Stability Analysis of a Submarine and Identifying Stability Limitation Using Numerical Modeling

In this paper, stability analysis of a 6-DOF submarine is presented. In submarine design, geometry and architectural aspects for control surfaces are important for the stability of vehicle.. In this paper, the dynamic of a typical submarine is derived by Newton-Euler method. The hydrodynamic forces are modeled as the functions of velocity, angle of attack and drift angle. Forces on the control surfaces are modeled as the functions of velocity, angle of attack and their angles as well. For the stability analysis, linearized equations form is derived. Then stability limitation of the hydrodynamic parameters is presented. Moreover, the simulation results are verified by some experimental results.