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<p>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 <i>R/L</i>, total cable mass to towed body mass <i>ω</i>, cable unit mass to unit drag <i>w/r</i>, horizontal to vertical speed ratio <i>V</i><sub><i>ζ</i></sub><i>/V</i><sub><i>t</i></sub>, and cable buoyancy to gravity <i>B</i><sub><i>c</i></sub><i>/G</i><sub><i>c</i></sub>​. Results show that when <i>R/L</i> increases from 0.05 to 1.0, the steady-state tension drops by approximately 20. Increasing <i>V</i><sub><i>ζ</i></sub><i>/V</i><sub><i>t</i></sub> from 20 to 80 shortens the transient stage by 87.5%. The system achieves minimum tension when <i>R/L</i> = 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.</p>

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Study on spatial turning maneuver of underwater towed system for submersibles

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2025年7月8日

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  • Wang Zhibo,
  • Kong Peiyun

摘要

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 Vζ/Vt, and cable buoyancy to gravity Bc/Gc​. Results show that when R/L increases from 0.05 to 1.0, the steady-state tension drops by approximately 20. Increasing Vζ/Vt 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.