View in EDS

Stability Constraints of ROV-Coordinated Hole Drilling on Shipwrecks

Saved in:
Bibliographic Details
Title: Stability Constraints of ROV-Coordinated Hole Drilling on Shipwrecks
Authors: Dongjun GUO, Xuyang WANG
Source: 水下无人系统学报, Vol 33, Iss 3, Pp 504-510 (2025)
Publisher Information: Science Press (China), 2025.
Publication Year: 2025
Collection: LCC:Naval architecture. Shipbuilding. Marine engineering
Subject Terms: remotely operated vehicle, coordinated operation, pose control, underwater drilling, oil extraction, shipwreck, Naval architecture. Shipbuilding. Marine engineering, VM1-989
Description: Remotely operated vehicle(ROV)-coordinated hole drilling on shipwrecks is a key technical component for achieving underwater drilling and oil extraction integration. Currently, research on this control scenario in the engineering field is limited, and effective methods for stabilizing the pose of ROV-coordinated hole drilling on shipwrecks are lacking. This paper addressed the pose stability requirements during the ROV-coordinated hole drilling process on a shipwreck. By drawing parallels with the stability principles of ground-based equipment, a stability criterion for ROV-coordinated hole drilling on shipwrecks was established. Based on this criterion, a thrust correction algorithm was proposed. By modifying the thrust of each thruster, the force state of the collaborative system met the stability criterion, thereby achieving the stability constraints for the collaborative system’s pose. Simulation results show that the proposed stability constraint method can effectively maintain the pose stability of the collaborative system during the operation. In terms of stability, compared with the pre-correction state, the collaborative system transitions from an unstable constraint state to a stable constraint state, fully verifying the effectiveness and feasibility of the stability constraint method proposed in this study.
Document Type: article
File Description: electronic resource
Language: Chinese
ISSN: 2096-3920
Relation: https://doaj.org/toc/2096-3920
DOI: 10.11993/j.issn.2096-3920.2025-0037
Access URL: https://doaj.org/article/16bba02e513142e4a3210ab95ddb4ddf
Accession Number: edsdoj.16bba02e513142e4a3210ab95ddb4ddf
Database: Directory of Open Access Journals
Description
Abstract:Remotely operated vehicle(ROV)-coordinated hole drilling on shipwrecks is a key technical component for achieving underwater drilling and oil extraction integration. Currently, research on this control scenario in the engineering field is limited, and effective methods for stabilizing the pose of ROV-coordinated hole drilling on shipwrecks are lacking. This paper addressed the pose stability requirements during the ROV-coordinated hole drilling process on a shipwreck. By drawing parallels with the stability principles of ground-based equipment, a stability criterion for ROV-coordinated hole drilling on shipwrecks was established. Based on this criterion, a thrust correction algorithm was proposed. By modifying the thrust of each thruster, the force state of the collaborative system met the stability criterion, thereby achieving the stability constraints for the collaborative system’s pose. Simulation results show that the proposed stability constraint method can effectively maintain the pose stability of the collaborative system during the operation. In terms of stability, compared with the pre-correction state, the collaborative system transitions from an unstable constraint state to a stable constraint state, fully verifying the effectiveness and feasibility of the stability constraint method proposed in this study.
ISSN:20963920
DOI:10.11993/j.issn.2096-3920.2025-0037