On optimum turning configurations

Dynamic stabilization and turning of submersible vehicles is presently accomplished by addition of fin-type appendages at the stern of the vehicle, and control is sometimes augmented by forward fins. These conventional configurations are neither the only stabilizing solutions nor necessarily provide the best turning configurations. Linear turning theory is applied to find the fixed fin size and location that optimize turning performance, for a given degree of stability. It is shown that configurations having the same stability can be designed with a range of turning ability, and vice versa.