Chinese Journal of Ship Research, Volume. 20, Issue 4, 111(2025)

Numerical simulation analysis of hydrodynamic characteristics of open-frame ROVs

Wo ZHANG and Tiaojian XU
Author Affiliations
  • State Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology, Dalian116024, China
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    Figures & Tables(28)
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    • Table 1. Definition of ROV motion parameters

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      Table 1. Definition of ROV motion parameters

      自由度名称坐标轴力与力矩速度与角速度加速度与角加速度
      1纵荡oxXu$ \dot{u} $
      2横荡oyYv$ \dot{v} $
      3垂荡ozZw$ \dot{w} $
      4横摇oxKp$ \dot{p} $
      5俯仰oyMq$ \dot{q} $
      6艏摇ozNr$ \dot{r} $
    • Table 2. Main parameters of ROV test model

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      Table 2. Main parameters of ROV test model

      参数数值
      缩尺比λ1∶4
      长度L/m0.732 5
      宽度B/m0.41
      高度H/m0.453 75
      空气中质量W/kg13.83
      惯性矩Ixx/(kg·m2)0.531
      惯性矩Iyy/(kg·m2)0.915
      惯性矩Izz/(kg·m2)1.246
    • Table 3. omparative validation conditions

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      Table 3. omparative validation conditions

      试验名称流速/(m∙s−1)水深/m工况数
      纵向直航±0.20~0.50,分度0.050.814
      横向直航±0.20~0.50,分度0.050.814
      垂向直航±0.20~0.45,分度0.050.912
    • Table 4. Calculation conditions of planar forced motion

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      Table 4. Calculation conditions of planar forced motion

      试验名称流速/(m∙s−1)振幅频率/Hz水深/m工况数
      垂荡0.530 mm0.1~0.9,分度0.14.453 759
      横荡0.530 mm4.453 759
      纵荡0.530 mm4.453 759
      俯仰0.530 mm4.453 759
      艏摇0.530 mm4.453 759
      横摇0.54.453 759
    • Table 5. Calculation conditions for straight navigation

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      Table 5. Calculation conditions for straight navigation

      试验名称流速/( m∙s−1)水深/m工况数
      纵向直航±0.2~0.5,分度0.054.453 7514
      横向直航±0.2~0.5,分度0.054.453 7514
      垂向直航±0.2~0.5,分度0.054.410 0014
    • Table 6. Calculation conditions for oblique navigation

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      Table 6. Calculation conditions for oblique navigation

      试验名称流速/( m∙s−1)角度/(°)水深/m工况数
      攻角0.5±2~10,分度14.453 7518
      漂角0.5±2~10,分度14.453 7518
    • Table 7. Relationship between grid sizes of overlapping region and longitudinal straight navigation drag of ROV

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      Table 7. Relationship between grid sizes of overlapping region and longitudinal straight navigation drag of ROV

      网格基础尺寸/mm
      40201065
      最小网格尺寸/mm42111
      总体网格数量75×104142×104285×104453×104622×104
      纵向直航阻力/N−21.87−21.68−21.49−21.39−21.41
    • Table 8. Relationship between grid sizes of background region and longitudinal straight navigation drag of ROV

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      Table 8. Relationship between grid sizes of background region and longitudinal straight navigation drag of ROV

      网格基础尺寸/mm
      32024016012080
      最小网格尺寸/mm1010101010
      总体网格数量216×104231×104285×104405×104864×104
      纵向直航阻力/N−21.57−21.53−21.49−21.47−21.52
    • Table 9. Hydrodynamic coefficients obtained from model test and numerical simulation under straight navigation conditions

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      Table 9. Hydrodynamic coefficients obtained from model test and numerical simulation under straight navigation conditions

      水动力系数试验值仿真值
      Xu1.05−0.12
      X|u|0.35−0.33
      Xuu−6.70−6.92
      Xu|u|−99.76−107.30
      Yv2.65−1.89
      Y|v|−5.25−0.37
      Yvv15.061.94
      Yv|v|−245.74−230.80
      Zw−3.50−0.90
      Z|w|−2.23−0.91
      Zww−14.03−21.66
      Zw|w|−190.37−199.20
    • Table 10. Second-order term hydrodynamic coefficients obtained from model test and numerical simulation under straight navigation conditions

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      Table 10. Second-order term hydrodynamic coefficients obtained from model test and numerical simulation under straight navigation conditions

      XuuYvvZww
      正向负向正向负向正向负向
      试验值−103.191.43−236.9242.0−220.6179.9
      仿真值−115.399.89−234.2236.2−225.7177.6
    • Table 11. Non-dimensional hydrodynamic coefficients for direct and oblique navigation conditions

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      Table 11. Non-dimensional hydrodynamic coefficients for direct and oblique navigation conditions

      水动力系数数值水动力系数数值
      X'u−1.06×10−3Z'ww−5.89×10−2
      X'|u|−5.32×10−4Z'w|w|−0.472
      X'uu−2.20×10−2X'u|v|−7.75×10−2
      X'u|u|−0.293X'uv−1.29×10−2
      Y'v−5.91×10−3Y'u|v|2.74×10−2
      Y'|v|−3.13×10−4Y'uv−0.286
      Y'vv7.25×10−3X'u|w|−6.61×10−2
      Y'v|v|−0.532X'uw−3.00×10−2
      Z'w−5.78×10−3Z'u|w|0.110
      Z'|w|−1.66×10−3Z'uw−0.236
    • Table 12. Non-dimensional hydrodynamic coefficients under the condition of planar forced motion

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      Table 12. Non-dimensional hydrodynamic coefficients under the condition of planar forced motion

      水动力系数数值水动力系数数值
      $ X'_{\dot{u}} $−0.201$ K'_{\dot{q}} $−2.53×10−4
      $ Y'_{\dot{u}} $5.41×10−4$ M'_{\dot{q}} $−3.42×10−2
      $ Z'_{\dot{u}} $−2.55×10−2$ N'_{\dot{q}} $−4.41×10−5
      $ K'_{\dot{u}} $5.31×10−4$ X'_{\dot{r}} $7.30×10−4
      $ M'_{\dot{u}} $1.57×10−2$ Y'_{\dot{r}} $3.63×10−3
      $ N'_{\dot{u}} $4.20×10−4$ Z'_{\dot{r}} $−1.61×10−4
      $ X'_{\dot{v}} $2.01×10−3$ K'_{\dot{r}} $−1.51×10−3
      $ Y'_{\dot{v}} $−0.321$ M'_{\dot{r}} $−8.10×10−5
      $ Z'_{\dot{v}} $3.89×10−3$ N'_{\dot{r}} $−2.09×10−2
      $ K'_{\dot{v}} $−1.25×10−2X'p1.89×10−4
      $ M'_{\dot{v}} $−2.06×10−4Y'p4.46×10−2
      $ N'_{\dot{v}} $−1.09×10−2Z'p1.16×10−3
      $ X'_{\dot{w}} $−2.32×10−2K'p−4.39×10−2
      $ Y'_{\dot{w}} $2.34×10−3M'p−2.80×10−4
      $ Z'_{\dot{w}} $−0.412N'p−2.86×10−3
      $ K'_{\dot{w}} $−8.30×10−4X'q6.16×10−2
      $ M'_{\dot{w}} $2.54×10−2Y'q−3.22×10−3
      $ N'_{\dot{w}} $−2.31×10−4Z'q0.517
      $ X'_{\dot{p}} $1.11×10−4K'q1.07×10−3
      $ Y'_{\dot{p}} $−1.21×10−2M'q−0.242
      $ Z'_{\dot{p}} $−1.05×10−3N'q8.40×10−4
      $ K'_{\dot{p}} $−1.19×10−2X'r9.67×10−3
      $ M'_{\dot{p}} $−4.20×10−5Y'r−0.366
      $ N'_{\dot{p}} $−1.35×10−3Z'r−1.97×10−3
      $ X'_{\dot{q}} $1.92×10−2K'r−2.09×10−2
      $ Y'_{\dot{q}} $−2.14×10−4M'r2.88×10−3
      $ Z'_{\dot{q}} $1.89×10−2N'r−0.210
    • Table 13. Comparison of inertial hydrodynamic coefficients

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      Table 13. Comparison of inertial hydrodynamic coefficients

      水动力系数占比/%水动力系数占比/%
      |$ Y'_{\dot{u}} $/$ X'_{\dot{u}} $|0.269|$ X'_{\dot{p}} $/$ K'_{\dot{p}} $|0.934
      |$ Z'_{\dot{u}} $/$ X'_{\dot{u}} $|12.649|$ Y'_{\dot{p}} $/$ K'_{\dot{p}} $|101.307
      |$ K'_{\dot{u}} $/$ X'_{\dot{u}} $|0.264|$ Z'_{\dot{p}} $/$ K'_{\dot{p}} $|8.850
      |$ M'_{\dot{u}} $/$ X'_{\dot{u}} $|7.818|$ M'_{\dot{p}} $/$ K'_{\dot{p}} $|0.354
      |$ N'_{\dot{u}} $/$ X'_{\dot{u}} $|0.208|$ N'_{\dot{p}} $/$ K'_{\dot{p}} $|11.300
      |$ X'_{\dot{v}} $/$ Y'_{\dot{v}} $|0.626|$ X'_{\dot{q}} $/$ M'_{\dot{q}} $|55.984
      |$ Z'_{\dot{v}} $/$ Y'_{\dot{v}} $|1.210|$ Y'_{\dot{q}} $/$ M'_{\dot{q}} $|0.624
      |$ K'_{\dot{v}} $/$ Y'_{\dot{v}} $|3.890|$ Z'_{\dot{q}} $/$ M'_{\dot{q}} $|55.090
      |$ M'_{\dot{v}} $/$ Y'_{\dot{v}} $|0.064|$ K'_{\dot{q}} $/$ M'_{\dot{q}} $|0.738
      |$ N'_{\dot{v}} $/$ Y'_{\dot{v}} $|3.396|$ N'_{\dot{q}} $/$ M'_{\dot{q}} $|0.129
      |$ X'_{\dot{w}} $/$ Z'_{\dot{w}} $|5.642|$ X'_{\dot{r}} $/$ N'_{\dot{r}} $|3.499
      |$ Y'_{\dot{w}} $/$ Z'_{\dot{w}} $|0.567|$ Y'_{\dot{r}} $/$ N'_{\dot{r}} $|17.401
      |$ K'_{\dot{w}} $/$ Z'_{\dot{w}} $|0.201|$ Z'_{\dot{r}} $/$ N'_{\dot{r}} $|0.773
      |$ M'_{\dot{w}} $/$ Z'_{\dot{w}} $|6.178|$ K'_{\dot{r}} $/$ N'_{\dot{r}} $|7.261
      |$ N'_{\dot{w}} $/$ Z'_{\dot{w}} $|0.056|$ M'_{\dot{r}} $/$ N'_{\dot{r}} $|0.388
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    Wo ZHANG, Tiaojian XU. Numerical simulation analysis of hydrodynamic characteristics of open-frame ROVs[J]. Chinese Journal of Ship Research, 2025, 20(4): 111

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    Paper Information

    Category: Ship Design and Performance

    Received: Jul. 1, 2024

    Accepted: --

    Published Online: Sep. 11, 2025

    The Author Email:

    DOI:10.19693/j.issn.1673-3185.04037

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