Analysis of Towed Underwater Vehicle System Conduct Under Rough Sea Conditions

摘要

The paper is devoted to research of towed underwater vehicle system conduct under rough sea conditions. It is shown, the successful use of towed vehicles depends on solution identification problem for the following: heave and seas wave (head and following) disturbances as a system of differential equations; "cable-vehicle" link as an element with distributed parameters such as elastics, inertia, cable internal friction and water friction in time domain. The ship theory, methods of theoretical mechanics, approximation, numerical modeling, theory of probabilities and mathematical statistics were used for a solution of the problem. Heave motion compensation is offered to be realized with using of underwater damping device. The synthesized automatic control system of damping device has solved three problems: stabilization, heave compensation with maximum efficiency, optimization of transients. The computing technique of the underwater damping device's parameters is developed. The calculations have shown, that due to use underwater damping device the necessary power for heave compensation is reduced more than in 10 times on a comparison with case of use of the ship winch. And the damping winch reduces vertical displacements and velocities of a vehicle in tens time for any length of a cable.