Study on spatial turning maneuver of underwater towed system for submersibles
Abstract The spatial turning motion of a submersible is a crucial maneuvering mode that significantly affects the dynamic performance and stability of an underwater towed system. To quantitatively capture the key influencing factors, a set of dimensionless parameters is introduced. A dynamic model i...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2025-07-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-025-10008-y |
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| Summary: | Abstract The spatial turning motion of a submersible is a crucial maneuvering mode that significantly affects the dynamic performance and stability of an underwater towed system. To quantitatively capture the key influencing factors, a set of dimensionless parameters is introduced. A dynamic model is developed based on the lumped mass method, incorporating the six-degree-of-freedom maneuvering motion of the submersible and the nonlinear dynamics of the flexible towed cable. Parametric studies are conducted by varying five dimensionless ratios: the turning radius to cable length R/L, total cable mass to towed body mass ω, cable unit mass to unit drag w/r, horizontal to vertical speed ratio V ζ /V t , and cable buoyancy to gravity B c /G c . Results show that when R/L increases from 0.05 to 1.0, the steady-state tension drops by approximately 20. Increasing V ζ /V t from 20 to 80 shortens the transient stage by 87.5%. The system achieves minimum tension when R/L = 1.0, indicating optimal vertical force balance. These findings reveal clear dynamic trends and provide guidance for parameter optimization in submersible-towed systems under complex 3D motion. |
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| ISSN: | 2045-2322 |