The integrated systems of unmanned surface vehicles(USVs) and remotely operated vehicles(ROVs) have been extensively applied in marine exploration and seabed coverage. However, the simultaneous navigation of USV-ROV s...The integrated systems of unmanned surface vehicles(USVs) and remotely operated vehicles(ROVs) have been extensively applied in marine exploration and seabed coverage. However, the simultaneous navigation of USV-ROV systems is frequently limited by strong disturbances induced by waves or currents. This paper develops a novel rigidflexible coupling multibody dynamic model that incorporates disturbances of variable-length marine cables with geometrically nonlinear motion. A hybrid Lagrangian-Eulerian absolute nodal coordinate formulation(ANCF) element is developed to accurately model subsea cables which undergo significant overall motion, substantial deformation,and mass flow during the deployment of underwater equipment. Furthermore, the governing equations of the coupled USV-umbilical-ROV system are derived, considering wave-induced forces and current disturbances. A numerical solver based on the Newmark-beta method is proposed, along with an adaptive meshing technique near the release point. After validating three experimental cases, the cable disturbances at both the USV and ROV ends—caused by ocean currents, heave motion, and simultaneous navigation—are comprehensively compared and evaluated. Finally,it is demonstrated that a PD controller with disturbance compensation can enhance the simultaneous navigation performance of USV-ROV systems.展开更多
The dynamic cumulative damage of rigid-flexible coupling model of high-speed train with flexible bogie frame is performed by using the coupled scheme of elastic and multibody dynamics theories.The motion equations of ...The dynamic cumulative damage of rigid-flexible coupling model of high-speed train with flexible bogie frame is performed by using the coupled scheme of elastic and multibody dynamics theories.The motion equations of the present problem are firstly established by integrating the finite element method and floating frame of reference approach based on the virtual power principle and D'Alembert principle.The process of condensing the elastic DOFs of the obtained finite element model involving the incorporation of the substructure technique and sparse approximate inverse method is tentatively carried out.Then,the motion equations are further solved by virtue of the generalized α method and the Jacobian-free Newton-Krylov technologies.And the superiority of coupled scheme is proven by comparing with the traditional approach.Finally,besides the dynamic behaviors of the considered vehicle model,the time-variations of stresses on the elastic bogie frame's dangerous nodes and the distributions of stresses of bogie frame at some specified moments are synchronously calculated and analyzed.More importantly,the real-time and time-varying cumulative damages of some typical nodes on bogie frame are investigated.展开更多
基金financially supported in part by the General Program of the National Natural Science Foundation of China (Grant No.12272221)the State Key Laboratory of Ocean Engineering (Shanghai Jiao Tong University)(Grant No. GKZD010087)。
文摘The integrated systems of unmanned surface vehicles(USVs) and remotely operated vehicles(ROVs) have been extensively applied in marine exploration and seabed coverage. However, the simultaneous navigation of USV-ROV systems is frequently limited by strong disturbances induced by waves or currents. This paper develops a novel rigidflexible coupling multibody dynamic model that incorporates disturbances of variable-length marine cables with geometrically nonlinear motion. A hybrid Lagrangian-Eulerian absolute nodal coordinate formulation(ANCF) element is developed to accurately model subsea cables which undergo significant overall motion, substantial deformation,and mass flow during the deployment of underwater equipment. Furthermore, the governing equations of the coupled USV-umbilical-ROV system are derived, considering wave-induced forces and current disturbances. A numerical solver based on the Newmark-beta method is proposed, along with an adaptive meshing technique near the release point. After validating three experimental cases, the cable disturbances at both the USV and ROV ends—caused by ocean currents, heave motion, and simultaneous navigation—are comprehensively compared and evaluated. Finally,it is demonstrated that a PD controller with disturbance compensation can enhance the simultaneous navigation performance of USV-ROV systems.
基金support for the research:National Natural Science Foundation of China(Grant No.11872257 and 11572358)Key Project of Natural Science Foundation of Hebei Province(Grant No.A2020210008)Hebei Provincial Department of Education Youth Top Talents Project(Grant No.BJK2023018).
文摘The dynamic cumulative damage of rigid-flexible coupling model of high-speed train with flexible bogie frame is performed by using the coupled scheme of elastic and multibody dynamics theories.The motion equations of the present problem are firstly established by integrating the finite element method and floating frame of reference approach based on the virtual power principle and D'Alembert principle.The process of condensing the elastic DOFs of the obtained finite element model involving the incorporation of the substructure technique and sparse approximate inverse method is tentatively carried out.Then,the motion equations are further solved by virtue of the generalized α method and the Jacobian-free Newton-Krylov technologies.And the superiority of coupled scheme is proven by comparing with the traditional approach.Finally,besides the dynamic behaviors of the considered vehicle model,the time-variations of stresses on the elastic bogie frame's dangerous nodes and the distributions of stresses of bogie frame at some specified moments are synchronously calculated and analyzed.More importantly,the real-time and time-varying cumulative damages of some typical nodes on bogie frame are investigated.
