Numerical research on ARV-fiber optical microcable coupled dynamics

ARV(Autonomous Remotely-operated Vehicle)was a new kind of submersible that can be remotely operated surface through a thin fiber optical microcable.Usually,coupled dynamics of submersible and cable are researched using lumpend-mass method and the bending stiffness of the cable was neglected.The paper addressed the coupled dynamics of an ARV and near neutrally-buoyant fiber optical microcable system.The two dimensional inextensible form of the governing equations and compatibility relations was given,the governing equations also considered the bending stiffness of the cable.Finite-difference approach and Newton-Raphson iteration scheme was applied to solve the nonlinear partial differential equations.To study the submersible-tether problem,the cable algorithm was coupled with a vehicle simulation routine based on Matlab and results were presented for several operational maneuvers.