Manoeuvring and control

Abstract

The equations of motion for submarine manoeuvring are presented and discussed together with a non-linear coefficient based approach for determining the forces and moments on the submarine. Means of determining the coefficients using model tests, including a rotating arm and a planar motion mechanism, are detailed. In addition, the use of Computational Fluid Dynamics; and empirical techniques for determining the manoeuvring coefficients are discussed. Empirical equations for determining the manoeuvring coefficients are presented, and the results compared to published results from experiments. Issues associated with manoeuvring in the horizontal and vertical planes are explained, including: stability in the horizontal plane; the Pivot Point; heel during a turn, including snap roll; the effect of the sail, including the stern dipping effect; the Centre of Lateral Resistance; stability in the vertical plane; the Neutral Point; and the Critical Point, including the effect of speed, and issues at very low speed. Manoeuvring close to the surface, including surface suction, is discussed. Suggested criteria for stability in the horizontal and vertical planes, along with rudder and hydroplane effectiveness are given. The concept of Manoeuvring Limitation Diagrams and associated Standard Operating Procedures in event of a credible failure is presented. Free running model experiments and manoeuvring trials, including submarine definitive manoeuvres and submarine trials procedures are discussed.