VelaioZe Dynamics Associated with Submarine Rescue 



Fig, 11. Simplified Shock Mitigation System for Simulation 



hull. Each leg acts independently of the other three and is limited 

 to axial deflections only. The force elements in each leg consist 

 of a spring in series with either a damper or a constant force 

 element depending on both deflection magnitude and rate. Other 

 forces applied to the leg ends are due to lateral friction at the con- 

 tact surface. The equations that follow, approximate the force 

 effects on the vehicle due to near normal impact during docking. 

 The approxinnation is good if the deviation of the transfer skirt 

 mating flange plane from the plane of impact at instant of contact 

 is less than 10 degrees. Also, the vehicle velocity parallel to the 

 impact plane should be less than 0, 5 fps at time of contact. 



The resulting equations will give a disturbing force and 



moment expression, Xfjisj* Yqisj, 'Z^x>\sv -^dist' -^oist' ^^ 

 for application to the vehicle model equations of motion. 



and N 



DIST 



Using the direction cosine matrix 



[D] = 



'cos^JCOsG cosi|jsln0sin<^-slni|jcos<}> sini]jsincj)+cosi|jsin0cos<(> 

 sin^JCosG cos4jcos<^+sinijjsin0sin<^ sini|jsin9cos4>-cosi)jsln4) 

 sin 9 cos6sin<^ cos9cos<}> 



1147 



