Abstract
Optimal design and autonomous control of the Remotely Operated Vehicle (ROV) system involves precise modelling of the variable-length cable attached considering the elastic effect and predicting the transient motion of the system when it moves through the long underwater tunnels. This paper presents a novel flexible cable model for the ROV system with application in the underwater tunnel detection considering mass flow from the winch. The thin or slender cable is based on the Absolute Nodal Coordinate Formulation (ANCF) element in the framework of Arbitrary Lagrange-Euler (ALE). The presented multibody dynamic model for this problem consists of the flexible cable, the ROV, the winch, and the interaction of the cable with the fluid and the tunnels. Hertz contact model is utilized to model the normal contact interaction between the cable and the underwater tunnel and the velocity-based friction model is applied to model the tangential friction interaction. The accuracy and validity of the model and solution are verified by a 30-m cable case, which can be solved as a rigid body analytically. Numerical simulation reveals that the velocity responses near the ROV and winch has a noteworthy time lag effect when the cable attached goes over a certain length and thus, the elastic effect should be considered for the ROV system when it works in the underwater tunnels.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Mikami M, Yamamoto T, Sugawara Y, Takeda M (2020) Motion control of mechanical systems with a cable contacting the ground. In: Findeisen R, Hirche S, Janschek K, Mönnigmann M (eds) IFAC world congress 2020, vol 53(2). ScienceDirect, Berlin, pp 9045–9052
Feng Z, Allen R (2004) Evaluation of the effects of the communication cable on the dynamics of an underwater flight vehicle. Ocean Eng 31(8):1019–1035
Zhao C, Thies P, Lars J, Cowles J (2021) ROV launch and recovery from an unmanned autonomous surface vessel-Hydrodynamic modelling and system integration. Ocean Eng 232(15):109019
Eidsvik OAN, Schjolberg I (2018) Finite element cable-model for remotely operated vehicles (ROVs) by application of beam theory. Ocean Eng 163(1):322–336
Quan WC, Zhang ZY, Zhang AQ, Zhang QF, Tian Y (2015) A geometrically exact formulation for three-dimensional numerical simulation of the umbilical cable in a deep-sea ROV system. China Ocean Eng 29:223–240
Htun TZ, Suzuki H, GarcÃa-Vallejo D (2022) On the theory and application of absolute coordinates-based multibody modelling of the rigid–flexible coupled dynamics of a deep-sea ROV-TMS (tether management system) integrated model. Ocean Eng 258(15):111748
Yang C, Zaibin C, Wei J, Shiquan J, Gexue R (2015) A Multibody dynamic model of drill string for torque and drag analysis. J Offshore Mech Arct Eng 137(3):031403
Liu J-P, Cheng Z-B, Ren G-X (2018) An Arbitrary Lagrangian-Eulerian formulation of a geometrically exact Timoshenko beam running through a tube. Acta Mech 229:3161–3188
BulÃn RHM, Polach P (2018) Investigation of falling control rods in deformed guiding tubes in nuclear reactors using multibody approaches. In: Proceedings of the 5th joint international conference on multibody system dynamics, Lisboa
BulÃn R, Dyk Å , Hajžman M (2021) Nonlinear dynamics of flexible slender structures moving in a limited space with application in nuclear reactors. Nonlinear Dyn 104:3561–3579
Yang CJ, Hong DF, Ren GX, Zhao ZH (2013) Cable installation simulation by using a multibody dynamic model. Multibody SysDyn 30:433–447
Yang J, Wang Q, Zhang Z, Liu Z, Xu S, Li G (2022) Dynamic modeling and analysis of the looped space tether transportation system based on ANCF. Int J Mech Syst Dyn 2(2):204–213
Shabana AA (1996) An absolute nodal coordinate formulation for the large rotation and deformation analysis of flexible bodies. Technical Report
Hong D, Tang J, Ren G (2011) Dynamic modeling of mass-flowing linear medium with large amplitude displacement and rotation. J Fluids Struct 27(8):1137–1148
Sun J, Tian Q, Hu H, Pedersen NL (2019) Axially variable-length solid element of absolute nodal coordinate formulation. Acta Mech Sin 35:653–663
Shabana AA (2013) Dynamics of multibody systems, 4th edn. Cambridge University Press, London
Lankarani HM, Nikravesh PE (1994) Continuous contact force models for impact analysis in multibody systems. Nonlinear Dyn 5:193–207
Zhang J, Li W, Zhao L, He G (2020) A continuous contact force model for impact analysis in multibody dynamics. Mech Mach Theory 153:103946
Suzuki H, Yamazoe A, Htun TZ (2020) Numerical modeling of cable-winch system for ROV launching and recovering processes based on the finite element approach. In: Proceedings of the 30th international ocean and polar engineering conference 2020, Isope, Shanghai
Suzuki H, Tomobe H, Kuwano A, Htun TZ, Inoue T (2018) Numerical motion analysis of ROV applying ANCF to tether cable considering its mechanical property. In: Proceedings of the 28th international ocean and polar engineering conference 2018. Isope, Sapporo
Takehara S, Terumichi Y, Sogabe K (2011) Motion of a submerged tether subject to large deformations and displacements. J Syst Des Dyn 5(2):296–305
Rui X, Zhang J, Wang X, Rong B, He B, ** Z (2022) Multibody system transfer matrix method: the past, the present, and the future. Int J Mech Syst Dyn 2(1):3–26
Lu H, Rui X, Ma Z, Ding Y, Chen Y, Chang Y, Zhang X (2022) Hybrid multibody system method for the dynamic analysis of an ultra-precision fly-cutting machine tool. Int J Mech Syst Dyn 2(3):290–307
Rui X, Bestle D (2021) Reduced multibody system transfer matrix method using decoupled hinge equations. Int J Mech Syst Dyn 1(2):182–193
Acknowledgements
This work was supported in part by the State Key Laboratory of Ocean Engineering (Shanghai Jiao Tong University) (Grant No. GKZD010087), the China post-doctoral science foundation (Grant No. 2022M712037).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2024 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Wang, J., Yang, Q., Huang, B., Chen, X. (2024). Elastic Effect of Variable-Length Flexible Cables Axially Moving in Underwater Tunnel. In: Rui, X., Liu, C. (eds) Proceedings of the 2nd International Conference on Mechanical System Dynamics. ICMSD 2023. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-99-8048-2_10
Download citation
DOI: https://doi.org/10.1007/978-981-99-8048-2_10
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-8047-5
Online ISBN: 978-981-99-8048-2
eBook Packages: EngineeringEngineering (R0)