Abstract This research is aimed at the accurate modeling of an ROV's tether cable with a radially multilayered circular cross-section. In the coupled motion analysis of an ROV-tether system, dynamic modeling of a numerical tether continuum, which can accurately reproduce the nonlinear motion behavior of a flexible cable, is crucial since the tether motion greatly affects the ROV's stability. To this end, a new tether cable element based on the multilayered modeling approach is developed. To deal with the inconsistency of the tether's cross-section, the integration domain on the cross-section is divided into subdomains to account for different material properties in each layer and an accurate representation of the tether's cross-section. A Kelvin-Voigt model is employed to account for the viscoelastic behavior of the inner matrix, while nearly incompressible Mooney-Rivlin model is applied for the outer sheath. Structural weakening parameters are applied to modify the beam's strain energy. A new approach for analytical determination of dissipation factors for dilatational and deviatoric responses is proposed. Through validations against the numerical studies and experiment, the effectiveness of the proposed tether cable element is verified.

中文翻译：

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基于绝对节点坐标公式 (ANCF) 的遥控水下航行器 (ROV) 径向多层系缆动态建模

摘要 本研究旨在对具有径向多层圆形横截面的 ROV 系绳进行精确建模。在 ROV 系绳系统的耦合运动分析中，可以准确再现柔性电缆非线性运动行为的数值系绳连续体的动态建模至关重要，因为系绳运动极大地影响了 ROV 的稳定性。为此，开发了一种基于多层建模方法的新系绳元件。为了处理系绳横截面的不一致性，横截面上的积分域被划分为子域，以考虑每层不同的材料特性，并准确表示系绳的横截面。采用 Kelvin-Voigt 模型来解释内部基质的粘弹性行为，而几乎不可压缩的 Mooney-Rivlin 模型应用于外护套。应用结构弱化参数来修改梁的应变能。提出了一种用于分析确定膨胀和偏转响应的耗散因子的新方法。通过对数值研究和实验的验证，验证了所提出的系绳索元件的有效性。