Research on hydrodynamics model test for deepsea open-framed remotely operated vehicle |
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| Authors: | Shi-bo Fan Lian Lian Ping Ren |
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| Institution: | b , a State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China bChinese Underwater Technology Institute,Shanghai Jiao Tong University,Shanghai 200231,China |
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| Abstract: | This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle(ROV),which is being researched and developed by Shanghai Jiao Tong University.Accurate hydrodynamics coefficients measurement and spatial modeling of ROV are significant for the maneuverability and control algorithm.The scaled model of ROV was constructed by 1:1.6.Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test.And dynamics model was derived as a set of equations, describing nonlinear and coupled 5-DOF spatial motions.Rotation control motion was simulated to verify spatial model proposed.Research and application of hydrodynamics coefficients are expected to enable ROV to overcome uncertainty and disturbances of deepsea environment,and accomplish some more challengeable and practical missions. |
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| Keywords: | Remotely Operated Vehicle(ROV) model test hydrodynamics coefficients motion modeling |
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