水下拖体在回转操纵中的运动仿真模拟

水下拖曳系统为各种内河航道工程,近海港口工程前期的勘探活动提供了一种有效途径,当要求对某个目标进行详细探测时,需要拖船进行回转机动操纵,因此拖体运动轨迹准确位置的预报关系到能否完成对目标的探测。文章采用凝集质量法建立水下缆-体系统模型,编制计算机程序,程序模拟了不同回转半径、不同拖速回转操纵下的拖船与拖体运动轨迹,分析了回转操纵中影响拖体稳态及拖体深度的参数。同时,计算机程序仿真模拟了一个"8"字形拖曳操纵,仿真算例与相关文献进行比较,结果表明此计算机程序具有一定工程实用价值。

Dynamic simulation of towed vehicle during ship turning maneuvers

Underwater towed systems provided an effective way for all kinds of inland waterway projects and sea ports preliminary exploration activities. When certain target operates a particular exploration, a towed ship turning favorable maneuvers was needed. In this paper, a lumped-parameter method was used to establish the model of ocean cable-fish system, and the current computer program was compiled to simulate the trajectory of the towed ship and towed vehicle with different gyrating radius and different towing velocity in ocean cable-fish system. The parameters which affect the stability and the depth of the towed vehicle during ship turning maneuvers were analyzed. Meanwhile, all kinds of towing conditions were simulated. The results of simulating examples were compared with corresponding literatures, which proved the practical value of compute program.