Abstract:This paper focuses on the issue of wave load calculation for underwater vehicles in irregular waves. It establishes a three-dimensional boundary element method model that considers the influence of finite water depth, and analyzes the wave load characteristics under different speed, depth, and sea state conditions. Specifically, the study develops a three-dimensional boundary element method model for calculating the wave loads on underwater vehicles. This model uses a numerical integration method to solve the velocity potential, and employs the impulse response function approach to obtain the time history data of wave forces and moments acting on the vehicle in irregular waves. The validity of this method has been verified through model test results. Furthermore, statistical analyses have been performed on the time history data under various operating conditions. The research findings indicate that increasing the navigation depth can significantly reduce the wave loads, while adverse sea states can lead to a significant increase in wave loads. The three-dimensional boundary element method based numerical method proposed in this paper can effectively predict the wave load characteristics of underwater vehicles under different conditions. The results provide important theoretical support and practical application value for optimizing the design and control of underwater vehicles.