Abstract: A series of static tests on a 1/2 scaled standard fully appended SUBOFF model are carried out by the planar motion mechanism(PMM) in the circulating water channel (CWC)，by which the maneuverability in the vertical plane is studied including the uncertainty analysis. The horizontal force, the vertical force and the trim moment of the submersible model are measured under several angles of attack (ranging from -60° to 60°) and flow rates (ranging from 10m/s to 12m/s). The mathematical model of maneuverability motion in the vertical plane of the submersible is derived by piecewise function based on the results. The dimensionless hydrodynamic coefficients in the motion equation are analyzed with the least-square method. The results show that the total uncertainty of the measured dimensionless hydrodynamic forces and moment is small to illustrate the validity of the testing method. The dimensionless values of the vertical forces and the trim moment increase with the angle of attack increasing. There are obviously asymmetric and nonlinear characteristics in the dimensionless hydrodynamic forces and moment as the angle of attack is beyond the range of -25° to 25°. Piecewise function is more applicable for describing maneuverability motion in the vertical plane of the submersible under large angle of attack.

Key words: SUBOFF submersible model; circulating water channel; maneuverability; large attack angle; hydrodynamic coefficients mathematical model