摘要
Amulti-bodycoupleddynamicmodelisdevelopedtosimulatethemotionofaTetheredRemotelyOperatedVehicle(TROV)system.AstrongnonlinearcouplingmotionbetweenumbilicaltetherandROVisdiscussed.ThemovementofROVisconsideredassix-degreesoffreedom.Thelumpedmassmodelisappliedandanaveragedtangentialvectortechniqueisincludedinthethree-dimensionaldynamicresponseequationsofthecable-segments.Themodelcansimulatethethree-dimensionaltransientcoupledmotionofthecomplexmulti-bodysystemintypicalshipmaneuveringconditionsandcanbeusedineitheratowingproblemoratetheredunderwatervehicleproblem.Simulationresultsareseentofitwellwiththeexperiment.
出版日期
2008年02月12日（中国期刊网平台首次上网日期，不代表论文的发表时间）
