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Research output: Contribution to Journal/Magazine › Journal article › peer-review
Research output: Contribution to Journal/Magazine › Journal article › peer-review
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TY - JOUR
T1 - Evaluation of hydrodynamic coefficients and sensitivity analysis of a work-class remotely operated vehicle using planar motion mechanism tests
AU - Guo, Ruinan
AU - Zan, Yingfei
AU - Luo, Xiaofang
AU - Ma, Xiandong
AU - Xu, Tiaojian
AU - Han, Duanfeng
AU - Li, Dejun
AU - Bai, Xu
PY - 2024/11/15
Y1 - 2024/11/15
N2 - This paper presents a comprehensive analysis of the hydrodynamic forces and moments relating to the drag on an open-frame work-class remotely operated vehicle (ROV) AUTO-1000. We describe the results of planar motion mechanism experiments conducted with the aim of modeling and simplifying the mathematical maneuverability model for such an ROV. The scale of the model is 1:4. Various experiments are performed in a nonlinear wave channel. The flow speeds in the static drag tests range from ±0.2–±0.5 m/s and the angle in the drift tests is less than 10°. The motion frequencies of the dynamic tests range from 0.25 to 3.14 rad/s. The amplitude of the translation motions is 0.03 m and the largest angular amplitude in the rolling tests is 5°. The viscous and inertial hydrodynamic coefficients are estimated. Normalized sensitivity coefficients are used to investigate the sensitivity of both the viscous and inertial hydrodynamic coefficients considering the multi-degree-of-freedom motion and velocity effect. The drag, drift, and stationary random motions are used to examine the sensitivity. A comparison of the motion simulation results given by simplified and complete models shows that a threshold normalized sensitivity coefficient value of 0.01 is suitable for filtering the ROV coefficients.
AB - This paper presents a comprehensive analysis of the hydrodynamic forces and moments relating to the drag on an open-frame work-class remotely operated vehicle (ROV) AUTO-1000. We describe the results of planar motion mechanism experiments conducted with the aim of modeling and simplifying the mathematical maneuverability model for such an ROV. The scale of the model is 1:4. Various experiments are performed in a nonlinear wave channel. The flow speeds in the static drag tests range from ±0.2–±0.5 m/s and the angle in the drift tests is less than 10°. The motion frequencies of the dynamic tests range from 0.25 to 3.14 rad/s. The amplitude of the translation motions is 0.03 m and the largest angular amplitude in the rolling tests is 5°. The viscous and inertial hydrodynamic coefficients are estimated. Normalized sensitivity coefficients are used to investigate the sensitivity of both the viscous and inertial hydrodynamic coefficients considering the multi-degree-of-freedom motion and velocity effect. The drag, drift, and stationary random motions are used to examine the sensitivity. A comparison of the motion simulation results given by simplified and complete models shows that a threshold normalized sensitivity coefficient value of 0.01 is suitable for filtering the ROV coefficients.
KW - Planar motion mechanism
KW - Remotely operated vehicle
KW - Maneuverability
KW - Hydrodynamic coefficients
KW - Sensitivity analysis
KW - Normalized sensitivity coefficient
KW - Simplified mathematical model
U2 - 10.1016/j.oceaneng.2024.119037
DO - 10.1016/j.oceaneng.2024.119037
M3 - Journal article
VL - 312
JO - Ocean Engineering
JF - Ocean Engineering
SN - 0029-8018
M1 - 119037
ER -