Advanced Hydrodynamic Simulation and Validation of a Torpedo-Shaped AUV

Abstract

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.

Keywords

Torpedo-shaped AUV / Hydrodynamic coefficient / SST- k-ω turbulence model / Numerical simulation / Planar motion mechanism / Sliding mesh technique / Rotating domain method / Towing-tank validation

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Harbin Engineering University and Springer-Verlag GmbH Germany, part of Springer Nature

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