Modeling and simulation of underwater vehicle mooring with flexible chain

Underwater vehicle can be moored by a flexible chain under the ocean. Based on the establishment of the system of reference coordinate system, considering the coupling of the chains and underwarte vehicle's static stability, the mathematical model of the whole system was established. The model of the flexible chain was completed. Then the simulation test of the novel model was carried out during 0~2 kn. The prediction of stable state of vehicle and chain was completed. As the pitch angle of underwater vehicle changed in a small range, underwater vehicle would not contact to the seabed when the residual buoyancy changed. It is determined that the mooring method with a flexible chain has high reliability, and the stability of mooring underwater vehicle was confirmed.