Vehiole Dynamics Associated with Submarine Rescue 



experimental data equivalent to Fig. 

 starting with the DSRV 3 5 feet above 



The method of slnaulating the 

 effects is shown in Fig. 24. 



20 with the iniiial conditions 

 the subnnarine i.atch. 



steady and unsteady interaction 



(ALTITUDE INMT 

 HtOM VEHICLE) 



GENERATE Cv a AND K PARAMETERS AS 



APPROXIMATED BY TWO-SEGMENT FUNCTIONS 

 OF DSRV ALTITUDE ABOVE HATCH Z .. 



(PtrCH ANGLE 

 WOM VEHICLE) 



COMPUTE Cj^,'. FORCE AND MOMENT COEFFICIENTS: 



C 

 ^" Nl' "zi 1 



WHERE: 



:|i'C.i'C„i / 



c.e *-R(»-9J 



CURRENT 



MAGNITUDE 



INPUT 



GENERATE UNSTEADY OCEAN CURRENT 



WHITE 

 NOISE 

 GEN. 



VARIABLE 

 -\ BAND PASS 

 FILTER 



K:m 



PERTUBATION INPUT 

 (UNSTEADY COMPONENT OF CURRENT) 



<^C*,)» 



GENERATE DISTURBING- FORCES ArO MOMENTS: 



'^(dW), ''(ditf), ^(diiO 

 '■(ditf),'^(di.l)' ^(diif) 



'(diit) 



C^e'C^^T^^f (V y 



E 



;(d!.t)> 



(dirt) 



-».^(d;.0 



-*. '■(ditf) 

 -»-**(dirt) 

 ■♦-'^(dl.t) 



OUTPUTS 

 —TO 

 VEHICLE 



Fig. 24. Simulation of Interaction 



IV. MANNED SIMULATION 



Early in the DSRV programi it was decided to initiate a 

 mianned simulation study, whose primary objective would be the 

 investigation of the operation of DSRV under manual control con- 

 ditions , using minimum backup displays. The control system aboard 

 DSRV is relatively sophisticated, providing substantial pilot assist- 

 ance in the form of augmented stabilization, decoupling of degrees 

 of freedom, and automated control loops. Although the primary 

 operating modes of the DSRV were not to be manual, it was believed 

 that a manual control capability was essential for backup in the event 

 of failure or damage of the primary control system. 



The simulation program was confined to the most severe 

 segment of the rescue mission, the mating of the DSRV to the hatch 

 of the distressed submarine (DISSUB). This segment starts when the 



1165 



