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2019 | OriginalPaper | Chapter

Cable Dynamic Modeling and Applications in Three-Dimensional Space

Authors : Sebastião C. P. Gomes, Elisane B. Zanela, Adriana E. L. Pereira

Published in: Proceedings of DINAME 2017

Publisher: Springer International Publishing

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Abstract

Dynamic modeling of cables in three-dimensional space is a problem with great difficulty and complexity. This article discusses a new dynamic modeling formalism, including applications in the underwater environment. It is assumed that the cable is formed by rigid links connected by elastic fictitious joints, allowing elevation, azimuth and torsion movements. Algorithms have been developed to automatically generate the dynamic model for any number of links selected for the discrete approximation of the flexible structure. Three practical situations are tested: cable out of the water with free terminal load; underwater considering dynamics with or without ocean current; with terminal load fixed to the seabed. Constraint forces obtained through proportional and derivative control were applied to the terminal load to fix it to the seabed. The algorithms were determined from the Euler-Lagrange formalism, and in all situations the simulations showed physically consistent results.

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Metadata
Title
Cable Dynamic Modeling and Applications in Three-Dimensional Space
Authors
Sebastião C. P. Gomes
Elisane B. Zanela
Adriana E. L. Pereira
Copyright Year
2019
Book
Proceedings of DINAME 2017

Print ISBN: 978-3-319-91216-5

Electronic ISBN: 978-3-319-91217-2

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-319-91217-2_9

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