For the ROV (Remotely Operated Vehicle) with an umbilical cable, it becomes difficult to guide it to a target as the depth increases. Especially the vehicle for the working in d the deep sea under current disturbance, the control to reach the target is the most important and difficult problem, because the tension of the umbilical cable, which connects then vehicle to the mother ship, becomes extreme large by current force. The author proposes the algorithm for automatic control and guidance to reach the target in the sea under restriction of actuators maximum force. The application was succesfully conducted to ROV with umbilical cable as a basic control algorithm. Details of the algorithm of controller are described. The simulator which calculate the motion of a vehicle was made for the verification of the control algorithm and includes the model of the vehicle motion whose hydrodynamic performance is obtained by tank tests, the characteristic of cable, the current disturbance and the control algorithm. As for the vehicle model the equations of motion for the six degrees of freedom are derived vom Langrange's equations. The characteristic of the cable is approximated by the lamped mass model. The equations of modells are solved by the new mark's beta-method. The dynamic prediction curve estimated by the typical current is shown in a picture.The vehicle was guided o the target by using the control algorithm. Time needed to reach the target is shorter than conventional control methods of ROV and the precision of control to reach the target can be extremely improved by algorithm. A new ROV for observation and work in the sea applicable by the control and guiance method is developed.
Automatic control and guidance method of ROV with umbilical cable
Automatische Steuerungs- und Leitmethode für ferngesteuerte Unterwasserfahrzeuge mit Multifunktionskabel (Umbilical)
2007
6 Seiten, 6 Bilder, 1 Tabelle, 2 Quellen
(nicht paginiert)
Aufsatz (Konferenz)
Datenträger
Englisch
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