Motion Simulation of Underwater Vehicles

摘要

A three dimensional time domain simulation method for tethered subsea vehiclemotions was developed. The method is applicable to vehicles equipped with thrusters as propulsion devices, and can be applied to vehicles of arbitrary shape. A computer program using the present method was written and is described in detail. Results are presented for one Remotely Operated Vehicle (ROV) with comparison of measured results from maneuvering tests in horizontal and vertical planes in a towing tank. The agreement between simulated and measured results is good in most cases. The effects of various input data quantities and differing thruster configurations were studied in additional simulations.