Research Papers

Riccati Discrete Time Transfer Matrix Method for Dynamic Modeling and Simulation of an Underwater Towed System

[+] Author and Article Information
Guoping Wang

Institute of Launch Dynamics,  Nanjing University of Science and Technology, Nanjing, P. R. C., 210094wgp1976@163.com

Bao Rong

Institute of Launch Dynamics,  Nanjing University of Science and Technology, Nanjing, P. R. C., 210094; Nanchang Military Academy, Nanchang, P. R. C., 330103rongbao_nust@sina.com

Ling Tao

Institute of Plasma Physics, Chinese Academy of Sciences (ASIPP), Hefei, P. R. C., 230031palytao@ipp.ac.cn

Xiaoting Rui

Institute of Launch Dynamics,  Nanjing University of Science and Technology, Nanjing, P. R. C., 210094ruixt@163.net

J. Appl. Mech 79(4), 041014 (May 11, 2012) (9 pages) doi:10.1115/1.4006237 History: Received October 04, 2010; Revised December 15, 2011; Posted February 28, 2012; Published May 11, 2012; Online May 11, 2012

Efficient, precise dynamic modeling and control of complex underwater towed systems has become a research focus in the field of multibody dynamics. In this paper, based on finite segment model of cable, by defining the new state vectors and deducing the new transfer equations of underwater towed systems, a new highly efficient method for dynamic modeling and simulation of underwater towed systems is presented and the pay-out/reel-in process of towed cable is studied. The computational efficiency and numerical stability of the proposed method are discussed. When using the method to study the dynamics of underwater towed systems, it avoids the global dynamic equations of system, and simplifies solving procedure. Irrespective of the degree of freedom of underwater towed system, the matrices involved in the proposed method are always very small, which greatly improve the computational efficiency and avoids the computing difficulties caused by too high matrix orders for complex underwater towed systems. Formulations of the method as well as numerical simulations are given to validate the proposed method.

Copyright © 2012 by American Society of Mechanical Engineers
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Figure 1

Underwater towed cable system

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Figure 2

Rigid body moving in space

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Figure 3

Flow chart of algorithms for the proposed method

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Figure 4

Dynamic simulation of underwater towed system when the cable has a fixed length

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Figure 6

Dynamic simulation of reel-in process of underwater towed system

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Figure 5

Time history of reel-in speed of cable



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