Newton-Raphson iterative

method applied t o
circularly towed cable-body
system
J o h n W. L e o n a r d
Department of Civil Engineering, Illinois Institute of Technology, Chicago, IL 60616,
USA
(Received September 19 78)

In this study a solution method based on Newton-Raphson iterations is

developed for a broad class of oceanic cable problems under steady-state
conditions. The solution method is demonstrated by application to the
problem of towing of a tethered body in a circular path, Accurate results
are obtained with relatively few iterations required.

Introduction
A convergence acceleration method of numerical integra-
tion is presented for a broad class of nonlinear problems
related to the steady-state response of flexible tether
components subjected to three-dimensional hydrodynamic
loads. The method is based on Newton-Raphson type
iterations on quasilinearized analytic versions of the non-
linear differential equations describing the system response.
To illustrate the solution method for oceanic cable
applications, the problem of determining the steady-state
configuration of a cable-body system towed in a circular
path is considered (see Figure 1). The work of Skop 1 is the
source of governing equations used to mathematically
model the cable-body towing problem. Regardless of its
adequacy as a simulation of the physical problem, the
model provides a compact formulation with which to
illustrate the methodology of the numerical solution
procedure developed.
The response of hydrodynamically-loaded cables is
complicated by both geometric and load nonlinearities.
Cable systems are load-adaptive in that they respond to
changes in loading by changing their geometry in preference
to increase in stress levels. In oceanic applications, pre-
stressing tensions may be small and gross changes in
geometry may occur with small changes in end loadings
or relative currents. Additional nonlinearities are intro-
duced because of embeddment of the cable in a relatively
dense fluid medium. Even in steady-state motions,
pressure imbalance and skin friction induce three-
dimensional hydrodynamic drag and lift forces which
contribute nonlinear terms due to cable orientation to
the relative flow and to a velocity-squared magnitude
dependence on the relative flow.
In the specific case of a cable towed in a circular path,
the location of each material point in the cable and of the
towed body are nonlinear functions of the cable scope ,rod
of angular speed of the towing vehicle. The constant
angular acceleration of th~ system induces 'added mass'
forces on the cable and towed body as well as drag forces.
For a given radius and angular velocity of the towing
vehicle, the location of the towed body is not known
a priori. Also, the general configuration of the cable can
take different shapes dependent on towing speed, body
weight, drag coefficient, and cable scope. To determine
the body location and cable configuration, the nonlinear
equations of motion subject to geometric constraints must
be integrated as a two.point boundary-value problem in
which the location of one boundary point is unknown.
Casarella and Parsons 2 and Dillon 3 have reviewed the
development of analysis methods for hydrodynamically
loaded cables. Prior to 1960 attention was devoted mainly
to formulations and solution methods applicable in two
dimensions. Three-dimensional quasi-static effects are intro-
duced by towing vehicle manoeuvering, cross currents,
lift due to circulation about stranded or faired cables, etc.
As shown by Wang, a the assumption of a planar current
profile need not be a conservative design with regard to
required cable scopes.
Four classes of solution methods 2,3,s are in current use
for the numerical analysis of steady-state three-dimensional
response of oceanic cable systems: (1), lumped parameter
methods; (2), finite element methods; (3), method of
imaginary reactions; and (4), direct numerical integration.
The first two methods 6 - u involve the simultaneous
solution of equilibrium equations describing the discretized
behaviour of the system at designated node points
separating straight.line cable segments. In the finite element
method, the behaviour within each segment is characterized
by assumed functional dependencies on nodal point

0141-0296/79/020073-08$02.00 Eng. Struct., 1979, Vol 1, January 73

© 1979 IPC BusinessPress
 Newton.Raohson method for circularly towed cables: J. VV. Leonard
responses. The third method 12-14 is equivalent to the
flexibility method of consistent deformations as applied
to framed structures: direct iteration upon selected cable
forces or reactions are used to eliminate errors in corre-
sponding displacement continuity conditions. The fourth
method 1,4,~s-~9 has been used to numerically integrate
force and geometric variables along the cable scope as an
initial-value problem; either design parameters are used to
specify unknown initial or terminal conditions or direct
iteration l, ~s of unknown initial conditions are invoked to
satisfy given terminal conditions.
In the various numerical solution methods, the non-
linear aspects of cable system behaviour are treated either
incrementally or itexatively. For incremental methods, the
loading functions are applied in small (slow) steps and
linearized cable equations are solved for perturbations
introduced by each successive load increment. Continual
or periodic updates of cable configuration and prestress
assist in maintaining accuracy of the solution. Unfortu-
nately, errors in each increment are cumulative (often
multiplicative) as the incrementation proceeds. For
iterative methods, trial solutions are substituted into the
governing equations and error functions generated to
evaluate the quality of the trial solutions. Successive
iterations are performed so as to reduce the error functions.
The successive iterates are obtained either by trial and
error or by scaling of the previous iterate based on the
error function.
The choice of error function in the case of imaginary
reaction methods or direct integration methods is usually
the error in satisfying boundary or continuity conditions.
The error functions in the lumped parameter or finite
quasilinear equations using methods proposed by Bellman 21
and by Kalaba. 22 Lee 2a applied this procedure to problems
in chemical engineering; Hutula 24 and Ahmed and
Leonard 2s used it for nonlinear problems in structural
mechanics. In this section the decomposition of a nonlinear
two-point boundary-value problem into an iterative set of
linear two-point boundary.value problems will be
considered.
Assume a set of 2N nonlinear first-order differential
equations:
dyi
dx fi(x'Y/) i,/= 1, 2 . . . . 2N (1)
with N boundary conditions at the 'initial' point x = 0:
gm (ill) = 0 m = 1, 2 . . . . , N (2a)
and N boundary conditions at the 'terminal' point x = L:
grn (Yi) = 0 m = 1, 2 , . . . , N (2b)
where x is the independent variable (e.g., cable scope),
Yi are the 2N dependent variables (e.g., tension, coordinate
locations, and direction cosines), fi(x, yj) are nonlinear
functions ofy i (e.g., hydrodynamic forcing functions),
and gm (-vi) and gm 03i) are nonlinear combinations of
pj at x = 0 and o f ~ l at x = L, respectively (e.g., anchored
cable at x = 0, surface buoy at x = L).
L e t y * denote a trial solution vector in the neighbour-
hood of the true solution Yt. The ~* andS* are corre-
sponding boundary point values of y*. The nonlinear
functions )](x, yj), grn 07/) and gm 03i) can be written as
truncated Taylor series expansions about y*, ~*, and
=*

element methods are usually the differences of the dis- Yi as:

cretized nodal variables from one iterate to the next. Most fi(x, Yi) = f/(x, y~) + (Yk - Y~¢)Sik
cable iterative analysis methods use direct scaling from the i,j= 1. . . . . 2N (3)
error functions. Some finite element methods use gradient
scaling. It has been found 2° that gradient scaling accelerates
the convergence process. Gradient scaling based on error m = 1. . . . . N (4a)
functions has not been used in cable analysis methods gm (~/) = gra (YT) + (Yk --Yk) -
which involve direct integration of nondiscretized
m=l ..... N (4b)
equations. It has been found in linear one-dimensional
systems suitable for direct numerical integration, that where the summation convention from 1 to 2N on repeated
direct integration is more efficient than simultaneous indices has been adopted, Jik is the square Jacobean matrix
equation solution methods. Thus, a convergence accelera- of order 2N x 2N for the gradient of the nonlinear forcing
tion method based on gradient scaling of error functions function:
within the context of a direct integration method would
J,k = [ afi(yi)~] • (5)
be desirable.
In the following section, a Newton-Raphson method of t ay k Jyi=y/
gradient scaling for nonlinear first-order differential and Jmk and Ymk are the rectangular Jacobean matrices of
equations is presented and used to develop an algorithm order N x 2N for the gradients of the nonlinear boundary
for solution of a nonlinear boundary-value problem posed conditions:
as an iterative linear combination of initial-value problems.
In the succeeding sections, the equations describing steady-
state towing of a tethered body in a circular path are used t a'---~-~kJp/=Pi (6a)
to demonstrate the solution algorithm. Numerical results
are given to validate the solution method and to contrast )] . (6b)
results obtained by other researchers Is using alternative
formulations. Parametric curves are given for the effects of
cable drag and body mass on cable towing configurations. Upon substitution of equations (3) and (4) into (1) and
(2), the boundary value problem can be written as:
Solution algorithms dyl
Newton-Raphson quasilinearization = a~k(x) y k + b~(x) (7)
dx
Given a coupledset of first-order nonlinear differential
equations, it is possible to develop a convergence accelera- Cmkfit, +dm = 0 (8a)
tion solution procedure 2° of successive iteration upon ~mkYk +dm = 0 (8b)

74 Eng. Struct., 1979, Vol 1, January

 Newron-Raphson method for circularly towed cables: J. 14/. Leonard
where: and fictitious 'initial' conditions at x = O:
aik = Jilt (9a) Cm~Z
k " -n + a n _ _ O n= 1,2,...,N (12c)
yj*) - YT, (9b) The choice of fictitious initial conditions coefficients
- "0 -n -n
(9c) Cmk, dm, dm is such that d m are linearly independent
vectors and Cmk is a rectangular N x 2N matrix of
(9d) coefficients which allows an inverse of the assembled
(9e) square matrix Ct,l; i, / = 1, 2 . . . . . 2N of initial value
coefficients:
dm = gm(Y?) -- Y~'~mk (90
cltc=~mk k = 1,2N i=m= 1,N (13a)
Equation (7) with boundary conditions (8) and coefficients
def'med by (9) constitutes a linear boundary value problem Cik =Cmk k = 1,2N m= I,N
for an improved solution Yt in terms of functions of the i=N+m (13b)
previous trial y*. Further improved solutions are obtained to obtain solutions for ~ :
bY. successive iterations in equations (5)-(9) with y*,.P*,
-n _ -1 n
replaced by the Yt,.Pi, Yt generated by the previous zk = cikdi n = O, 1 . . . . . N (13c)
iteration. The iteration process continues until the differ- d°=d°manddn/=0 i=m=l,2 ..... N (13d)
ence between assumed and calculated values, i.e. Yk - Y~,
is less than a stipulated accuracy. It has been shown 21,22 d o = ~o andd n =<~n m = 1,2,...,U
that the trial solutions usually converge quadratically to the i=N+m (13e)
true solution such that each iteration approximately The _~n are usually taken as Kronecker delta functions 6~
doubles the number of digits of accuracy. If any of the and d ° as a null vector.
functions ft, gm ,gm are linear, that linearity is directly Having defined N + 1 linearly independent initial-value
reproduced in the quasilinear equations. problems, each of which satisfies the actual conditions at
x = 0, one integrates each problem to the terminal point,
x = L. The partial solutions obtained at the terminal point
Decomposition o/linear boundary-value problem are then used to determine the appropriate parameters,
en, in equation (10) for the linear combination of partial
A linear two-point boundary-value such as that posed by
solutions. The boundary conditions [equation (Sb)] at
equations (7) and (8) can be solved by first decomposing
x = L can be written in terms of partial solutions as:
the problem into a set of initial-value problems and then
recombining solutions to each initial-value problem. 2a,26-2s ~mk(~ ° + e n ~ +din = 0 (laa)
The advantage 2a of using this method for solving a two-
where ~o and [~ are the terminal values of the partial
point boundary problem rather than a difference method
solutions. The product ~rnk~ is a square N x N matrix
is that large sets of matrix equation coefficients need not
and thus:
be generated, stored in the computer memory, and solved
simultaneously. Only a small number of coefficients at the en = -- [~mk~:]-I (din + ~m/¢~°) (14b)
initial and terminal point need be considered. According to
With e n determined, a final initial-value integration of
Ince,29 the solution to a linear set of 2N first-order
equation (7) can be performed with initial values:
equations can be considered as a linear combination of
N + 1 initial-value solutions, hereafter called partial j5k = ~o + en.~ (15)
solutions.
In the work reported here the initial value integrations
Assume the solutions to equation (7) can be written as:
were performed numerically using a fourth.order Hamming
_ 0 n
Yi - Zi + e n z t (10) predictor-correcter method with a compatible Runge-
Kutta-Gill starter method. 3°
where en, n = 1, 2 . . . . , N are undetermined parameters
and z ° and z n are partial solutions. The partial solution z °
is the particular solution to: Circular t o w i n g o f c a b l e - b o d y systems
~o o The problem chosen to illustrate the convergence accelera-
= al~zk + bi (1 la) tion solution method developed in the previous section,
dx
is that of towing a subsurface body tethered by an
subject to actual 'initial' conditions atx = 0: inextensible cable to a surface vessel moving in a circular
Crnk~ ° +dm = 0 (1 lb) path. In this section, equations for the prediction of the
steady-state response of the body and configuration of the
and fictitious 'initial' conditions at x = 0: cable will be presented as developed by Skop. l The non-
linear equations will then be quasilinearized using the
~ m j ° +(~°m= 0 (1 le) Newton-Raphson procedure previously described.
The partial solutions z~, n = 1, 2 . . . . . N are homogeneous Solutions for this problem have been reported by
solutions to: Skop I and by Choo and Casarella. is The formulation by
Choo and Casarella is more sophisticated than that of
dz7 Skop i in that they devoted considerable attention to
=aikzk n-- 1,2 . . . . . N (12a)
dx modelling of the hydrodynamic forces and obtained
solutions for non-zero drag coefficients. However, the
subject to actual 'initial' conditions at x = 0:
compact formulations by Skop 1 enables a clearer exposition
~,,dT, = 0 n = 1, 2 . . . . . N (12b) on the subject solution method and results obtained in this

Eng. Struct., 1979, Vol 1, January 75

Newton-Raphson method for circularly towed cables: J. W. Leonard

paper for non-zero drag coefficients are comparable to = angular rotation of tow point; w = non-dimensional
those obtained by Choo and CasarellaJ s cable weight in water = ( p - pA)/(p +pA); C = drag
When a body is towed behind a vessel moving at constant constant = pCoRod/2(la +oA) with d = cable diameter
angular velocity there are combinations of towing para- and CD = normal drag coefficient for cable. The variables
meters possible which enable the towing body to achieve R i are non-dimensional resultant force components given by
an equilibrium position at or near the axis of rotation. three auxiliary equations:
This can be achieved with various configuration shapes for
the cable. The solutions obtained previously for the dxl-Rlm (18a)
shapes L xs were obtained by trial and error solutions of ds T
nonlinear equations.
dx 2 R2
- (lSb)
Governing nonlinear equations ds T
The notation adopted by Skop i will be used here in
dx3 - R3 (18c)
slightly modified form and only summary remits reported.
(See Reference 1 for details of the derivation.) The non- ds T
dimensional equations of equilibrium of a differential Equations (18) satisfy the geometric constraint of an
cable segment are: inextensible cable:

dRl= - 7 2 X l - C7171A(/3R1 +x2) (16a) (19)

ds "~'s / \'-~-'s ! \'-dTs ] =1

d R 2 = _ ~,2 x 2 - c3, l"t I A(/~2 - x t) (16b) Equations (16) and (18) constitute six first-order
ds equations for a boundary value problem with the six
dependent variables xt and R i. The boundary conditions
dR3
= - w - c7171A~=~3 (16c) at the towing point s = 0 are continuity conditions:
ds
Xl(O) = 1 (20a)
with:
x2(0) = 0 (20b)
/3 = (XlR 2 - - x2RI)/T (17a) x3(O)= o (2Oc)
A= [x 2 + x 2 _/32] lp (17b)
The boundary conditions at the body point s = X = non-
T= [R] + g ~ +R~] lp (17c) dimensional cable length = L/R o are equilibrium conditions
where x i = non-dimensional location of the cable element = for the towed body:
Xi]Ro, with X l = rotating cartesian coordinate system Rl(X) - m[72Xl(h)= 0 (21a)
shown in Figure I and Ro = towing radius of vessel;
T = non-dimensional tension = T/[i t + pA]gR o, with R2(X) - mf72x2(X) = 0 (21b)
/a = mass per unit length of cable; O = fluid density; R3(X) - w [ = 0 (21c)
A = cable area; and g = gravitational constant; 7 = non-
dimensional rotational frequency = I2 ~ x / ' ~ with where m[ = non-dimensional mass of the towed body =
(M +M')[Ro(la + pA) withM = body mass, M' = added mass
coefficient of body; and w f = non-dimensional weight of the
circle body in water = ( W - W')[Rog(la +pA) with ( W - W') =
weight of the body in water. Drag on the towed body was
point neglected in Skop's work, 1 as was tangential cable drag.
Equations (16) and (18) are nonlinear in that products
'0 = Xl and roots of the dependent variables xi and R i are present.
Also T and A are functions of Ri and xi. The boundary
conditions as postulated are linear in form and require no
special treatment.

Quasilinearizations
The Jacobean matrix for equations (16) and (18) is
X zf x2Ro (s,t) derived by differentiation of the right.hand-side of those
equations by each of the dependent variables in turn.
PI In the terminology of the previous section, the nonlinear
functions in equations (16) and (18) can be written as:
y:
fl = - (22a)
T*

ToY
y;
f2 = - (22b)
T*

/3--Y-: (22¢)
Figure 1 Definition sketch for circular towing problem T*

76 Eng. Struct., 1979, Vol 1, January

 Newton-Raphson method for circularly towed cables: J. W. Leonard
f4 = -3" 2 Yl - C3,13'IA*(~3*y~+y~) (22d) starting from an extremely crude initial guess corresponding
to the solutions for zero rotational velocity for the towing
fs = -3'2y{ - C3' 13'IA*(13*y~- y ~ ) (22e)
vessel.
f6 = -w- C713,1A*13*y~ (22f)
wherey* = x* andy** 3 = R* for i = 1, 2, 3. Quantities N u m e r i c a l results
with asterisk superscripts denote functions of y*. Then, Validation problems
the Jacobean def'med by equation (5) in terms of gradients
o f f l t o / 6 with respect t o y I t o y 6 can be written as: Three groups of circular towing problems were con-
sidered to validate the modelling and solution procedure.
Ji, i = 0 i,] = 1,2, 3 (23a) The first group corresponds to towing in a vacuum so as
to compare to numerical results given by Skop. 1 The
Ji,/+3 =
1 ~ [T.28~_Y,+3Y;+3]
T.-'- i,/= 1, 2, 3 second group corresponds to towing in air so as to compare
(23b) qualitatively with experimental results displayed by Skop.l
The third group corresponds to towing in water so as to
compare with numerical and experimental results given by
2 i C3' 13'1
s3 +,,i = -3" {(-1)ih?hLi r*2 - Choo and Casarella.13
For the special case of towing in a vacuum C= 0, w = l,
/ * •
X [(--I)Y6-1Y3 +i + (-1)1T'28/3-/]} and m / = w.r, leaving only 3', 3` and m ! as variable parameters
in equations (16)-(18). As these parameters are varied,
i- = 1 , 2 , 3 / =1,2 (23c)
different configuration shapes are obtained. In Figure 2
J3+i,3 = 0 i = 1, 2, 3 (23d) configurations are shown in the x I - x 3 plane obtained
with 3` = 3.78, w/= 1352, and 7 = 2.97 and 5.94; results by
C3'13'1~* t~*,.*.,.,2 A,2
J3+i, 3 + / = - A , T , 3 tt*/n' ~ + Skop I are also indicated. Close agreement is apparent. The
values of R~ at the towing point are given in Table 1. Note
X [ T , 2 8 ~ - h/Y3+i
* * T , /[3* --Y3+/Y3+i]}
* * that the basic configuration changes with 7 in that node
points develop with increasing speed. This is discussed
i , / = 1, 2, 3 (23e)
subsequently when the parametric studies are considered.
where: In Figure 3 comparable configurations are plotted for a
cable of length 3. = 10.0 with no towed body, i.e.w[= 0,
h*=~*R~-(-1)ty;_/(81+8~) i= 1,2,3
towed at an angular speed of 7 = 1.5.
These terms are used to define the aik and bi terms in For the case of towing in air, the drag coefficient war
equations (9). Equation (7) can then be integrated as a taken as CD = 1.2 which in air corresponds to C= 0.018.
linear two-point boundary value problem using the
technique described previously.
The 'initial' condition matrices of actual and fictitious
coefficients for use in equations (13) are obtained from -6 -4 -2 0 2 4 6

equations (20) as:

cik = 8 ~ i, k = 1 . . . . . 6 (24a)
d o = 81 i = I, 6 (24b)
d n -- 0 i = 1, 3 (24e)
d7 = 87 i = 4, 6 (24d)
The 'terminal' conditions matrix of coefficients for use in y =5.94

equation (14) is obtained from (18) as:

~mk = - m / 7 2 8 ~ m, k = I, 2 (25a)
7.= 2 . 9 7
~3,3 = 0 (25b)
~m,k+3 = 8km+3 re, k = 1, 2, 3 (25c)
c~m = 83mw m = 1,2, 3 (25d)
The Yt, i = 1, 6, resulting from the numerical integration
are c o m p a r e d to Yi* • If their difference is greater than an
allowable error, the y~' are replaced by the Yi and equations
(22) and (23) are recalculated for f ~ and Ji,/. Another
iteration with equations (7)-(9) is then performed. In the
calculation of the numerical results displayed in the next
section, a relative error at each integration point was
calculated from:
6 Yt - Y~'
i= 1 Y~
Figure 2 T o w e d c o n f i g u r a t i o n in vacuo, k = 3 7 . 8 ; r a f = w f = 1352;
and compared to an allowable value of 0.001. Usually from w = 1.0; C '= 0.0, 3' v a r i e d ; (®), reference 1, 3" = 2.97; (&), reference 1,
3 to 5 iterations were required to achieve this accuracy, 3" = 5.94

Eng. Struct., 1979, Vol 1, January 77

 Newton-Raphson m e t h o d f o r circularly towed cables: J. VV. Leonard
Table I V a c u u m t o w i n g R t at t o w p o i n t X I • Jr 2

k= 37.8;wf= 1352 "4 12 0 2

I

3' R t (present) R t (Skop I )

2.97 552.2658 552.2654

5.94 534.2482 534.2428

x I
-2 -I o I 2
i i i t-

x2

q'
Figure4 Towed configuration in air. ;k = 5 2 . 4 ; m f = wf= 1352;
w = 1.0; C = 0.018; 3, = 4.77

Figure 3 T o w e d configuration in vacuo, h = 10.0; m f = wf = 0.0;

w = 1 ; C = 0 . 0 ; 3' = 1.5. (®), reference 1 results
1.0

Again, w = 1 and m / = wf. Numerical results for this

problem are not givenby Skop, 1 but experimentalphoto- "Q" "-0
graphs of the x= - x 3 and x2 - x 3 planes are given by him.
Results obtained in the present study are shown in Figure 4
0.8
for a tow speed, 7 = 4.77; length, X = 52.4; and body
weight, wf = 1352. The lag effect of drag can be observed \\
in the occurrence of non-zero x 2. Qualitative agreement of \
cable configurations in both the x l - x 3 and x 2 - x 3 planes
\
can be observed in comparison to photographs given in
Figures 4c and 8b of Skop. 1 Rough scaling of the vertical 0.6
location of the towed body in the photographs in Refer-
enee 1 gives x3f = 46 versus a numerical result calculated
in the present study o f x 3 f = 48, approximately a 4%
\ \
difference. \
\
The third class of validation problems consisted of a 0.4
parametric study of a cable of length ;~ = 2.72 with a towed
mass mf= 2.958 and weight wf= 0.755 towed at various
angular speeds in water. These values correspond to 0 ~
numerical analysis and experimental remits reported by
Choo and Casarella. Is The drag coefficient was again taken 0.2
simply as Co = 1.2 and the normal drag force on the cable
was calculated as per the theory of Skop. 1 The formulation
in Choo and Casarella Is included side forces and tangential
drag as well as normal drag: the drag coefficient was also
taken as a function of Reynolds number. 1 I
In F/gum 5 are displayed results obtained by the present 06 , 6
method using Skop's formulation, remits obtained by Choo Angulor rolation ~ (rprn)

and Casarella ~s and experimental results obtained by Figure 5 T o w e d b o d y l o c a t i o n in w a t e r as f u n c t i o n o f speed.

~. - 2 . 7 2 ; r n f - 2 . 9 5 8 ; w f = 0 . 7 5 5 ; w = 0 . 6 6 9 5 ; C = 7 5 . 7 5 ; ( - - - ) ,
Noon~.31, is Plotted in Figure 5 for a range of angular reference 15 results; ( ), present results; (o), experiments,
towing speeds are normalized curves of vertical and radial reference 31

78 Eng. S t r u c t , , 1 9 7 9 , V o l 1, J a n u a r y
 Newton-Raphson method for circularly towed cables: J. W. Leonard
locations of the towed body and of angular lag of the towed
body: R/%t

R/= ~ at s = X (26a) 1.0

Of = tan-l(-x2/xl) at s = X (26b)
zf = x 3 ats = h (26c)
Qualitative agreement of results can be seen. Discrepancies
can be attributed to the improved modelling of drag forces 1" I

used in Reference 15.

Parametric studies
x2 Ix z
An attempt to evaluate the effect of towing speeds and T
body mass on the cable tensions and cable configurations in
water was made by parametric variations of the pertinent
/
variables using the basic parameters presented in Reference i /:L
1 as a starting point. In Figure 6 are shown the effects of ~ =1.0 ! /" ~,=2.o
speed variations on a cable.body system with X = 52.4,
w = 0.095, C = 7.6 (CD = 1.2), w f = 249.5, m / = 223.8.
This data corresponds to the cable data given in Reference 1
~ Xl v -
and a body with non-dimensional weight in air o f 500.
I
As speed increases smooth transitions to configurations I
+
with increasing numbers of nodes occur.
The effect of towing speed on lag angle can be seen in i
Figure 7 where projections on the x I - x 2 plane configura- t
tion for three speeds are plotted. The effect of towing
medium can be evaluated by contrast of Figure 6 with Figure 7 x t - x = projections of cable shape in water, k ffi 52.4;
Figure 8 where are given similar results for towing in air m f = 2 8 6 ; w f = 2 5 0 ; w = 0 . 0 9 5 ; C = 7.6
(C = 0.018). The effect of body mass is shown in Figure 9
where shapes for various masses towed at constant speed
3' = 2.5 in air are plotted.

1.0

/ / /
1.0 1.0 1.0 1.0 ! 1.0 liO 1.0 ~=,i~2

/ y,O.I
l
0.3 0.5 0.7 0.8 I.O y , 1.0 1.5 2.0 2.5
1,0 1.0 1.0 1.0
1.0 1.0 0.2
L;/
1.0 1.0 0.2
/ / I , i o~

=1.2 1.4 1.6 2.0 2.5 5 X'30 35 40 4 5

Figure 6 Effect of speed on cable shape in water, k = 5 2 . 4 ; m f = 2 8 6 ; Figure 8 Effect of speed on cable shape in air, k = 52.4, m f = w f =
w f = 2 5 0 ; w = 0 . 0 9 5 ; C = 7.6; "7 varied 500, w = 1.0, C ', 0.018, ~ varied

Eng. Struct., 1979, Vol 1, January 79

Newton-Raphson method for circularly towed cables: J. W. Leonard

/J
I0 I0 I0 I0 x I ,xZ~ 2 Casaxella,M. J. and Parsons, M. Marine TechnoL Soc. J. 1970,
4 (4); 27
T 3 Dillon, D. B. Rep. No. HC1 TR 4450 0001, 1973, Hydrospace-
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Paper OTC 1532
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I 7 Liu, F. C. Naval Cir. Eng. Lab., Tech. Memo. M-44-77-9,

= May 1977
8 Seidel,L. H. Look Lab., Hawaii. 1971, 2 (1)
9 Leonard, J. W. Proc. 4th Ann. Offshore Technol. Con[., 1972,
Paper OTC 1533
10 Webster,R. L. In Proc. 7th Ann. Offshore Technol. Conf.,
1975
mr. = 1 0 0 0 700 6QO 500 400 11 Felippa, C. A. In Proc. Int. Conf. Comput. Meth. in Nonlinear
1.0 1.0 1.0 1.0 [iO= Mech. 1974, pp. 311-24
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13 Skop, R. A. and O'Hara, G. J. NavalRes. Lab. Rep. 7296,

(
Sept. 1971
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51
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18 Gay, S. M. ASMEPap. 66-Pet-31, 1966

) 19

20
Berteaux, H. O. 'Buoy Engineering'. John Wiley and Sons,
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rnt.= 3 0 0 200 150 125 5O and Sons, Chichester, 1969
21 Bellman, R. Proc. Nat. Acad. ScL 1955, 41,743
Figure 9 Effect of body mass on cable shape in air. 2~ = 52.4; 22 Kalaba,R. J. Math. Mech. 1959, 8, 519
mf = w f varied; w = 1.0; C = 0.018; 3' = 2.5
23 Lee, E. S. Chem. Eng. Sci. 1966, 21, 183
24 Hutula, D. N. PhD Diss. Michigan Tech. Univ..,1975
Acknowledgements 25 Ahmed, H. Y. and Leonard, J. W. 'Quasi-linear Integration of
Elasto-Plastie Shells' (in press)
This work was undertaken while the author was on 26 Leonard, J. W. J. Eng. Mech. Div., ASCE. 1969, 95, EM5,
sabbatical leave at Oregon State University as a Visiting 1231
Professor of Ocean Engineering within the Civil Engineering 27 Goldberg, J. E. and Bogdanoff, J. F. Proc. 6th Syrup. Ballistic
Missile Aerospace Tech. 1961, Academic Press, Vol. 1,219
Department. Computer time was obtained through a grant 28 Kalnins, A. £ Appl. Mech., A SCE Tran& 1967, 34 (1), 59
from the OSU Computer Center. 29 Ince, E. L., 'Ordinary Differential Equations'. 1927, Longmans,
Green and Co., London
30 Raison, A. and Wilt',H. S. (Eds.), 'Mathematical Methods for
References Digital Computers'. John Wiley and Sons, Chichester, 1966
31 Noonan, B. J. PhD Diss. 1971, Catholic University of
1 Skop, R. A. Naval Res. Lab. Rep. 7048, April 1970 America, Washington, DC.

80 Eng. S t r u c t . , 1 9 7 9 , V o l 1, J a n u a r y