Research On Kinematic Stability Of Autonomous Underwater Vehicle

The Autonomous Underwater Vehicle (AUV) can be used in civil researchactivities such as monitoring ocean environment parameters, also can be engaged inmilitary activities such as searching underwater targets, anti-submarine investigation,weapons delivery and so on. The good kinetic stability of AUV can not only guaranteethe navigation and detection precision of each sensors, but also has an extremelyimportant significance in improving the safety and cruising ability of AUV. The thesispresented a hybrid grid method to study the kinetic stability of AUV withcomputational fluid dynamics (CFD) technology, which has a certain guidingsignificance for researching the rationality of AUV’s preliminary design.Achievements of the thesis are listed as fellows.（1）Hybrid grid method of prism and tetrahedral mesh was applied to calculatethe hydrodynamic parameters of AUV, by simulating constant pool towing test andunsteady single pitching motion, based on CFD technology in which the dynamicmesh was realized. All the hydrodynamic coefficients needed for evaluating thekinetic stability of AUV were obtained. The developed CFD method was validated tobe feasible and effective by the model validation of the REMUSAUV in literature.（2）Through simulating the motion of AUV with different fins to calculate thehydrodynamic coefficients, the effects of different fins on the kinetic stability wereanalyzed based on the judgement formula of the kinetic stability.（3）Through simulating the motion of AUV with different shapes of transversesection under the same constrains on volume, length and location of buoyant centre,the effects of different shapes on the kinetic stability were analyzed.