Hydrodynamic loads on a restrained ROV under waves and current
Hydrodynamic loads on a restrained ROV under waves and current
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DOI：
10.1016/j.oceaneng.2021.109279
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发表时间：
2021-06-10
影响因子：
5
通讯作者：
Ingram, David M.
中科院分区：
文献类型：
--
作者：
Gabl, Roman;Davey, Thomas;Ingram, David M.
遥控（水下）潜水器有广泛的海上应用，包括维修和保养。水动力载荷的定量化对于ROV的设计和控制非常重要。使用具有八个系绳的新颖方法来将市售的水下机器人，即BlueROV 2（Blue Robotics，Torrance，USA），约束在FloWave波浪和电流测试槽的中间深度中。该实验装置允许在不引入显著干扰的情况下测量围绕涡轮机的真实流下的力。本文介绍了分析的称重传感器的数据，作为力和力矩的关系，观察到的运动和旋转的机器人。除了主动推进情况外，还测试了四个方向的流速变化（高达1 m/s）以及不同的规则波。圆柱形障碍物的三个不同距离提供了从在一个结构前面的流动遮蔽的效果的量化。研究结果也可为进一步拓展ROV的应用范围和基于数值模拟的障碍物影响研究提供验证性实验。
Remotely Operated (underwater) Vehicles (ROV) have a wide range of maritime applications, including repair and maintenance. Quantifying hydrodynamic loads is important for the design and control of these ROVs. A novel approach with eight tethers was used to restrain a commercially available ROV, namely the BlueROV2 (Blue Robotics, Torrance, USA), in the mid depth of the FloWave wave and current test tank. This experimental set-up allowed the measurement of the forces under realistic flow around the ROV without introducing significant interference. The paper presents the analysis of the load cell data as forces and moments in relation to the observed motion and rotation of the ROV. In addition to active propelled cases, a variation of current speed (up to 1 m/s) coming out of the four directions as well as different regular waves were tested. Three different distances of a cylindrical obstacle provided a quantification of the effect of flow shadowing from a structure in front of the ROV. The results can also be used as a validation experiment to expand the application of ROVs and the influence of obstacles based on numerical simulations.