Investigation on a two-part underwater manoeuvrable towed system

A hydrodynamic model of a two-part underwater manoeuvrable towed system is proposed in which a depressor is equipped with active horizontal and vertical control surfaces, and a towed vehicle is attached to the lower end of a primary cable. In such a system the towed vehicle can be manoeuvred in both vertical and horizontal planes when it is towed at a certain velocity and the coupling effect of excitations at the upper end of the primary cable and disturbances of control manipulations to the towed vehicle can be reduced. In the model the hydrodynamic behavior of an underwater vehicle is described by the six-degrees-of-freedom equations of motion for submarine simulations. The added masses of an underwater vehicle are obtained from the three-dimensional potential theory. The control surface forces of the vehicle are determined by the wing theory. The results indicate that with relative simple control measures a two-part underwater manoeuvrable towed system enables the towed vehicle to travel in a wide range with a stable attitude. The method in this model gives an effective numerical approach for determining hydrodynamic characteristics of an underwater vehicle especially when little or no experimental data are available or when costs prohibit doing experiments for determining these data.     

Experimental investigation on a two-part underwater towed system

An experimental set-up is developed and proved to be effective for laboratory study of an underwater towed system. The experimental technique gives a practical method for monitoring the kinematic and dynamic performance of an underwater towed system in a ship towing tank. Both the theoretical and experimental results in the investigation indicate that the hydrodynamic response of a towed vehicle to the wave induced motion of a towing ship can be significantly reduced by applying a two-part tow method. A comparison of the numerical and experimental results in the investigation demonstrates that the numerical simulation results are close to the experimental data, overall agreement between experimental and theoretical results is satisfactory. The results qualitatively verify the mathematical model of a two-part underwater towed system proposed by Wu and Chwang [Wu, J., Chwang, A.T., 2000. A hydrodynamic model of a two-part underwater towed system. Ocean Engineering 27 (5), 455–472].     

水下拖曳升沉补偿系统水动力数学模型研究

建立变缆长的水下拖曳升沉补偿系统水动力学偏微分方程组和边界条件.拖缆动力学模型基于Ablow and Schechter模型,拖体采用水下运载体六自由度方程模拟,运用有限差分法离散偏微分方程组和牛顿迭代法计算变缆长情况下拖体深度与拖缆各点张力的动态取值.数值计算结果表明采用收放拖缆的升沉补偿方法能够有效削弱母船升沉运动对拖体深度和拖缆张力的影响.     

主动式声纳列阵拖曳系统姿态数值计算

主动式声纳列阵拖曳系统是用于探测潜艇的新型声纳系统，为了准确探测潜艇的位置，必须首先预报声纳列阵的瓷态，本文通过对其三维力学模型的分析，得到该系统的运动微分方程，其中缆索的力学方程是基于Ablow和Milinazzo的模型，而对于拖体则运用六自由度空间运动方程模拟，结合边界条件，用有限差分法求解，通过对拖船的不同运动状态如匀速，变速和回转的计算，证明本文的方法对于预报声纳列阵的姿态是有效的。     

基于模糊神经网络理论对水下拖曳体进行深度轨迹控制

以华南理工大学开发的自主稳定可控制水下拖曳体为研究对象,首先通过水下拖曳体在拖曳水池样机中的试验取得试验数据后作为训练样本,采用LM BP算法,建立基于神经网络理论构建的可控制水下拖曳体轨迹与姿态水动力的数值模型。在此基础上设计了一个控制系统,它主要由两部分组成:基于遗传算法的神经网络辨识器和基于模拟退火改进的遗传算法的模糊神经网络控制器。以满足预先设定的拖曳体水下监测轨迹要求为控制依据,由控制系统确定为达到所要求的运动轨迹而应采用的迫沉水翼转角,以此作为输入参数,通过LM BP神经网络模型的模拟计算预报在这一操纵动作控制下的拖曳体所表现的轨迹与姿态特征。数值模拟计算结果表明:该系统的设计达到了所要求的目的;借助这一系统,可以有效地实现对拖曳体的深度轨迹控制。     

A modeling study on steady-state and transverse dynamic motion of a towed array system

A numerical technique for mathematically modeling the steady-state and transverse dynamic motion of an underwater towed sonar array is presented. The transverse vibration response of the array is modeled using the finite difference method; the array itself is assumed to be nonneutrally buoyant and possesses a complex modulus and hence inherent damping. The results obtained from this model should provide useful information for further studying the beamforming and passive-ranging performance degradation and predicting the self-noise level of the towed array system.     

波浪作用下缆船拖带系统非线性运动数值模拟

基于船舶操纵性运动方程和拖缆的三维动力学运动方程,提出了被拖点位置匹配的方法,建立了拖船—拖缆—被拖船系统整体非线性拖带动力学模型。为了考察被拖船航向稳定性与横向稳性的关系以及波浪载荷作用的影响,被拖船采用水平面四自由度运动方程,并引入了波浪的作用力和力矩。拖船采用PD控制方法较真实地模拟了拖船航向改变的运动过程。对一个拖船—拖缆—被拖船系统(5 000 t的拖船和3 000 t的被拖船)在时域内进行了规则波浪作用下拖带运动的模拟,计算结果表明被拖带船舶在波浪中运动呈现运动稳定、不稳定和临界状态3种可能的特性。根据模拟计算结果,认为波浪中拖带航向稳定是被拖带船舶保持稳性的必要条件。     

An Integrated Hydrodynamics and Control Model of A Tethered Underwater Robot

An integrated hydrodynamics and control model to simulate tethered underwater robot system is proposed. The governing equation of the umbilical cable is based on a finite difference method, the hydrodynamic behaviors of the underwater robot are described by the six-degrees-of-freedom equations of motion for submarine simulations, and a controller based on the fuzzy sliding mode control (FSMC) algorithm is also incorporated. Fluid motion around the main body of moving robot with running control ducted propellers is governed by the Navier–Stokes equations and these nonlinear differential equations are solved numerically via computational fluid dynamics (CFD) technique. The hydrodynamics and control behaviors of the tethered underwater robot under certain designated trajectory and attitude control manipulation are then investigated based on the established hydrodynamics and control model. The results indicate that satisfactory control effect can be achieved and hydrodynamic behavior under the control operation can be observed with the model; much kinematic and dynamic information about tethered underwater robot system can be forecasted, including translational and angular motions of the robot, hydrodynamic loading on the robot, manipulation actions produced by the control propellers, the kinematic and dynamic behaviors of the umbilical cable. Since these hydrodynamic effects are fed into the proposed coupled model, the mutual hydrodynamic influences of different portions of the robot system as well as the hydrological factors of the undersea environment for the robot operation are incorporated in the model.     

A three-dimensional dynamic analysis of a towed system

The three-dimensional configuration of a towed cable-body system during prescribed towship maneuvers is determined. Bending resistance and inertia terms are not retained in the towing model; methods are described for ascertaining when these effects are negligible. A physical finite difference formulation is employed to develop the discretized equations of motion, and the system configuration is advanced in time using a Runge-Kutta recurrence algorithm. The response of a reference towed system to a typical maneuver is presented graphically.     

Wave Influence on Underwater Launch and Recovery System

In this paper,the underwater vehicle,sling and the mother ship are considered as a single de-gree of freedom system connected by a spring.Through the analysis of this system,a physical model is es-tablished,which describes the motion of the vehicle caused by the ship motion and wave motion.Furthermore,a mathematical model based on this physical model is obtained,and a numerical solutionprogram is made.As an example,a practical launch and recovery system for an underwater robot is calcu-lated by use of the program.and the motion track of the robot is obtained.     

海况对水下运载器吊放回收的影响

本文将水下运载器，吊索和母船看作是一个由弹簧连接的单自由度系统，通过对系统进行分析和研究，建立了水下被吊物体在吊索带动下，由吊臂端点运动引起的运动响应的物理模型、数学方程，并编制了各项参数可调的计算机程序以求解水下物体的运动轨迹。运用此程序，对影响参数作系列变化后进行了运动响应计算，并绘制成运动响应随这些参数变化的曲线，为水下吊放回收系统的设计提供了依据     

海洋测量水下拖曳设备的位置计算方法研究

针对海洋测量水下拖曳设备位置确定问题,综合考虑拖缆受力、海流影响以及水下拖体的运动性质,建立了水下拖曳设备的位置计算模型,并仿真计算分析了测量船在不同航行状态下拖曳设备位置确定的规律,探讨了不同海流效应对拖曳设备位置确定的影响。仿真计算结果表明,在海洋动态环境作用下,拖缆各方向的偏移明显呈曲线形状,非简单几何运算所确定。测船各方向的运动均可对水下拖体的位置在相应方向产生一定影响,而水下拖体位置的变化量小于测船拖点位置的变化量。海流对水下拖曳设备定位可造成数米的偏差,需进行相应改正。建议可考虑采取船载式ADCP实时测流辅助水下拖曳设备定位的工作模式。     

Study on the Configuration of Towed Flexible Cables

Based on the fundamental equation of flexible cable dynamics for a towed system, an easily solved mathematical model is set up in this paper by means of appropriate simplification. Several regular patterns of spatial motion of towed flexible cables in water are obtained through numerical simulation with the finite difference method, and then modification and verification by trial results at sea. A technical support is provided for the towing ship to maneuver properly when a flexible cable is towed. Furthermore, the relations between two towed flexible cables, which are towed simultaneously by a ship, are investigated. The results show that the ship towing two flexible cables is safe under the suggested arrangement of two winches for the towing system, and the coiling/uncoiling sequences of the cables as well as the suggested way of maneuvering.     

Transformed equations of motion for underwater vehicles

A method for dynamics investigation and coupling detection between velocities of autonomous underwater vehicles (AUVs) is presented in this paper. The method is based on transformation of equations of motion, which are usually used for an underwater vehicle, into equations with a diagonal mass matrix. The obtained equations contain quasi-velocities and allow one to give a further insight into the AUV dynamics especially for an underactuated system. Some advantages of the proposed approach are discussed, too. An analytical example for a 3-DOF AUV shows possible application of the transformed equations. Moreover, the given approach is validated via simulation on a 6-DOF vehicle.     

An efficient algorithm for simulating the dynamics of towed cable systems

An efficient algorithm is presented which simulates the three-dimensional motion of a towed cable. The formulation is based on an implicit, second-order finite difference approximation of the equations of motion. The results of the computation are compared both to those obtained by another numerical model and to experimental measurements.     

Dynamic modeling of cable towed body using nodal position finite element method

This paper analyses nonlinear dynamics of cable towed body system. The cable has been modeled and analyzed using a new nodal position finite element method, which calculates the position of the cable directly instead of the displacement by the existing finite element method. The newly derived nodal position finite element method eliminates the need of decoupling the rigid body motion from the total motion, where numerical errors arise in the existing nonlinear finite element method, and the limitation of small rotation in each time step in the existing nonlinear finite element method. The towed body is modeled as a rigid body with six degrees of freedom while the tow ship motion is treated as a moving boundary to the system. A special procedure has been developed to couple the cable element with the towed body. The current approach can be used as design tool for achieving improved directional stability, maneuverability, safety and control characteristics with the cable towed body. The analysis results show the elegance and robustness of the proposed approach by comparing with the sea trial data.     

立式翼型主体拖曳式水下潜器的设计及操纵性能

针对现有拖曳式水下潜器控制机构复杂、航向与姿态不容易稳定的缺陷,提出和设计了一种具有航向与姿态稳定的多自由度可控制拖曳式水下潜器样机。该样机主要由鱼雷状浮体、固定水平主翼、转角可控制襟翼、立式翼型主体等部分组成,潜器的深度控制通过控制襟翼的偏转来诱导固定水平主翼攻角的改变来实现;潜器的横荡运动操纵以通过控制两个作为转艏控制器的导管螺旋桨的转向与转速、诱导立式翼型主体产生诱导力矩使其产生横向偏转来进行。文中所提出和设计的样机具有运动过程中自我稳定能力强、航向稳定性好、控制机构简单并具有较高实用价值的特点。     

拖曳系统拖曳动态过程仿真分析

对于海洋缆索系统,论文针对传统有限段法的不足,提出改进的缆索有限段法,缆索离散为若干弹性缆段组成的多柔体系统,根据缆索的特点选择适当的参考系和广义速率,引入有限元法中的形函数描述段内各点位移,根据Kane方程推导改进缆索有限段模型的运动方程。基于改进的缆索有限段法,提出了模拟拖曳缆索释放一回收过程的变拓扑结构模型,即用可变长度缆段长度的变化和缆段数量的改变建模缆索的释放和回收过程。文中对一海洋拖曳系统进行了动力学仿真,与海洋试验结果比较验证了模型的正确性。     

On the motions of the underwater remotely operated vehicle with the umbilical cable effect

In this paper, a hydrodynamic model is developed to simulate the six degrees of freedom motions of the underwater remotely operated vehicle (ROV) including the umbilical cable effect. The corresponding hydrodynamic forces on the underwater vehicle are obtained by the planar motion mechanism test technique. With the relevant hydrodynamic coefficients, the 4th-order Runge–Kutta numerical method is then adopted to solve the equations of motions of the ROV and the configuration of the umbilical cable. The multi-step shooting method is also suggested to solve the two-end boundary-value problem on the umbilical cable with respect to a set of first-order ordinary differential equation system. All operation simulations for the ROV including forward moving, ascending, descending, sideward moving and turning motions can be analyzed, either with or without umbilical cable effect. The current effect is also taken into consideration. The present results reveal that the umbilical cable indeed significantly affects the motion of the ROV and should not be neglected in the simulation.     

A Hybrid Finite-Volume and Finite Difference Scheme for Depth-Integrated Non-Hydrostatic Model

A depth-integrated, non-hydrostatic model with hybrid finite difference and finite volume numerical algorithm is proposed in this paper. By utilizing a fraction step method, the governing equations are decomposed into hydrostatic and non-hydrostatic parts. The first part is solved by using the finite volume conservative discretization method, whilst the latter is considered by solving discretized Poisson-type equations with the finite difference method. The second-order accuracy, both in time and space, of the finite volume scheme is achieved by using an explicit predictor-correction step and linear construction of variable state in cells. The fluxes across the cell faces are computed in a Godunov-based manner by using MUSTA scheme. Slope and flux limiting technique is used to equip the algorithm with total variation dimensioning property for shock capturing purpose. Wave breaking is treated as a shock by switching off the non-hydrostatic pressure in the steep wave front locally. The model deals with moving wet/dry front in a simple way. Numerical experiments are conducted to verify the proposed model.