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dc.contributor.author
Jordan, Mario Alberto
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dc.contributor.author
Bustamante, Jorge Luis
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dc.date.available
2021-03-19T17:56:07Z
dc.date.issued
2007-07
dc.identifier.citation
Jordan, Mario Alberto; Bustamante, Jorge Luis; Numerical stability analysis and control of umbilical-ROV systems in one-degree-of-freedom taut-slack condition; Springer; Nonlinear Dynamics; 49; 1-2; 7-2007; 163-191
dc.identifier.issn
0924-090X
dc.identifier.uri
http://hdl.handle.net/11336/128675
dc.description.abstract
In this paper, the stability of an umbilical-ROV system under nonlinear oscillations in heave motion is analyzed using numerical methods for the uncontrolled and controlled cases comparatively. Mainly the appearance of the so-called taut-slack phenomenon on the umbilical cable produced by interactions of monochromatic waves and an operated ROV is specially focused. Nonlinear elements were considered as nonlinear drag damping, bilinear restoring force and saturation of the actuators. Free-of-taut/slack stability regions are investigated in a space of physical bifurcation parameters involving a set of both operation and design parameters. They indicate a wide diversity in qualitative behaviors, both in the periodicity and possible routes to chaos from the stability regions to outside. For detection of periodicity of the nonlinear oscillations inside and outside the stability regions, a method based on Cauchy series is developed. The first part of the results is dedicated to the stability of the uncontrolled dynamics. These results suggest the design of a control system that is able to counteract hefty hauls of the cable during the sinking/lifting operation under perturbation. A combination of a force and cinematic controller based on nonlinear model-reference control is proposed. Through a comparative study of the stability regions for uncontrolled and controlled dynamics, it is shown that the control system can extend considerably these regions without appearance of the taut-slack phenomenon despite the presence of wave perturbations. The limits between the taut and taut-slack zones are defined by the wave steepness and the available energy of the actuators.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
Springer
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dc.rights
info:eu-repo/semantics/openAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject
CAUCHY SERIES
dc.subject
CHAOS
dc.subject
CINEMATIC CONTROL
dc.subject
DRAG COEFFICIENT
dc.subject
FORCE CONTROL
dc.subject
NONLINEAR HYDRODYNAMICS
dc.subject
NONLINEAR STIFFNESS
dc.subject
ROV DYNAMICS
dc.subject
STABILITY REGIONS
dc.subject
TAUT-SLACK PHENOMENON
dc.subject.classification
Sistemas de Automatización y Control
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dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
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dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS
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dc.title
Numerical stability analysis and control of umbilical-ROV systems in one-degree-of-freedom taut-slack condition
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2020-12-04T14:48:55Z
dc.journal.volume
49
dc.journal.number
1-2
dc.journal.pagination
163-191
dc.journal.pais
Suiza
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dc.journal.ciudad
Cham
dc.description.fil
Fil: Jordan, Mario Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; Argentina. Universidad Nacional del Sur. Departamento de Ingeniería Eléctrica y de Computadoras; Argentina
dc.description.fil
Fil: Bustamante, Jorge Luis. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; Argentina. Universidad Nacional del Sur. Departamento de Ingeniería Eléctrica y de Computadoras; Argentina
dc.journal.title
Nonlinear Dynamics
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dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/https://doi.org/10.1007/s11071-006-9120-2
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/https://link.springer.com/article/10.1007/s11071-006-9120-2#citeas
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