On the theory and application of absolute coordinates-based multibody modelling of the rigid-flexible coupled dynamics of a deep-sea ROV-TMS (tether management system) integrated model
On the theory and application of absolute coordinates-based multibody modelling of the rigid-flexible coupled dynamics of a deep-sea ROV-TMS (tether management system) integrated model
复制标题
基于绝对坐标的深海ROV-TMS（系链管理系统）集成模型刚柔耦合动力学多体建模理论与应用
DOI：
10.1016/j.oceaneng.2022.111748
复制
发表时间：
2022
影响因子：
5
通讯作者：
Garcia-Vallejo Daniel
中科院分区：
文献类型：
--
作者：
Htun Thant Zin;Suzuki Hiroyoshi;Garcia-Vallejo Daniel
本文提出了一种新的方法来研究互连的刚性和非常灵活的机构之间的动力学的深海ROV-TMS具有高度耦合的动力学。其目的是开发一个准确而有效的系统模型，适用于广泛的深海工作级水下机器人应用。在多刚体-柔性体系统中，当多刚体和柔性体之间存在高度耦合的动力学关系时，由于采用不同的广义坐标，往往会导致约束雅可比矩阵和二次速度矢量的复杂形式。因此，在建模中使用的配方的兼容性是关键的水下多体系统的动力学与高度耦合的动态的正确表示。为此，提出了一种完全基于绝对坐标的水下绳系航行器系统动力学模型的混合形式。本文介绍了一种基本ROV-TMS系统模型的建立和理论实现。通过数值模拟评估所提出的模型的适用性，在深海采矿作业的现实情况。数值研究表明，该模型能够较好地反映缆索和缆索卷筒的非线性动力学特性，以及缆索和卷筒之间的非线性耦合动力学特性。
This paper presents a novel method to investigate the dynamics between the interconnected rigid and very flexible bodies of a deep-sea ROV-TMS with highly coupled dynamics. The aim is to develop an accurate yet effective system model, which is applicable to a wide range of deep-sea working-class ROV applications. The use of different sets of generalized coordinates in rigid–flexible multibody system usually leads to complex forms of constraints Jacobian and quadratic velocity vector when the interconnected rigid and flexible bodies share highly coupled dynamics. Thus, the compatibility of the formulations used in modelling is pivotal to a correct representation of the dynamics of an underwater multibody system with highly coupled dynamics. To this end, a mixed formulation, which is fully-based on absolute coordinates, is presented in modelling the dynamics of underwater tethered vehicle system. The development of system model of a basic ROV-TMS and theoretical implementations are presented in this paper. The applicability of the presented model is assessed through numerical simulations for the realistic scenarios during the deep-sea ROV operations. The numerical studies show that the proposed model is able to capture the nonlinear dynamics of cable and cable drum, and the nonlinear coupling dynamics between the tether cable and the ROV.