Benchmark Models of Control System Design for Remotely Operated Vehicles by Cheng Siong Chin & Michael Wai Shing Lau

Author:Cheng Siong Chin & Michael Wai Shing Lau
Language: eng
Format: epub
ISBN: 9789811565113
Publisher: Springer Singapore

Fig. 3.15Convergence plot for roll, pitch, and yaw direction [11]

The off-diagonal terms of the added mass are less than the diagonal components as the ROV has near to three planes of symmetry. Hence, the added mass matrix obtained is further simplified.

(3.12)

The added mass matrix of the ROV must be positive. The following relations are observed from the matrix: . A smaller added mass in surge direction, that is, m11 has been observed. It is due to the ROV has the smallest projection area in surge direction. The corresponding Coriolis and centripetal added mass matrix can be rewritten as:

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