SUBMARINE TOWING PROBLEM

1.0 OBJECTIVES:

To gain understanding of dynamical systems and modeling experience through MATLAB and
SIMULINK simulation
To understand second order system concepts such as damping ratio and natural frequency in
dynamical systems

2.0 DESCRIPTION:

A scientific deep diving submarine weighing 32,200 lb must be towed out to a sea location by a much
larger ship. The nylon tow cable to be used is wound off of a large drum on the aft section of the towing
ship. Your senior officer has specified that 300 ft. of cable will be used in the towing operation.
Specifications from the cable manufacturer indicate that the elastic properties of the cable are such that
300 ft. length will elongate 0.6 ft. for each 1000 lb of tension in the cable. The wave and viscous drag on
the submarine can be assumed to be linearly proportional to its forward velocity under tow, and is known
to be, from previous tests, equal to 1200 lb-sec/ft; Under harsh conditions at sea, it is a common
experience that a "jerk" start occurs, in which case the towing ship is moving forward at a constant speed
of approximately 5 ft./sec (slightly over 3 mph) when the cable snaps tight and begins to pull the
submarine forward, which has been at rest. This time therefore defines t = 0.0 sec. Your approval of the
cable length is being requested by the senior officer.

3.0 PROCEDURE:

A. Draw a free body diagram of the submarine.

B. Obtain a differential equation model of the submarine derived from the mechanical (mass, damper,
spring) model of the total system composed of the submarine and the towing boat.

C. Simulate the submarine motion and answer the following:

1. What is maximum force in the tow cable and when does it occur? Does this maximum force
occur when the submarine goes through its maximum acceleration? Explain your anwer.
2. What is the elongation in the tow cable due to the drag of the submarine at steady state?
3. What is the maximum velocity of the submarine and when does it occur?

D. You recommend that the senior officer should select a cable length that would minimize the value of
the peak force in the cable, while keeping the cable from being unnecessarily long. Therefore, you
suggest that the system should have a damping ratio = 0.707.
1. Find the length of the cable for damping ratio = 0.707.
2. Adjust the gain values of your block diagram to agree with this cable length.
3. Simulate and determine the maximum velocity and maximum cable force. Compare the results
with the 300 ft. cable.
 4. What is the physical significance of = 0.707 in a dynamical system in relation to the shape
of the response? Why is it the advantage of the cable with = 0.707?

E. Solve the differential equation of the case described in part D using a method of your choice.
Compare your simulation results with your analytical solution, superimposing both results in ONE
MATLAB figure. Your analytical solution (typed in Word with Equation Editor) should be included
the Sample Calculation.

[For all simulations, always run them for 25 SECONDS]

4.0 LAB REPORT WRITE-UP:

i. Use the lab report format described in the syllabus.

ii. All of the questions in parts C and D goes into your Sample Calculation section.
iii. Make sure you spend at least a paragraph in your Discussion and Conclusion section
addressing question 4 in part D. In the Discussion section, you must discuss why your
Results happen rather than what happens in your Results nor what you did during the lab.
iv. Results should comprise of the following figures:
A figure with Rope elongation length vs. time with both parts C and D in one figure
A figure with Velocity of submarine vs. Time with both parts C and D in one figure
A figure with Displacement of the submarine vs. Time with both simulation in part D and
analytical results (part E)
A figure with Force in tow cable vs. Time with both parts C and D in one figure