Integrated dynamics modeling for supercavitating vehicle systems

We have performed integrated dynamics modeling for a supercavitating vehicle. A 6-DOF equation of motion was constructed by defining the forces and moments acting on the supercavitating body surface that contacted water. The wetted area was obtained by calculating the cavity size and axis. Cavity dynamics were determined to obtain the cavity profile for calculating the wetted area. Subsequently, the forces and moments acting on each wetted part-the cavitator, fins, and vehicle body-were obtained by physical modeling. The planing force-the interaction force between the vehicle transom and cavity wall-was calculated using the apparent mass of the immersed vehicle transom. We in-tegrated each model and constructed an equation of motion for the supercavitating system. We performed numerical simulations using the integrated dynamics model to analyze the characteristics of the supercavitating system and vali-date the modeling completeness. Our research enables the design of high-quality controllers and optimal supercavita-ting systems.