Experimental validation of open-frame ROV model for virtual reality simulation and control

被引：22
作者：
Chin, C. S. [1 ]
Lin, W. P. [1 ]
Lin, J. Y. [1 ]
机构：
[1] Newcastle Univ, Sch Marine Sci & Technol, Newcastle Upon Tyne NE1 7RU, Tyne & Wear, England
来源：
JOURNAL OF MARINE SCIENCE AND TECHNOLOGY | 2018年 / 23卷 / 02期
关键词：
Modeling; Simulation; Remotely operated vehicle; Virtual reality; AUTONOMOUS UNDERWATER VEHICLE; HYDRODYNAMIC COEFFICIENTS; ADDED-MASS; IDENTIFICATION; SENSITIVITY; DYNAMICS; HULL;
D O I：
10.1007/s00773-017-0469-3
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
The hydrodynamic damping and added mass of a remotely operated vehicle (ROV) are difficult to model. This paper provided an intuitive modeling and simulation approach to obtain the hydrodynamic damping and added mass coefficients of an open-frame ROV using computational fluid dynamic (CFD) approach in the preliminary design stage where extensive hydrodynamic test facilities are not available. The software MATLAB (TM), STAR CCM+(TM) and WAMIT (TM) are employed to compute the hydrodynamic damping coefficients and added mass coefficients of the ROV for control system design and virtual reality. Experimental validation for the heave and yaw responses in a water tank shows a close relation and insight to the simulation results for subsequent control system design.
引用
收藏
页码：267 / 287
页数：21
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