NDLI: Dynamics simulation of low tension tethers

Content Provider	IEEE Xplore Digital Library
Author	Buckham, B. Nahon, M.
Copyright Year	1999
Description	Author affiliation: Dept. of Mech. Eng., Victoria Univ., BC, Canada (Buckham, B.)
Abstract	This paper presents the development of a mathematical model and computer simulation of an ROV tether operating in low-tension situations. This model makes use of a lumped mass approach in which the ROV tether is considered to be a system of point masses connected by visco-elastic springs. Using this approach, the formulation of the equations of motion for each of the point masses is explicit. The positions and velocities of the point masses at time t are used to calculate the internal and hydrodynamic forces which are, in turn, used to solve for the accelerations. Direct numerical integration is then used to calculate the positions and velocities at a time t+/spl Delta/t. Although this formulation is stable when the tension in the tether disappears, it is necessary to include bending effects in order to generate realistic results for low-tension maneuvers. The present work accomplishes this by first assuming that all sections of the tether have negligible rotational inertia. As a result, the curvature in the tether at any point can be related to the internal bending forces. This relation is then discretized using the Galerkin method of weighted residuals, to allow calculation of the bending forces at the node points. The mathematical model was implemented in C/C++ and was used to model several tether maneuvers. In a static validation test case in which a constant bending moment was applied at the ends of the discretized tether, the model agreed within 4% with the exact analytical solution. To facilitate a qualitative review of the bending model, the modeled tether was harmonically oscillated at one end. This generated slack, coiled sections of tether which showed a strong tendency to uncoil and straighten the tether.
Starting Page	757
Ending Page	766
File Size	764490
Page Count	10
File Format	PDF
ISBN	0780356284
DOI	10.1109/OCEANS.1999.804904
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-09-13
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Marine Technology Soc.
Subject Keyword	Mathematical model Remotely operated vehicles Computational modeling Computer simulation Springs Equations Hydrodynamics Acceleration Moment methods Testing
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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