Air–Water Dynamic Performance Analysis of a Cross-Medium Foldable-Wing Vehicle

Inspired by the free-flight capabilities of the gannet in both aerial and underwater environments, a foldable-wing air–water cross-medium vehicle was designed. To enhance its propulsive performance and transition stability across these two media, aero-hydrodynamic performance analyses were conducted under three representative operating states: aerial flight, underwater navigation, and water entry. Numerical simulations were performed in ANSYS Fluent (Version 2022R2) to quantify lift, drag, lift-to-drag ratio (L/D), and tri-axial moment responses in both air and water. The transient multiphase flow characteristics during water entry were captured using the Volume of Fluid (VOF) method. The results indicate that: (1) in the aerial state, the lift coefficient increases almost linearly with the angle of attack, and the L/D ratio peaks within the range of 4–6°; (2) in the folded (underwater) configuration, the fuselage still generates effective lift, with a maximum L/D ratio of approximately 2.67 at a 10° angle of attack; (3) transient water entry exhibits a characteristic two-stage force history (“initial impact” followed by “steady release”), with the peak vertical load increasing significantly with water entry angle and velocity. The maximum vertical force reaches 353.42 N under the 60°, 5 m/s condition, while the recommended compromise scheme of 60°, 3 m/s effectively reduces peak load and improves attitude stability. This study establishes a closed-loop analysis framework from biomimetic design to aero-hydrodynamic modeling and water entry analysis, providing the physical basis and parameter support for subsequent cross-medium attitude control, path planning, and intelligent control system development.