Numerical study of vehicle motion during water exit under combined lifting force and wave action

During the retrieval process of the deep-sea mining vehicle (DSMV), the stability of the retrieval system is strongly influenced by the interaction between the vehicle body and the surrounding seawater due to the vehicle's complex shape and wave motion. Naturally, the negative side effects of significant changes in the vehicle's attitude and the water exit position can only increase retrieval's challenge. To investigate the characteristic of the flow field of the DSMV, this study employs the computational fluid dynamics method based on the Reynolds-averaged Navier–Stokes equations integrating the volume-of-fluid multiphase flow model with a fifth-order Stokes-wave model to explore the attitude and displacement changes of the vehicle during the water exit process in the ocean wave environment. The results indicate that the wave phase and lifting force are the major effect factors in the DSMV's water exit process. An appropriate lifting force under a specific wave phase can effectively reduce attitude changes and positional drift of the DSMV during water exit, thereby enhancing recovery efficiency and stability.