简介:Inordertoanalyzethespatialmaneuverabilityoftheremotelyoperatedunderwatervehicle(ROV),the6-DOFmotionmathematicmodeloftheROVwasfounded.HydrodynamicswereanalyzedbyusingtheTaylorseries.ThethrustersontheROVwerediscussed.Thispaperconsidersthreecasesofmotionsimulation:verticalmotion,rotationalmotionandZ-shapemotion.Aseriesofsimulationexperimentsshowedthatthe6-DOFmotionmathematicmodelwascorrectandreliable,andalsofitwiththescenesimulation.
简介:Tosolvethedimensionallimitationsofphysicalmodelsintests,anequivalentwaterdepthtruncateddesignforaclassicalSPARworkingin913mwaterwasinvestigated.Thewaterdepthwasreducedto736mandthento552m.Asthiswasdone,themooringlinelengths,EAvalue,andmasspermeterwereadjusted.Truncationrulesandformulasforparametersandtruncationfactorswereproposed.SPARstaticcharacteristicsweremadetobeconsistentwiththoseatfullwaterdepth.Thenfurthertime-domaincoupledanalysiswascarriedoutfortheSPARwhenthemooringsystemexperiencedwaves.Themooringlinesweresimulatedbyquasi-staticmethod.Globalresponsesandmooringlineforceswerefoundtoagreewellwithtestresultsforaprototypeatthatwaterdepth.Thetruncationmethodprovedtoberobustandreliable.