Vehicle Dynamios Assoaiated with Submarine Rescue 



SHROUD RING FORCES 



The control shroud is a circular movable wing located at the 

 aft end of the vehicle, supported by four struts space 90° apart. 

 Fig. 4. The force and moments on the shroud ring are obtained from 

 curves of lift and drag on the shroud as a function of total angle of 

 attack of the shroud. Figs. 4 and 5. Resolving the resultant force, 

 F, into the directions of the vehicle's axis system provides the 

 components used in the equations of motion, Xg^roud » ^shroud ' ^"^^ 

 ^sh d* "^^^ relative velocity of the shroud with respect to the water 



in the directions of body axis system is 



'SB 



V- X3r 



^w + X^q^ 



The ordered deflection of the shroud, 6p, a deflection in the vehicle 

 pitch plane followed by 6y a deflection about the pitched shroud 

 yaw axis results in the relationship 



1.4 

 1.2 



1.0 



0.8 



0.6 



0.4 



0.2 







-0.2 



-0.4 



-0.6 



■0.8 



-1.0 



20 



40 



60 



80 



100 



120 



140 



160 



180 



SHROUD ANGLE OF ATTACK, a^ , DEGREES 



Fig. 4. Shroud Lift Coefficient, C|_, vs. Shroud Angle-of- Attack, aS 



1135 



