Sway, yaw, and roll coupling effects on straight line stability of submersibles
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Authors
Cunningham, Daniel J.
Subjects
Straight Line Stability||Neutrally Buoyant Submersibles
Dynamic Coupling
Submersibles
Steering and Roll Equations
Dynamic Coupling
Submersibles
Steering and Roll Equations
Advisors
Papoulias, F.A.
Date of Issue
1993-03
Date
March 1993
Publisher
Monterey, California: Naval Postgraduate School
Language
en_US
Abstract
This thesis analyzes the sway, yaw, and roll dynamic stability of neutrally
buoyant submersibles. Utilizing the hydrodynamic coefficients for a Mark
IX Swimmer Delivery Vehicle (SDV) as a base-line model, the linearized
equations of motion for the decoupled steering and roll systems are
compared to the coupled system. Two different configurations of
hydrodynamic coefficients are considered along with the effects of varying
the vertical (Zg ) and longitudinal (Xg) centers of gravity of the vehicle while
the longitudinal center of buoyancy (Xb) is held constant. Results
demonstrate the significant effects on stability of coupling the steering and
roll equations of motion, and the importance of Zg and Xg selection in
minimizing those effects while retaining stability. Perturbation analysis
results confirm the essential dependence of the linearized coupled
equations on the separation of Xg and Xb.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funder
Format
75 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.