• 学报（中文） •

### 水下多缆多体拖曳系统运动建模与模拟计算

1. 1. 上海交通大学 海洋工程国家重点实验室； 高新船舶与深海开发装备协同创新中心， 上海 200240； 2. 武汉第二船舶设计研究所， 武汉 430064； 3. 中国船舶科学研究中心， 江苏 无锡 214082
• 出版日期:2020-05-28 发布日期:2020-06-02
• 通讯作者: 王飞(1979-)，男，上海市人，博士，从事船舶操纵性研究，电话（Tel.）:021-34208380; E-mail: Hengex@gmail.com.
• 基金资助:
国家自然科学基金资助项目（51779140）

### Motion Modeling and Numerical Simulation Study of Underwater Multi-Cable Multi-Body Towed System

WANG Fei 1,DING Wei 2,DENG Deheng 1,WU Xiaofeng 3

1. 1. State Key Laboratory of Ocean Engineering; Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Wuhan Second Ship Design and Research Institute, Wuhan 430064, China; 3. China Ship Scientific Research Center, Wuxi 214082, Jiangsu, China
• Online:2020-05-28 Published:2020-06-02

Abstract: Aimed at the underwater multi-cable multi-body towed system, a mathematical model and the corresponding numerical solution are proposed to predict and analyze its dynamic characteristics in various conditions. The model consists of three parts: the governing equation of cables is given based on the lumped mass method; the underwater towed body, as a key part of the system, is accurately described by the 6 degree-of-freedom governing equations for submarines; the other tiny towed body in the system is simplified as a mass point and is incorporated into the cable node governing equation because of its small dimension. Coupling boundary conditions for towed cable and body are given to unite the three parts together, which is numerically solved by using the 4th order Runge-Kutta integration method. Finally, numerical simulations for a four-cable and two-body towed system are conducted to study its dynamic response in various conditions, and some conclusions are drawn from the results.