Mathematical Model of Flexible Link Dynamics in Marine Tethered Systems Considering Torsion and its Influence on Tension Force

The rigidity in bending of a flexible link (is an important characteristic that should be considered during regular service conditions. The tension and bending with torsion of wire ropes are also significant factors. This study proposed a method to calculate the vectors of the generalised forces of bending of flexible links. One of the causes of torsional stresses in the power plant of underwater tethered systems is the interaction with ship equipment, such as spiral winding on the winch drum, friction on the flanges of the pulleys or winch drums, and bends on various blocks and rolls that cause torsion. The source of torsional stresses in the FL may also be related to manufacturing, storage, transportation, and its placement on the ship’s winch drums. Torsion can lead to a decrease in the tensile strength due to load redistribution between power elements, or even a violation of their structure. In some cases, torsion significantly affects the movement of the underwater tethered system as a whole. The development of a mathematical model to describe the marine tethered systems dynamics, taking into account the effect of torsion, is important and relevant. The mathematical model of the marine tethered systems dynamics was improved and solved by accounting for the generalised forces of the torsion rigidity of the flexible link, using an algorithm and computer program. The influence of the bending and torsional rigidity of the FL on its deflection and tensile strength were considered based on the example of two problems. The developed program’s working window image shows the simulated parameters and the initial position of the flexible link. The results show that torsion has almost no effect on the shape of the a flexible link’s deflection in the X0Z plane, but leads to a deviation from the X0Z plane when calculating the static deflection of the flexible link. When the carrier vessel is stationary and the submersible vehicle has no restrictions on movement and has positive buoyancy, torsion leads to a three-dimensional change in the shape of the flexible link both in the X0Z plane and in the X0Y plane. The tension force of the flexible link along its length is distributed unevenly, and the torsion of the flexible link can lead to significant changes in its shape, the trajectory of towed objects, and the forces acting on the elements of the marine tethered systems