The Interaction Dynamics of a Semi-Submersible Towing a Large Towfish

摘要

The interactions between a semi-submersible drone and its large towfish. where the tension in the tow cable joining them is about 20% of the weight of the drone, are investigated. Since standard cable dynamics modelling computer programs do not model tow-vehicle/tow-body interactions, an iterative approach to calculating these interactions is developed. Drone motions are modelled with a non-linear, six degree-of-freedom, underwater vehicle simulation incorporating pre-defined, three component, time dependent tow cable tensions applied at the tow point. Cable dynamics are modelled with the nonlinear, finite segment, cable/towfish dynamic simulator DYNTOCABS, which accepts pre-defined tow-point accelerations as time varying boundary conditions. The interactions are calculated by iterating between these two programs. The method is applied to simple turning maneuvers important to minehunting operations.