Abstract The traditional neutral buoyancy underwater vehicle's carrying capacity is limited by space and displacement, making it difficult to meet the increasing demand for mission sensors. In light of this, a new type of negative-buoyancy autonomous underwater vehicle equipped with an autorotating rotor is proposed in this paper. Referring to the principle of air autorotating rotor, the negative-buoyancy autorotating-rotor autonomous underwater vehicle (NAAUV) adopts an autorotating rotor to provide lift and compensate for negative buoyancy, thus achieving effective navigation. Negative-buoyancy vehicles have greater carrying capacity, less use of buoyancy materials, smaller size of the vehicle, and lower resistance and energy consumption. To verify the working principle of NAAUV, a dynamic model is established and the navigation process of the vehicle is simulated. The results verify satisfactory navigation stability of the vehicle. Focus on the issue of the flapping and shimmy caused by inconsistent speeds of advancing and retreating rotor blades, the two-way fluid-structure interaction simulation method is adopted. As a result, flapping deformation and equivalent stress of the rotor are acquired. Because rotor material performance requirements are not strict, common metal materials can meet the requirements.

中文翻译：

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负浮力自转旋翼自主水下航行器研究

摘要 传统中性浮力水下航行器的承载能力受空间和位移的限制，难以满足日益增长的任务传感器需求。为此，本文提出了一种新型的带有自转转子的负浮力自主水下航行器。负浮力自旋旋翼自主水下航行器（NAAUV）参考空气自旋旋翼原理，采用自旋旋翼提供升力和补偿负浮力，实现有效导航。负浮力车承载能力更大，使用浮力材料更少，车辆体积更小，阻力和能耗更低。为了验证NAAUV的工作原理，建立了动力学模型，对车辆的导航过程进行了仿真。结果验证了车辆的导航稳定性令人满意。针对转子叶片进退速度不一致导致的扑动和摆振问题，采用双向流固耦合模拟方法。从而得到转子的扑动变形和等效应力。由于转子材料性能要求不严格，普通金属材料即可满足要求。获得了转子的扑动变形和等效应力。由于转子材料性能要求不严格，普通金属材料即可满足要求。获得了转子的扑动变形和等效应力。由于转子材料性能要求不严格，普通金属材料即可满足要求。