简介：Amulti-bodycoupleddynamicmodelisdevelopedtosimulatethemotionofaTetheredRemotelyOperatedVehicle(TROV)system.AstrongnonlinearcouplingmotionbetweenumbilicaltetherandROVisdiscussed.ThemovementofROVisconsideredassix-degreesoffreedom.Thelumpedmassmodelisappliedandanaveragedtangentialvectortechniqueisincludedinthethree-dimensionaldynamicresponseequationsofthecable-segments.Themodelcansimulatethethree-dimensionaltransientcoupledmotionofthecomplexmulti-bodysystemintypicalshipmaneuveringconditionsandcanbeusedineitheratowingproblemoratetheredunderwatervehicleproblem.Simulationresultsareseentofitwellwiththeexperiment.
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