Investigation of naval submarine dynamic equilibrium, balancing and reverse speed considering control considerations

This article has reviewed the dynamic equations of naval submarines by considering all parameters affecting them and summarized a complete set of existing equations. Usually, submarine dynamic equations are complicated and difficult due to the multitude of parameters in them, especially in military submarines that have both normal and emergency conditions such as emergency ascent. These parameters include the following, all of which have been compactly reviewed in this article: Weight and buoyancy distribution, load changes and water changes inside the trim and compensation tanks, metacentric height, amount of thrust force and vertical distance between the thrust direction and the center of gravity, the position of the hydroplanes and their moments, the center of pressure and the effects of speed on Submarine dynamic behavior. Also, a speed is defined in the submarine maneuver that the control of the submarine by after hydroplanes is not possible. Due to the importance of this phenomenon, the reverse speed and its formulation are also presented in this article.