A 6-DOF submarine manoeuvrability prediction code - Part I: Development and validation

A software that accurately predicts submarine manoeuvring behaviour is essential for hull, sail and control surfaces design. In this context, the availability of a reliable 6-DOF parametric, modular, and robust model is highly advantageous at early design-stage. The here presented mathematical model is based on strip theory for calculating the linear forces on the bare hull, combined with non-linear cross-flow drag forces. The contribution of control surfaces and the sail are evaluated using a formulation derived from experiments and literature data, allowing to consider the specific geometry of the exposed surfaces and the hull sections on which they are mounted, thus including all mutual interaction effects between the various components, such as the body-wing and wing-body. In this first part of work a comparison between the results of the manoeuvring code and experimental data or other data available in literature is presented, demonstrating satisfactory reliability and robustness with a view to estimating stability and controllability.