Numerical Study on the Water Entry of a Freely Falling Unmanned Aerial-Underwater Vehicle

The unmanned aerial–underwater vehicle (UAUV) is a new type of vehicle that can fly in the air and cruise in water and is expected to cross the free water surface several times to perform continuous uninterrupted observation and sampling. To analyze the hydrodynamic and motion characteristics of the vehicle, the whole water-entry process of a multi-degree-of-freedom UAUV with various velocity and pitch angle was investigated through a Reynolds-averaged Navier–Stokes method. The computational domain was meshed by trimmer cells. The relative movement between the vehicle and fluid domain was simulated using moving reference frame overset mesh to delineate the interaction region around vehicle body. To reduce the computational cost, adaptive mesh refinement and adaptive time-stepping strategy were used to capture the slamming pressure accurately with reasonable computational effort. First, convergence study is considered. Simulations of the vehicle with various initial velocities and different pitch angles were performed. The variable physical properties were analyzed, and detailed results through the time-varying force and velocity were shown. Initial velocity and pitch angle are found to significantly influence hydrodynamic behavior, including the time-varying force, while thickness ratio has a great impact on added mass and pressure. The results show that higher entry velocity results in greater peak vertical force. The transverse hydrodynamic characteristics for oblique water entry of the vehicle with varies pith angle are quite different.