A Method to Establish Motion Equations of Self-propelled, Cable-controlled Vehicles

摘要

The cable tension of cable-controlled vehicles solved by differential equations is a numerical solution, not analytical solution, making it difficult to establish their motion equations. Through research, this paper proposes that cable tension is the function of the vehicle's motion position, through data analysis, the function relation formula of cable tension can be found, and by using regression method on large amount of tension data of a certain type of ROV, the mathematical expression of specific cable tension could be found, which lays a solid foundation for establishing motion equations of cable-controlled vehicles and researching their law of motion.