DocumentCode
2122446
Title
Experiments in dynamic positioning of a towed pipe
Author
Hover, Franz S.
Author_Institution
Deep Submergence Lab., Woods Hole Oceanogr. Instn., MA, USA
fYear
1993
fDate
18-21 Oct 1993
Abstract
The concept of dynamic positioning for deeply-towed cables and pipes is considered experimentally, using a laboratory scale model and several well-known design techniques. Applications include ROV operations where a clump weight or heavy steel cable is used, and the mating of drillpipes with subsea assemblies. An important factor is that actuation is only available at the top end, and position measurement is available only at either end
Keywords
control system synthesis; electric conduits; marine systems; nonlinear control systems; position control; submarine cables; ROV operations; deeply-towed cables; deeply-towed pipes; drillpipes; dynamic positioning; nonlinear control; position control; position measurement; quadratic drag; robustness; step response; subsea assemblies; Assembly systems; Cables; Control systems; Laboratories; Nonlinear dynamical systems; Optimal control; Position measurement; Remotely operated vehicles; Sea measurements; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS '93. Engineering in Harmony with Ocean. Proceedings
Conference_Location
Victoria, BC
Print_ISBN
0-7803-1385-2
Type
conf
DOI
10.1109/OCEANS.1993.326237
Filename
326237
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