Establishment of hydrodynamic model and research on motion simulation of open-frame ROV

Table 1. Comparison of the total resistance between numerical results calculated by SST k−ω model and experimental results at different speeds
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Table 1. Comparison of the total resistance between numerical results calculated by SST k−ω model and experimental results at different speeds
航速/(m·s⁻¹) 阻力计算值/N 阻力试验值^[18]/N 相对误差/%
3.046 85.13 87.4 2.6
5.144 232.54 242.2 4.0
6.091 328.96 332.9 1.2
7.161 445.88 451.5 1.2
8.231 558.62 576.9 3.2

Table 2. Calculation conditions

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Table 2. Calculation conditions

运动形式		运动方向	计算工况	组数
直航	纵向	+X_b	流速0.2～1.8 m/s，间隔0.2 m/s	9
	纵向	−X_b	流速0.2～1.8 m/s，间隔0.2 m/s	9
	侧向	+Y_b	流速0.2～1.0 m/s，间隔0.2 m/s	5
	侧向	−Y_b	流速0.2～1.0 m/s，间隔0.2 m/s	5
	垂向	+Z_b	流速0.2～1.8 m/s，间隔0.2 m/s	9
	垂向	−Z_b	流速0.2～1.8 m/s，间隔0.2 m/s	9
全角度斜航	水平面	+Z_b (旋转)	流速：0.5 m/s。漂角：180°，160°，140°，120°，100°，80°，60°，45°，30°，15°，10°，8°，6°，4°，2°	30
	水平面	−Z_b (旋转)		30
	垂直面	+Y_b (旋转)	流速：0.5 m/s。攻角：180°，160°，140°，120°，100°，80°，60°，45°，30°，15°，10°，8°，6°，4°，2°	30
	垂直面	−Y_b (旋转)		30

Table 3. Viscous hydrodynamic coefficients obtained from steady-state calculation under the rectilinear motion

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Table 3. Viscous hydrodynamic coefficients obtained from steady-state calculation under the rectilinear motion

运动方向	系数	数值
纵向	X_uu	−25.4
	X_u\|u\|	−574.9
	Z_uu	−153.5
	Z_u\|u\|	12.4
	M_uu	−7.0
	M_u\|u\|	84.5
横向	Y_vv	−14.1
	Y_v\|v\|	−746.6
	Z_vv	−258.5
	Z_v\|v\|	−6.7
	K_vv	2.1
	K_v\|v\|	−40.3
	M_vv	5.9
	M_v\|v\|	−0.1
	N_vv	4.8
	N_v\|v\|	−43.6
垂向	X_ww	−6.8
	X_w\|w\|	−3.7
	Z_ww	−3.15
	Z_w\|w\|	−1 689.6
	M_ww	−5.5
	M_w\|w\|	−8.6

Table 4. Viscous hydrodynamic coefficients obtained from steady-state calculation under full angle oblique motion

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Table 4. Viscous hydrodynamic coefficients obtained from steady-state calculation under full angle oblique motion

运动方向	系数	数值
水平面	X_u\|v\|	−335.5
	X_uvv	106.0
	X_uuuvv	211.9
	Y_uv	−65.8
	Y_uuv	−1 509
	Y_uuvvv	−2 979.1
	K_uv	−4.9
	K_u\|v\|	−5.3
	K_uuvvv	2 307.5
	K_uuv	246.6
	M_u\|v\|	38.4
	N_uv	−182.3
	N_uuv	−107.6
	N_uuvvv	1 144.0
	Z_u\|v\|	−63.8
垂直面	X_uw	177.6
	X_u\|w\|	−827.6
	X_uww	768.0
	X_uw\|w\|	−1633.8
	M_uw	678.4
	M_u\|w\|	−197.3
	M_uww	415.6
	M_uuwww	−3 542.5
	Z_uw	−78.7
	Z_u\|w\|	−33.8
	Z_uww	−2 377.6
	Z_uuwww	2 231.5

Table 5. Simulation cases for rotating-arm motion
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Table 5. Simulation cases for rotating-arm motion
漂角/(°) r/(rad·s⁻¹) 组数
0 ±0.30，±0.20，±0.10，±0.05 8
10 ±0.30，±0.20，±0.10，±0.05 8

Table 6. Hydrodynamic coefficients for rotating-arm motion

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Table 6. Hydrodynamic coefficients for rotating-arm motion

系数	数值	系数	数值
X_rr	564.5	Z_vr	321.6
X_r\|r\|	−2 790.7	Z_v\|r\|	−697.8
X_vr	−200.5	M_rr	407.6
X_v\|r\|	−46.8	M_r\|r\|	−708.2
Y_r\|r\|	121.7	M_vr	70.4
Y_rr	−1 850.7	M_v\|r\|	51.15
Y_vr	−204.5	N_rr	−437
Y_v\|r\|	−5 975.4	N_r\|r\|	−2 043.9
Z_rr	−2 019.0	N_vr	1 603.0
Z_r\|r\|	120.0	N_v\|r\|	−84.4

Table 7. Inertial hydrodynamic coefficients of the ROV

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Table 7. Inertial hydrodynamic coefficients of the ROV

运动方式	系数	数值
横荡	$ {{Y}}_{\dot{{v}}} $	−763.0
横荡	$ {{N}}_{\dot{{v}}} $	−14.1
垂荡	$ {{Z}}_{\dot{{w}}} $	−720.5
垂荡	$ {{M}}_{\dot{{w}}} $	2.7
艏摇	$ {{Y}}_{\dot{{r}}} $	−599.52
艏摇	$ {{N}}_{\dot{{r}}} $	−198
纵摇	$ {{Z}}_{\dot{{q}}} $	−20.35
纵摇	$ {{M}}_{\dot{{q}}} $	378.4
纵荡	$ {{X}}_{\dot{{u}}} $	−1 105.3

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Mengjie JIANG, Chaohe CHEN, Lianbin ZHANG, Lei TAN. Establishment of hydrodynamic model and research on motion simulation of open-frame ROV[J]. Chinese Journal of Ship Research, 2025, 20(4): 99

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Paper Information

Category: Ship Design and Performance

Received: May. 22, 2024

Accepted: --

Published Online: Sep. 11, 2025

The Author Email:

DOI:10.19693/j.issn.1673-3185.03953

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Comparison of the total resistance between numerical results calculated by SST k−ω model and experimental results at different speeds

Table 1. Comparison of the total resistance between numerical results calculated by SST k−ω model and experimental results at different speeds

Table 2. Calculation conditions

Table 2. Calculation conditions

Table 3. Viscous hydrodynamic coefficients obtained from steady-state calculation under the rectilinear motion

Table 3. Viscous hydrodynamic coefficients obtained from steady-state calculation under the rectilinear motion

Table 4. Viscous hydrodynamic coefficients obtained from steady-state calculation under full angle oblique motion

Table 4. Viscous hydrodynamic coefficients obtained from steady-state calculation under full angle oblique motion

Table 5. Simulation cases for rotating-arm motion

Table 5. Simulation cases for rotating-arm motion

Table 6. Hydrodynamic coefficients for rotating-arm motion

Table 6. Hydrodynamic coefficients for rotating-arm motion

Table 7. Inertial hydrodynamic coefficients of the ROV

Table 7. Inertial hydrodynamic coefficients of the ROV