Bias Effects on Motion Stability of Submersible Vehicles

摘要

This thesis analyzes the nonlinear characteristics of motion stability of a submersible vehicle in combined sway, yaw, and roll motions. In this work, previous results are extended to include nonzero pitch angles. This analysis can determine how changes in vehicle parameters and loading conditions will affect its operation and performance. Stability domains are generated for a variety of vehicle and environmental parameters. A nonlinear analysis is conducted in order to assess the stability characteristics of the resulting limit cycles. The results can lead to design guidelines for improving vehicle operational envelopes.