Abstract
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™, STAR CCM+™ and WAMIT™ 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.
Highlights
Numerical modeling and simulation techniques are essential for many engineering applications
The six degrees of freedom (DoF) dynamics model of the remotely operated vehicle (ROV) [2,3,4,5] is harder to model than the streamlined autonomous underwater vehicle (AUV) [6,7,8,9,10,11,12,13,14,15] which exists an analytical solution for the hydrodynamics parameters
Potential flow code using WAMITTM was used to predict the added mass on the ROV model obtained from MULTISURFTM using the panel method to solve the potential flow around the vehicle
Summary
Numerical modeling and simulation techniques are essential for many engineering applications. The hydrodynamic parameters and the underwater response of the ROV are determined using a lab-based experimental approach This method is quite costly, time-consuming and subject to the availability of the test facilities and an adequate scale model. Besides using the lab-based approach, a recent approach which used a pulley system [17] attached near a water tank was designed to compute the hydrodynamics coefficients of a scale model. The hydrodynamic damping parameters are obtained using STAR-CCM?TM followed by a systematic approach of using CAD software MULTISURFTM to model and discretize the ROV for the Wave Analysis MIT (WAMITTM) [23] to determine the hydrodynamic added mass. The Coriolis and the centripetal matrix are used to describe the angular motion of the vehicle as follows
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