Sway, yaw, and roll coupling effects on straight line stability of submersibles
Cunningham, Daniel J.
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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.
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