Attitude Control of Torpedo Anchor with Vectorial Thrust for Use in a Pseudo-Submersible Platform

In the present days, the hydrocarbons in the ground are limited by the high human consumptions. Therefore, a necessity of exploring in deep ocean becomes a reality with huge challenges, one of these challenges is the anchorage requirement, of course a problem with its installation. The present work deals on one way to anchorage, the torpedo anchor. This anchorage system works with a body forces effects added to hydrodynamics effects, due by the interaction between torpedo’s surface and water. On the body force we have gravity and flotation (constants), on the other hand, we have a nonconstants hydrodynamics forces that can change the trajectory during the fall, and producing a non-successful installation of the torpedo on the seabed. So the dynamics of the torpedo anchor are derived by doing a rigid body analysis, computing the general equations that describe the torpedo trajectory, second, performs a CFD analysis to obtain the hydrodynamics forces, and by the last, add on an extra vectoring control force (to correct the orientation).