A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction

Figure 5

Simplified diagram of underwater vehicle propelled by hydraulic winch, where is the angular speed of hydraulic winch rotation, is the radium of drum, is the guide wheel rotational speed, represents radium, and are the elasticity and viciousness of , and are the elasticity and viciousness of , and and are the elasticity and viciousness of .