This paper conducts a numerical investigation on the hydrodynamic performance of a portable autonomous underwater vehicle (AUV). The portable AUV is designed to cruise and perform some tasks autonomously in the underwater world. However, its dynamic performance is strongly affected by hydrodynamic effects. Therefore, it is crucial to investigate the hydrodynamic performance of the portable AUV for its accurate dynamic modeling and control. In this work, based on the designed portable AUV, a comprehensive hydrodynamic performance investigation was conducted by adopting the computational fluid dynamics (CFD) method. Firstly, the mechanical structure of the portable AUV was briefly introduced, and the dynamic model of the AUV, including the hydrodynamic term, was established. Then, the unknown hydrodynamic coefficients in the dynamic model were estimated through the towing experiment and the plane-motion-mechanism (PMM) experiment simulation. In addition, considering that the portable AUV was affected by wave forces when cruising near the water surface, the influence of surface waves on the hydrodynamic performance of the AUV under different wave conditions and submerged depths was analyzed. Finally, the effectiveness of our method was verified by experiments on the standard models, and a physical experiment platform was built in this work to facilitate hydrodynamic performance investigations of some portable small-size AUVs.

中文翻译：

---

便携式AUV水动力性能数值研究

本文对便携式自主水下航行器 (AUV) 的水动力性能进行了数值研究。便携式 AUV 设计用于在水下世界中自主巡航和执行某些任务。然而，其动态性能受水动力效应的影响很大。因此，研究便携式 AUV 的水动力性能对于其精确的动态建模和控制至关重要。在这项工作中，基于设计的便携式 AUV，采用计算流体动力学 (CFD) 方法进行了全面的水动力性能调查。首先简要介绍了便携式AUV的机械结构，建立了包含水动力项的AUV动力学模型。然后，动力模型中未知的水动力系数通过拖曳实验和平面运动机构（PMM）实验模拟进行估算。此外，考虑到便携式AUV在靠近水面巡航时会受到波浪力的影响，分析了不同波浪条件和淹没深度下，面波对AUV水动力性能的影响。最后，通过在标准模型上的实验验证了我们方法的有效性，并在这项工作中构建了一个物理实验平台，以促进一些便携式小型 AUV 的水动力性能研究。考虑到便携式AUV在靠近水面巡航时受到波浪力的影响，分析了不同波浪条件和淹没深度下表面波对AUV水动力性能的影响。最后，通过在标准模型上的实验验证了我们方法的有效性，并在这项工作中构建了一个物理实验平台，以促进一些便携式小型 AUV 的水动力性能研究。考虑到便携式AUV在靠近水面巡航时受到波浪力的影响，分析了不同波浪条件和淹没深度下表面波对AUV水动力性能的影响。最后，通过在标准模型上的实验验证了我们方法的有效性，并在这项工作中构建了一个物理实验平台，以促进一些便携式小型 AUV 的水动力性能研究。