Modeling and Speed Control of the Underwater Wheeled Vehicle Flexible Towing System

Table 1

Parameters of the hydraulic flexible towing system.

Parameter name	Note	Unit	value
Winch radius	R4	m	0.27
Valve flow gain	Kq		0.1193
Motor leakage factor	Ctm		1.45 ×10^−12
Charge oil pressure	Ps	MPa	23
Motor displacement	Dm	m^3/rad	0.00207
Volume of cavity	Vm	m^3	0.04
Bulk modulus of hydraulic	βe	Pa	7.0 × 10^8
Flow-pressure coefficient	Kce	m^5/(Ns)	4.54 ×10^−12
Vehicle quality	M	kg	20000
Meeting area of flowing	A	m^2	16.8