VehioZe Bynamios Associated with Submarine Rescue 



Prior to the start of the Ames test program, it was believed 

 that the most serious interaction effects would be in the pitch plane, 

 due to Bernoulli or "suction" effects. The experimental program 

 was organized primarily to determine those forces. As we have 

 seen, yaw plajie interactions are more critical than those in the 

 pitch plane. It would be desirable to have additional data, particu- 

 larly with respect to interactions as a function of yaw angle and (for 

 the longitudinal current) as a function of lateral separation of the 

 longitudinal axes of the two vehicles. 



Recognizing the above limitations in the test conditions, no 

 attempt has been made to use the Ames data quantitatively in the 

 control system design. The data has been useful in the following 

 areas: 



a) It has provided an appreciation of the yaw plane problenms 

 associated with mating, 



b) The force and moment gradients observed have been used 

 to select and verify the static gain requirements of the 

 automatic control system, 



c) The non- steady interactions have provided an input which 

 could be used to establish the dynamic requirement of the 

 actuators and effectors, in particular the pumping rate 

 requirements of the list system. 



The DSRV is completing preliminary sea trials and will soon 

 be conducting mating trials. Before too long we will have some full 

 scale verification of the usefulness of the Ames test results. 



IV. CONCLUDING REMARKS 



This paper has presented an approach to the problennis of 

 simulation of the dynajnics of highly maneuverable submersibles. 

 All elements of the simulation are covered in considerable detail 

 to provide an adequate base to build on for others with similar 

 problems. No such comprehensive reference was available for our 

 use. 



Although the model test data are not presented in their 

 entirety, a reasonably complete description of the test procedure 

 and results should allow determination of the usefulness of the data. 

 Several references are given for more complete test results. 



It is hoped that this paper illustrates where Naval Hydro- 

 dynannics is a continually expanding field and must take into con- 

 sideration aspects of control system design, man- in- the -loop 

 analysis, and numerous other fields not normally considered as 

 relevant to the theoretician. 



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