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<p>This study numerically determines hydrodynamic coefficients of a torpedo-shaped autonomous underwater vehicle (AUV) using the shear stress transport <i>k-ω</i> turbulence model in COMSOL Multiphysics. Linear and nonlinear coefficients are extracted via steady-state simulations (uniform linear motion, uniformly accelerated motion, and horizontal/vertical oblique cruising) and transient simulations replicating planar motion mechanism (PMM) tests with small and large amplitudes. The sliding mesh and rotating domain techniques resolve unsteady flow characteristics during dynamic maneuvers. The methodology formalizes six-degree-of-freedom motion equations, with hydrodynamic coefficients identified through regression analysis of simulated force/moment data. Experimental validation via towing-tank testing demonstrates agreement between numerical predictions and empirical measurements, particularly in capturing nonlinear hydrodynamic effects during large-amplitude PMM maneuvers. The framework maintains geometric generality for application to diverse AUV configurations. Resultant hydrodynamic databases improve the motion prediction accuracy in dynamic environments, enhance attitude control algorithm robustness, and support hull optimization through parametric drag analysis. The hydrodynamic database established significantly improves the maneuverability prediction accuracy under turbulent marine conditions.</p>

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Advanced Hydrodynamic Simulation and Validation of a Torpedo-Shaped AUV

  • 期刊论文

  • 发表日期：

    2026年1月14日

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  • Xiangkun Wang,
  • Haichuan Zhang,
  • Jiayin Chen,
  • Muxin Nian,
  • Zaowei Li,
  • Ping Zheng

摘要

This study numerically determines hydrodynamic coefficients of a torpedo-shaped autonomous underwater vehicle (AUV) using the shear stress transport k-ω turbulence model in COMSOL Multiphysics. Linear and nonlinear coefficients are extracted via steady-state simulations (uniform linear motion, uniformly accelerated motion, and horizontal/vertical oblique cruising) and transient simulations replicating planar motion mechanism (PMM) tests with small and large amplitudes. The sliding mesh and rotating domain techniques resolve unsteady flow characteristics during dynamic maneuvers. The methodology formalizes six-degree-of-freedom motion equations, with hydrodynamic coefficients identified through regression analysis of simulated force/moment data. Experimental validation via towing-tank testing demonstrates agreement between numerical predictions and empirical measurements, particularly in capturing nonlinear hydrodynamic effects during large-amplitude PMM maneuvers. The framework maintains geometric generality for application to diverse AUV configurations. Resultant hydrodynamic databases improve the motion prediction accuracy in dynamic environments, enhance attitude control algorithm robustness, and support hull optimization through parametric drag analysis. The hydrodynamic database established significantly improves the maneuverability prediction accuracy under turbulent marine conditions.