Wave glider multi-body dynamics simulation method and system based on CFD

Abstract

The invention discloses a CFD-based wave glider multi-body dynamics simulation method and system, and the method comprises the steps: building an umbilical cable flexible dynamics equation through employing a concentrated mass method, and obtaining an umbilical cable flexible wave glider rigid-flexible coupling dynamics model through employing a floating body and submerged body dynamics equation as a boundary condition; the method comprises the following steps: constructing a geometric model of a floating body, a submerged body and a hydrofoil, creating a background fluid domain, carrying out regional division on the background fluid domain and the geometric model by utilizing Boolean operation, and constructing a hydrofoil-seawater bidirectional fluid-solid coupling CFD simulation model of the wave glider; building a co-simulation interface based on MATLAB-Fluent, executing time domain co-simulation and iterative updating based on the co-simulation interface, and obtaining power data in the operation process of the wave glider; according to the method, the flexible effect of the umbilical cable and the hydrofoil is introduced into the dynamic model of the wave glider, high-precision fluid-solid coupling of seawater and a structure is realized based on CFD, and the kinematics and dynamics behavior prediction precision in the operation process of the wave glider is improved.

Description

Technical Field

[0001] This invention belongs to the field of wave glider dynamics modeling and simulation technology, and more specifically, relates to a CFD-based multibody dynamics simulation method and system for wave gliders. Background Technology

[0002] With the continuous upgrading of demands for deep-sea exploration, resource development, and marine environmental monitoring, unmanned observation platforms with adaptability to complex marine environments and long-term autonomous operation capabilities have become a core research and development direction in the field of marine engineering. Wave gliders, as a new type of unmanned mobile marine observation equipment, possess a core advantage in converting wave energy into driving energy through a unique rigid-flexible coupled multi-body structure (including a floating body, an underwater submersible, an umbilical cable connecting the two, and hydrofoils mounted on the submersible). This results in ultra-long endurance potential, making them widely applicable in scenarios such as far-sea meteorological observation, water quality monitoring, and seabed topographic exploration.

[0003] However, current research on the motion mechanism and performance prediction of wave gliders in the engineering field still mainly relies on traditional multi-rigid-body dynamics models, and hydrodynamic parameters are mostly estimated using empirical formulas. This type of method has significant technical limitations and cannot meet the requirements of high-precision design and performance optimization. The specific problems are as follows: The lack of description of flexible effects: Traditional models simplify the umbilical cable and hydrofoil as rigid components, which cannot effectively characterize the flexible deformation of the umbilical cable in the marine environment (such as tension, bending, and torsion) and the elastic deformation of the hydrofoil under fluid loads. As a result, the rigid-flexible coupling characteristics of the system are ignored, making it difficult to truly reflect the nonlinear dynamic behavior of wave gliders in actual operations, such as the impact of the dynamic tension fluctuation of the umbilical cable on the motion coordination of the snorkel, and the change of propulsion efficiency due to hydrofoil deformation.

[0004] Insufficient accuracy in fluid-structure interaction: Empirical formulas can only roughly estimate the hydrodynamic forces between seawater and structures (such as wave forces and viscous drag), and cannot accurately capture the microscopic processes of fluid-structure interaction in unsteady flow fields (such as boundary layer separation, eddy evolution, and mutual interference between waves and structures). This results in large deviations in the prediction of the motion response of the floating body in waves and the hydrodynamic loads of the submersible and hydrofoil, which directly restricts the optimization design of structural parameters of wave gliders (such as umbilical cable length and hydrofoil angle of attack) and the accurate formulation of control strategies.

[0005] Therefore, existing technologies cannot provide a dynamic simulation scheme for wave gliders that balances physical realism and prediction accuracy. There is an urgent need for a simulation method that can effectively integrate flexibility effects and high-precision fluid-structure interaction to provide reliable numerical support for the development, performance optimization and engineering application of wave gliders. Summary of the Invention

[0006] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a CFD-based multibody dynamics simulation method and system for wave gliders. By constructing a rigid-flexible coupled dynamic model containing the dynamic equations of a flexible body with an umbilical cable (using the lumped mass method to discretize the umbilical cable as an elastic micro-segment articulation, effectively characterizing its flexible deformation and dynamic tension transmission), and combining it with CFD simulation models of hydrofoil-seawater bidirectional fluid-structure interaction and floating / submersible unidirectional fluid-structure interaction, the system accurately captures the microscopic processes of fluid-structure interaction in unsteady flow fields. This replaces empirical formulas to achieve high-precision hydrodynamic calculations. Furthermore, relying on the MATLAB-Fluent co-simulation interface, real-time data interaction between the dynamic model and the CFD model is achieved, significantly improving the performance of wave gliders. The simulation provides physical realism and accurate prediction of motion states and hydrodynamic loads. It also allows for flexible adjustment of flow field and environmental load parameters to adapt to different marine conditions, enabling long-term simulation of equipment dynamics. This provides reliable numerical data for wave glider structural design, control strategy formulation, and performance optimization, while reducing reliance on physical prototype development and sea trials, shortening the R&D cycle, and lowering engineering costs. It effectively addresses the technical problems of existing wave glider multi-rigid-body dynamic models lacking descriptions of umbilical cable and hydrofoil flexibility effects, relying on empirical formulas leading to insufficient hydrodynamic prediction accuracy, and failing to accurately reflect the nonlinear dynamic behavior of the system. This effectively supports the efficient development and application of wave gliders in complex deep-sea environments.

[0007] To achieve the above objectives, one aspect of the present invention provides a CFD-based multibody dynamics simulation method for wave gliders, comprising the following steps: S1: Based on the Newton-Euler method and combined with the calculation formulas for wave force and wind resistance, the rigid body dynamic equations of the floating body and the submerged body are constructed; the lumped mass method is used to establish the flexible dynamic equation of the umbilical cable, and the dynamic equations of the floating body and the submerged body are used as boundary conditions to obtain the rigid-flexible coupled dynamic model of the wave glider with flexible umbilical cable. S2: Construct the geometric model of the floating body, submersible body and hydrofoil; create a background fluid domain, and use Boolean operations to divide the background fluid domain and geometric model into regions; adopt a hybrid mesh scheme with hexahedrons as the core for mesh division, carry out regional mesh refinement and mesh independence verification, and then construct a CFD simulation model of a wave glider with hydrofoil-seawater bidirectional fluid-structure interaction. S3: Configure the physical model for the CFD simulation model of the wave glider with hydrofoil-seawater bidirectional fluid-structure interaction, define the boundary conditions, and set the dynamic mesh parameters to adapt to the motion of the floating body, submerged body, and hydrofoil; S4: Build a co-simulation interface based on MATLAB-Fluent, which includes a co-simulation communication mechanism and a time synchronization mechanism; S5: Based on the aforementioned co-simulation interface, perform time-domain co-simulation and iterative updates to obtain dynamic data during the operation of the wave glider. The dynamic data includes displacement, velocity, acceleration, and force data of the floating body and the submerged body in six degrees of freedom.

[0008] Furthermore, the rigid-flexible coupled dynamic model of the umbilical cable-flexible wave glider described in step S1 uses the dynamic equations of the flexible umbilical cable as the computational framework, and the dynamic equations of the rigid floating body and the rigid submerged body as boundary conditions, and is solved using the fourth-order Runge-Kutta method; the calculation formula of the fourth-order Runge-Kutta method is: ; In the formula, This refers to the estimation of acceleration using the slope at different time steps. Indicates the time step. For the current time step Time value; This represents the velocity estimates for the current time step and the next time step; This is the functional expression of the dynamic equation.

[0009] Furthermore, the rigid-flexible coupled dynamic model of the wave glider with flexible umbilical cable described in step S1 includes the dynamic equations of the floating body rigid body, the dynamic equations of the submerged body rigid body, and the dynamic equations of the umbilical cable flexible body. The dynamic equations for both the floating body and the submerged body are based on the Newton-Euler equations and are used to describe the six-degree-of-freedom motion of the floating body under the combined excitation of the marine environment and the umbilical cable, and the six-degree-of-freedom motion of the submerged body under the combined excitation of the fluid and the umbilical cable, respectively. The dynamic equations of the umbilical cable flexible body are constructed using the lumped mass method. The umbilical cable is discretized into a finite number of elastic micro-segments that are hinged to each other. The tension of the micro-segments is taken as the continuity condition. Each elastic micro-segment follows the principle that the mass and force are concentrated at the hinge point. This is used to obtain the spatial pose and internal force of the umbilical cable at any time and to realize the motion transmission between the floating body and the submerged body.

[0010] Furthermore, the rigid-flexible coupled dynamic model of the umbilical cable-flexible wave glider described in step S1 uses the tension between the two nodes as a continuity condition; the expression for calculating the tension is: ; In the formula, For the tension of micro segments ， The elastic modulus of the umbilical cable. This represents the cross-sectional area of ​​the elastic micro-segment after deformation. For the linear strain of the elastic microsegment, Let be the initial length of the elastic micro-segment. The length of the elastic micro-segment after deformation; The cross-sectional area of ​​the elastic micro-segment after deformation The formula for calculation is: ; in ， This is the cross-sectional area of ​​the elastic micro-segment when it has not deformed. The linear strain of the elastic microsegment The formula for calculation is: ; In the formula, These are the coordinates of two adjacent hinge points.

[0011] Furthermore, the CFD simulation model of the wave glider with hydrofoil-seawater bidirectional fluid-structure interaction described in step S2 includes a hydrofoil bidirectional fluid-structure interaction model, a floating body unidirectional fluid-structure interaction model, and a submerged body unidirectional fluid-structure interaction model; wherein, The hydrofoil bidirectional fluid-structure interaction model is used to simulate the elastic deformation of the hydrofoil under the action of fluid and its reaction to the flow field. At each time step, the hydrofoil motion state is received and the unsteady hydrodynamic load is calculated. The load is then fed back to update the hydrofoil deformation and motion. The floating body unidirectional fluid-structure interaction model and the submerged body unidirectional fluid-structure interaction model take the motion state of the floating body and the submerged body as input, respectively, and calculate the hydrodynamics of the corresponding structures through CFD, and feed the hydrodynamics back to the rigid-flexible coupling dynamic model.

[0012] Furthermore, the specific configuration of the hybrid mesh scheme in step S2 is as follows: a hexahedral mesh is used in the main flow region of the background fluid domain, and a tetrahedral or prismatic mesh is used in the geometrically complex regions of the floating body, submerged body, and hydrofoil; the regional mesh refinement includes performing regional mesh refinement on the boundary layer region, vortex region, geometrically complex region of the floating body and submerged body, and the surface, vortex region, and leading and trailing edge region of the hydrofoil. Furthermore, the physical model configuration of the CFD simulation model in step S3 includes: an incompressible flow model, k - ε Turbulence model and VOF model; the boundary conditions of the CFD simulation model include: velocity inlet, pressure outlet, symmetry plane and moving wall conditions.

[0013] Furthermore, the collaborative simulation communication mechanism described in step S4 includes a MATLAB dynamics solution master control terminal and a Fluent solution client; wherein, The MATLAB dynamics solver is implemented in the MATLAB environment. It is used to integrate the solution algorithm of the rigid-flexible coupling dynamics model, call the fourth-order Runge-Kutta method to perform time-domain integration of the dynamic equations of the floating body, the submerged body and the umbilical cable, and send the current six-degree-of-freedom motion state of the floating body and the submerged body to the Fluent solver client to schedule the coupled simulation process. The Fluent solver client is implemented through Fluent's user-defined functions (UDFs) and Scheme script extensions. It is used to receive the motion state, drive dynamic mesh updates, perform CFD calculations, and extract hydrodynamic data to feed back to the MATLAB dynamics solver master control terminal.

[0014] Furthermore, the time synchronization mechanism described in step S4 is managed by the MATLAB dynamics solution master control terminal, which uniformly manages the global simulation clock. Specifically, it includes the following steps: S41: The MATLAB dynamics solution master terminal transmits the six-degree-of-freedom motion state of the floating body and the submerged body at the current moment to the Fluent solution client; after receiving the motion state, the Fluent solution client starts single-step CFD calculation, completes the unsteady flow field solution and outputs hydrodynamic data; S42: The Fluent solver client pauses the solver and returns the hydrodynamic data to the MATLAB dynamics solver master. S43: The MATLAB dynamics solution master terminal updates the dynamic state of the buoy, submersible and umbilical cable based on the hydrodynamic data, advances the global time step, and returns to step S41 to enter the next simulation loop.

[0015] The second aspect of the present invention provides a CFD-based multibody dynamics simulation system for wave gliders, used to implement the CFD-based multibody dynamics simulation method for wave gliders, including: a rigid-flexible coupling dynamics model construction module, a CFD geometry and mesh modeling module, a CFD physics and boundary condition configuration module, a co-simulation interface construction module, and a time-domain co-simulation and data acquisition module; The rigid-flexible coupling dynamic model construction module is used to construct the rigid dynamic equations of the floating body and the submerged body based on the Newton-Euler method and the calculation formulas of wave force and wind resistance; and to establish the flexible dynamic equations of the umbilical cable using the lumped mass method. With the dynamic equations of the floating body and the submerged body as boundary conditions, a rigid-flexible coupling dynamic model of the wave glider with flexible umbilical cable is obtained. The CFD geometry and mesh modeling module is used to construct geometric models of floating bodies, submersible bodies, and hydrofoils in the Solidworks environment and import them into Fluent software; a background fluid domain is created in Fluent software, and Boolean operations are used to divide the background fluid domain and the geometric model into regions; a hybrid mesh scheme with hexahedrons as the core is used for meshing, and regional mesh refinement and mesh independence verification are carried out to construct a CFD simulation model of a wave glider with hydrofoil-seawater bidirectional fluid-structure interaction; The CFD physics and boundary condition configuration module is used to configure the physical model for the CFD simulation model of the hydrofoil-seawater bidirectional fluid-structure interaction wave glider, define the boundary conditions, and set the dynamic mesh parameters in Fluent software to adapt to the motion of the floating body, submerged body and hydrofoil. The co-simulation interface building module is used to build a co-simulation interface based on MATLAB-Fluent to realize real-time data interaction and solution control between the rigid-flexible coupling dynamic model of the umbilical cable flexible wave glider and the CFD simulation model. The time-domain co-simulation and data acquisition module is used to perform time-domain co-simulation and iterative updates based on the co-simulation interface to acquire dynamic data during the operation of the wave glider.

[0016] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: The present invention provides a CFD-based multibody dynamics simulation method and system for wave gliders, which overcomes the limitations of traditional multi-rigid-body dynamic models that can only describe the motion of rigid components, improves the physical realism of dynamic simulation, and accurately reproduces the nonlinear behavior of the system. By constructing a rigid-flexible coupled dynamic model containing the dynamic equations of a flexible body with an umbilical cable, and using the lumped mass method to discretize the umbilical cable into elastic micro-segment articulations, the system effectively characterizes the flexible deformation and dynamic tension transmission characteristics of the umbilical cable in the marine environment, such as stretching and bending. At the same time, by combining a hydrofoil-seawater bidirectional fluid-structure coupled CFD simulation model, the system captures the elastic deformation of the hydrofoil under fluid load and its reaction to the flow field, fully reproducing the real motion mechanism of the rigid-flexible coupled multibody structure of the wave glider, and solving the problem of distortion in the description of nonlinear dynamic behavior caused by the lack of flexible effect in the prior art.

[0017] Compared to existing technologies that rely on empirical formulas to roughly estimate hydrodynamics, the CFD-based multibody dynamics simulation method and system for wave gliders of this invention solves unsteady flow fields through CFD simulation models, accurately capturing the microscopic processes of fluid-structure interaction between seawater and the floating body, submerged body, and hydrofoil. This enables high-precision calculation of wave loads on the floating body, viscous drag on the submerged body, and propulsion force of the hydrofoil. Simultaneously, relying on the MATLAB-Fluent co-simulation interface, real-time data interaction between the dynamic model and the CFD model is established, ensuring dynamic matching between the motion state of the floating body and the submerged body and hydrodynamic parameters. This significantly reduces the deviation in motion response and load prediction, providing accurate numerical basis for optimizing the structural parameters and formulating control strategies for wave gliders.

[0018] The present invention provides a CFD-based multibody dynamics simulation method and system for wave gliders. By adjusting the flow field parameters of the CFD simulation model and the environmental load parameters of the rigid-flexible coupled dynamic model, it can flexibly simulate different marine conditions such as calm sea surfaces, strong winds and waves, and complex ocean currents. At the same time, by using time-domain co-simulation and iterative update mechanisms, it can realize the simulation of the dynamic behavior of wave gliders during long-term operation. This breaks through the limitation of traditional empirical formulas being applicable only to specific simplified conditions, and provides comprehensive technical support for the reliability verification and performance evaluation of equipment in complex deep-sea environments.

[0019] The present invention relates to a CFD-based multibody dynamics simulation method and system for wave gliders. By constructing a high-precision numerical simulation system, the structural design, performance prediction, and control strategy verification of wave gliders can be completed before the physical prototype is manufactured, reducing the reliance on repeated prototype manufacturing and sea trials. Compared with the long cycle of "design-prototype-sea trial-iteration" caused by traditional experience-based design, the present invention can discover and optimize structural parameter defects in advance through simulation, significantly shortening the R&D cycle, reducing engineering development costs and risks, and laying the foundation for the efficient industrial application of wave gliders. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating a CFD-based multibody dynamics simulation method for wave gliders according to an embodiment of the present invention. Figure 2 This is a flowchart illustrating the data interaction and solution process between the rigid-flexible coupling dynamics model (MATLAB) and the CFD simulation model (Fluent) of a wave glider in a CFD-based multibody dynamics simulation method for wave gliders according to an embodiment of the present invention. Figure 3 This is a schematic diagram of a CFD-based multibody dynamics simulation system for wave gliders according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0022] CFD is an abbreviation for Computational Fluid Dynamics, a branch of science that intersects fluid mechanics, numerical computation, and computer science. Its core is to solve the governing equations (such as the Navier-Stokes equations) that describe fluid motion through numerical discretization methods and computer simulation, thereby simulating and analyzing the flow laws of fluids (liquids and gases) and the interaction between fluids and solid structures (i.e., "fluid-structure interaction").

[0023] Based on the technical problems existing in the background technology, such as Figure 1 As shown, one aspect of the present invention provides a CFD-based multibody dynamics simulation method for wave gliders, comprising the following steps: S1: Based on the Newton-Euler method and combined with the calculation formulas for wave force and wind resistance, the rigid body dynamic equations of the floating body and the submerged body are constructed; the lumped mass method is used to establish the flexible dynamic equation of the umbilical cable, and the dynamic equations of the floating body and the submerged body are used as boundary conditions to obtain the rigid-flexible coupled dynamic model of the wave glider with flexible umbilical cable. S2: Construct geometric models of the floating body, submersible body, and hydrofoil in the Solidworks environment and import them into Fluent software; create a background fluid domain in Fluent software and use Boolean operations to divide the background fluid domain and geometric model into regions; use a hybrid mesh scheme with hexahedrons as the core for meshing, carry out regional mesh refinement and mesh independence verification, and then construct a CFD simulation model of a wave glider with hydrofoil-seawater bidirectional fluid-structure interaction; S3: Configure the physical model for the CFD simulation model of the wave glider with hydrofoil-seawater bidirectional fluid-structure interaction, define the boundary conditions, and set the dynamic mesh parameters in Fluent software to adapt to the movement of the floating body, submerged body and hydrofoil; S4: Build a MATLAB-Fluent-based co-simulation interface to realize real-time data interaction and solution control between the rigid-flexible coupled dynamic model of the umbilical cable flexible wave glider and the CFD simulation model; the co-simulation interface includes a co-simulation communication mechanism and a time synchronization mechanism. S5: Based on the aforementioned co-simulation interface, perform time-domain co-simulation and iterative updates to obtain dynamic data during the operation of the wave glider. The dynamic data includes displacement, velocity, acceleration, and force data of the floating body and the submerged body in six degrees of freedom.

[0024] Furthermore, the wave force calculation formula in step S1 considers the undisturbed Froude-Kriloff force of the wave field and the diffraction force of the wave field affected by the structure; the expression is:

[0025] This expression is derived based on the equivalent of a floating cuboid and the assumption of a floating body's complete wave response; where, The vertical wave force acting on the floating body. The density of seawater, For the length of the floating hull, For the draft of the floating body, The mass of the attached water to the buoy. For wave height, It is the acceleration due to gravity. The frequency of the wave; Wave number; The formula for calculating wind resistance in step S1 is: ; In the formula, The wind resistance experienced by the floating body, air density, The drag coefficient, The windward area of ​​the buoy. The relative velocity between the floating body and the wind; The rigid body dynamics equations for the floating body described in step S1 contain six degrees of freedom. These represent the longitudinal, lateral, and vertical displacements and angular displacements of the floating body, respectively. The dynamic equations of the submerged rigid body described in step S1 also contain six degrees of freedom. These represent the longitudinal, lateral, and vertical displacements and angular displacements of the floating body, respectively. Furthermore, the rigid-flexible coupling dynamic model of the wave glider with flexible umbilical cable described in step S1 includes the dynamic equations of the floating body rigid body, the dynamic equations of the submerged body rigid body, and the dynamic equations of the umbilical cable flexible body. The dynamic equations of the floating body rigid body and the dynamic equations of the submerged body rigid body are both based on the Newton-Euler equations, used to describe the six-degree-of-freedom motion of the floating body under the combined excitation of the marine environment and the umbilical cable, and the six-degree-of-freedom motion of the submerged body under the combined excitation of the fluid and the umbilical cable, respectively. The dynamic equations of the umbilical cable flexible body are constructed using the lumped mass method, discretizing the umbilical cable into a finite number of elastic micro-segments that are hinged together. The tension of the micro-segments is used as a continuity condition, and each elastic micro-segment follows the principle that mass and force are concentrated at the hinge point. This is used to obtain the spatial pose and internal forces of the umbilical cable at any given time and to realize the motion transfer between the floating body and the submerged body. Furthermore, the rigid-flexible coupled dynamic model of the umbilical cable-flexible wave glider described in step S1 uses the dynamic equations of the flexible umbilical cable as the computational framework, and the dynamic equations of the rigid floating body and the rigid submerged body as boundary conditions, and is solved using the fourth-order Runge-Kutta method; the calculation formula of the fourth-order Runge-Kutta method is: ; In the formula, This refers to the estimation of acceleration using the slope at different time steps. Indicates the time step. For the current time step Time value; This represents the velocity estimates for the current time step and the next time step; This is the functional expression of the dynamic equation; The rigid-flexible coupled dynamic model of the umbilical cable-flexible wave glider uses the tension between two nodes as a continuity condition; the expression for calculating the tension is: ; In the formula, For the tension of micro segments ， The elastic modulus of the umbilical cable. This represents the cross-sectional area of ​​the elastic micro-segment after deformation. For the linear strain of the elastic microsegment, Let be the initial length of the elastic micro-segment. The length of the elastic micro-segment after deformation; The cross-sectional area of ​​the elastic micro-segment after deformation The formula for calculation is: ; in ， This is the cross-sectional area of ​​the elastic micro-segment when it has not deformed. The linear strain of the elastic microsegment The formula for calculation is: ; In the formula, These are the coordinates of two adjacent hinge points.

[0026] Furthermore, the CFD simulation model of the wave glider with hydrofoil-seawater bidirectional fluid-structure interaction in step S2 includes a hydrofoil bidirectional fluid-structure interaction model, a floating body unidirectional fluid-structure interaction model, and a submerged body unidirectional fluid-structure interaction model. The hydrofoil bidirectional fluid-structure interaction model simulates the elastic deformation of the hydrofoil under fluid action and its reaction to the flow field. It receives the hydrofoil's motion state at each time step and calculates unsteady hydrodynamic loads, then feeds back the loads to update the hydrofoil's deformation and motion. The floating body unidirectional fluid-structure interaction model and the submerged body unidirectional fluid-structure interaction model take the motion states of the floating body and submerged body as inputs, respectively, calculate the hydrodynamics of the corresponding structures using CFD, and feed the hydrodynamics back to the rigid-flexible coupling dynamics model. The specific configuration of the hybrid mesh scheme in step S2 is as follows: a hexahedral mesh is used in the main flow region of the background fluid domain, and a tetrahedral or prismatic mesh is used in the geometrically complex regions of the floating body, submerged body, and hydrofoil; the regional mesh refinement includes performing regional mesh refinement on the boundary layer region, vortex region, geometrically complex region of the floating body and submerged body, and the surface, vortex region, and leading and trailing edge region of the hydrofoil.

[0027] Furthermore, the physical model configuration of the CFD simulation model in step S3 includes: an incompressible flow model, k - ε Turbulence model and VOF (Volume of Fluid) model; the boundary conditions of the CFD simulation model include: velocity inlet, pressure outlet, symmetry plane and moving wall conditions.

[0028] Furthermore, the collaborative simulation communication mechanism mentioned in step S4 includes a MATLAB dynamics solution master control terminal and a Fluent solution client; wherein, the MATLAB dynamics solution master control terminal is implemented in the MATLAB environment, used to integrate the solution algorithm of the rigid-flexible coupling dynamic model, call the fourth-order Runge-Kutta method to perform time-domain integration of the dynamic equations of the floating body, the submerged body and the umbilical cable, and send the current six-degree-of-freedom motion state of the floating body and the submerged body to the Fluent solution client, and schedule the coupled simulation process; The Fluent solver client is implemented through Fluent's user-defined functions (UDFs) and Scheme script extensions. It is used to receive the motion state, drive dynamic mesh updates, perform CFD calculations, and extract hydrodynamic data to feed back to the MATLAB dynamics solver master control. Furthermore, the time synchronization mechanism described in step S4 is managed by the MATLAB dynamics solution master control terminal, which uniformly manages the global simulation clock. Specifically, it includes the following steps: S41: The MATLAB dynamics solution master terminal transmits the six-degree-of-freedom motion state of the floating body and the submerged body at the current moment to the Fluent solution client; after receiving the motion state, the Fluent solution client starts single-step CFD calculation, completes the unsteady flow field solution and outputs hydrodynamic data; S42: The Fluent solver client pauses the solver and returns the hydrodynamic data to the MATLAB dynamics solver master. S43: The MATLAB dynamics solution master terminal updates the dynamic state of the buoy, submersible and umbilical cable based on the hydrodynamic data, advances the global time step, and returns to step S41 to enter the next simulation loop.

[0029] Further, step S5 includes: S51: Simulation Initial Conditions and Parameter Configuration: Before starting the time-domain co-simulation, complete the setting of basic parameters and initial states to provide a baseline for iterative calculations. Specifically, this includes: Set global simulation parameters: Define the total simulation duration and time step; Initialize the dynamic model state: In the rigid-flexible coupling dynamic model of MATLAB, set the initial six degrees of freedom state (displacement, velocity, etc.) of the floating body and the submerged body and the initial spatial pose of the umbilical cable. At the same time, input the motion state and force state of each component as initial conditions, adjust the intensity of wind, waves and current, and input the motion commands of straight, left turn and right turn to the submerged body part in the model. Initialize CFD flow field conditions: In Fluent's CFD simulation model, set initial flow field parameters (such as seawater density), wave environment parameters (such as wave height and wave frequency), and wind field parameters (such as wind speed and wind direction). S52: Start the time-domain co-simulation iterative loop Based on the MATLAB-Fluent co-simulation interface built in step S4, iterative loops are executed in units of "time steps" to achieve real-time coupling between the dynamic model and the CFD model. The specific process is as follows: The dynamic model solves for the current motion state. The rigid-flexible coupled dynamics model in MATLAB takes the feedback load from the previous time step (preset wave force and wind resistance in the initial step) as input, calls the fourth-order Runge-Kutta method, and performs time-domain integration on the dynamic equations of the floating body, the submerged body, and the flexible umbilical cable. The model calculates the six-degree-of-freedom motion parameters (displacement, velocity, acceleration) of the floating body and the submerged body in the current time step, as well as the real-time coordinates and micro-segment tensions of each hinge point of the umbilical cable. Motion state data transmission (MATLAB → Fluent) The MATLAB dynamics solution master terminal sends the six-degree-of-freedom motion state of the floating body and the submersible body at the current time step to the Fluent solution client through the co-simulation communication mechanism; the Fluent client receives the motion data through the DEFINE_CG_MOTION module of the user-defined function UDF and converts it into the motion boundary conditions of the CFD model. CFD model to solve hydrodynamic loads After receiving motion commands, the CFD model in the Fluent environment drives mesh updates based on motion boundary conditions, simulates the interaction between the wave glider and seawater, calls the CFD solver, and solves the unsteady flow field based on the configured physical model and boundary conditions. The hydrodynamic response is calculated (including hydrofoil thrust, floating body water resistance, submerged body water resistance, and bidirectional fluid-structure interaction loads of the hydrofoil and unidirectional fluid-structure interaction loads of the floating body and submerged body). The hydrodynamic data is then organized into a MATLAB-recognizable format. Hydrodynamic load data feedback (Fluent→MATLAB) The Fluent client pauses the current CFD calculation and feeds back the extracted hydrodynamic load data to the MATLAB dynamics solution master control terminal through the co-simulation communication mechanism. The MATLAB terminal uses it as the external force input of the dynamic model in the next time step, completing the closed-loop coupling of "motion state → hydrodynamics → motion state". Determine if the loop has terminated Check if the current time step has reached the preset total simulation time: if not, advance the global time step in MATLAB and return to step (1) to enter the next iteration; if it has reached the preset total simulation time, terminate the co-simulation loop. S53: Acquisition, Processing and Output of Power Data During and after the co-simulation loop execution, real-time acquisition and final output of dynamic data are completed, forming a dataset available for analysis. Real-time data acquisition: After each iteration at time step, the MATLAB client automatically acquires the six-degree-of-freedom displacement, velocity, and acceleration data of the floating body and the submerged body, while the Fluent client acquires the force data of the floating body and the submerged body and stores it according to the preset path. Data consistency verification: After the simulation is completed, the stored power data is verified (such as checking for missing data or outliers, and supplementing or removing them if necessary) to ensure the continuity and validity of the data. Data formatting: The raw data is organized into a structured form (e.g., arranged by column names such as "time step - float displacement - float velocity - submerged force"), and visualization charts are generated (e.g., the curve of vertical displacement of the float over time, the time domain curve of hydrofoil propulsion), providing direct basis for the performance analysis of wave gliders.

[0030] like Figure 3 As shown, the second aspect of the present invention provides a CFD-based multibody dynamics simulation system for wave gliders to implement the above simulation method, including a rigid-flexible coupling dynamics model construction module, a CFD geometry and mesh modeling module, a CFD physics and boundary condition configuration module, a co-simulation interface construction module, and a time-domain co-simulation and data acquisition module. The rigid-flexible coupling dynamic model construction module is used to construct the rigid dynamic equations of the floating body and the submerged body based on the Newton-Euler method and the calculation formulas of wave force and wind resistance; and to establish the flexible dynamic equations of the umbilical cable using the lumped mass method. With the dynamic equations of the floating body and the submerged body as boundary conditions, a rigid-flexible coupling dynamic model of the wave glider with flexible umbilical cable is obtained. The CFD geometry and mesh modeling module is used to construct geometric models of floating bodies, submersible bodies, and hydrofoils in the Solidworks environment and import them into Fluent software; a background fluid domain is created in Fluent software, and Boolean operations are used to divide the background fluid domain and the geometric model into regions; a hybrid mesh scheme with hexahedrons as the core is used for meshing, and regional mesh refinement and mesh independence verification are carried out to construct a CFD simulation model of a wave glider with hydrofoil-seawater bidirectional fluid-structure interaction; The CFD physics and boundary condition configuration module is used to configure the physical model for the CFD simulation model of the hydrofoil-seawater bidirectional fluid-structure interaction wave glider, define the boundary conditions, and set the dynamic mesh parameters in Fluent software to adapt to the motion of the floating body, submerged body and hydrofoil. The co-simulation interface building module is used to build a co-simulation interface based on MATLAB-Fluent to realize real-time data interaction and solution control between the rigid-flexible coupling dynamic model of the umbilical cable flexible wave glider and the CFD simulation model. The time-domain co-simulation and data acquisition module is used to perform time-domain co-simulation and iterative updates based on the co-simulation interface to acquire dynamic data during the operation of the wave glider. Furthermore, the rigid-flexible coupling dynamic model of the umbilical cable flexible wave glider was written using MATLAB software, including the dynamic equations of the floating body rigid body, the dynamic equations of the submerged body rigid body, and the dynamic equations of the umbilical cable flexible body. The set of dynamic equations for the rigid body of the floating body is based on the Newton-Euler equations and is used to describe the six-degree-of-freedom motion of the floating body on the water under the joint excitation of the marine environment and the umbilical cable. The core is to obtain the movement and rotation laws of the floating body under the action of external forces. The dynamic equations of the underwater rigid body are also based on the Newton-Euler equations, which are used to describe the six-degree-of-freedom motion of the underwater body under the joint excitation of fluid and umbilical cable. The motion state of the underwater body obtained from it is the key input for solving the hydrodynamics of the hydrofoil. The umbilical cable flexible body dynamic equation set adopts the lumped mass method, discretizing the umbilical cable into finite elastic micro-segments that are hinged to each other. The tension of the micro-segments is used as the continuity condition, from which the spatial pose and internal force of the umbilical cable at any time can be obtained, and the motion transmission function between the floating body and the submerged body can be realized. The rigid-flexible coupling dynamic model of the umbilical cable flexible wave glider uses the dynamic equations of the flexible body of the umbilical cable as the calculation framework, and the dynamic equations of the rigid body of the floating body and the rigid body of the submerged body as the boundary conditions. The fourth-order Runge-Kutta method is used for solution. Furthermore, the CFD simulation model of the hydrofoil-seawater bidirectional fluid-structure interaction wave glider is built using Fluent software, including a hydrofoil bidirectional fluid-structure interaction model to simulate the elastic deformation of the hydrofoil under fluid action and its reaction to the flow field. At each time step, the model receives the hydrofoil motion state from the hydrofoil pitch and rotation dynamics model, calculates the unsteady hydrodynamic loads on its surface through the CFD solver, and feeds the loads back to the structural solver to update the deformation and motion of the hydrofoil, realizing bidirectional coupling interaction between fluid and structure. A one-way fluid-structure interaction model for floating bodies is used to simulate the hydrodynamic response of floating bodies under wave action. This model takes the motion state of the floating body provided by the dynamic model as input, calculates its surface wave load and viscous drag through CFD, and returns the obtained hydrodynamic data to the dynamic model to drive the update of the floating body motion. A one-way fluid-structure interaction model for a submerged body is used to calculate the hydrodynamic forces acting on it as it moves through a fluid. This model uses the submerged body motion parameters output from the dynamic model as boundary conditions for the CFD solution. It obtains the hydrodynamic forces acting on the submerged body by solving the unsteady flow field and feeds them back to the dynamic model as external force terms, thus completing the one-way transfer from motion to fluid load.

[0031] The MATLAB-Fluent-based co-simulation interface includes a MATLAB-Fluent-based co-simulation communication mechanism and a time synchronization mechanism; the MATLAB-Fluent-based co-simulation communication mechanism includes: The MATLAB dynamics solution master control terminal is implemented in the MATLAB environment. It is responsible for integrating the solution algorithm of the rigid-flexible coupling dynamic model, calling the fourth-order Runge-Kutta method to perform time-domain integration of the dynamic equations of the floating body, the submerged body and the umbilical cable, and acting as the master controller of the co-simulation. It sends the six-degree-of-freedom motion state of the floating body and the submerged body at the current moment to Fluent and schedules the entire coupled simulation process.

[0032] The Fluent solver client, implemented through Fluent's user-defined functions (UDFs) and Scheme script extensions, is responsible for receiving motion commands from MATLAB, driving dynamic mesh updates, performing CFD calculations, and extracting the required hydrodynamic data. The time step synchronization mechanism is managed by the MATLAB master control terminal, which centrally manages the global simulation clock, and includes the following steps: MATLAB transmits the current motion state of the floating and submerged bodies to Fluent; After receiving valid motion input, Fluent starts single-step CFD calculation, completes the solution of unsteady flow field and outputs hydrodynamic data. After the calculation is complete, Fluent pauses the solution and returns the load results to MATLAB; After updating the dynamic state, MATLAB advances the global time step and enters the next loop.

[0033] It should be noted that the CFD-based wave glider multibody dynamics simulation system provided in this embodiment can be a computer program (including program code) running on a computer device. For example, the CFD-based wave glider multibody dynamics simulation system is an application software. The CFD-based wave glider multibody dynamics simulation system can be used to execute the corresponding steps in the methods provided in the embodiments of this application.

[0034] In some feasible implementations, the CFD-based wave glider multibody dynamics simulation system provided in this embodiment can be implemented using a combination of hardware and software. As an example, the CFD-based wave glider multibody dynamics simulation system provided in this application embodiment can be a processor in the form of a hardware decoding processor, which is programmed to execute the CFD-based wave glider multibody dynamics simulation method provided in this application embodiment. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0035] In some feasible implementations, the CFD-based wave glider multibody dynamics simulation system provided in this embodiment can be implemented in software, which can be software in the form of programs and plug-ins, and includes a series of modules to implement the CFD-based wave glider multibody dynamics simulation method provided in this embodiment of the invention.

[0036] A third aspect of the present invention also provides an electronic device, Figure 4 This is a schematic diagram of the electronic device in this embodiment, as shown below. Figure 4 As shown, the electronic device 1000 in this embodiment may include: a processor 1001, a network interface 1004, and a memory 1005. Furthermore, the electronic device 1000 may also include: a user interface 1003, and at least one communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as at least one disk storage device. Optionally, the memory 1005 may also be at least one storage device located remotely from the aforementioned processor 1001. Figure 4As shown, the memory 1005, which is a computer-readable storage medium, may include an operating system, a network communication module, a user interface module, and a device control application.

[0037] like Figure 4 In the electronic device 1000 shown, the network interface 1004 provides network communication functions; the user interface 1003 is mainly used to provide an input interface for users; and the processor 1001 can be used to call the device control application stored in the memory 1005 to implement the various steps of the CFD-based wave glider multibody dynamics simulation method.

[0038] It should be understood that in some feasible implementations, the processor 1001 described above may be a central processing unit (CPU), which may also be other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. The memory may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store device type information.

[0039] In specific implementation, the aforementioned electronic device 1000 can perform the above-described actions through its built-in functional modules. Figure 1 The implementation methods provided for each step are detailed in the above-mentioned implementation methods, and will not be repeated here.

[0040] This application also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement... Figure 1 The methods provided in each step are detailed in the implementation methods provided in the above steps, and will not be repeated here.

[0041] Any references to memory, storage, database, or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0042] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A CFD-based multibody dynamics simulation method for wave gliders, characterized in that, Includes the following steps: S1: Based on the Newton-Euler method and combined with the calculation formulas for wave force and wind resistance, the rigid body dynamic equations of the floating body and the submerged body are constructed; the lumped mass method is used to establish the flexible dynamic equation of the umbilical cable, and the dynamic equations of the floating body and the submerged body are used as boundary conditions to obtain the rigid-flexible coupled dynamic model of the wave glider with flexible umbilical cable. S2: Construct the geometric model of the floating body, submersible body and hydrofoil; create a background fluid domain, and use Boolean operations to divide the background fluid domain and geometric model into regions; adopt a hybrid mesh scheme with hexahedrons as the core for mesh division, carry out regional mesh refinement and mesh independence verification, and then construct a CFD simulation model of a wave glider with hydrofoil-seawater bidirectional fluid-structure interaction. S3: Configure the physical model for the CFD simulation model of the wave glider with hydrofoil-seawater bidirectional fluid-structure interaction, define the boundary conditions, and set the dynamic mesh parameters to adapt to the motion of the floating body, submerged body, and hydrofoil; S4: Build a co-simulation interface based on MATLAB-Fluent, which includes a co-simulation communication mechanism and a time synchronization mechanism; S5: Based on the aforementioned co-simulation interface, perform time-domain co-simulation and iterative updates to obtain dynamic data during the operation of the wave glider. The dynamic data includes displacement, velocity, acceleration, and force data of the floating body and the submerged body in six degrees of freedom.

2. The CFD-based multibody dynamics simulation method for wave gliders according to claim 1, characterized in that: The rigid-flexible coupled dynamic model of the wave glider with flexible umbilical cable described in step S1 uses the dynamic equations of the flexible umbilical cable as the computational framework, and the dynamic equations of the rigid floating body and the rigid submerged body as boundary conditions. It is solved using the fourth-order Runge-Kutta method. The calculation formula for the fourth-order Runge-Kutta method is as follows: ； In the formula, This refers to the estimation of acceleration using the slope at different time steps. Indicates the time step. For the current time step Time value; This represents the velocity estimates for the current time step and the next time step; This is the functional expression of the dynamic equation.

3. The CFD-based multibody dynamics simulation method for wave gliders according to claim 2, characterized in that: The rigid-flexible coupled dynamic model of the wave glider with flexible umbilical cable described in step S1 includes the dynamic equations of the floating body rigid body, the dynamic equations of the submerged body rigid body, and the dynamic equations of the umbilical cable flexible body. The dynamic equations for both the floating body and the submerged body are based on the Newton-Euler equations and are used to describe the six-degree-of-freedom motion of the floating body under the combined excitation of the marine environment and the umbilical cable, and the six-degree-of-freedom motion of the submerged body under the combined excitation of the fluid and the umbilical cable, respectively. The dynamic equations of the umbilical cable flexible body are constructed using the lumped mass method. The umbilical cable is discretized into a finite number of elastic micro-segments that are hinged to each other. The tension of the micro-segments is taken as the continuity condition. Each elastic micro-segment follows the principle that the mass and force are concentrated at the hinge point. This is used to obtain the spatial pose and internal force of the umbilical cable at any time and to realize the motion transmission between the floating body and the submerged body.

4. A CFD-based multibody dynamics simulation method for wave gliders according to any one of claims 1-3, characterized in that: The rigid-flexible coupled dynamic model of the umbilical cable-flexible wave glider described in step S1 uses the tension between the two nodes as a continuity condition; the expression for calculating the tension is: ； In the formula, For the tension of micro segments ， The elastic modulus of the umbilical cable. This represents the cross-sectional area of ​​the elastic micro-segment after deformation. For the linear strain of the elastic microsegment, Let be the initial length of the elastic micro-segment. The length of the elastic micro-segment after deformation; The cross-sectional area of ​​the elastic micro-segment after deformation The formula for calculation is: ； in ， This is the cross-sectional area of ​​the elastic micro-segment when it has not deformed. The linear strain of the elastic microsegment The formula for calculation is: ； In the formula, These are the coordinates of two adjacent hinge points.

5. A CFD-based multibody dynamics simulation method for wave gliders according to any one of claims 1-3, characterized in that: The CFD simulation model of the wave glider with hydrofoil-seawater two-way fluid-structure interaction described in step S2 includes a two-way fluid-structure interaction model of the hydrofoil, a one-way fluid-structure interaction model of the floating body, and a one-way fluid-structure interaction model of the submerged body; wherein, The hydrofoil bidirectional fluid-structure interaction model is used to simulate the elastic deformation of the hydrofoil under the action of fluid and its reaction to the flow field. At each time step, the hydrofoil motion state is received and the unsteady hydrodynamic load is calculated. The load is then fed back to update the hydrofoil deformation and motion. The floating body unidirectional fluid-structure interaction model and the submerged body unidirectional fluid-structure interaction model take the motion state of the floating body and the submerged body as input, respectively, and calculate the hydrodynamics of the corresponding structures through CFD, and feed the hydrodynamics back to the rigid-flexible coupling dynamic model.

6. The CFD-based multibody dynamics simulation method for wave gliders according to claim 5, characterized in that, The specific configuration of the hybrid mesh scheme in step S2 is as follows: a hexahedral mesh is used in the main flow region of the background fluid domain, and a tetrahedral or prismatic mesh is used in the geometrically complex regions of the floating body, submerged body, and hydrofoil; the regional mesh refinement includes performing regional mesh refinement on the boundary layer region, vortex region, geometrically complex region of the floating body and submerged body, and the surface, vortex region, and leading and trailing edge region of the hydrofoil.

7. A CFD-based multibody dynamics simulation method for wave gliders according to any one of claims 1-3, characterized in that: The physical model configuration of the CFD simulation model mentioned in step S3 includes: an incompressible flow model, k - ε Turbulence model and VOF model; the boundary conditions of the CFD simulation model include: velocity inlet, pressure outlet, symmetry plane and moving wall conditions.

8. A CFD-based multibody dynamics simulation method for wave gliders according to any one of claims 1-3, characterized in that: The collaborative simulation communication mechanism described in step S4 includes a MATLAB dynamics solver master terminal and a Fluent solver client; wherein, The MATLAB dynamics solver is implemented in the MATLAB environment. It is used to integrate the solution algorithm of the rigid-flexible coupling dynamics model, call the fourth-order Runge-Kutta method to perform time-domain integration of the dynamic equations of the floating body, the submerged body and the umbilical cable, and send the current six-degree-of-freedom motion state of the floating body and the submerged body to the Fluent solver client to schedule the coupled simulation process. The Fluent solver client is implemented through Fluent's user-defined functions and Scheme script extensions. It is used to receive the motion state, drive dynamic mesh updates, perform CFD calculations, and extract hydrodynamic data to feed back to the MATLAB dynamics solver master control terminal.

9. The CFD-based multibody dynamics simulation method for wave gliders according to claim 8, characterized in that: The time synchronization mechanism described in step S4 is managed by the MATLAB dynamics solution master control terminal, which centrally manages the global simulation clock. Specifically, it includes the following steps: S41: The MATLAB dynamics solution master terminal transmits the six-degree-of-freedom motion state of the floating body and the submerged body at the current moment to the Fluent solution client; after receiving the motion state, the Fluent solution client starts single-step CFD calculation, completes the unsteady flow field solution and outputs hydrodynamic data; S42: The Fluent solver client pauses the solver and returns the hydrodynamic data to the MATLAB dynamics solver master. S43: The MATLAB dynamics solution master terminal updates the dynamic state of the buoy, submersible and umbilical cable based on the hydrodynamic data, advances the global time step, and returns to step S41 to enter the next simulation loop.

10. A CFD-based multibody dynamics simulation system for wave gliders, characterized in that, The method for implementing the CFD-based multibody dynamics simulation method for wave gliders as described in any one of claims 1-9 includes: a rigid-flexible coupling dynamics model construction module, a CFD geometry and mesh modeling module, a CFD physics and boundary condition configuration module, a co-simulation interface construction module, and a time-domain co-simulation and data acquisition module. The rigid-flexible coupling dynamic model construction module is used to construct the rigid dynamic equations of the floating body and the submerged body based on the Newton-Euler method and the calculation formulas of wave force and wind resistance; and to establish the flexible dynamic equations of the umbilical cable using the lumped mass method. With the dynamic equations of the floating body and the submerged body as boundary conditions, a rigid-flexible coupling dynamic model of the wave glider with flexible umbilical cable is obtained. The CFD geometry and mesh modeling module is used to construct geometric models of floating bodies, submersible bodies, and hydrofoils in the Solidworks environment and import them into Fluent software; a background fluid domain is created in Fluent software, and Boolean operations are used to divide the background fluid domain and the geometric model into regions; a hybrid mesh scheme with hexahedrons as the core is used for meshing, and regional mesh refinement and mesh independence verification are carried out to construct a CFD simulation model of a wave glider with hydrofoil-seawater bidirectional fluid-structure interaction; The CFD physics and boundary condition configuration module is used to configure the physical model for the CFD simulation model of the hydrofoil-seawater bidirectional fluid-structure interaction wave glider, define the boundary conditions, and set the dynamic mesh parameters in Fluent software to adapt to the motion of the floating body, submerged body and hydrofoil. The co-simulation interface building module is used to build a co-simulation interface based on MATLAB-Fluent to realize real-time data interaction and solution control between the rigid-flexible coupling dynamic model of the umbilical cable flexible wave glider and the CFD simulation model. The time-domain co-simulation and data acquisition module is used to perform time-domain co-simulation and iterative updates based on the co-simulation interface to acquire dynamic data during the operation of the wave glider.

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