Vehiole Dynamios Associated with Submarine Rescue 



^thr mn~ ^ force due to thruster mn 



MtK, «» = Pitch moment due to thruster mn 

 inr rnn 



N*u- _„= Yaw moment due to thruster mn 



M = Direction in which force acts 



n = f for forward-thruster , a for aft-thruster 



^ ^ ^ 4^ 



with the force (T| , T 2 , T 3 , T4 ) and moment coefficients 



(M,*, M2*, Mj*, M4*) shown in Figs. 8 and 9. 



CM 



u 



O 

 u 



U 





 -1 



-1 



-2 



-3 



-4 



FORWARD SPEED/IMPELLER SPEED, ^ (FT/SECAPS) 



Fig. 8. Effect of Forward Speed on Duct Forces 



1143 



