International Journal of Naval Architecture and Ocean Engineering

The Society of Naval Architects of Korea (대한조선학회)
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Dynamics modeling of a semi-submersible autonomous underwater vehicle with a towfish towed by a cable

  • Park, Jinmo (Department of Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Kim, Nakwan (Department of Naval Architecture and Ocean Engineering, Seoul National University)
  • Published : 2015.03.31
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Abstract

In this paper, we employ a dynamics modeling method for investigating a multi-body dynamics system of semi-submersible autonomous underwater vehicles consisting of a towing vehicle operated near the water surface, a tow cable, and a towfish. The towfish, which is towed by a marine cable for the purposes of exploration or mine hunting, is modeled with a Six-Degree-of-Freedom (6-DOF) equation of motion that reflects its hydrodynamics characteristics. The towing cable, which can experience large displacements and deformations, is modeled using an absolute nodal coordinate formulation. To reflect the hydrodynamic characteristics of the cable during motion, the hydrodynamic force due to added mass and the drag force are imposed. To verify the completeness of the modeling, a few simple numerical simulations were conducted, and the results confirm the physical plausibility of the model.

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References

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