Hydrodynamic modelling for the remotely operated vehicle Visor3 using CFD

Ramírez-Macías, Juan A.; Brongers, Persijn; Rúa, Santiago; Vásquez, Rafael E.

doi:10.1016/j.ifacol.2016.10.341

Cited by 17 publications

(8 citation statements)

References 16 publications

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“…An additional term, u bj , is introduced in the convective term to accommodate the movement of meshes when flow subjecting to the motion of the body. If the nodal velocity is following the fluid velocity, i.e., u bj = u Tj , Equation 14is transformed to the corresponding Lagrangian form ; whereas if a static body is involved with fixed mesh, i.e., u b = 0 , Equation (14) convert to a Eulerian form which is same as Equation (11).…”

Section: Hydrodynamic Modelmentioning

confidence: 99%

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Numerical Modelling and Experimental Testing of the Hydrodynamic Characteristics for an Open-Frame Remotely Operated Vehicle

Cao

et al. 2020

JMSE

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The remotely operated vehicles (ROVs) are important to provide the technology support for both the traditional offshore structures and rapidly-growing renewable energy facilities during their full-lifecycles, such as site survey, installation, inspection, maintenance and repair. Regarding the motion and performance of a ROV, the understanding of its hydrodynamic properties is essential when exposing to the disturbances of wave and current. In this study, a numerical model is proposed within the frame of an open-source platform OpenFOAM. The hydrodynamics of the adopted ROV (BlueRov2) in its four principal degrees of freedoms (DOFs) is numerically simulated by a Reynolds-Averaged Navier-Stokes (RANS) solver. Meanwhile, an experimental test is carried out by using a novel technique on measuring the hydrodynamic forces and moments. To validate the numerical prediction methodologies, a set of systematic simulations of the ROV subjected to the disturbances caused by various flow conditions are performed. Comparing to the model test measurement, the numerical model proved to be reliable in offering a good estimation of the hydrodynamic parameters. This also indicates that the presented numerical methodologies and experimental techniques can be applied to other types of open-frame ROVs in quantifying the hydrodynamic parameters, capturing the physics of the fluid-structure interaction (FSI) and feature of the turbulent vorticity which are all essential for the effective control of the ROVs under the nonlinear flow disturbances.

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Section: Hydrodynamic Modelmentioning

confidence: 99%

“…With the significant growth of the computer hardware capability in the recent decades, the applications of Computational-Fluid Dynamics (CFD) in the hydrodynamics study tend to become prevailing [14][15][16][17]. Skorpa [18] studied the drag, lift and moment history for the Merlin WR200 ROV model with different turbulent models in FLUENT.…”

Section: Introductionmentioning

confidence: 99%

Numerical Modelling and Experimental Testing of the Hydrodynamic Characteristics for an Open-Frame Remotely Operated Vehicle

Cao

et al. 2020

JMSE

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“…Telah ditentukan dalam spesifikasi produk yang merupakan kebutuhan pengguna, bahwa ROV berkerja dalam model 3 DOF. Sehingga, untuk mempermudah dalam solusi teori manuverbilitas, model rangka koordinat (coordinate frame) dari desain ROV terbentuk sesuai dengan tinjauan literatur [9] dimodelkan dalam Gambar 1 dengan referensi Gambar 2.…”

Section: Metode Penelitianunclassified

“…Dalam penelitian yang dilakukan oleh Ramirez-Maciaz [9], analisa manuver dari kendaraan bawah laut dalam ruang tiga dimensi, rangka 3 koordinat perlu mendefinisikan: momen tetap terhadap poros bumi, yang dimana tetap terhadap titik pusat badan kendaraan dan bergerak bersamanya, dan rangka sejajar dengan arah datang aliran. Posisi dan orientasi dari kendaraan dideskripsikan relatif terhadap rangka tetap terhadap bumi (earth-fixed frame).…”

Section: Gambar 1 Model Koordinat Rovunclassified

Analisa Parameter Hidrodinamika Remotely Operated Vehicle (ROV) Kelas Obervasi

Satria

Wiryadinata

Caturwati

et al. 2019

Rot.

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Remotely Operated Vehicle (ROV) teknologi observasi bawah laut di perairan selat Sunda yang telah dikembangkan memiliki keterbatasan dari segi manuver, yaitu hanya dapat bergerak vertical dengan kedalaman yang terbatas. Penelitian ini bertujuan untuk mendapatkan parameter hidrodinamika yang terbaik, yaitu matriks inersia, matrik coriolis, dan redaman hidrodinamika. Metode penelitian yang digunakan adalah metode fixed mesh, dimana diasumsikan fluida bergerak pada kecepatan dimana ROV bergerak dan model ROV diam (statik). Representasi gerak ROV dengan mengubah kemiringan ROV terhadap arah aliran fluida. Hasil dari penelitian adalah parameter hidrodinamika, yaitu (matriks inersia benda tega ROV), (Matriks koefisien untuk benda tega Coriolis), (inersia hidrodinamika), (matriks koefisien untuk hidrodinamika dengan Coriolis dan nilai sentripetal) memberikan koefisien inersia badan ROV kerangka rotasi terhadap titik pusat bumi. Sedangkan parameter hidrodinamika yaitu redaman hidrodiniamika menggambarkan gaya redaman hidrodinamika dan momen berkerja terhadap gerak relatif antara badan kendaraan dengan fluida

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“…Parametric identification through towing tank tests are prohibitively expensive and preliminary analysis of any given design is often carried out using Computational-Fluid-Dynamics (CFD). CFD analysis can also be used post design using Virtual Captive Test (VCT) as was presented in Ramírez-Macías et al (2016). System identification through usage of CFD, however, is not always reliable and experimental data is highly valued when available.…”

Section: Introductionmentioning

confidence: 99%

Constrained multi-body dynamics for modular underwater robots — Theory and experiments

et al. 2018

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Hydrodynamic modelling for the remotely operated vehicle Visor3 using CFD

Cited by 17 publications

References 16 publications

Numerical Modelling and Experimental Testing of the Hydrodynamic Characteristics for an Open-Frame Remotely Operated Vehicle

Numerical Modelling and Experimental Testing of the Hydrodynamic Characteristics for an Open-Frame Remotely Operated Vehicle

Analisa Parameter Hidrodinamika Remotely Operated Vehicle (ROV) Kelas Obervasi

Constrained multi-body dynamics for modular underwater robots — Theory and experiments

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