental method [8,9,2] are mostly used. The first method models the umbilical as mass points joined together by massless elastic elements, the second describes the cable as a continuous system and numerically solves the resulting partial differential equations.…”

Self-Management of ROV Umbilical Using Sliding Buoys and Stop

“…Geometrical models are perfect to simulate a large number of segments in real-time and are memory efficient when an accurate physical model is not necessary. When an accurate knowledge of the cable dynamic is required, Lumped-massspring method [4], [12], [13] and segmental methods [8], [9], [2] are the most used. The first method models the umbilical as mass points joined together by massless elastic elements, the second describes the cable as a continuous system and numerically solves resulting partial differential equations.…”