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The trajectory of ROV is complex, making it difficult for the surrounding turbulence to develop into a stable state. The motion and turbulence memory have an unsteady impact on subsequent loads. However, existing ROV maneuvering models are based on steady assumptions and cannot express unsteady phenomena. A new 6 degrees of freedom (DOF) mathematical model of viscous hydrodynamic loads on the Remotely Operated Vehicle (ROV) is established to consider the flow memory effect. The new model builds the relationship between the unsteady viscous force and the velocity via response functions and convolutions. When considering the flow memory effect, the motion simulation results show that the hydrodynamic amplitude levels off after about 4 to 5 periods. The flow memory effect delays the phases of the unsteady roll moments. The flow memory effect increases the swing diameters about 3 times.

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A New 6-DOF Maneuvering Model for Open Frame ROVs Considered the Flow Memory Effect

  • 会议论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年

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  • Ruinan Guo,
  • Duanfeng Han,
  • Yingfei Zan,
  • Nan Sun,
  • Binggang Yin,
  • Fuxiang Huang,
  • Yaogang Sun

摘要

The trajectory of ROV is complex, making it difficult for the surrounding turbulence to develop into a stable state. The motion and turbulence memory have an unsteady impact on subsequent loads. However, existing ROV maneuvering models are based on steady assumptions and cannot express unsteady phenomena. A new 6 degrees of freedom (DOF) mathematical model of viscous hydrodynamic loads on the Remotely Operated Vehicle (ROV) is established to consider the flow memory effect. The new model builds the relationship between the unsteady viscous force and the velocity via response functions and convolutions. When considering the flow memory effect, the motion simulation results show that the hydrodynamic amplitude levels off after about 4 to 5 periods. The flow memory effect delays the phases of the unsteady roll moments. The flow memory effect increases the swing diameters about 3 times.