Title :
Dynamics simulation of Remotely Operated Vehicle-Fiber Optic Micro Cable system
Author :
Li, Qiang ; Xu, Hongli ; Zhang, Qifeng ; Wang, Xiaohui ; Li, Zhigang
Author_Institution :
Grad. Sch. of the Chinese Acad. of Sci., Beijing
Abstract :
This paper presents an approach of modeling for Fiber Optic Micro Cable (FOMC), constructs a coupled nonlinear model for Remotely Operated Vehicle(ROV) connected with FOMC, and makes computer simulation at last. The model of FOMC takes use of the lumped mass method in which FOMC is considered to be a system of micro units connected by elastic non-mass spring. Four order Runge-Kutta method is used to work out the equation of FOMC and ROV kinematics and dynamics. Simulation includes tension distribution and shape of FOMC and the motion of ROV under the condition of disturbance of FOMC. The simulation result indicates that the FOMCpsilas influence to ROV can not be neglected while we discuss the control problem of ROV.
Keywords :
nonlinear control systems; optical cables; remotely operated vehicles; robot dynamics; robot kinematics; vehicle dynamics; coupled nonlinear model; dynamics simulation; elastic nonmass spring; four order Runge-Kutta method; kinematics; lumped mass method; remotely operated vehicle-fiber optic micro cable system; Computational modeling; Fiber nonlinear optics; Nonlinear dynamical systems; Nonlinear optics; Optical coupling; Optical fiber cables; Optical fibers; Power cables; Remotely operated vehicles; Vehicle dynamics; FOMC; ROV; dynamics simulation; lumped mass method;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4593283
