A New Numerical Scheme with B-Spine Wavelet on the Interval for Transverse Vibration Problem of the Tethered Deep-Sea Robot
A New Numerical Scheme with B-Spine Wavelet on the Interval for Transverse Vibration Problem of the Tethered Deep-Sea Robot
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DOI：
10.3390/jmse10030317
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发表时间：
2022-02
影响因子：
2.9
通讯作者：
Naige Wang;Xiaoqin Xiang
中科院分区：
文献类型：
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作者：
Naige Wang;Xiaoqin Xiang
本文主要研究变长系绳深海机器人系统的精确建模问题。由于柔性脐带受到水面舰船运动、海流和海况等因素的影响，其瞬时响应会降低深海机器人的稳定性。因此，弹性脐带电缆的动力学建模是一个至关重要的问题。本文从理论上将系泊深海机器人系统的横向振动建模为一维分布参数系统，即一类具有非齐次边界条件的偏微分方程组。采用一种新的区间B-SPINE小波数值格式(BSWI)，将非齐次偏微分方程组离散为一组常微分方程组，得到了不同海流作用下系泊深海机器人系统的动力响应。与传统方法相比，基于多分辨率分析原理的BSWI有限元能够更好地逼近柔性脐带电缆的横向振动，并且更容易处理边界条件。通过对ADAMS模型的讨论，对不同情况下的数值算例进行了详细的分析，并对ADAMS模型进行了仿真，仿真结果也验证了BSWI有限元方法比其他方法具有更好的性能。
This research is focused on the accurate modeling of a tethered deep-sea robot system with variable-length. Since the flexible umbilical cable is influenced by the surface vessel motion, the ocean current and sea states, etc., its transient response will reduce the deep-sea robot’s stability. Thus, dynamic modeling of the elastic umbilical cable is a crucial issue. In this paper, transverse vibration of the tethered deep-sea robot system can be modelled as a one-dimensional distributed parameter system, a class of partial differential equations with nonhomogeneous boundary conditions theoretically. A new numerical scheme with B-spine wavelet on the interval (BSWI) is used to discretize and transform inhomogeneous partial differential equations into a set of ordinary differential equations and to obtain the dynamic response of the tethered deep-sea robot system with different ocean currents. Compared with conventional methods, BSWI finite element with multiresolution analysis principle can approximate the transverse vibration of the flexible umbilical cable better, and handle boundary conditions more easily. Numerical examples of different cases are analyzed in detail by the discussion of an ADAMS model, and simulation results of the ADAMS model also verify that BSWI finite element method has a desirable performance than other methods.