| As a powerful tool for marine exploitation, underwater vehicle has a long-term application prospect in area of ocean science research, water quality monitoring and military. Since the underwater vehicle is strongly influenced by the environment during work, it is difficult to meet the need of precise positioning and motion track planning, so the requirement of controller is high, which is based on the accurate hydrodynamic characteristic.This thesis takes remotely operated vehicle propelled by ducted propeller as research objects, deduced the space motion equation from the momentum theorem and the angular momentum theorem. With the force distribution analyzed and the ocean current considered, the dynamic equations of the underwater vehicle are built. The water resistance is analyzed in detail, which establishes the foundation for the solution of resistance coefficient.The inertia water resistance of the vehicle is calculated by numerical simulation, from which the added mass and added inertia moment is obtained; the towing experiment and rotating experiment is simulated by numerical tank technology, thus the position force and rotary force are determined.The hydrodynamic characteristic of the ducted propeller is calculated by numerical simulation. A method of mesh generation is presented, three different kinds of turbulence model is used for the simulation. The open water test is done, the simulation data is compared with the experimental data. The results show that the simulation method is reliable, and the turbulence model appropriate for the simulation of ducted propeller is chosen.This thesis provides evidence for the research of underwater vehicle control system, and is important for the design and hydrodynamic analysis of other kinds of underwater vehicle. |
