Спеціалізований моделюючий комплекс для дослідження динаміки руху підводної буксируваної системи

There is developed a specialized simulating complex for computer-aided study of the efficiency of automatic control systems for the underwater towed system «carrier ship — tether winch — tether — towed underwater vehicle». The complex includes mathematical models of the dynamics of a marine moving object, flexible connection and tether winch. The former is used to simulate the spatial motion dynamics of a towing vessel and a towed underwater vehicle as solid bodies in a water flow. Tether simulation employs a method of simulating a flexible connection with automatic control of the axial motion of its elements, which makes it possible to account for the dynamics of the change in the length of its released part. The model of the tether winch dynamics provides simulation of the tether release and gathering. The simulation complex enables studying the spatial motion of a towed underwater vehicle in the water column in relation to the towing vessel as a control object at the dynamic change of the length of the released part of the tether.