Modelling hydrodynamic characteristics of the underwater glider based on Computational Fluid Dynamics

摘要

The underwater glider is buoyancy-propelled Autonomous Underwater Vehicle (AUV). Their propulsion relies upon changing their buoyancy with internal pumping systems enabling them upward and downward motion. In the presented paper, the forward gliding motions are generated by hydrodynamic lift forces exerted on a pair of hydroplanes attached to a glider hull. The hydrodynamic characteristics of a glider were determined using Computational Fluid Dynamics (CFD). A 3D model was created for the simulation of flow behaviour in the Baltic Sea. The lift and drag forces distribution at different angles of attack was studied for Reynolds number 105. The flow velocity was 0.5 ms-1 and the angle of the attack varied from -30° to 30° in steps of 2°. Results from the CFD constitute the basis for the calculation the equations of motions of the glider in 6 degrees of freedom. The vehicle motion simulation will be achieved through numeric integration of the equations of motion. This work will contribute to dynamic modelling and three-dimensional motion simulation of the torpedo-shaped underwater glider.