TY - JOUR
T1 - An Open-Source Benchmark Simulator
T2 - Control of a BlueROV2 Underwater Robot
AU - von Benzon, Malte
AU - Sørensen, Fredrik Fogh
AU - Uth, Esben
AU - Jouffroy, Jerome
AU - Liniger, Jesper
AU - Pedersen, Simon
N1 - Funding Information:
The authors would like to thank for the support from the Energy Technology Development and Demonstration Program (EUDP) via the “ACOMAR–Auto Compact Marine Growth Remover” project (J.No. 64020-1093). Thanks also to our project partners SubC Partner, Sihm Højtryk, Mati2ilt, Total E&P Denmark, Siemens Gamesa Renewable Energy and EIVA, and our colleagues from Aalborg University, for many valuable discussions and technical support.
Publisher Copyright:
© 2022 by the authors.
PY - 2022/12
Y1 - 2022/12
N2 - This paper presents a simulation model environment for the popular and low-cost remotely operated vehicle (ROV) BlueROV2 implemented in Simulink™ which has been designed and experimentally validated for benchmark control algorithms for underwater vehicles. The BlueROV2 model is based on Fossen’s equations and includes a kinematic model of the vehicle, the hydrodynamics of vehicle and water interaction, a dynamic model of the thrusters, and, lastly, the gravitational/buoyant forces. The hydrodynamic parameters and thruster model have been validated in a test facility. The benchmark model also includes the ocean current, modeled as constant velocity. The tether connecting the ROV to the top-site facility has been modeled using the lumped mass method and is implemented as a force input to the ROV model. At last, to show the usefulness of the benchmark model, a case study is presented where a BlueROV2 is deployed to inspect an offshore monopile structure. The case study uses a sliding mode controller designed for the BlueROV2. The controller fulfills the design criteria defined for the case study by following the provided trajectory with a low error. It is concluded that the simulator establishes a benchmark for future control schemes for position control and trajectory tracking under the influence of environmental disturbances.
AB - This paper presents a simulation model environment for the popular and low-cost remotely operated vehicle (ROV) BlueROV2 implemented in Simulink™ which has been designed and experimentally validated for benchmark control algorithms for underwater vehicles. The BlueROV2 model is based on Fossen’s equations and includes a kinematic model of the vehicle, the hydrodynamics of vehicle and water interaction, a dynamic model of the thrusters, and, lastly, the gravitational/buoyant forces. The hydrodynamic parameters and thruster model have been validated in a test facility. The benchmark model also includes the ocean current, modeled as constant velocity. The tether connecting the ROV to the top-site facility has been modeled using the lumped mass method and is implemented as a force input to the ROV model. At last, to show the usefulness of the benchmark model, a case study is presented where a BlueROV2 is deployed to inspect an offshore monopile structure. The case study uses a sliding mode controller designed for the BlueROV2. The controller fulfills the design criteria defined for the case study by following the provided trajectory with a low error. It is concluded that the simulator establishes a benchmark for future control schemes for position control and trajectory tracking under the influence of environmental disturbances.
KW - benchmarking control algorithms
KW - BlueROV2
KW - modeling and control
KW - underwater vehicles
U2 - 10.3390/jmse10121898
DO - 10.3390/jmse10121898
M3 - Journal article
AN - SCOPUS:85144911549
SN - 2077-1312
VL - 10
JO - Journal of Marine Science and Engineering
JF - Journal of Marine Science and Engineering
IS - 12
M1 - 1898
ER -