Modelling of a cable-drogue docking system for AUV

In this paper, a novel cable-drogue docking system is proposed between AUV and mobile underwater platform. First, the cable-drogue docking system is graphically exhibited and introduced. The docking procedure is finished behind platform. Next, the coordinate systems are built. The cable-drogue's mathematical model is established as a link-joint-connected system, in which the mass and loads associated with each link are concentrated at the joints. Then, subjected to the hydrodynamic forces on system, the kinematic and dynamic equations are derived as a set of linear algebraic equations. Finally, numerical solution procedure is programmed. The models steady-state characteristics are studied by simulations, including the hydrodynamic force and the position of cable-drogue system. Also investigated are the dynamic characteristics in various velocities.