Optimising the turning performance of serial split-hull underwater vehicles

This paper discusses optimising the 2D turning performance of serial split-hull underwater vehicles with symmetric hulls. Compared to traditional single-hull solutions, their unique design makes them appealing for bathymetry. Analysis of the turning motion of such vehicles is a topic of tremendous research interest. During the turning motion of an underwater vehicle, the lateral forces demand both surge and sway thrusters to maintain the path without slipping. This impacts the vehicle operation, making it harder to control, and uses more power. The net lateral force and associated sway thrust requirements can be significantly reduced using a split-hull design, where the individual hulls can have different orientations. It is possible to eliminate the sway thruster and cover the circular path using a split-hull underwater vehicle. The existence of the optimal turning configuration is proved where the need for lateral thrust is minimal compared to the axial one. The effects of turning diameter, joint torque, and axial thrust are also considered when choosing the vehicle configuration for the specific operational requirement. Experiments are used to validate the outcomes of the modelling and simulation. The knowledge gained here will aid in developing and effectively operating similar vehicles.