• 대한조선학회논문집
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• 제60권4호
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• pp.256-265
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• 2023

This paper describes the results of the development of the submarine Free Running Model (FRM). First, the goal of development was set based on the test conditions and the test environment, and the system was obtained accordingly. The target submarine, Joubert BB2 submarine, was selected with a scale of 18.35 in accordance with the development goal. In order to conduct a submarine FRM test underwater, where communication is impossible, the FRM must operate at least semi-autonomously. For this purpose, an Extended Kalman Filter (EKF) based underwater integrated navigation system and control system using a sailplane and an X-shaped sternplane were designed respectively. In addition, a ballast system was designed to enable the model to float to the water surface in case of an emergency. To verify its propulsion, navigation, and control performance, the FRM tests were conducted in both indoor and outdoor basins. As a result, the relationship between propeller RPM and vehicle speed was derived, and it was confirmed that the navigation and control performance met the target value.

• 대한조선학회논문집
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• 제59권5호
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• pp.288-295
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• 2022

In this study, the force and moment acting on a Joubert BB2 submarine model at depths near the free surface were measured through a captive model test with the scale ratio of 1/15. Based on the experiment, the pitch moment and heave force due to the "Tail suction effect", including the change in surge force with depth near the free surface, were quantitatively analyzed. The change of force and moment according to the relative position of the sail and the free surface was reviewed with the free surface waves generated for each depths. As a result, the angle of attack of the hull to counteract the pitch moment induced by the tail suction effect was derived. The effect of the hydrostatic moment component according to the angle of attack on the equilibrium of pitch moment was also taken into account. The control plane performance tests for the X-type rudder and sail plane were conducted in snorkel and surface depth conditions to figure out the control plane angles for the neutral level flight of the submarine at near free surface. The results of this study are expected to be used as a reference data for the neutral level flight of the submarine at near free surface operation in the free running model test as well as numerical studies.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.843-855
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• 2020

X-plane submarines show better maneuverability as they have much longer span of control plane than that of cross plane submarines. In this study, captive model tests were conducted to evaluate the maneuverability of an X-plane submarine using Computational Fluid Dynamics (CFD) and a mathematical maneuvering model. For CFD analysis, SNUFOAM, CFD software specialized in naval hydrodynamics based on the open-source toolkit, OpenFOAM, was applied. A generic submarine Joubert BB2 was selected as a test model, which was modified by Maritime Research Institute Netherlands (MARIN). Captive model tests including propeller open water, resistance, self-propulsion, static drift, horizontal planar motion mechanism and vertical planar motion mechanism tests were carried out to obtain maneuvering coefficients of the submarine. Maneuvering simulations for turning circle tests were performed using the maneuvering coefficients obtained from the captive model tests. The simulated trajectory showed good agreement with that of free running model tests. From the results, it was proved that CFD simulations can be applicable to obtain reliable maneuvering coefficients for X-plane submarines.

• 한국해양공학회지
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• 제32권5호
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• pp.386-392
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• 2018

It is necessary to predict hydrodynamic derivatives when assessing the maneuverability of a submarine. The force and moment acting on the vehicle may affect its motion in various modes. Conventionally, the derivatives are determined by performing captive model tests in a towing tank or applying a system identification method to the free running model test. However, a computational fluid dynamics (CFD) method has also become a possible tool to predict the hydrodynamics. In this study, virtual captive model tests for a full-scale submarine were conducted by utilizing a Reynolds-averaged Navier-Stokes solver in ANSYS FLUENT version 18.2. The simulations were carried out at design speed for various modes of motion such as straight forward, drift, angle of attack, deflection of the rudder, circular, and combined motion. The hydrodynamic force and moment acting on the submarine appended rudders and stern stabilizers were then obtained. Finally, hydrodynamic derivatives were determined, and these could be used for evaluating the maneuvering characteristics of the submarine in a further study.