沿底定深拖曳系统运动仿真

摘要

This paper mainly studies towed body's trafficability of the towed system with bottom depth cotroller, and by means of establishing mathematic model, and using the motion simulation analysis method, proving the towed system with bottom depth cotroller has depth controlling ability and obstacle avoidance ability,but in the actually application would need to take auxiliary means to improve obstacle avoidance height.%主要研究分析沿底定深拖曳系统的拖体机动性,通过建立沿底定深拖曳系统的数学模型,采用运动仿真计算分析的方法,验证了沿底定深拖曳系统有足够的定深能力和避障能力,但在实际应用中还需要采取辅助手段来提高避障高度.