Evaluation of ROV Maneuverability Parameters

The efficiency of using tethered underwater vehicles is determined by the ability of the propulsion and steering complex (DRC) to compensate for the reaction of the communication cable of the vehicle with the support vessel when maneuvering near the work site. The paper considers an assessment of the achievable boundaries of the ROV maneuvering zone for given values of the length of the communication cable, the depth of the submersion of the vehicle, the current velocity in the area of work and the traction characteristics of the ROV. An algorithm for calculating the tension of the ends of the “device - carrier” communication cable in a stationary flow, based on the numerical integration of the equations of an inextensible flexible thread, is presented. Recommendations have been developed for choosing a cable length that excludes its sagging below the ROV immersion depth with possible hooking and damage to bottom objects. On the example of a promising ROV the boundaries of the maneuvering zone were evaluated relative to the coordinates of the carrier, as well as the dependence of the achievable speeds, jointly with the supporting vessel, on the depth of immersion.