Table 5 Tethered cable parameters
From: Model Based Adaptive Control and Disturbance Compensation for Underwater Vehicles
Item | Density ρ t /(kg·m−3) | Drag coefficient (m−1) | Elasticity modulus E/GPa | End position (m) | Infinitesimal dt/m | Length Ltotal/m | ||||
|---|---|---|---|---|---|---|---|---|---|---|
\(C_{xt}\) | \(C_{yt}\) | \(C_{zt}\) | \(r_{tx}\) | \(r_{ty}\) | \(r_{tz}\) | |||||
Value | 1000 | 0.01 | 1.2 | 1.2 | 200 | 0.48 | 0 | 0 | 10−2 | 300 |