《A Geometrically Exact Formulation for ThreeDimensional Numerical Simulation of the Umbilical Cable in A DeepSea ROV System》.pdfVIP

China Ocean Eng., Vol. 29, No. 2, pp. 223 – 240 © 2015 Chinese Ocean Engineering Society DOI 10.1007/s13344-015-0016-0, ISSN 0890-5487 A Geometrically Exact Formulation for Three-Dimensional Numerical * Simulation of the Umbilical Cable in A Deep-Sea ROV System a, b, 1 a a QUAN Wei-cai (全伟才) , ZHANG Zhu-ying (张竺英) , ZHANG Ai-qun (张艾群) , ZHANG Qi-feng (张奇峰)a and TIAN Yu ( 田 宇)a a State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China b University of Chinese Academy of Sciences, Beijing 100049, China (Received 2 December 2013; received revised form 10 March 2014; accepted 10 April 2014) ABSTRACT This paper proposes a geometrically exact formulation for three-dimensional static and dynamic analyses of the umbilical cable in a deep-sea remotely operated vehicle (ROV) system. The presented formulation takes account of the geometric nonlinearities of large displacement, effects of axial load and bending stiffness for modeling of slack cables. The resulting nonlinear second-order governing equations are discretized spatially by the finite element method and solved temporally by the generalized-  implicit time integration algorithm, which is adapted to the case of varying coefficient matrices. The ability to consider three-dimensional union action of ocean current and ship heave motion upon the umbilic