A fundamental study on the dynamics of underwater towed vehicle

本课题主要研究结果如下：1)利用水下拖曳体的鳍片可控模型，对模型的不同姿态参数进行了多次静态实验。通过强迫振荡试验研究了前向速度和频率对附加质量和阻尼系数的影响。2)基于Ing理论提出了一种新的实用的水动力系数估算方法。3)推导了六自由度的运动方程。在这个项目中开发的一个模拟程序使研究被拖鱼的垂直和横向运动的耦合行为成为可能。4)得到了考虑扭转效应的拖曳索动力学的广义微分方程。数值计算结果与实验结果吻合较好。

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.