Variable-Length Cable Dynamics of Payout and Reel-in With a Vertically Tethered Underwater Drill Rig

Variable-Length Cable Dynamics of Payout and Reel-in With a Vertically Tethered Underwater Drill Rig

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A new dynamic model of the variable-length cable used in a vertically tethered underwater drill rig is presented in this paper, which also includes the dynamics of its fixed-length counterpart.First, the differential equation of the variable-length cable is derived through the oliver peoples forman r theorem of linear momentum, and its finite element formulation is obtained by the Galerkin weighted residual method correspondingly.Second, the implicit time integration formulation is derived by using the Newmark-β algorithm.And then the proposed model is validated by comparing with the experimental data of the fixed-length underwater steel-armored umbilical cable of a work-class Remotely Operated Vehicle (ROV), and the variable-length underwater cables made of nylon and rubber, respectively, and gildan antique orange the calculated results show good agreement with the experimental data.

Third, the variable-length cable dynamics of payout and reel-in of the underwater drill rig is analyzed under three kinds of sea conditions, i.e., still water, sinusoidal heave, and the actual heave, respectively.Some conclusions are summarized in the end.