Spatial Rigid-Flexible-Liquid Coupling Dynamics of Towed System Analyzed by a Hamiltonian Finite Element Method

Abstract

An effective Hamiltonian finite element method is presented in this paper to investigate the three-dimensional dynamic responses of a towed cable-payload system with large deformation. The dynamics of a flexible towed system moving in a medium is a classical and complex rigid-flexible-liquid coupling problem. The dynamic governing equation is derived from the Hamiltonian system and built-in canonical form. A Symplectic algorithm is built to analyze the canonical equations numerically. Logarithmic strain is applied to estimate the large deformation effect and the system stiffness matrix will be updated for each calculation time step. A direct integral solution of the medium drag effect is derived in which the traditional coordinate transformation is avoided. A conical pendulum system and a 180° U-turn towed cable system are conducted and the results are compared with those retraced from the existing Hamiltonian method based on small deformation theory and the dynamic software of Livermore software technology corp. (LS-DYNA). Furthermore, a circularly towed system is analyzed and compared with experimental data. The comparisons show that the presented method is more accurate than the existing Hamiltonian method when large deformation occurred in the towed cable due to the application of logarithmic strain. Furthermore, it is more effective than LS-DYNA to treat the rigid-flexible-liquid coupling problems in the costs of CPU time.