Marine tether dynamics: retrieval and deployment from a heaving platform

A tether management system of a winch module in a marine environment is proposed. For the purpose of this study the subsea body is considered as a mass attached at the free end of a long tether which is wrapped around a circular drum controlled by an external torque. The winch is considered mounted on a heaving platform. The effect of the heaving platform on the motions of the drum, tether and attached mass are studied with respect to the longitudinal vibrations of the tether in one dimension. The hydrodynamic effects are considered on the deployed portion of the tether and the tethered mass, both of which are assumed submerged in otherwise still water. The resulting nonlinear system of equations of motion is developed and solved numerically for an example of a marine tether system. The effect of the tether extensibility on the operation threshold of the system is identified. Comparison with an inextensible tether case is provided. The numerical results and their analysis for the retrieval/deployment of the system are presented. (C) 2002 Elsevier Science Ltd. All rights reserved.