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Turning maneuver is a typical operational condition for underwater vehicles. This paper establishes a self-propulsion numerical simulation method for underwater vehicles based on Computational Fluid Dynamics (CFD) and conducts numerical investigations on the hydrodynamic characteristics during turning maneuvers. The proposed method employs the Unsteady Reynolds-Averaged Navier-Stokes (URANS) equations to solve the viscous flow field, while a Proportional-Derivative (PD) control algorithm and overset grid technique are applied to regulate the steering states of the vehicle, thereby enabling simulations of depth-keeping straight-line motion and complex maneuvers. Using this method, the turning maneuver process of an underwater vehicle at ±20° rudder angles was simulated, and an in-depth analysis was performed on the motion responses and flow field characteristics during starboard turning. The results demonstrate that the proposed self-propulsion numerical method effectively captures the motion responses during turning maneuvers, with simulation results agreeing well with experimental data (relative errors of key response parameters within 7%). The turning motion significantly influences the pressure field, velocity field, and vortex structures, particularly near the parallel middle body and wake region. As the heading angle gradually increases, the flow field stabilizes and reaches a quasi-steady state at approximately 180°.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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