Dynamic modeling of cables with external forces applied to the terminal load
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(2020) 42:472
TECHNICAL PAPER
Dynamic modeling of cables with external forces applied to the terminal load Sebastião C. P. Gomes1 · Vanessa S. Oliveira1 · Guilherme M. Menezes1 Received: 28 September 2019 / Accepted: 7 August 2020 © The Brazilian Society of Mechanical Sciences and Engineering 2020
Abstract Cables are flexible structures often used in underwater applications, mainly related to oil extraction industry. This paper proposes a new dynamic modeling of cables that includes the action of external forces applied to its terminal load in two situations: free terminal load and fixed to the seabed. The continuous cable flexibility is approximated by rigid links connected by fictitious elastic joints that allow elevation, azimuth and torsion movements. External forces applied to the terminal load are considered in two situations: written in the inertial framework and written in the body framework. Generic algorithms are proposed for the automatic generation of models considering any number of links in the discrete approximation of continuous cable’s flexibility. The simulation results were very close to the experimental ones, thus validating the proposed modeling formalism. A software was developed to animate the cable with three-dimensional spatial configuration for viewing the simulation results. These animations showed physically the expected results, as well as a great sense of physical reality. Keywords Dynamic modeling · Cable · Flexible structure · Algorithms · Automatic generation model
1 Introduction Nowadays, there is a growing interest in the study of cable dynamics, mainly driven by investments in the oil extraction industry in the marine subsoil. Figure 1 shows some of these applications. This article is a contribution to the study of dynamic modeling of flexible structures such as cable and constitutes a continuation of the work published by Gomes et al. [7]. In this previous article, there is an extensive review about the current state of the art of cables modeling, in which it is perceived that many works use finite elements in static analysis. Lumped mass modeling technique has long been used to model flexible structures [1]. Driscolla et al. [5] propose a one-dimensional finite element lumped mass model applied to vertically tethered caged ROV (Remote Operated Vehicle) system subjected to surface excitation and in this case, the cable moves only in the vertical Technical Editor: Thiago Ritto. * Sebastião C. P. Gomes [email protected] 1
Núcleo de Matemática Aplicada e Controle, Universidade Federal do Rio Grande, Av. Itália, km 8, Rio Grande, RS 96201‑900, Brazil
direction. Similar formalism was used by Caverly et al. [4] that develop a dynamic model of a single-degree-of-freedom cable-actuated system using lumped mass approach (identical formalism used by Caverly and Forbes [3]). Bi et al. [2] used the rigid finite element method to approximate the cable by a multi-body system which consists of rigid and spring-damping elements, but the cable was restricted to a single plane. L
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