Abstract
A mathematical model (MM) has been developed to describe the dynamics of the MTS EL element using an underwater towed system (UTS) as an example, as well as the MM of MTS with EL. The MM of the EL element dynamics makes it possible to take into consideration: 1) the movement of a carrier vessel (CV); 2) features of the EL design, which affect the functional characteristics MTS; 3) the movement of an underwater vehicle (UV); 4) the impact of obstacles along the path of UV and EL; 5) large movements of EL as part of MTS. The mathematical model of MTS with EL makes it possible to solve the following tasks: 1) to determine a change in the shape of EL and the forces of its tension in the process of maneuvering of CV and UV taking into consideration sea waves, wind loads on CV, the sea depth and its change in the assigned water area, the mass and elastic properties of EL; 2) to determine the relative position of CV and UV in the process of their maneuvering; 3) to determine the maximum loads on EL necessary to assess its strength during the maneuvering of CV and UV. Analysis of design tasks in the construction of marine tethered systems (MTdS) as a variety of MTS reveals that the calculation of MtdS EL is associated with significant theoretical complexity and is science-intensive. The proposed procedure for improving the design of MTS with EL, based on the MM that describes the dynamics of MTS EL (as well as MTS with EL), makes it possible to investigate the different modes of operation of almost all classes of MTdS. Using it could improve existing methods of calculating and designing MTdSs with EL thereby bringing them to the level of an engineering application
Highlights
Given the changes in the earth’s ecology and climate, the requirements for the technology of studying and developing the oceans and its shelf zone have increased
It is necessary to take into consideration a change in the Elastic links (ELs) natural characteristics during operation: ‒ during hydrostatic compression, the EL changes its shape from the ideal circle; ‒ there is a significant stretching of the EL lengthwise, including the internal wires in cables, as a result of which the hydrodynamic resistance of the EL changes; ‒ there is uneven aging and wear of shells and braiding of EL cables made of different materials; ‒ the curvy rigidity of the EL changes depending on the depth of the dive; ‒ the emergence of transverse EL vibration in the flow of water is possible, which significantly affects its reliability
Analysis of existing models of the dynamics of the marine tethered systems (MTdS) EL has revealed that most models of the EL element in the MTdS consider the dynamics of the EL at relatively small movements and bends, which shows the relevance of the development of a given mathematical model of the dynamics of the EL element to explore the real operating conditions
Summary
Given the changes in the earth’s ecology and climate, the requirements for the technology of studying and developing the oceans and its shelf zone have increased. The existing calculations of EL mainly employ their MM for ideal round sections In this case, it is necessary to take into consideration a change in the EL natural characteristics during operation (a change in their characteristics over time over a long period of operation): ‒ during hydrostatic compression, the EL changes its shape from the ideal circle; ‒ there is a significant stretching of the EL lengthwise, including the internal wires in cables, as a result of which the hydrodynamic resistance of the EL changes; ‒ there is uneven aging and wear of shells and braiding of EL cables made of different materials; ‒ the curvy rigidity of the EL changes depending on the depth of the dive; ‒ the emergence of transverse EL vibration in the flow of water is possible, which significantly affects its reliability. It is a relevant task to promptly calculate efforts in the EL for the problems related to research design and use in the automatic control systems of MTdSs in real time
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