Research on the performance of passive heave compensator for tethered remotely operated vehicle system |
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Authors: | Kai-ta Wu Bao-heng Yao Bin Fu Ping Ren Lian Lian |
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Institution: | [1]State Key Laboratory of Ocean Engineering,Shanghai Jiaotong University,Shanghai 200240,China [2]Underwater Technology Institute,Shanghai Jiaotong University,Shanghai 200231,China |
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Abstract: | A passive heave compensator is designed to enhance the operation safety of a 4.5 km remotely operated vehicle (ROV). This
paper proposes a novel idea of designing a compensator with relatively low natural period to optimize gas volume and while
adding a special device to remove the problem of ineffectiveness and resonance in long seas. Numerical simulations are done
based on serious dynamic model of the whole system, including the compensator, the umbilical tether and the vehicle, solved
by the fourth-order Runge-Kutta scheme. The compensator provides great attenuation of motion and tension in most sea states.
As the working depth increases, the system natural period decreases, resulting in the occurrence of risk of resonance. By
regulating the system damping, the compensator can be effective in these situations. |
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Keywords: | |
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