• Journal of Navigation and Port Research
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• v.39 no.3
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• pp.173-178
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• 2015

In these days, the world has been increasing the development of various underwater vehicles such as ROVs (Remotely operated underwater vehicles) and AUVs (Autonomous underwater vehicles). And the importance of submarine's maneuverability is especially being emphasized. Therefore, accurate values of the derivatives in equations of motion are required to control motion of the submarines. The aims of the present study are to experimentally derive Hydrodynamic derivatives derived by the vertical planar motion mechanism (VPMM) model test, and to estimate vertical dynamic stability was estimated by using the linear hydrodynamic derivatives, the hydrodynamic derivatives of the submarine, which have a high propriety, were provided by using the fourier analysis of measured forces and moments. Furthermore it is confirmed that the experimental derivatives shows well agreement with the theoretical estimations, and the dynamic stability of the submarine was estimated as a good state, which implies that the value is greater than zero.