Parametric study for the steady-state equilibrium of a Towfish

The dynamic equilibrium in steady-state conditions is of outmost importance for the right working of an underwater vehicle. The paper aims to investigate what parameters mainly influence dynamics in order to maintain a given horizontal attitude at a desired depth. Some simplifications as constant speed of the boat, negligible inertial effects of the towline are introduced in order to study the dynamics after the transitory phase. Flexible cable modelling and hydrodynamic forces are coupled to rigid body dynamics to create a model able to determine the conditions necessary to maintain a horizontal orientation at a desired depth. A GUI interface to help designers to predispose different strategies and to analyse dynamics when some relevant parameters are varied is finally developed.