The Interaction Dynamics of a Semi-Submersible Towing a Large Towfish
Defence Research Establishment Atlantic Dartmouth, Nova Scotia Canada
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The interactions between a semi-submersible drone and its large towfl.sh, where the tension in the tow cable joining them is about 20 of the weight of the drone, are investigated. Since standard cable dynamics modelling computer programs do not model tow-vehicletow-body interactions, an iterative approach to calculating these interactions. is developed. Drone motions are modeled with a non-linear, six degree-of-freedom, underwater vehicle simulation incorporating pre-defined, three component, time dependent tow cable tensions applied at the tow point. Cable dynamics are modelled with the non-linear, finite segment, cabletowfish dynamic simulator DYNTOCABS, which accepts pre-defined tow-point accelerations as time varying boundary conditions. The interactions are calculated by iterating between these two programs. The method is applied to simple turning maneuvers important to mine hunting operations.
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