Autonomous underwater vehicles (AUVs) are playing an increasingly important role in ocean exploration. In some applications, an AUV can be tethered by a communication cable, such as an optical fiber, for real-time surveillance. This article focuses on the motion analysis of the AUV and cable coupling system to investigate the interaction between AUV and cable dynamic behaviors, especially under the current disturbance in the dynamic ocean environment. The dynamic equations of the coupled AUV and cable are derived using the well-known finite difference method and solved using the advanced trust-region method in MATLAB. The model-based simulation scheme is presented and further verified by comparing the simulation results with the validated ones published in the existing literature. The motion cases when the tethered vehicle maneuvers in a variety of motion modes and current scenarios are studied to conduct a systematic motion analysis. Both the variation in the cable tension at the towpoint and the configuration of the cable in the water are investigated. Based on the understanding of the cable and current effects on AUV motion, this article further explores the antitwining maneuvering strategy for the cable-tethered AUV moving in currents. The findings in this work can provide theoretical guidance for the safe operation of the AUV and cable coupling system in the field.

中文翻译：

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用于实时监视的用光纤拴系的自主水下航行器的运动分析

自主水下航行器 (AUV) 在海洋探索中发挥着越来越重要的作用。在某些应用中，AUV 可以通过通信电缆（例如光纤）进行连接，以进行实时监视。本文重点研究AUV和电缆耦合系统的运动分析，以研究AUV和电缆动力学行为之间的相互作用，特别是在动态海洋环境中的电流扰动下。耦合 AUV 和电缆的动力学方程使用众所周知的有限差分方法导出，并使用 MATLAB 中的高级置信域方法求解。通过将仿真结果与现有文献中公布的验证结果进行比较，提出并进一步验证了基于模型的仿真方案。研究了系留车辆在各种运动模式和当前场景下操纵时的运动情况，以进行系统的运动分析。研究了牵引点处电缆张力的变化和水中电缆的配置。基于对缆索和水流对AUV运动影响的理解，本文进一步探讨了缆绳系留AUV在水流中运动的反缠绕机动策略。该工作的研究结果可为AUV和电缆耦合系统在现场的安全运行提供理论指导。基于对缆索和水流对AUV运动影响的理解，本文进一步探讨了缆绳系留AUV在水流中运动的反缠绕机动策略。该工作的研究结果可为AUV和电缆耦合系统在现场的安全运行提供理论指导。基于对缆索和水流对AUV运动影响的理解，本文进一步探讨了缆绳系留AUV在水流中运动的反缠绕机动策略。该工作的研究结果可为AUV和电缆耦合系统在现场的安全运行提供理论指导。