Wave-propelled boats utilize submerged flapping foils to convert wave energy directly into propulsion. For platforms that are solely propelled using submerged flapping foils, predicting the forward speed is challenging as it is time varying and dependent on the coupled responses of the wave-induced hull motions (surge, heave, and pitch) and the foil flapping motion (driven by the wave-induced hull motions and incident wavy flow). To ascertain the free-running response of wave-propelled boats, this article presents a hybrid discrete time-domain numerical model and experimental results from a prototype wave-propelled autonomous surface vehicle (ASV) with forward and aft (tandem) flapping foils. Results from a series of free-running experiments in regular head waves, over a range of wave frequencies for three different foil locations, are presented and used to validate the numerical model. The model was found to show good agreement with the experimental results, capturing the coupled dynamics of the vessel and foils and oscillating forward speed, over a range of wave frequencies and foil locations. The model and results provide a valuable insight for the design of wave-propelled boats.

中文翻译：

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自由行浪船的前进速度预测

波浪推进船利用浸没的扑翼将波浪能直接转化为推进力。对于仅使用浸没式拍打箔片推进的平台，预测前进速度是具有挑战性的，因为它是随时间变化的，并且取决于波浪引起的船体运动（喘振，升沉和俯仰）和箔片拍打运动（驱动）的耦合响应。波浪引起的船体运动和入射波浪流）。为了确定波推进船的自由行驶响应，本文提出了一种混合离散时域数值模型，并从带有前，后（纵排）襟翼箔的波推进自主水面航行器（ASV）原型获得了实验结果。在三个不同箔片位置的一系列波频率范围内，在常规头波下进行的一系列自由运行实验的结果，提出并用于验证数值模型。发现该模型与实验结果显示出良好的一致性，可以捕获容器和箔片的耦合动力学，并在一定范围的波频率和箔片位置上捕捉前进的速度。该模型和结果为波浪推进船的设计提供了宝贵的见识。