A fundamental study on the dynamics of underwater towed vehicle

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Principal results obtained in this project can be summarized as follows:1) Using a fin-controllable model of underwater towed vehicle, a number of static experiments were carried out for various attitude parameters of a model. Forced oscillation tests were also conducted to study the forward-speed and frequency effects on added mass and damping coefficients.2) A new practical method of estimating hydrodynamic coefficients was proposed on the basis of the Ing theory.3) The motion equations with six degrees of freedom were derived. A simulation program developed in this project made it possible to investigate the coupling behaviour of the vertical and transverse motions of a towed fish.4) A generalized differential equation for the dynamics of a towing cable was obtained with the torsion effect taken into account. The numerical results were found to coincide favorably with the experiments.