Yeln.io'ie Dynamics Associated with Submarine Rescue 



#//FT\2 



250 



200 



150 



100 



50 - 



HEAVE VS ANGLE OF AHACK 



SIMULATION MODEL- 



ANALYSIS MODEL 



y 



BARE HULL 



■SHROUD 



Izll \ L 



J L 



10 20 30 40 50 60 70 80 



a, DEGREES ► 



90 



Fig, 27. Comparison of Simulation and Analysis Models 



TIME 



n-2 n-1 n 



^n-i/2 =^n-\ 



Un-I - Un-2 



EQUATIONS OF MOTION 



u -= f (u, V, w, p, q, r) 



SOLUTION , 



AND u^ - u^_, + i^ t 

 ITERATION INTERVAL 62,5 OR 125 MILLISECONDS 

 Fig. 28. Coniputation of Vehicle Motions 



1169 



