This thesis proposes a method to simulate the dynamics of an autonomous underwater vehicle towing another autonomous underwater vehicle of equivalent size using a marine cable in the vertical and horizontal plane. There is a coupling effect between the two vehicles because the towed vehicle is of equivalent size. This means that the towed vehicle cannot be modeled as just a payload but rather, must incorporate the forces and moments experienced and acting on it. In this work, only AUVs with symmetrical hulls are considered, where the towing AUV is moving at a constant velocity with a set thrust while the towed AUV has no thrust. The rope system is another important component that needs to be modeled correctly because the rope material and type significantly impact the motion of the vehicles. The rope system in this study is modeled using a numerical approach called the lumped mass spring damper method which is easy to understand and computationally inexpensive. The rope model accounts for buoyancy differences in different ropes and permits cable flexibility. This thesis enables us to study the motion of multiple combinations of different ropes and axi-symmetric types of underwater vehicles with any fixed or movable fin configuration. / M.S. / This thesis studies the motion of an autonomous underwater vehicle towing another autonomous underwater vehicle which is a large as it is. The towed vehicle cannot be assumed to be just a mass attached to the towing vehicle. There is an interaction between the two vehicle. The towed vehicle places a force on the towed vehicle and the towed vehicle likewise places a force on the towing vehicle. This interaction needs to be modeled correctly to fully capture the impact of both vehicles and their appendages. Additionally, the rope system poses a huge impact on the two vehicle depending on what type of rope is selected. Multiple factors affect the performance of a rope such as the shape and the elasticity. Some ropes may also be denser due to their material type and are less buoyant than others. These factors are considered in the modeling of the overall system and allows us to study different combinations of ropes and symmetric hulled autonomous underwater vehicles.

Ziel der Arbeit ist es, die instationären zeitlichen und räumlichen Bewegungsabläufe stark deformierbarer eindimensionaler Kontinua durch ein allgemeines mechanisch-mathematisches Modell unter Berücksichtigung ihrer Biege- und Torsionssteifigkeit zu beschreiben und zu dessen Lösung geeignete numerische Verfahren zu testen und auszuwählen. Die entwickelten Algorithmen werden auf Aufgabenstellungen aus der Raumfahrt-, Meeres- und Textiltechnik angewendet. / It is the aim of this thesis to describe the instationary motion of flexible one-dimensional continua by a general mechanical-mathematical model, when bending and torsional stiffness is not negligible, and to test and select appropriate numerical solution methods. The developed algorithms are used to solve problems from space, marine and textil engineering.

Ziel der Arbeit ist es, die instationären zeitlichen und räumlichen Bewegungsabläufe stark deformierbarer eindimensionaler Kontinua durch ein allgemeines mechanisch-mathematisches Modell unter Berücksichtigung ihrer Biege- und Torsionssteifigkeit zu beschreiben und zu dessen Lösung geeignete numerische Verfahren zu testen und auszuwählen. Die entwickelten Algorithmen werden auf Aufgabenstellungen aus der Raumfahrt-, Meeres- und Textiltechnik angewendet. / It is the aim of this thesis to describe the instationary motion of flexible one-dimensional continua by a general mechanical-mathematical model, when bending and torsional stiffness is not negligible, and to test and select appropriate numerical solution methods. The developed algorithms are used to solve problems from space, marine and textil engineering.