Modelling and Validation of a Remotely Operated Towed Vehicle and computational cost analysis of Umbilical Cable

被引：2

作者：

Fabricius, Mika ^{[1
]}

Tarp, Daniel Oland ^{[1
]}

Kristensen, Rasmus Wibe ^{[1
]}

Andersen, Jan Mose ^{[1
]}

Liniger, Jesper ^{[1
]}

Pedersen, Simon ^{[1
]}

机构：

[1] Aalborg Univ, Dept Energy Technol, Niels Bohrs Vej 8, DK-6700 Esbjerg, Denmark

来源：

IFAC PAPERSONLINE | 2023年 / 56卷 / 03期

关键词：

Autonomous underwater vehicles; Marine system identification and modelling; Lumped-mass-spring; Umbilical Cable; ROTV;

D O I：

10.1016/j.ifacol.2023.12.059

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with modelling of a remotely operated towed vehicle (ROTV) and attached umbilical cable, as a means of exploration and research in the ocean. Fossen's approach is used for modelling the ROTV using XFLR5 for airfoil analysis. The lumped mass-spring approach with fourth-order Runge-Kutta solver is used as umbilical cable model. It is shown that the mean square error exponentially increases when the segment length exceeds 4 meters, and the computation time is linearly increasing with the number of nodes. The results show that the umbilical cable model combined with the ROTV model can reproduce the output of the real data when taking modelling uncertainties into consideration.

引用

页码：415 / 420

页数：6

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