This letter proposes a rotation-free wireless power transfer (WPT) system based on a new coil structure to achieve stable output power and efficiency against rotational misalignments for charging autonomous underwater vehicles. The new coil structure has two decoupled receivers composed of two reversely wound receiver coils and the magnetic flux directions of the two receivers are perpendicular to each other, guaranteeing a relatively constant total mutual inductance and a decoupled characteristic under rotational misalignments. The proposed coil structure is verified via finite element analysis based on ANSYS Maxwell. A rotation-free LCC-LCC compensated WPT prototype is built and the experimental results verify the theoretical analysis and simulations. The system can deliver 664 W with a dc-dc efficiency of 92.26% under the best case and 485 W with a 92.10% dc-dc efficiency under the worst case.

Unmanned underwater vehicles (UUV) face maneuverability and rapidity challenges when they are applied for detecting and repairing submarine oil and gas pipelines, and fiber cables near the seabed. This research establishes numerical models of the bare UUV and self-propelled UUV near the seabed using the computational fluid dynamics (CFD) method. The effect of dimensionless distance Hd and $R{e}_L$ on the hydrodynamic performance of the vehicle and the interaction between the hull and the propeller is investigated. The range of Hd is 1.5D–10D, and the $R{e}_L$ is 9.97 × 10⁵~7.98 × 10⁶. Findings indicate that: (1) There is an obvious strong coupling between the hydrodynamic performance of the bare UUV and Hd. With the increase of Hd, the hydrodynamic performance such as $C_d$, the absolute value of $C_l$ and $m_y$ decreases continuously and finally tends to be stable. The absolute values of $C_d$ and $C_l$ increase with the increase of $R{e}_L$. The change trend of $m_y$ is opposite to that of $C_l$. (2) The variation trend of hydrodynamic performance of the self-propelled UUV with Hd is consistent with those of the bare UUV. Additionally, it increases to some extent, respectively, compared with the bare UUV. (3) The self-propelled characteristics such as $t$, ${\eta }_H$, $w$ and ${\eta }_i$ are weakly related to Hd. The $t$ and ${\eta }_i$ increase with the increasing of $R{e}_L$, while ${\eta }_H$ and $w$ decrease with the increasing of $R{e}_L$.

This study investigates the effectiveness of UUV formations during navigation to designated target areas. The research focuses on propeller-equipped UUVs and employs a computational fluid dynamics (CFD) methodology to analyze the hydrodynamic interactions among multiple UUV formations while en route to their targeted exploration areas. Utilizing the relative drag coefficients ($r_l \mathrm{a}\mathrm{n}\mathrm{d} r_f$) and static thrust ($R_{fleets}$) as analytical parameters, this paper defines the relative distances ($a$ and $b$) between UUVs within a formation and conducts a comparative analysis of the hydrodynamic performance between individual UUVs and formation configurations. The study establishes correlations between relative distances and the hydrodynamic performance of formations. The findings reveal the following: 1. For both the lead UUV and the following UUV within the formation, the $r_l \mathrm{a}\mathrm{n}\mathrm{d} r_f$ heatmaps exhibit two distinct regions: a thrust region and a drag region. Notably, these regions significantly overlap. The maximum $r_l$ is 31.23%, while the minimum $r_f$ is −20.9%, corresponding to relative distances of $a$ = 0.12 and $b$ = 1.5. Conversely, the minimum $r_l$ is −12.2%, while the maximum $r_f$ is 22.03%, with relative distances of $a$ = 1.1 and $b$ = 0.2; 2. An analysis of formation static thrust $R_{fleets}$ reveals that it can be up to 7% greater than the drag experienced by self-propelled UUVs when relative distances $a$ and $b$ are set to 1.1 and 1, respectively. This highlights the enhanced performance achievable through formation navigation. The results presented in this paper offer valuable theoretical insights into the optimal design of relative distances within UUV formations, contributing to the advancement of UUV formation navigation strategies.

Inductive power transfer (IPT) technology is widely used in autonomous underwater vehicles (AUVs) to achieve safety and flexibility. However, the eddy current loss (ECL) will be generated in the seawater due to the high-frequency alternating current in the transmitter and receiver. An underwater IPT system with a series-none (SN) compensation topology is proposed in this paper to achieve a compact receiver for AUVs and reduce the ECL. The analytical model of the IPT system is built to analyze its transfer performance. The phase difference between the transmitter and receiver current of the SN compensation topology is larger than 90° compared to that of the conventional series-series (SS) topology, which can significantly decrease the magnitude of the electric field caused by coil currents; thus, the eddy current loss is reduced. Moreover, the optimal load resistance of the seawater IPT system is lower than that in the air, and the SN compensation topology has a more compact receiver with no compensation capacitor in the receiving side, which can save the internal space in the AUVs. An experimental prototype based on the SN topology is built, and the experimental results have verified the analysis.

Permanent magnet couplings (PMCs) are widely used in underwater propulsion because it can solve the deep-sea sealing problem effectively. In this paper, a new type of conical permanent magnet coupling (CPMC) is proposed, which is able to match the tail shape of the underwater vehicle and make full use of the tail space to increase pull-out torque capability. Based on the three-dimensional finite element method (3D-FEM), the electromagnetic characteristics of an initial model for CPMC are analyzed. In order to facilitate the design and optimization of CPMC, an equivalent three-dimensional (3D) analytical method for the pull-out torque calculation is presented, and its accuracy is verified by comparison with the 3D finite element results. Finally, the influence of design parameters such as half-cone angle, pole pair, pole arc coefficient and permanent magnet thickness on maximum pull-out torque and torque density of CPMC is analyzed, and a preliminary optimization model is obtained.

How to reduce the cogging torque of the integrated propeller motor is an important means to improve its noise performance because cogging torque is one of the key factors causing torque ripple. We proposed a method to reduce the cogging torque by optimizing the size of the Halbach array’s auxiliary pole. First, an analytical model for the airgap magnetic field of Halbach array based on different dimensions (including the circumference ratio and the radial thickness) of the auxiliary pole is given. Then the finite element method is used to verify the analytical model. On the basis, we calculated the cogging torque of different size of auxiliary poles as sample data by combining different circumference ratio and radial thickness. Furthermore, using the two-variable single-objective neural network genetic optimization algorithm based on Backpropagation (BP), we obtain the optimal size of the auxiliary pole. Finally, comparing the motor cogging torque and torque ripple before and after optimization indicated that the cogging torque and torque ripple are effectively reduced after optimizing the size of the auxiliary pole.