Longitudinal Dynamics of Underwater Towed Equipment in the Problem of Monitoring the Defined Region of the Continental Shelf

The article focuses on longitudinal dynamics of an underwater towed robotic system intended for monitoring a defined region of the continental shelf and consisting of a towed vehicle and flexible connection. The flexible connection means an inextensible, absolutely flexible, smooth, weighty cable of circular cross-section. The characteristic feature of the studied problem formulation is the requirement to take into account very stringent restrictions on the pitch angles and the depth range limits of the towed vehicle, its geometric parameters and rope length in conditions of a significant increase in the hydrostatic force in comparison with the weight of the towed vehicle. The paper gives hydrodynamic characteristics of the vehicle and presents a mathematical model of the equilibrium of a weighted rope, as well as a model of the longitudinal motion of the underwater towed vehicle. The system's possible steady-state movements were analyzed and the parameters of the towed vehicle were selected. The parameters provide the specified trajectory of the motion. Furthermore, the problems of balancing the towed vehicle with a horizontal steady motion at a constant depth were observed and examined. The problem of the longitudinal dynamic stability of the uncontrolled and controlled steady motion of the towed vehicle was solved, including the conditions for angular pitch stability. Finally, the problems of longitudinal dynamics in the mode of tracing the seabed relief and underwater obstacles were considered

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