Abstract
Abstract The numerical models of a 1:3 open-frame Remote Operated Vehicle (ROV) model in drag simulations with various immersion ratios are established based on Reynolds-averaged Navier-Stokes equations and the Volume of Fluid method in software Star-CCM+ to investigate the free surface effectors. This paper aims to find a reasonable depth for constraint experiments of ROV, which should eliminate the free surface effect to a certain extent. The numerical drag towing tests with different depths in the design speed are performed. Two installing forms are adopted. One is that the ROV is installed in its upright state which means the strut is along the vertical direction of the body-fixed coordinate system, and the other is that the ROV rolls 90°, and the strut is along the lateral direction. Simulation results of hydrodynamic load in six degrees of freedom are analyzed to find the rules of the free surface effect. The flow structures of velocity in wake regions are studied. The reason why the hydrodynamic characteristics exist would be revealed. The results show that the hydrodynamic load will be affected significantly when the depth is less than half of the height of the ROV. And it should be noticed that there is also a considerable impact on the lateral forces and moments when the ROV is in the upright state.
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