Numerical optimization of a cage-mounted passive heave compensation system

Author

Driscoll, Frederick R. ; Buckham, Brad ; Nahon, Meyer

Author_Institution

Dept. of Ocean Eng., Florida Atlantic Univ., Dania Beach, FL, USA

Volume

2

fYear

2000

fDate

2000

Firstpage

1121

Abstract

Heave compensation systems are used to increase the safe operating sea-states of vertically tethered systems, as well as, decrease the tension in the tether and the motion of the underwater platform. However, the characteristics of the heave compensator must be carefully chosen or operating problems may be exacerbated. In this paper, a discrete representation of a deep-sea remotely operated vehicle system with a passive cage-mounted heave compensator is used within a sequential quadratic programming optimization routine to choose the stiffness and damping characteristics that minimize the tension in the tether and platform motion. Using the optimal values of the stiffness and damping, the rms cage motion and rms tension were significantly decreased over all operating depths and sea-states

Keywords

oceanographic equipment; remotely operated vehicles; underwater vehicles; ROV; apparatus; cage-mounted; damping; deep-sea; discrete representation; heave compensator; heave control; marine system control; numerical optimization; ocean; passive heave compensation; remotely operated vehicle; safe operating sea-state; sequential quadratic programming optimization routine; stiffness; tether tension; underwater equipment; underwater platform; vertically tethered system; Conductivity measurement; Damping; Mechanical engineering; Ocean temperature; Quadratic programming; Real time systems; Remotely operated vehicles; Sea measurements; Sonar equipment; Temperature distribution;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 2000 MTS/IEEE Conference and Exhibition

Conference_Location

Providence, RI

Print_ISBN

0-7803-6551-8

Type

conf

DOI

10.1109/OCEANS.2000.881753

Filename

881753