Hydrodynamic Model of Diver–DPV Coupled Multi-Body and Its Underwater Cruising Numerical Simulation

Diver propulsion vehicles (hereinafter referred to as DPV) are a kind of small vehicle with underwater high-speed used by divers, who able grasp or ride on, and operate the volume switch change speed. Different from unmanned (UUVs), interference caused diver’s posture changing is unique problem. In this paper, Diver–DPV multi-body coupling hydrodynamic model considering rigid body dynamics fluid disturbance established analyzing existing DPV related equipment. The numerical simulation articulated motion realized using Star-CCM+ overlapping grid DFBI 6-DOF method. Five cases DPVs cruising in straight-line when restraining diver movement simulated, five free simulated too. Finally, influence on speed resistance analyzed, equation including solved. final conclusion that, favorable at high speed, which can reduce resistance, unfavorable low increases resistance. friction Ff always accounts for main part all cases.