A relatively simple and fast mathematical analysis method is proposed to determine the position and posture of underwater towing cable under steady-state. The lumped mass method is used to discretize the towing cable into a series of finite segment elements connected by nodes. Based on the static analysis of Morrison equation and finite segment of the towing cable, the analytical formulas of the steady-state control equation of the underwater towing cable are obtained and solved. The numerical simulations and experiments are carried out for verification. As the drag coefficients have a great influence on the accuracy of the results of the mathematical analysis and numerical simulation, the influences of normal drag coefficient and tangential drag coefficient on the calculation result are discussed. The normal drag coefficient is corrected through the experiment to further improve the accuracy of mathematical analysis and numerical simulation, which is significant for the depth control of underwater towing system.

提出了一种相对简单快速的数学分析方法来确定稳态下水下拖缆的位置和姿态。集总质量法用于将拖缆离散为一系列由节点连接的有限段单元。在对拖缆的Morrison方程和有限段进行静力分析的基础上，得到并求解了水下拖缆稳态控制方程的解析公式。进行了数值模拟和实验验证。由于阻力系数对数学分析和数值模拟结果的准确性有很大影响，因此讨论了法向阻力系数和切向阻力系数对计算结果的影响。