Dynamic Modeling of Active Towing System and Simulation Verification of Position and Attitude Control

Compared with the passive towing system, which can realize the precise stability of the towed buoy track through the co-motion of the mother aircraft and the cable retraction, the active towing system with the end connection of the towed cable can realize the attitude and position manoeuvre control. The towed cable is often shorter in length and lighter in weight than the passive towing system, and the various multi-body dynamic analysis methods need better adaptability. In this paper, the active control and aerodynamic steady state are decomposed by D‘Alembert’s principle, the passive towing force is established through speed closed-loop control, and the modelling method of the towing system composed of the light towed cable and the end of the line can be realized by the position maneuvering catcher, and the active towing posture control system is designed. Finally, the effectiveness of the proposed modelling method for active towing systems is verified by simulation.