Resumen
An innovative tourist submarine was studied by scale-model tests in a towing tank to determine its steering capabilities and detect motion instabilities during usual manoeuvres and emergency rising. Motion instabilities are caused by the combination of the submarine motions and the fluid flow, leading to excessive roll and pitch that can cause severe endangerment to passenger safety. The submarine model was built on a scale of 1:9. The model had six thrusters to conduct the tested manoeuvres, i.e., two main thrusters at the stern, two side thrusters, and two vertical thrusters. The thrusters were computer-controlled, so each thruster had a speed controller and could run forwards and backwards. Six different steering tests and four rising tests were conducted, with at least two runs per test. During the tests, the roll and pitch were measured. Lifting the submarine by a crane was also a part of the experimental campaign. In general, the steering capabilities of the submarine were satisfactory and rolling instabilities were absent. Just a few deficiencies in the steering capabilities were detected. The rising tests were performed without any major motion instabilities, but in one case, the final position of the model at the surface was unstable.