THE EFFECTS OF WAVE-INDUCED LOADS ON ROV PERFORMANCE WHILE OPERATING AT NEAR-SURFACE DEPTHS
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Authors
Marks, Johnathan D.
Subjects
ROV
remotely operated vehicle
near-surface
wave-induced loads
remotely operated vehicle
near-surface
wave-induced loads
Advisors
Klamo, Joseph
Date of Issue
2020-06
Date
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
The objective of this research was to quantify the undesired pitch and heave motions caused by wave-induced loads on a remotely operated vehicle (ROV) operating near the surface. Accomplishing this objective will help to inform system design requirements necessary to ensure desired performance during operations. An experimental study was conducted utilizing a towing tank with wave-making capability and a commercially available ROV. The ROV was tested in the tank at near-surface depths using both single-component and two-component waves for zero speed and forward speed conditions. Pitch, depth, and thruster data were collected from the ROV and compared against control runs to determine the effect of the wave-induced loads on the ability of the ROV to control pitch and maintain depth. For pitch, the results showed that the response had components from linear loads, nonlinear loads, and natural system frequencies. Linear loads resulted in a pitch response that increased with wavelength and ROV speed. Low-frequency nonlinear loads resulted in a measurable pitch response at the wave component frequency differences used. Natural system frequencies resulted in a pitch response at frequencies specific to the ROV, and this response increased with speed. For depth, little response was seen due to the control authority of the ROV; however, the vertical thruster response showed that wave-induced loads have the potential to affect depth if sufficient control authority is not present.
Type
Thesis
Description
Series/Report No
Department
Systems Engineering (SE)
Organization
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NPS Report Number
Sponsors
Funder
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Citation
Distribution Statement
Approved for public release. distribution is unlimited
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.