The Simulation Of The Movement Of Towed System

Underwater towed system is underwater survey device which increasingly widely applied marine research, ocean monitor with to field such as being military extensively, it has a special use in marine environment and marine resources investigation and national defense construction. It can carry on the measurement of various kinds of oceanography key elements and geophysics parameters, photography, sea the floor of sea, take a geology sample salvage the ore in the depth in the ocean and maintain and repair underwater regular industrial facility through the equipment, investigation. The system usually composes of towed cable, towed body and special-purpose hoist .Towed body can be carried warmly, salt, pigeonhole, nutrition salt and sonar, etc, according to different uses. Various kinds of marine chemical element survey sensor or sound, light physics sensor. The operator on ship can implement to pull through certain control method, to control orbit and posture of body, achieve and carry out different purposes of the underwater detection mission. Setting up strict theory model to carry on the theory analysis, numerical simulation and based on it to carry on laboratory the model tests and maritime test on-the-spot prototype of a machine is essential and prerequisite to research and development successful underwater towed system. Different towed system has different instructions for use systematically, it has very important meanings in the design and use of towed systematic to hold the law and characteristic of the systematic movement accurately.To research the systematic hydrodynamic performance, to set up one comparatively perfect simulation system to simulate various kinds of movement and make use of simulation system to adjust the design project of the towed system, is of great advantage to design and research towed system, it can save a large amount of time and fund, and avoid the enormous losses of manpowerand material resources.To analyze the characteristics of the cable and underwater robot at first, to combine others' experience and target of the paper in thesis, to set up the dynamics equation and available method to solve: finite difference method and through a series of simulation experiments, the author has obtained some knowledge of the movement of the cable body system and the dynamics characteristic, set up the understanding of the whole system, especially the understanding of the coupling between the cable and underwater vehicle.The method and conclusion in this thesis are very useful for the design of towed underwater detect device.