Abstract The effects of a propulsor on the hydrodynamic forces acting on an autonomous underwater vehicle (AUV) were investigated by towing tank model tests. A mathematical maneuvering model using a whole vehicle model was established, and captive model tests using vertical planar motion mechanism equipment were performed to obtain maneuvering coefficients. The Reynolds number of the full scale test model in the operation condition was 4.12 × 106, and the revolution rate of the propulsor was fixed at the self-propulsion point. The forces on the body and control fins were measured in static drift, control fin deflection, pure heave and pure pitch tests with and without the propulsor. The propulsor effects on the hydrodynamic force and moment were identified as spatially irregular thrust, flow acceleration around the control fins, and added mass of the propulsor. In the simulation using the component model where the propulsor effect considered as a constant thrust, the maneuverability of the AUV was overestimated compared to that of the whole vehicle model. Thus, the mathematical maneuvering model should consider propulsor-hull interactions.

中文翻译：

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垂直平面运动机构试验中推进器对自主水下航行器操纵性的影响

摘要 通过拖曳水池模型试验研究了推进器对作用在自主水下航行器（AUV）上的水动力的影响。建立了整车模型的机动数学模型，并利用垂直平面运动机构设备进行俘获模型试验，得到机动系数。工况全尺寸试验模型雷诺数为4.12×106，推进器转速固定在自航点。在有和没有推进器的情况下，在静态漂移、控制鳍偏转、纯升沉和纯俯仰测试中测量了机身和控制鳍上的力。推进器对水动力和力矩的影响被确定为空间不规则的推力、控制鳍周围的流动加速度、并增加了推进器的质量。在使用组件模型的仿真中，推进器效应被视为恒定推力，与整车模型相比，AUV 的机动性被高估了。因此，数学机动模型应考虑推进器-船体相互作用。