水下缆索动力学理论模型

水下缆索建模是水下拖曳系统和系泊系统中一项关键工作，采用多体系统方法对缆索动力特性进行理论分析，建立了缆索多体动力学三维有限段模型。该模型将缆索视为一系列具有不同物理特性的铰接刚性缆段，系统包含多个开环分支或闭环分支，讨论了流体阻力、流体附加质量和流体静压力的影响，分析比较了附加质量与系统本身惯性的关系，对小尺度缆索进行动力学仿真，并与实验结果做了比较，吻合良好，该模型可用于水下缆索系统的动力学仿真。

Dynamic Model of Marine Cable Systems

The modeling of submerged cable systems is a crucial task for underwater towed cable systems and mooring systems.Based on the method of multibody system, a three-dimensional finite segment dynamic model for cable systems is presented in this paper. This model consists of a series of ball-and-socket rigid rods, which may have different physical properties and the cable may have many open loop or closed loop branches.Effects of fluid drag,added mass and buoyance are included,and comparisons are made between the added mass and the inertia of the system itself. To validate the proposed model, the small-scale cable dynamics is simulated. The modeling results are compared with experimental results of the small-scale cable dynamics and there has been much consistency. This model can be used in the dynamic simulation of the marine cable systems.