Dynamic Analysis of Pair Undulating Propulsors

Designing an autonomous underwater vehicle (AUV) and its control and navigation algorithm depends on the dynamic model of the robot and its propulsion system. This article focuses on the study and analysis of the dynamic model of pair undulating fin and the flow created by the large-scale deformation undulating fin. The purpose of the analysis is to determine the hydrodynamic forces generated by the undulating fin and how they depend on the parameters of the propagating wave along the fin. Calculations were carried out using the ANSYS Fluent 2020 package. The algorithm of user defined functions (UDF) was used to implement the author's deformation algorithm. The issue was considered in URANS formulation using the Menter's SST k-ω turbulence model. Simulation findings indicate that the force generated by the fin can be divided into two distinct components: a force parallel to the fin's longitudinal axis and a force perpendicular to the fin, situated at the fundamental undulating plane. These forces can be adjusted by modifying the frequency, amplitude, and number of waves generated on the fin.