Simulation and validation of an AUV in variable accelerations

This paper presents computational and experimental studies of an Autonomous Underwater Vehicle (AUV) undergoing prescribed lateral and angular acceleration manoeuvres (pure sway and pure yaw). The Computational Fluid Dynamics (CFD) modelling is based on the Unsteady Reynolds-averaged Navier-Stokes (URANS) equations with the use of a hybrid meshing scheme through systematic grid refinement. The obtained CFD predictions were validated through Experimental Fluid Dynamics (EFD) utilising a captive model fitted to a Horizontal Planar Motion Mechanism (HPMM). The present investigation will contribute to the identification of force and moment coefficients for the development of control system algorithms for underwater vehicles.