Resistance calculation and motion simulation for deep sea open-framed remotely operated vehicle based on hydrodynamics test

This paper proposes the newly designed hydrodynamics test for the scaled model of 4500m deep sea open-framed remotely operated vehicle (ROV), which is being researched and developed by Shanghai Jiao Tong University. Accurate hydrodynamics coefficients measurement and resistance calculation of ROV are significant for the maneuverability and control algorithm. The scaled model of ROV was constructed by 1:1.6. Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test. Resistances along longitudinal, transversal and normal axis under different velocity are figured out based on the real size of ROV, respectively. Finally, motion simulation is carried out by inputting thrust force along longitudinal direction, and the results demonstrate the validity of the model.