STANDARD EQUATIONS OF MOTION FOR SUBMARINE

SIMULATION

by
Morton Gertl*r
Graul "ad
R. lhgen
Ai

-tt

B5100.901 al
JUNE 196.7 Taak 0102

-- " ....- . -. : - -- • - -

I
S' - )
 SUBMARuNE
STANDARD EQUATI'NS or MOTION r(.
SIMULATION

by
Morton Ocrtlv'
and
Grani A. lagen

SR 00901 0!
3UNE 1967 Task OIOZ

I.--

idr
"4 - - -•

TABLE OF CONTENTS
Page

ABSTRACT .................................. ..... ........ 1

ADMINISTRATIVE INFORMATION ............ . . ....... I
INTRODUCTION .................. ............... ....... 1
HISTORY ......................... .. .... .. ..... 2
STANDARD EQUATIONS OF MOTION ......................... 4
AXIAL 1 FORCE . .................. ...... * ......... 6
L.ATERAL FORCE .................... & ..... ........ .. 7
NORMAL.e FORCE ............................ *.# 6
ROLLING MOMENT .................. .. 9
9...........
PITCING MOMENT ... * .. ..... * 10
YAWING MOME..NT ................. ..........
o * 11
KINEMATIC RELATIONS . .......... o
............... 12
IDENTITY AND SDURCE OF INPUT DATA ...................... 13
T14E HYDRODYNAMIC COEFFICIENTS ........................ 15
APPLICA71ON AND RANGE OF VALIDITY ...................... 20
CONCLUDING REMARKS ...................................... 25
ACICNO WLED)GMENTS ................... ....... . ....... ...... 26
REFERENCES ......................... ................. 27

30

•- o4

. ... .
 041

NOTATION

Symtbol Dimenmsionless Form Defliition

. Buoyancy force, positive u.ward

1

Ca Center of buoyanlcy of submarine

Cc Center o( na&4 of submarint,

I I w Moment of irtiza of submarine about y axis

u- Moment o inertia of subrarine about zads

iota

Sxyt •Product of inertia about xy axis

Iys I yz yz auto
Product of in•ertia abot y4;ýr

* "-£3 "•--
w' Product of inertla about zx ax&*

K Hydrody-namic rnomet r.oonenot about x

lK u axis {roning momecs)

SK, .---, ollia moewat when body angle (w, 8) and

co l BarLace sa.les are zero

K• K , UCoeffictent used to repre•enting Ke as a

KP KP 4,- 'U Fivet

K or4dr coaffideuc
e Afunctioa otp used ia repreentin~g

K K u Coefficiest used to representiu K as a futaUon

K Kpi K ljj Secod• order coeffictoel u"d tm represenalfta

fIn K as a fuazttoa ot p

K K .NS Ctwefitiont used is repr*sescie. K as a fUaCtion%

M
PP' PQ lb of the product pq

ti

N •
 -- K07 Coefficient wed in reupr.eenting K as a
iKqr I function of the product qr

SI Kr First order coefficient used in repreeatia•g

- Kr 7 K afa function o( r

K, K;' z Kf Coefficient used in representing K as a

r TZ-rfuinction (-( f

K K' First order coefficient used in representing

TOM K.. a function ol v
K•. Coefficient used in representing K as a
function V~ £'

K K a Iecond order caeffictiet used in representin

vfvf v IX K &a a function of v

Kvq vq' yqFL Coefficient vq in representing K as & fLnction

used
of the product

w K" a Coeffic.ent used in representing K as a fuaction

K Toe of the product vw

K K , . Kup Coefficleat used ti representiag K as & f£vctioe

WP 4:t,
iwp of the product wp

K~r
K wr K sCoefficient Used in repraewettag V. of a function ..
wr k of the product wr
K First ordor cotfeictest utsd tn reprse*tning
6r K asa a function of

S-2 3Overall iemth oftsuartias

-v - oif a %bmarim,i Akc tus wator is -

L4 H-/4rodyaamic mommet comaossa

(pttcbii4 esoanat) about 7 axnis

U. U, Pitcjktr4 mowve abetu body &041e0 (4t. B) &ad

coftrol sur(Rct Anlee Art•z ro

mS' 5cosi
e order Celficia. t 'Aged in represea"nim
p U mPi st a Nu-ctioa adP. First order coefficiast to

U
q lUi ' vc- o t oOder coffiCtVet"
rirt ansafunction
M 0 (4-1
Ueed Ws *tsr..sna4in

U
Id. Firsticrder? ceInceu used~i% A .e
& 6I

I li
intactions of

i "
 qjq '
-I-.d 3 3 Second order coe;!icient used in representlit
M as a function of q

M
q A Coefficient used in representing M6 as a
jU u function q

Mr Coefficient used in representing M as a

rP fr"C? function of the product rp

M Mrr
r Second order coe!ficient used in representing
M as a function of r. Firat order coceficient
Is zero
M M '- Coefficient used in representing M as a
VP VP 110• function of the product vp
SInM
M vr M yr * yr Coefficient used in representing M as a
W04- function of the product vr

i M~ - v Second order coefficient used in r,-oreventing

-vv f7' M as a function of v

HFirst order coefficient used in xepre3entin~j

iMas a function tf w.

M M M First order coefficient used in rCpresentlng

tw MW & as a unction of ('...1)

M. mi. Coefficient used in represenairq M as a function

M wFirst Mjj U order coefficient

as a imction of w; equalused in representlng M
to zero for symmcetrical
function

M •_• q Coefficient uaed in reprecseattng MI, as a function

lw~q M1,&' ofw

,* 1 Second order coefficient uied in represeuting

w aU as a function of w

M Mw !W Firat order coefficient used in representing

S- !"I, . l MI a- i~sfunctioel o (v?-l)

U •, Second urder coefficient used in representing

" , as a function of w; oqual to e*rw for eylm-
metrical ounction

U 6b
M 3b Fitt order .cc.t'.cient used in represe**tin
M' as a funcuou eA

Mhi M First order coefficieut used in represeutiag

S60 8', .Z- M as functtoc of 8

M 1A First order co-efficirt used in repre*e•ting

iv

:1* ' _ _
,a-to
_ _
U ,.... 1 i

A "
 N'
•axis • (yawing morns,,1

i01
No No' 9OT-1
Yawfng
Co n)
moment when body anelesp(sn
c.-ntrol surface angles are zero
and

SN Np, N, First order coefficient used in re-p•resenting N

P U tsefunction of p

N. N u Coefficient used in representing N a &function

a

S.... ofthepioductqr

N N N
'. ---- First order coefficcent used in representinNa N
N N a function oe
Coefficeas N
-N rriq
r p Nr
First
as order
a function
of (r.-) used in representing
coefficient N

N.

N. *.4 , Coefficient used in representing N as a function

r r of f

NrITr
Nrfr Nr ' NrlrI Second order coefficient used in represealine
N as a function of r

N N = 6 Coefficient used in representing Nb as A

Ir • rl b6r j4U function ofT

N Nv' N First order co-fficlent us..d in representing N

v +Vas a functioe v

N N W !I First order coefficlent used in represeutinS X,

a?a a funtiionof (it- 1)

N Coefficient used in rsproovating N &a a

V ~function0 ofl

N N 'u -Coefficient used in repr-eseduna N as a fumCto1

Svqvq • *of the produ~ct v

N ' • Coeffictenvd ud in repr..e9cifg N As a

r functioa of

N N 'v I SecoMd order coeffwcien u.d is reW resending

t 4
ViviN Nasa functim 4 W

S• 0 Iirst ordr coýffict* usedIAn to 1res.ti

q NNv avV
a afioe of (vt- I I

, lo-,
 *NN uNV Coofficient used in representing N as A function
v vw W3' of the product vw

Nw Nw Coefficient used in representing N as a function

Wp WP of the product wp

N N z Nwr Coefficient used in representing N as a function

r wrI of the product wr

N 'N!- First order coefficient used in representing N

as A function
of 6r
NN6r N
N6?,
6r-ip = First order coefficient used in representing
N6r as a function of (Yj-1)

p p -t Angular velocity component about y axis

U
P rsrlative to fluid (roll)

I' 7JT An ulL: acceleration component about x axis

relative to fluid

U Angular velocity component about y axis relative

to fluid (pitch)

Anular Acceler 'tion component about y uxis

relative to fluid
r r Angular velocity component about z axis
reLative to fluid (yaw)

Angular acceleration component about z axis

relative to fluid

U" U Linear velocity of origin of body axes relative

to fluid

"." Component of U in direction of the x axis

"1T Time rate of chlange of u in direction of the

x &ads

u u *Conm-and speed: steady value of ahead spoed

C U component u for a given propeller rpm v hen
body antles (a. 6) and control surface sagles
are uevo, Sign chat&es with propeller rever~.l

V. a- COov.xenaofU i direction of the y axi

U

V I- Timew rate of change of v In Airection of the

U2 Y

.'. N •
 mq.
uW U Con-1poncnt of U in direction of the A axis

-•W
- UI
W.
-"-Time
[i

w
.
Z.axis
rate of change of w, in direction of the

V eight, including wa ter in free flooding space$

x' X Lonritkidinal body &:do; also the coordinate of a

Spoint relative to the origin of bcd- ;,xea

XxB'- The x coordinate of CB

xGC
XG The
' x coordinate of CG

xo'
o"
A .-•z dinate of the displaccment of cW Telative
to the origin of a set of fx-,d axes

X Hydrodynamic foice component along x axis

~o~t'ti~(longituidinal. or axial. fqrce)

X Second order coefficient used in representing

qq qq X as a function of q. First order coefficient
is zero

X X Coefficient ueed in repreoenting X as a function

rT rp of the product rp

Xr
X x rr iT S-ecornd order coefficient used in representling
X as a tunction of r. First orde- cocfficieat is

X. X , Coefficient used in representing X as a function

X X Secoad Order coefflcient used in ropreasozing

Uu u 1U X as a functioln of u to the uomn-potled case.
Ftrst order coefficieni is -erO

' In - Cee~ficient .-sed is repreoeatia X as a fuactios

vyr vr +0V of th, product vi

X X 'w '- coedor COrClent used In rOur•M.OSGi X

as a function oa V. -krst ordor -oeffiCent to saero

X ,P
.vn First order coofWideni %*a.d is vsrep~eiiug 3L,
as a fuctioe 09 ftt-I)

Xv X - Coe.fficies uti In tieproeatitt X as a function

v401

. S.... 1-
 , XW Second order coeificient used in representing
X
Xw Xvw' X as a function of w. First order coefficient ti
zero

X X I First -der coefficient used in representing i

asa a fur... gion,of (17-1)j
X bsb X X Second order coefficient used in representing X
6
6b~b 0,00 as a function of b. First order coefficient
is zero

Y
6r~r
X 6rdr "U
Second order cotffictent used in representing
X as a function of 6r. First order coefficient is
zero

X r X •f First order coefficient used in representing

8r6 WrXWrf am a function of (q7-1)

S~X6482 SSecond
order coefficient used in representing X
11s 686•e TPU as a function of %. First order coefficient is
zero

X X =First order coefficient used in representing

65691 • X 5lUZ as a function of (17-1)

Yy Lateral body axis; also the coordinate of a

4, point relative to the origin of body axes

SY B1 The y coordinate of CB
YC;
" IG 7- The y coordinate of CC

•Y o A coordla~te of the displacement of CC reiative

yo to ihe origin of a set o( fites axes

Y Hydrodynarmic force component &long y axis

.(lateral
force)

Y,e Lateral force when body angle* (mi. 0) and control

PVLUI surface angles are vero

Y P First order coeffi-cient used in represetnting

P P jo(3U T as afuaction of P
Y,
Y. Y., A Coefficient used lo reprecenting Y -s a function

Yp YP • 1 nrder coefficient used in representinf

* "Y as a function of p

viii

o \
• ZZ,
 y
2
yy a r .Coefficient used in repre~sevting Y as a function
Mq
pq of the pro-.2uct pq

yqry .r1jt Coefficient used in representing Y as a function

qt q VOLof the p ro-duc t qr

y y yi First order coefficient used in reprementing Y

r ip04 Uas afunction of r

y y * First ord~r coefficient used in representing

rnrly *04aU Yr as a function of (17-1)

Y. y Coeff cient used in ropreser~ting Y as & function

y y Y8rrl 8r Coefficient used in reprnsenting Y, asma

Ir6r'~ v ol functionofr6

y , Y First orider coefficient used in representing

ivFu as afunction of v

y y First order coefficient usmed in representing

V~7 Vlj 4,, am a function of (11-1)

Y. Y. Coefficient used in representing Y as a

v v function of ~

Yvq y a Coefficient used In representing Y as a function

of th~e product vtq

y Yr Coefficient used in representing Y,, as a function

- - y 1 Second order co~ficient used in representing

Tw y as a function of v

yvivinTV YY ,
I1vlY I v117 First order coefficient used in representing
v I, Iasaa function DtiO-I1)

y y Coefficient used Is repus eawling Y as a

lunctioa of the9 product v

y Y * w Cooehicient uzed is reprcsouting YVas a

'AP wp bC-tl3 function of the prodtmct wp

Y y Coefficietzt used lit ropresevntin- YVas a

w.r funaction of the prod-utt -ar

y y 6-f Firilt order co-efficeiet used I reprmentiag

* r 6" *PQU Yasfunctioof 67

y F'Jrgt Order COefficitelt use4d it representing 0.

is

01
 1

* -N-Morm.l body axis; also the coordinate of a

point rale'tive to the origin of body axes

V- The s coordinate of CB

~~ %tG 3
The a coordinate of CC

It0 0 A coordinate of the displacemnent of CG

0 0 relative to the or'.gin of a set of fixed &,to

SZ' Z
* Z Hydrodynnamic forct component along r
&xis (normal force)

Z' Zoo w - Normnal force when body angles (a. - and

control surface angles are zero
Z
Z Z Second ordier coefficient u- ., representing
pp Zp 04. Z as a function of p. First o•der coefficient
is zero

Z Z 'Zq Firt order coefficient used it. representing

q q JOL3U Z at. a (unction of q

7 Z 0-M First order coefficient used in representing

917 *q¶ U Zq as a function o (1-l1)

Z.
Z Coefficient used to representtn3 Z as a
q q I function of 4
e7

Z 7 Coefficient used in representing Z is a

lqI~A ZIqt•s' ?ot U function oa q

r Zr * Coefficient used in r,-tpresenting Z as a

rp rp *pL ffnction of the product ap

Z Z Zrr
Z 7. - Second order coefficient used in representing
rr yr 7. as a functtoq of r. First owdir coefficient
ti sero

7. ZFirst order coefficiant -.ved in rep-esenting

V sa
a*U fu.-Ctionoad

Z7 .2 First order coefficient used in representing

7 .
Y OIL - •a •fuactiot o" (1.-I)

7. " 1 ! Cosfftclet used in representin .Z as a

fu action of W2

7. 7 ~ 1' First or-dty coefficiez! use-d ilk r~ep'ssentit

l I .lU . a da tunctoaof 'i'; e val to Coro for oym-
mrtrical kn
fwctiod

Zw tqi wlqi • Coe~flcient ules lI. retpreseuet• 7.. a a

[Uato oq

-V--- 7.or

tT
Z WIWI Z WIWI " 041Z aw'u Second
as
order coefficient used in reprosenting
a function of w

Zwjw7 Z wwlw 2 wi First order coefficient used in represeuting

Zw I w I iatsafunction of (.1)-)

zW ' Second order coefficient used in representing

PIT• Z as a function s w; equal to zero for sym-
metrical function

Z ' Z" . First order coefficient used in representing Z

6b 6b t ý'Z- as a function of 6b

Z. Z60 a Z First order coefficient used in representing

SWpQU' Z as a function of 66

Z Z ' M First order coefficient used in representing

0TP1*YU Z6 as a function of (17-)

SAngle of avs)•ck

Angle of drift

6
b Deflection of bowplane or sailplane

Ar Deflection of rudder

69 Deflection of aternpiane

SThe ratio

e Angle of pitch I
Angle of yaw

Angle of roll

&i, bt, CI Sets of consantU meed in the representatioa of

propeller thruet in the axial equatiou
xi

Pr
• .. i ,4

| itnis • | i •it it t 1
 ABSTRACT

'%Standard equations of motion are presented for use in submarine

simulation studies being conducted for the U. S. Navy. The equations are
general enough to simulate the, trajectories and responses of submarines
in Bix degrees of freedom resulting f-rom various types of normal
maneuvers as well as for extreme maneqvers such as those associated
with emergency recoveries from sternplane jam and flooding casualties.
Information is also presented pertaining to the hydrodynamic coefficient&
and other input data needed to perform simulation studies of specific
submarine designs with the Standard Equations of Motion.

ADMINISTRATIVE INFORMATION

The development of the NSRDC Standard Equations of Motion for

Submarines and associated experimental techniques to provide the
necessary hydrodynamic coefficients was sponsored primarily by the
General Hydrornechanici Research Program (Sub Project SR 009 01 01
Task 0102). Additional support was provided by the Submarine Safety
Program (Sub Project S4611010 Tasks 11077 and 11083).

IN TRODUCTION

The Naval Ship Research and Development Center was requested to

* ovide the Naval Ship Engineering Center with a report on the general
equations of motion currently being used for submarine simulation stud-
ies. The primary purpoue of the report to to establish standards, pro-
"vide guidance, and establish a firm basis for contract negotiations. The
report would thus serve to facilitate the Navy's dealings with contractor$
engaged in the manufacturt of equipment such as training simulators and
automnatic control systems for submarines. Particular interest was
expressed in having equations which would fnlly describe the hydrody-
narrfc aspects of a submarine experiencing a casualty while in a-head
motion, with provis.ons for inserting detailed r.presentationa of the
casualties and recovery systems.

The Stability anrd Control Division of the Hvdromechanics Laboratory

hau been conducting submarine motion simulation studiev io- a number
of years in connection with its various assigned rerponaobt'ities. Such
studies have been utilited with considerable success to solve a wide
variety of problems pertaining to the design and operation of submarines
from the sta-ndpoint of stability ;-nd control. Most recently, these
atudies have included: emergency recovery from aternplane Jams, loaa
supportability, and vertical ascents after emergi.ncy blowing (5oth with
and without forward propulsion). Tbepe simulation studies have been
made. possible as the result of a progreseive in-house development of

I References are listed on pag. Z7.

"i

_ ',._ - •- * _ ,
-,-- -

~ ., I
 six-degree-of -freedom motion equations and a coordinated development of
advanced experimental and analytical techniques to provide the necessary
coefficients.

The equations of motion as they now rxist at NSRDC are general

enough to simulate trajectories of oubmarines for all of the various types
of normal maneuvers and emergency situationa th&t have been of concern
up to the present time. Furthermore, it is believed that they will
adequately cotier most of the situations that may be reasonably anticipated
for the future. These equations, which form the subject of this report,
have been used continuously for the past three years with little change,
and are considered to be standard at NSRDIC. In the interest of consistency,
it is proposed herein that these equations be adopted and serve as the
U.S. Navy Standard until notice is given by NSRDC that they chould be
changed. It shovdd be emphasized, however, that these equations have
been validated only with the types of coefficients being generated by the
1Hydromechanics Laboratory. Therefore, prospective users are
advised to first contact NSRDC to determine whether the required
hydrodynamic coefficients are available.

It is the intention eventually to issue a complete and comprehensive

report on the NSRDC Standard Equationi of Motion for Submarines which
would be tantamount to a textbook. This would include a discussion of the
physi.-s involved and the various meann for d&terminlng the ntmer:cai
va tues of each of the individual hydrodynarmic coefficients required for
*the equations. In addition, it is planned to discuss the various computer
techiiiques used for simulation and to present those cornpu~er programs
which have reached an advanced state of development. Such a treatise,
however, is considered to be much beyond the scope of what is required
to satisfy the immediate needs stated in the request.

To accomplish the specific objectives mentioned at the outset, this

repot t presents a brief history of the development of the equations of
motion -t NSRDC; defines 1lie nomenclature, axe systenis, and sign .-
convert-ons used for the equations; presents the NSRDC Standard
Equations of Motion for conducting submarine simulation studies; outlines
tCe niethods and sources for obtaining the hydrodynamic coefficients and *

other input data required for simulation; and briefly discusses the
appli': ation and range of validity of the Standard Equations.

HISTORY

The equations of motion now in use at NSRDC are the direct result
of a continuing program .)f in-house research carried out by the Stability
and Control Division of the Hydromechanics Laboratory. This prgrsrm
was officially started in June 1956 when it became evident that a rapid
technological expansion was taking place in the area of oubmarine
stability and control. The decision was made at that time to develop
general equations of motion for six degrees of freedom w-hlch could bo
used in conjunction with coefficients obtained fronm model experiments
'S.- to predict and study the behaavior of submarines and associated systems
I
 in a variety of maneuvers. Concurrently, studies were undertaken to
develop suitable techniques to determine experimentally all of the hydro-
dynamic coefficients required for these equations for any arbitrary sub-
merged body-appendage configuration. The Planar-Motion-Mechanism
System, which was constructed and placed into regular service in 1957,
was one outgrowth of theae studies, This system is still the standard
method used at NSRDC to determine numerically most of the required
coefficients. It was realized at the outset that many years of research
would be required to develop, implement, and validate a completely
general set of equations that could be used to study all situations involved
in the motions of submerged bodiem. In view of the presaing needs, how-
ever, it was decided to approach the ultimate objective by progressive
stages.

The first effort was directed toward the development of equations to

permit simulation of normal types of maneuvers involving six degrees of
freedom, such as those required by submarines to fulfill effectively their
various missions. The existing linearized equations of motion were Airst
used as a basis to study moderate or small-scale muaneuvers. These
were later'extended to include various nonlinear and cot.plhng terms. By
1960, it -vas felt that the state of the art had progressed to the point where
so :.e standardization would be desirable. Arcordingly, the Stabf'ity and
Control Division of the Hyd,'omechanics Laboratory adopted a "atandard"
set of six-degre -of-freedom equations for submarit.es in normal types
of mane-'vers. The term standard was applied in the sense that the
equations were to be used for their designated purpose in all studies
made by the 1,abor6,tory, and were to have official status until a suf-
ficient advance, was made in the state of the art to justify a change. If
such tuened out to be the case, it was intended that the rcvisions would
be made officiaily and a new set of standard equations would be issued.
V' Together wit l- the adoption of standard equations, a continuing program
'vas hiitlated to correlate fail-sca.1e trial measurements with computer
pledictions involving these equations. On baein of correlation studies
made subsequently. it appeared that these standard equations together
with coefficiernts determined with the •Planar-Motion-Mechanism Sybtem
wv-ul, tor most part, :eld. ac4.,rate predictions of the submarine
trajectories for a variety v. normal or definitive maneuvers tha. could
be used to evaluate the hand.i.g qualities of submarines.

During 196Z, in anticipation of a progrem airected toward the

developmer.t of conteol proceoures and aLxiliary devicee to improve
the emerg,-ncy reco--ery capabilities of stbma-ines, the research program
was reoriented to establ -h prediction terhcdques for studying the behavior
of sILbmarines in a variety of possiblt, emergency situations. The revised
reserrch program inc.laded !undamental theoretical and exper' .,ental
studies such as: cxpandiag the standard equations of notion v,ý include
terms (s.,ch as those %nsociated with "backing" on propellers and blowing
of brllast tankfs) which were not required for simulation of normal
meneuverv; extetnding the range of validity of hydrodynamic coeiicients
to provide accurate representato.on. in extreme situations (auch as those
involving angles of attack up to 90 degrees); and estabi•shing correlation
3

ti t #
between predicted trajectories and those obtained on full-scale submarines
during "emergency recovery trials".
About December 1963, the Bureau of Ships requested the Laboratory
to consider undertaking a program of model test# and simulation studies
to determine the ability of each of twenty-two different submarine types to
recover from sternplane jam emergencies. By this time, considerable
progress pertinent to the sternplane jam problem had been made on the
development of the equations of motion. Therefore, the Laboratory
agreed to accept full responsibility for carrying out the proposed program,
provided the simulation studies could be carried out with equations that
constituted the "state of the art" as of February 1964.
In July 1964, at the request of the Bureau, the Laboratory extended
its program to inclihde load supportability studies on the various submarine
types. This study was well within the scope of existing equations and
consequently no further development was required. However, in Septem-
ber 19b64, when the problem of roll associated with free rise of submarines
after blowing was introduced, it became necessary to develop new model-
test techniques and to conduct further analytical studies to extend the
equations to permit detailed simulation studies of the problem. Meanwhile,
as the result of research studies on the Rotating Arm Facility, further
refinements were made in certain coupling terms associated with "oquat-
ting" behavior while turning, and these were incorporated into the equations.
Thus, the equations contained In this report represent the state of the art
which has existed since about March 1965.

STANDARD EQUATIONS OF MOTION

The NSRDC Standard Equalons of Motion for Submarine Simulation,
briefly designated herein as the Standard Equations, are presented in
their entirety in thip section to provide a meants of ready referencc. The
Standard Equations are sufficiently comprehensive to define the trajecto-
ries and responses, in six degrees of freedom, of a submarine undergoing
even extreme maneuvers such as an emergency recovery from a hard-dive
sternplane jam, including the buoyant ascent after blowing of ballast. *
Ordinarily, the Standard Equations are used for ahead motion; however,
by pertinent changes in the coefficients they can be used for separate
studies of astern motions.
A complete notation for the various terms in the equations is given in
the front of the report. This notation is generally in accordance with the
Standard Nomenclature given in References Z and 3. The Standard
Equations are referred to a right-hand orthogonal system of moving axes,
fixed in the body, with its origin located at the center of mass CG of the
body. The xz plane is the principal plane of symmetry (vertical center-
plane for submarines); the x axis is parallel to the baseline of the body.
The positive directions of the axes are specified a, follows: x-forward,
y-starboard, and z-downward. The remaining sign conveootion follow
from the right-hand-screw rule. The positive directions of the axes, ,A
angles, linear velocity components, angular velocity componerts, forces., '
and moments are shown by arrows in the sketch of Figure 1.

4 - s,.".
 J -R -.

2 0

V
a
4,
U
'4
I 0
'I,
a

''I -4,4.
U-46
-4
o
4,

U
4,

- S
i-I

0
- U

0
".4
4,
U
4,
'4

4,

I 4,U0

£1

0
A

A
U
4,
C

I-i

TK 7,
* /

// 5

4 / _______

___ .4 4-

-4- - - - ____

'4
I ~
l.at~eral
Cql&tlifLs are presented iii
~The
force, ~wrunIe £Orce, rOUUS~ ramn~tvlft
Y&Vwing moment. in additiOu certain
the iO1XOwii1g order. &%W

kInematiC reIstiO5S are

and
pitchinlg M*~t given,
force,

AjaAL FoRCTE

)+ S,(j +q~)I
xG (q! + T2) + yG (pq
-

m var + wq -

+4- LqqIq! rr r+x rp I '

+yr V +x,, Wx
2 U2d~
+ sX~ VI
+ C,

6w * 6I 6. 6.'bo + 1 6b 6b' 6bS

+ 126l

++ w x. 2~US
+ )2
2
+j 60o 60 11

I6
got..,__ T4 'W

LATERAL FOR~CE

14 LIYt + fPp+ Y PZIPI +y I q+ Yqqr]

+-fL ~T Iur + Y up +Y ulrl~r Y1

-l?~.Y 1(VI 2
+) ~I

+ vT +' Y II (v + W2)1~

+2 Ip V + y +' 6rwj'
T+ £Lvw+Y 6rt' r

6
+ (W -B) cos sin t

+ y r (ti 1) ~-.+ ~

IP u
6u

7
 A-

NjORMAL FOIRCE-

OZG Y r
wuq + VP - G(P2 +q') + C

+ [r.t q4 2 + Z1 2 r~ + Z rpi Tp

z
till~s+ I V + %a)V kI'
+q1%wq
+- e3 uq 4 Z aqO

U22 +ww +

L[Z w Wwiw

[7jWt Ulwl + z WWI JW + W2),1

+ p

2 2 z vvI v 2 + Z a' u 2 6S Z 6b' U2.6b]*

0
+ (W - B) coo cOs*

q
+ t3 ZqyI Uq(-1

z LL ww7

'ia. _ _ _A,

avow-.
 Ma-

ROLLING MOMENT

i, - ) qr -i+ pq)I + (r2 ~ + (pt q*)

+ mn "- q+p)- z. (v - wjp + r)1

+2 'K- p +,,~+Ki +K qr+ q+

+- P 131LK' u: + 1Kv' uv + Kv ,IjI v (v3 + w2)f

+tsK 'vw + K ' 2~ 6rI

+ (yG.W -YBB)o co*(GW BBc58n

pa(7-1
K

9
 PITCHING MOMENT

qvc(I x z) rp -(pj+qr)Ix + (P 2
r')IE + (qp r) I

In ' LG (u-r + wq) - xG w uq + v-p) j

+.k ts[m.,+M -P7+MI r +m Irp + M j qlql

I LýM I vr +m 1V
p 4 wM 'v]

+-4 ' 'i + M j 165 u IqI s + MvIýl I(v 2 + w4), Iqj

+~.0 u2 +M Iu
uW + W~IWI, W I(V,2 +W2)1 I

+-L- 11[Mji uluwi + M' 1W (v 2+W2)1j

V +- E 1im tv + M u 2 68 + M u 2 6b

~(xG W x B Blcos cus 0 (zG W zB B) 6

*inl

+EL'M 'uq1+-M i .t I,' w l(v2+ W2)f + M8 1

10

t4.
YAWING MOMENT

I z ;+(I v.I1 ) pq (+rp)!y + (q 2 p )I x + (rq-p)I

+m Lx G (v-wp + ur) - {G
u - yr + wq) j'

+lL t[NIr+ Nj p + N~ Pq+Nqrr+ N jylrlrI

I 'N~lv + Nwr
z L w
+N
W
wp + N
N q'vq
I
N2
'NP up + Nr ur +Nj -6u IrI6r + N~r +w2)i]
+"

+ N'L u2 + Nv uv + Nv IV,, V I(V2 + W2)1 Ij

P 13 vw + N 6 u26r]

+ (xG W - xB B) cosO sin# +( G -B B) si (

+L0 07fur (f7-1)

[N,,N 'uv+N 1 viil

7 jN'$+ ? + N 8ril ar U2i(
 j KINEM AIIC RELATIONS

o ''u gine+vcos Gaino +Wco eScoo

-- •

=+p @in9

r +
e +
+sin

I cose Cos#

' i

II

d$.

i
 IDENTITY AND SOURCE OF INPUT DATA

As mentioned in the Introduction, it is beyond the scope of this report

to go into t detailed treatment on the use of computer techniques to performI
simulation studies involving the Standard Equations. The purpose of this
section is merely to identify the kinds of input data required to perform
such studies and to indicate where such data can be obtained. In addition,
an attempt is made to indicate some of the cub-routines that are also
needed to perform various types of simulation studies. In particular, those
sub-routines required for the sternplane jam phase of the Submarine
Safety Program are listed. A somewhat more detailed account of the
nature of the hydrodynamic coefficients and the processes for obtaining
them is relegated to the next section.

The NSRDC Standard Equations of Motion given in the preceding

section are written in a form utilizing nondimens.onal coefficients, and
are applicable in a general sens', to the rigid body motions of submarine&
and other submerged 'vehicles. Certain input data "e required, however,
to obtain a mathematical model which can be used to realistically
simulate the motions of a specific submarine design. A complete set -)f
input data for this purpose consists of the numerical values of all of the
hydrodynamic coefficients, inertial properties, and pertinent geometric
characteristics for the given submarine that enter into the various terms
of :he equations. Fortunately, as the result of the concentrated effort on
the Submarine Saety Program,as well as contract design studiea made
prior to construction, complete sets of inp. data for about 25 different
exlsting submarine designs are on hand at N._DC. The data, for most
7w part, -arry the classification of "CONFIDENTIAL'. However upon request,
they . n be furnished to outside agencies and contractors having the
proper security clearance and "need to know".

Similar data can be obtained for new submarine designs by address-

ing a request to the Commanding Officer and Director of the Naval Ship
Research and Development Center. Tis request should be accompanied
Vk. an outLine of program obje'tives, lines plans, and other pertinent data.
An estimate of time and cost will be provided, after which funds must be
deposited at NSRDC before work can proceed. If the information is needed
on a short term basis, this should be clearly stated by the requesting
agency so that a-uffitient lead time, particularly to allow fcr mode! con-
struction and scheduling of test facilities, can De alowed. Furthermore,
in contractual dealings, an eariy committnent to supply the data should
be obtained from NSRDG before final negotiations are made. This is
especially stressed for tho.•e contracts in which time is of the essence,
or where the contractor may tunderstand that having prior possession of
the information is a condition precedent to performance.

The primary mathematical model, eonsisting of the Standard

Equatioes =nd input data pertinent to a specific stbmarine, can be readily
programmed on either an analog or digital comater. To perform a
complete motion simulation study, bowwc~r, the computer program must

'3

" • ...... , . * _-~ _

 also inclede certain supplementary mathematical models or sub-routines.
For example, to conduct * complete simulation study of the motions in
six degrees of freedom of a submarine involved in emergency recovery
from a alernplane jam cacuaity requires at least the sub-routines which
include the following representatiins:

1. Time history of sternplane movement in degrees including various

prescribed sternplane "jams"

2. Time history of sailplane movement in degrees starting from time

the order is given

3. Time history of rudder movement in degrees starting from time

the order is given with provision for various modes of motion
such as swinging the rudder sharply over to a hardover position
(either right or left), or fishtailing

4. Time history of change in propeller rpm from "full ahead" to

"back emergency" starting from the time the order is given and
including appropriate time allowances for communication, human
reaction and manipulation of controls, and primc -mover response

5. Time 1-tstory of weight of ballast wat-r discarged or taken on due

to blowiug or venting, respectively each of the main ballast
tanks. The time is measured fron, the instant the order is given
and i 7udcs the effects of system lags. as well as pressure
change- due to changes in air-bank pressure and submarine
depth on rate o' water discharge.

The first three of these sub-routines convert time histories of

control surface movement to tirne histories of hydrodynamic forces and
moments exerted on the submarine hull when they are applied to the
ternis in the primary mathentatical model containing 5., 6,, and 6b.
The time history of propeller rprn is converted to external hvdrodynamic
forces and moments by means of the termse containing (11-1) and u.
These terms reflect the Incremental changea in forces and momet-a due
to either over or under propulsion (including backing on the propellers
while the tubmarine is proceeding ahead). For the moderate changes
in ahead speed involved in most normal maneuver;, all of the (17-I)
terms usually can be neglected. The sub-routine for blowing or Venting
of ballast tanks is already in the form of forces and moments. It can be
tied in directly with the primary mathematical model by replacing the
con•aart weght terms, such as W-B. with the appropriate time histories
of weight cha,.geg.

It is apparent that the primary mathematical model, in conjunction

with the foregoing typ'.s of sub-routines, can be used to simul:ate the
submarine undergoing a host of other normal submerged maneuvers as
well. These maneu~vers, however, are essentially of the open loop type.
To perform :losed loop studies, such as depthkeeping or coursekeeping
under the inllvence of various environmental conditiona, other oub-routines

14

___ 4

'-. - - -- _ _ _
 including either marnual operators or automatic control systems niust be
added. A typical simulation study of this type it the problem of main-
Staining periscope depth while operating under a hoavy sea (say State 5).
A sub-routine to represent the effects of an ahead, random sea on the
submarine has been developed and used by NSRDC on a number of oc-
casions in the past. This sub-routine, sometimes called the sea-state
analog, is in the form of forcing functions which are generally applied in
an analog computer simulation by means of a white-noise generator, the
output of which, in some cases, has been prerecorded on magnetic tal.e.
The major components of the sea-state analog are as follows:

1. The surface configuration of the representative random, seaway

2. The effects of the seaway on the depth (pressure) sensor which
are functions of depth
3. The oscillatory forces and moments acting on the submarine hull
,hich are functions of depth
4. The suction forces acting on the submarine which are functions of
depth

The Standard Equations have been programmed at NSRDC both on the

analog computers of the Systems Simulation Facility of the Hydrome-
chanics Laboratory and the digital computer (IBM 7090) of the Applied
Mathematics Laboratory. These programs, however, have not yet been
adequately documented for general public•.tion. Similarly, computer
programs exist for a variety of sub-routines. Since these sub-routines
usually must be tailored to a particular problem, or in some cases to a
particular computer, uo concerted effort has been made to systematize
and document them for general publication. Nevertheless, the input data
required to construct the sub-routines for existing submarines which have
been studied ace available at NSRDC and can be futnished to those entitled
to receive them. Other sources for such input data, particularly those
for sub-routines dealing with hardware items such as propulsion machinery,
ballast blowing systems, control linkages, and automatic control systems
are: the Naval Ship Engineering Center (NAVSEC), the submarine con-
Ptruction shipyards, and the equipment mnanufacturers.

THE HYDRODYNAMIC COEFFICIENTS

The hydrodynamic •:oefficients constitu|te the heart of tht prim-ary

mathematical model used in simriulation studies of rigid-body motions of
submarines. In fact, the form selected for the equations of motions is
influenced to a large extent by the kiod& of hydrodynamic coefficients
employed. With this quA)ification in mind, this section of the report
presents further informnation as to the nature of the hydrodynamic coaf-
ficients used at T7RDC a- well as some insight into how they are obtained.
It is hoped that this will serve to asaure that the hydroAynamic coefficients
being used for a parti<'l.ar study are compatible with the Standard Equations.

15

II
 Unless mentioned otherwise, the hydrodynamic coefficients apply to the
deeply submerged case, free of free-surface, bottom, and wall effects.

The hydrodynamic forces and moments which enter into the Standard
Equations as coefficients are usually classified into three general cate-
gories: static, rotary, and acceleration. The static coefficients are due
to the c-naponents of l near velocity of the body relative to the fluid; the
rotary coefficients are due to components of angular velocity; and the
acceleration coefficients are due to either linear or angular acceleration
components. Within limited ranges, the coefficients are linear with
respect to the appropriate variables, and thus may be utilized as static,
rotary, andc'celeration derivatives in linearized equations of motion.

For six degrees of freedom, the coefficients in each of the three

categories which appear in the Standard Equations are quite nurnerous.
The problem thus becomes one of determining the numerical values of
the individual coef'.cients with sufficient accuracy to support the objectives
of the particular simulation study involved, Ideally, it would be desirable
to acquire the required numerical values for a given submarine configura-
tion by means of hydrodynamic theory. Unfortunately, those coefficients
which are primarily due to viscous flow, such as the static i.nd rotary
coeft-cients, cannot be obtained reliably using only existing theory. Theor,
"has been used with reasonable success to compute acceleration coefficien
for simple forms without appendages, such as bodies of revolution, whi
are imenable to tri-atment on basis of potential flow considerations.
ever, for actual submarine configurations which include appendages ch
e4
as ccntrol surfaces, decks, bridge fairwaters, and propellers, th se of
theory to determine the values for coefficients even of this type the
accuracy required for certain simulation studies becomes aom
t
questionable. Accordingly, the present state of the art is to y almost
entirely on expertmeatal means for determining the numeri values of
the hydrodyn'; mic coefficients for specific design problem

Thle primary methodology used at NSRDC to obtain e required hydro-

dynamic coefficients is the Fylanar-Mtion-Mechani ystenma. This
syst m was conceived and developed in the Stabili Control Division
of the Hydromechanics Laboratory. It incorpora in one device a means
for experimentally determining all of the types ydrodynamic coef-
ficiL'rts in each of the three categories that ar equired in equations of
motion for a submerged body in six degrees freedom. A complete
dzscription of the system includig its oncepts, principles of
operation, apparatus, instrumentation, d'typical test results, in given
in References 5 and 6. Planar-Motion- lechanism System, Mark I, as
it is presently constituted, can be use to obtain the numerical values of
Jall of the coefficients except certai ourling terms and thobe nnn-
* linearities associated with high va)4cm of nondimensional angular velocity
component, such as r', which arý asaociated with maneuvers involving
I relatively gfght turns. Where ch values are required, the data obtained
from Planar-Motion-Mechanit tests are supplemented by the results of
Rotating-Arm tests and/or p-timates based on theory. The Rotating Arm
Facility ind the instrume •ion and techniques used to conduct submarine
t /1
9 _
 model tests thereon are descri -ed in Reftrences 7 and 6, respectively.
Further details on the experirr -ntal and estimation techniques which
relate to the kinds and quality f coefficierts to be used specifically with
the Standard Equations are presented in the following paragraphs.

The Standard Equations ar written in terms of the complete sub-

marine configuration. Accord.ngly, for quantitative studies pertaining
to specific submarine designs, the standard practice at NSRDC is to con-
/ duct all of the required tests v- th models that are fully equipped with all
significant appendages including bridge fairwater, deck, bowplanes or
sailplaraes. sternplanes, rudders and propellers. These tests effectively
cover a matrix containing a range of motion variables (referred to the hull
center of gravity) that generall.- exceeds that which could be encountered
by the prototype submarine, ar & ranges of control surface angles and pro-
peller rpm's which are at leas' equal to the capacity of the specified sub-
marine. The resulting characerization of hydrodynamic forces and
moments thus embraces interaction efiects involved in the various rodes
of rigid body motion between: control surfaces and hull, propeller and
hull, and propeller and stern control surfaces. Also included are down-
wash effects of forward appendages, such as bridge fairwater, sailplanes,
and deck, acting on the stern control surfaces.

Since the foregoing process yields hydrodynamic coefficients which

pertain to the complete configuration, there is no need to iiclude separate
terms in the equations in an attempt to account for local angles of attack
in way of control surfaces. The latter procedure has been suggested by
some other investigators as a means for obtaining a better representation
of control-surface stall, particularly where large local anglea of att Ick
occur when the control surfaces are deflected. On the other hand, the
procedure for testing the complete'configuration embraces the effects on
control coefficients due to changes in local angles of attack resulting
from the various modes of motion. Since true flow angles of attack are
inherent in this process, the resulting control coefficients should provide
a more accurate representation. In fact, if the two procedures are com-
bined, and numerical valuee are assigned to the various coefficients, there
is always a possibility of creating a redundancy in the equations. It is
strongly recommended, therefore, if a complete set of hydrodynamic
coefficients, based primarily on experiment is furnished by NSRDC, that
the numerical values of all coefficients be used directly without alteration.

In addition to their being completely equipped and self-propelled, as

a matter of standard practice, the models used at NSRDC for tests involv-
ing specific submarine designs are large (usually about Z0 feet in length).
Such large models used in conjunction with the large, rigid towing tank
facill,'ies of the Hydromechanics Laboratory permit the determination
of hydrodynamic coefficients which are corriparatively free of scale
effects and other cirtraneous experimental problems. The advantages of
large models and large facilities are particularly prevalent when obtain-
ing data at high angles of attack on the hull and/or control surfaces. It is
essential, in both caspe, that the Reynoldp number UL be high enough to

17

-'[h. v

- \
OA** .*'
 avoid the effects of transitional flow over the hull and appendages of the
model. The effects of transitional flow at large hull angles of attack are
manifested as cross-flow drag coefficients that are much higher thaL&' they
should be for the corresponding full-scale subrmarine. The effect of
transitional flow on the control surfaces is primarily manifested as prema-
ture stall (breakdown in forces) on the model control surfaces. This results
in control coefficients at the larger control deflections which are lower
than they should be for the corresponding full-scale subutarine. With the
large models, a sufficiently high Reynolds number can be obtained at a
moderate speed, say about 6 knots for a 20-foot model, to avoid scale
effects in most cases. With the large facilities, i.e. facilities having cross-
sectional dimensions that are large compared with the corresponding
dimension of the model, these Reynolds numbers can be obtained without
encountering blockage or free-surface effects which require corrections
to the data. Other advantages in the use6 of large models include: minimi-
zation of tow-strut interference effects, reduction of propeller scale
effects, ease of model alignment, accuracy of model ballasting, and ability
to house standard instrumentation, propulsion motors, and control actuators
within the model. All of these factors contribute to the accuracy and repeat-

F
ability of the end results.

It should be noted that the use of small models (5 feet long or less)
does not in itself preclude the ability to obtain hydrodynamic force and
moment data which, for the deep submergence case, are essentially
free of transitional flaw effects. For example, in water of the same
temperature, the same Reynolds number can be obtained with a 5-foot
model at a speed of 24 knots as that mentioned as adequate for the 20-s
foo, model at 6 knots. Unfortunately, most of the laboratories which
employ small models have relatively small facilities especially if they
have the speed capability. Therefore, the blockage effects constitute the
limiting problem, particularly when conducting tests at large hull angles
of attack.

Where fairly complete data are available for a specific submarine

deeýgn as the result of an extensive series of tests with the Planar-Motion-
Mechanism System, the decision frequently is made to forego supple-
mentary Rotating-Arm tests to obtain the missing nonlinearities mentioned
previously. This is because estimation techniques, based on empirical
data derived from prior Rotating-Arm tests with comparable submerged
bodies, have been developed by NSRDC. Indications to date are that these
estimation techniques are sufficie'itly accurate for the purpose of making
nearly all of the various kinds of simulation studies required for moot
modern types of military submarines. Therefore, in these cases, it is
felt that any possible further refinement would not justify the costs of the
supplom~n*'.ry 4 er~e with the Rotating-Arm Facility. Also, as mentioned
previously, there are a few coupling coefficients that are not being
presently obtained by either of the two experimental techniques. These
are estimated on basis of theory using the relationships given in Reference
8.

18

nmW.•u=N
• • . .: . ... -- ..- --

'. .
 The hydrodynarmic cata required for simulation studies of a specific
submarine design are usually trarsmitted by NSRDC to the users in a
standardized tabular form. The table contains a complete listing of
the numerical values for each of the coefficients shown in the Standard
Equations. The numerical values of the coefficients are derived as
follows:

The hydrodynamic force and moment data obtained by the afore-

mentioned experimental and analytical techniques are first reduced to
nondimensional form in accordance with the normalization formulas
given in the Notation. These data can then be plotted or tabulated as
functions of each of the appropriate nondimensional kinematic variables.
In general, a least square fit can then be applied to the data representing
each of the functional relationships to obtain the desired nondimensional
coefficients. Certain functional relationships are known to be linear from
considerations of theory, such as those associated with the acceleration or
"added mass" coefficients. In such cases, only a straightline fit is made,
and the resulting numerical values can be used interchangeabl7 as coef-
ficients in the Standard Equations or as stability derivatives in linearized
equations of motion. For nonlinear functional relationships, least square
fits to polynomials are used. The current practice, in nearly all cases,
is to carry such fits only up to the second order coefficients. This is
done primarily to facilitate computer representation, particularly where
analog computer techniques are to be employed. The use of a second
order representation, however, has at least some foundation in theory
for certain quantities such 3s those arising from cross-flow drag. It
should be emphasized that the numerical values of first order coei'Icients
associated with second order fits are not necessarily equal to those
customarily used for corresponding stability and ccntrol derivatives in
linearized equations of motion. However, the standard notation used -o
describe the various first order coefficients, including.*he acceleration
coefficients previously mentioned, is the same as that used for the cor-
responding stability and control derivatives.a To apoid misunderstanding,
therefore, all of the values contained in the standardized tables provided
by NSRDC are to be taken as coefficients of the Standard Equations to be
used for simulation studies, uless mentioned4,therwise. Any table which
contains numerical values being provided fo' use in stability and control
analyses involving linearized equations ofnotion, will be clearly marked
as a table of stability and control derivapves.

It may be noted in the Standard F.4(uations that some of the coefficients

involve absolute v:lues of certain )nematic variables. This is done to
assure the proper signs in the c Qtiuter representations and, in some
cases, to obtain a better repredentation when a function happens to be
asymmetrical, such as the variation of M' with w' with respect to rise
and dive. /

Although the standardized tables list all of the coefficients shown in the
Standard Equations, some of the coefficients may be assigned a value of
zero. This is becaose, for some subnarine types, the values are actually
zero or smalU enough to be neglected. Furthermore, for certain submarine
types, it rnay not be necessary to represent the coefficients that vary with
if when studying only normal .vpet of marneuvers.
19
 In addition to the hydrodynamic coefficients shown explicitly in the
case, NSRDC provides
Standard Equations for the deep submergence
other hydrodynamic data for ume in submarine simulation st-dies.
Typical data in this respect are the coefficients or forcing -unctions
associated with proximity to: the free surface (either in still water or
waves), the ocean bottom, or otht: boundaries. These data are obtained
by model experiment, by theory, or by a combination of Ioth.

An example of such supplementary data are the hydrodynamic forc•.ig

functions used to construct the sea-state analog which was mentioned
earlier as one of the sub-routines used for depthkeeping studies. These
forcing functions are compounded on the basis of the forces and moments
acting on th submerged body moving under trains of regular waves of
progressively varied frequencies and amplitudes. When a body moves at
constant speed beneath a regular train of waves of a given period and
amplitude, two general types of forces arise: oscillatory forces having a
frequency equivalent to the encounte- frequency, and a constant force
called a suction force which always tends to pull the submarine toward
the surface. The oscillatory forces and moments are determined ex-
perimentally, in sorne cases. This is done by" conducting special tests
in wh:ch the model is restrained to the towing carriage at each of several
depths near the surface and towed over a range of constant speeds for each
-Of sL ',.(ral uniform wave conditions. The resulting forces and moments
and the wave conf:guration Are recorded as time histories. The phase angle
between the forces and moments and wave, referred to the hull center of
gravity, is also determined. Oscillatory forces and moments whic,-h, in
many cases, are sufficiently accurate for depthkeeping studies can be
determined by the method of Reference 9. The suction forces are dif-
ficult to determine experimentally. Therefore, the usual practice is
to c(;mpute them by me ins of theory. 10

Once the oscillatory and suction forces have been determined for a
rangv of cases involving regular waves, they are compounded into spectra
for the case of a representative random sea, say a State 5 sea, by a technique
developed by the Hydromechanics Laboratory. It should be mentioned that
alto•ough the suction forces generated by this technique are random, they
alvýays remain directed toward the surface. The data for the seaway con-
figuration, the forcing functions, and response of the depth sensor to the
seaway are presented in spectral form, including functiont to ac:ount
for attenuation with increase in depth. In some cases, the data have been
recorded on magnetic tapes for runs of .0-minute duration which can bIe
used directly in an analog computer simulation.

APPLICATION AND RANGE OF VALIDITY

The N•SRDC Standard Equations of Motion can be used in conjunction

with the aforementioned hydrodynamic coefficients and sub-routines to
perform a wide variety of submarine simulation studies. Several of these
applications have been mentioned eai-lier in a somewhat different context.

Zo

-]

: -...
 The purpose of this section it to present a more complete listing of the
various applications and discuss their ranges of validity.

Simulation techniques, such as those discussed in this report, have

progressed to the point where they have become the primary tools for
studying rigid-body motions and related phenomena pertaining to sub-
marines. Aa mentioned in the Introduction, such techniques already
have baen applied to solve a wide variety of problems pertaining to the
design and operation of submarines. In addition, they have been used
effectively with training simulators to achieve improved Fleet readiness,
with large savings in personnel-training costs. Undoubtedly, there are
numerous other applications which will become apparent as time goes by.
The following is a compilation, not aecessarily all inclusive, of the various
categories of simulation studies that have been carried out using the
Standard Equations. Unless mentioned otherwise, all of the maneuvers
involved in these studies perlin to the submerged condition in ahead
motion.

1. Definitive maneuvers (open loop) to evaluate inherent handling

qualities
a. Meanders (vertical plane)
b. Vertical overshoots
c. Horizontal steady turns
d. Horizontal overshoots
e. Horizontal spirals
If. Acceleration and deceleration in straightline motion

2. Normal maneuvers (operational or tactical)

a. Depthkeeping and coursekeeping at various speeds, in-
cluding hovering, using manual or automatic control
I. Deeply submerged with environmental disturbances
such as density gradients and cross-currents
2. Near-surface under various sea states
3. Near-bottom including large-scale bottom
irregularities
b. Limit dives using manual, semi-automatic, or automatic
control
c. Transient horizontal turns using manual, osmi-automatic,
or automatic control

d. Spiral descents
e. Mission profiles of various types including target
tracking, weapons delivery, and a variety of evasive
maneuvers
3. Emergency Maneuvers
a. Recovery from sternplane jam casualties using various
combinations of recovery mea'sures

21

. • ~~,'t•. •.

S. . '• . . .. . .
' "• "• ' }
 b. Recovery from flooding casualties using various combinations
of recovery measures
c. Buoyant ascents to develop safe procedures for exercising
emergency ballast blow systems

d. Maneuvers to determine load supportability an a function of

speed

The main strength of the simulation techniques described herein

lies in their ability to predict or represent, with reasonable accuracy,
the behavior of a given submarine in a variety of modes of motion.
Furthermore, if maximum benefit is to be derived, these techniques
should perform this function either in advance of construction, or with-
out involvement of the full-acale submarine where it already exlsts. To
arrive at this state of the art, it is apparent that an active and vigilant
correlaton program to verify the accuracy and validity of predictions
must be maintained.

The Hydromechanics Laboratory devotes a large part of its efforts

to the business of prediction, namely providing solutions to problems
b..;re the fact, and therefore, has recognized the need for a strong
correlation program. Such a program has been maintained on a continu-
ing basis by the Stability and Control Division over the past ten years.
The overall objective of this program is to determine the accuracy with
which the stability and concrol characteristics of submarines, surface
ships, and other marine vehicles can be predicted by various alternative
model and analytical techniques. In the more recent years, a large seg- [
nent of the program has been devoted to establishing correlation between
computer predictions based on techniques of the type described hereiu,
and measurements taken on full-scale trials of submarines.

To provide meaningful correlation data for submarine@, the need

for desigrdng and carrying out carefully conducted special types of
full-scale trials cannot be overemphasized. In addition, to assure success,
these special trials should be carried out as a complete package and not "N
intermingled with operational maneuvers or other runs being performed
for entirely different objectives. It is beyond the scope of this report to
go into detail as to the manner in which these trials are conducted. Suf-
fice it to say that the subject submarine must be highly instrumented with
accurate sensors and recording equipment which may either supplement
or be used in lieu of some of the ship's own instrumentation. Sufficient
instrumentation coverage must be provided not only to measure the direct
kinematic quantities involved, but also some of the more subtle quantities,
which may affect later comparisons. Furthermore, in conducting such
trials, strict attention must 1e paid to contr,'llng initial or reference
conditions including such prec-.utionary measures as periodically taling
"stop trirr-e".

For a number of years, the Stability and Control Division has been
conducting full-scale trials primarily to evaluate and establish numerical

Z2 .

,, ~.W*,;.

/ .. =
 wI
measures of handling qualities of submarines. In general, these trials
consist of definitive maneuvers of the types listed previously. The
definitive maneuvers are programmed maneuvers carried out under
controlled conditions in which measurements of all signifia.ant motion
variables are taken with accurate instrumentation. Consequently, they
are ideal for providing correlation data which are representative not
only of definitive maneuvers, but most normal operational maneuvers as
well. Included in the handling quality trials are some depthkeeping and
coursekeeping runs at periscope depth under various sea states. The
data from these tests can, at best, be used as a statistical tie-in with
the co.nputer predictions. Since the foregoing types of trials are usually
carried out on the first of each new class of submarines, correlation
data representative of normal maneuvers have been acquired on most of
the different types of submarines that have been put into service from the
AGSS 569 on.

Corre-ation da.a related to the various modes of motion associated

with emcr-•' .y recovery maneuvers have been considerably less abundant.
This is because the emergency recovery maneuvers which were incl.ded
in the handling-quality trials were conducted primarily to cemonstrate the
subn-Arine's capability of recovering from sternplanc jams of varying
degrees. Consequently, accurate measurements were not taken of the
var:ous events and other quantities pertinent to the correlation problem.
Accordingly, about 2 years ago, it became necessary to design and
initiate a series of special trials specifically directed toward providing
the desired correlation data. These trials were conducted under the
sponsorship of the Submarine Safety Program. They were of two types:
one, to provide data on the behavior of representative submarines in
sternplane jam recovery maneuvers; and the other, to provide data on
behavior during buoyant ascents following blovring of the main ballast
tanks. Obviously, in both types, the program was confined to maneuvers
that could be carried out without endangering the submarine, as pre-
determined on the basis of computer predictions. Up to the present time,
correlation trials of both the sternplane jam and emergency blow variety
have been conducted on about six different submarines, although not
necessarily the same ones in each case.

It will be several yearo before all of the data accumulated from the
special trials of the various submarine types can be thoroughly analyzed
and issued in a formal report containing a comprehensive treaaent of
* the correlation problem for all of tit modes of motion involved. In the
interim, it is planned to issue separate reports for individual submarines
which Will compare measured trajectories with computed trajectories.
based on the Standard Equations, for both normal and emergency maneuvers,
These reports should serve to provide an indication of the current status
of the prediction techniques. Some reports of this type have been issued
for the cases of normal vertical-plane maneuvers, n'-mal horizontal-
plane maneuvers, and buoyant ascents associated with emergency blows.
In addition. ccmparisona of measured and predicted trajectories were
made, preparatory to conducting simulation studies to determine safe
operating limits and emergency recovery capabilities, for about ten dif-
ferent submarine types. These comparisons included representative
23 .

f 41.
~,
T.-•~ ~ ~ ~~~~:
" -•... ......
A•-- •''--
7

nor rnl maneuvers such as vertical ov'ershoots, horizontal turns, and

dece'K.ration runs as well as some moderate sternplane jam emergency
recevery maneuvers.

On the basis of the correlation studies and preliminary comparisons

mahd to date, it appears that t]'e Standard Equations together with coef-
ficients of the type described herein will, for most part, yield accurate
predictions of all pertinent trajectories associated with a variety of
normal definitive or operational maneuvers in submerged ahead motion.
In fact, the agreement in the majority of the cases Investigated was well
within the ability of the full-scale submarine to repeat the same maneuver.
For emergency recovery maneuvers, generally good agreement has been
found between measured and computed trajectories for moderate stern-
plane jam recoveries and buoyant ascents after bal"Ast blows. Some un-
usual effects and discrepancies have been discovered while conducting
emergency recovery maneuvers on a few of the submarines. Most of the
discrepancies have been traceable to a variety of factoru other than the
hydrodynami: coefficients. However, certain unusual effects such as
gross differences in behavior between the use of right and left rudder
as a recovery measure, have not yet been adequately explained. In sum-
mary, within the range of the correl.Ltion studies made to date and in
spite of the few discrepancies noted, there appears to be no valid reason
to criange the Standard Equations as they now exist.

The complete range of validity of the Standard Equations cannot be

established solely on the basis of correlation studies of the types described
herein. At best, these studies are limited to maneuvers that can be under-
t.-kn by the submarine with a reasonable margin of safety. For example,
i4-rrnal maneuvere for high-speed submarines are not carried out to their
itUll potentiality. Also, the emergency recovery maneuvers are generally
c.ý'rried out at much less extreme conditions than those that could be en-
cot.,uered in real casualties. Consequently, it is necessary to use a
somewhat different basis to assess the validity of the Standard Equations
beyu 'f the range covered by the correlation trials.

Bas:'cally, the range of validity of the Standard Equations could

extend to all modes of motion encountered by a submarine during sub-
merged fli-gt at zero or any ahead speed. This would embrace various
normal an, er.,ergency situations involving angles of attack or drift up to
90 degrees. TL achieve this range, however, would require a complete
characterization of the hydrodynamic forces and moments acting on a
submarine model whch covers a broad matrix of kinematic variables and
cormbinations thereof, including various control-surface deflections. The
characterizations curre.itly being made, particularly those being used for
the Submarine Saftty Program, are fairly extensive and include angles of
attack and drift up to 90 degr-e-s. The results of such characterisations
are, for most part, incorporatt d in the hydrodynamic coefficients in the
Standard Equations. However, a simplified representation is still being
used for the control coefficients aoociated with the deflection of stern-
planes, bowplanes or sailplanes, ant. rudde;. Although simplified, the
representation for the control coefficienm appe...rs to give approximately

.Z4
ISI

F-

TI _K
 the same results ge are obtained by a more rophisticated representation.
even for fairly extreme maLneuvers.

SThe simplified representation could become inadequate only if the

effective angle of attach at a rontrol surface becomes large, causing a
condition of stall in which the lift no longer increases with the deflection
angle. In normal submerged maneuvers, including steep dires and tight
turns, the effective angles of attack at the control surfaces of a submarine
tend to be substantially smaller than the nominal angles, and consequently
stall will not be experienced. There are, however, some unusual con-
ditions, such as may occur in certain flooding casualtiev, which could
produce effective angles at the diving planes large enough to cause at-mll.
If the condition is transient, and the large angle o0 attack is only of short
duration, there may be little effect on the trajectories by using the more
sophisticated representatioa. However, in studies of lead supportability,
large angles of attack can be obtained on the sternplanes, parz,•cularly
where the load is concentrated at the stern. Since therz- studies involve
a steady-state maneuver, the use of the simplified representation for
sternplanes could be erroneous for the type of loading mentioned. Rather
than encumber the Standard Equation to treat these few special cases, a
separate sub-routine to represent diving plane stall has been developed
and is available at NSRDC. The sub-routine represents the leveling off
of lift, which is an approximate characteristic of control-surface stall,
but allows the drag to increase %rith deflection angle.

In addition to the unusual, and as yet unexplained, effects which have

been observed on full-scale submarines, there are several other factors
which may be pertinent to the range of validity of the Standard E&-uations.
Included among these are the effects of vortex shedding on rolling
behavior, and effects due to the submarine moving close to the free
surface while carrying large pitch, roll, or yaw angles of orientation.
A research program to investigate these factors and which could possibly
* lead to future refinements and extensions of the Standard Equations, is
being maintained at NSRDC.

CONCLUDING REMARKS

The Standard Equations presented in this report have been used

successfully by NSRDC for the past Zi years to conduct simulation
studies of specific submarines engaged in submerged maneuvers ranging
from normal maneuvers to extreme maneuvers such as those encountered
in emergency recovery from sternplane Jam and flooding casualtes.
During this period, several hundred of such studies involving about 25
different submarine designs have been carried out and the results of man7
of these studies are contained in the classified literature. A companion
- program of correlation studies is also being carried out to determine the
extent to which computer predictions, involving the use of the Standard
Equrdions, agree with measured trajectories ob*ained from full-scale
trials of submarines undergoing various types of maneuvers. Those
* • comparisons made to date ruve generally shown good agreement between
* 25

4 **4•.-i -,2
 predicted and measured trajectories of representative fmaneuvers of
both the normal and emergency types. It can be exrected, therefore,
that the NSRDC Equations used in conjunction with the specified hydro-
dynamic coet'lcients and sub-routines will provide simulations of
tr,.fctories that are well within the accuracy required for the purposes
of those kinds oi'rstudies conducted up to the present time.

Although the NSRDC Standard Equations have reached a fairly

advanced stage of development, they still must be considered only as
repiesentative of the state of the art, and subject to change if so
dictated by future research. An active research program is being
rm.Aintained at NSRDC to examine some of the remainIng problem areas
and to continue the development, if required. However, in interest of
consistency, a policy has been established not to change the Standard
Equations unless it can be demonstrated thai sigaificant improyements
in predictions can be obtained. Such a change must be officially made
by NSR:)C, and all parties concerned will be properly notified.

In view of the foregoing, it is recommended that the NSRDC Standard

Equations and associated methodology be adopted as a U.S. Navy-wide
ttandard for simulation of specific submarine designs, and that they be
given official status in dealing with contractors and other outside
activities.

ACKNO WLEDGMENTS
The development of the NSRDC Standard Equations of Motion for Sub- -..
marines and the associated experimental, analytical, and computer tech-
niques required t o implement them it the result of a strong team effort
on the part of the members of the Stability and Control Division of the
Hydroniechanics L.•.h<ratory. Those members or former members of
the Division dese-ving special mention are: Miss Eliabeth M. Dempsey
who cor tributed to the refinement of the equations and developmerat of
techniques for estimating nonlinear coefficients; Mr. F, H. Irmlay for
identifying and systematizing cross-relationships for estimating couplings;
Mr. Ali-x Goodman, co-inventor of the Planar-Motion-Mechaniom System.
who con~tributed strongly to the development of experimental techniques
for detcrmining the hydrodynamrc coefficients; Mr. P.C. Clawson who
devise9 and carried out full-scale ,riale to provide correlation data per-
taining to normal and emergency recovery maneuvers which were needed
to validite the primary mathematical models; and Mr-. P. E. Markstrom
ernd Mr. G. L. Santore who have been condticting correlation studleo to
validatr tiie v:•rious ma.hematical models.

The authors zlso wish to acknowledge the active interest au -•pport

contributed by per-conn el of NAVSEC and other actlvitoea of tbh Naval
Ships Systems Command. In this respect, the support provided by
Mr. A. J. Giddings and Mr. W. L. Louis of NAVSEC in connection with
Oe Subm'arine Safety Program. aided considerably in accel'rating the
development of the equations.

*Z6
-26 - Cf

l ---
44

nt - , -
L=4

-amo.
4t

REFER~ENCES
1. Naval Ship EngiLneering Center letter SS/9290. Serial 6136B-312
of
I May 1967 to Naval Ship Research and Development Center.

2. "Nomenclature for Treating the Motion -'f a Submerged Body

Through
a Fluid", The Society of Naval Architects ind Marine Engineers
Technical and Research iBulletin No. 1-5 (April 1950).
3. Imlay. Frederick H., "A Nomenclature for Stability and Control"

David Taylor Model Basin Report 1319.

4. "Planar-Motion-Mechanism System,"
U.S. Patent No. 3.052, IZ0.
4 September 196Z, co-inventors M. Gertler and A. Goodman.
5. Gertler, Morton, "The DTMB Planar-Motion-Mechanism System,
Proceedings of Syrnpcsiumn on Towing Tank Facilities, Instrumentation
and Measuring Techniques, Zagreb, Yugoslavia (September 1959)
(Copies of paper available at NSRDC).
6. Goodman, Alex. "Experhnental Techniques and Methods of
Analysis
used in Submerged Body Research, " Proceedings of the Third
Symposium on Naval HIdrodynainics, Office of Naval Research
(1960).
7. BrowneUl, W.H., "Two New Hydromechanice Research Facilities
at
David Taylor Miodel Basin" David Taylor Model Basin Report
1690
'Ii (December 1962).

8. Inlay, Frederick H.. "The CGmnplete Expressions for Added

Mass of
Body Moving in an Ideal Fluid," David Taylor Model Basin Report
"1528 (July 1961).
9. Cumrnmins, W. E., "HydrodynarT'.ic Forces and Moments Acting
on a
Slender Body of Revolution Movning Under a Regular Train of Waves,.
"Uavid Taylor Model Basin Report 910 (Deccmber 1954).

10. 'Fortran Program for Computing Suction Forces on Submerged

Bodie, of Revolution Under Regular Wavee Based on Theory of
W. E. Cummins", NSRDC Designation XUFS (July 1962).

Z7I

S .. I .. ..
 - .m-- -. 1

UNCLASSIFIED
security Cusijicfimation
DOCi'!MT CONTROL DATA I090
fsoowietv #lI4 fd oIt .t 6.*1 e *" rC a, 44 mmod wo b smouEod s, a* 4i 1I
e t #@Poo 10 beflto led)
IOAIGNA TIN 6 ACTIVIýY (C..pofm* oc44hot) 10. mg9POAT SCURIV C &ASSIItC5. Isom

Naval Ship Recearch and Development Center

,;,h aItPOer TITLE

Standard Equations of k.lotlon for Submarine Simulation

4 DIESCAIPIVIC No-Is " of PW a"gd m9et" " deto)
Research and Development (Formal)
% AUTMON(S) (LM r Pnae. S-f . e. I.fti4.)

Gertler, Morton and Hagen, Grant R.

1
4 Ott
"•AP•ToATI
•O•TOTAL No. ov, P.A.$. Ji... No ofUmp0

_440. c~ma•o •~ o 4. O34444TA70'S REPoRTv M*uMS1)

snJune 1967 39 10
0 •.o€J9C NO. SR 009 01 01 2510

C 96. VHI APOWT WWI() ~ 'e.dao"

AAs,ooe~m

A VA ILABILI1Y/LIMITA31041 NOYICES

$.P, LEWIdE[TAP• NO-$S 1 100116O00111 OLLINANY ACCTINITY

4 t) A3$TR•CY

Standard equations of motion are presented for use in submarine

simulation studies being conducted for the U.S. Navy. The equations v-e
general enough to simulate the trajectories and rerponses of submarines
in six degrees of freedom resulting from various types of normal maneuvers
ac well as for extreme maneuvers such an those associated with emergency
recoveries from sternplrne jam and flooding casualties. Information te
Llso presented pertaining to the hydrodynamic coefficients and other input
data needed to perform simulation studies of specific 5ubmarini designs
with the S:andard Equations of Motion.

~~D 1473T~L
S- ..-- . . .

' !

1 I 9
 not V WN"166 A LIMES LINKt C

Stainda. d Equations of 14otion

Submarine Simulation
Hydradyiu mic Coefficients
Analog Computers
Digita Computers
Definitive Maneuvers
Emergency Maneuvers

I.ORIGINATING ACTtVITY- atow the seen and oddmra Swoosd by socsirlty cdmssifiemtlom. soling stamlad statements
of t Ie contralcto. subcoatrctor. Umutee. Depatmem of Do. each as:
ther. ).eatwt eta tumatoe(e.eet uhe)lain (0) Qatd wrqaters my ohana copies of tkis
the tp~t*tep~d. bee DMCIT
2o REPORT SECIJVET CLABBIMAT1O)t E vr ~atsrte (2) "Fervelp mnisotscumsaan
04t sec-tetty cstaittlfl~ittel of the report. Lassic~st whetbherbyDCisnta~eiW
d cintaeeaston of hi.
-Reetti-std Deaga is tulare-d. Nat~et is to be to accodtu b O . nAath"~~d
&ACV .111 Agplo"046t 11eCz.'u ren'1Zwaloe. (3) "UL.I ovesarmief agencies asay obetai vcopla of
this "~s directly Isom DDC. Othe wasliflad ODC
Mh GW(R2P' Auoatick dowagrdiMG is specified its DOD D*- *ears sQW1 rettseet thmaglis
Ie~ctive 5200.10 erd Amvn~d Fercs3s lmdsolvial MamiaL £Eter
tke group ounber Also. wisest aIlcablo. show that optional
markingl havir beom wed for Gnrup 3 *ad Grosip 4 me atdhur. (4) "'U. L. m~iitary agencies may *M~ain copies, of thia
,god repart~ foeoc,
t~ly otba Woauifle vwser
3. RIPOUT TffLJL tatev ther conytete topvit title in all Vbmi vFoues tbriwesh
c~wiW letters. TItles in all cooe. ashould be wmiclofld,
If a triatantatfstl tat* coea-i to selected without classifies-
t,.oN show tidle classificatbon Ia all capital@ $1spainesthacis (5) -AVl dieft"Lbtai of this rqpor is cooaotle& Qual.
it-tawdiately followinge the titles. IifW4 00C utors shall request thtso"It

o_~.t1Unl.
a'C4.. gwoveso, ouin*as. amal or fiait the respett baa be". fwWWLshe to the Offlce of Tcalcacl
C., Vista k'sc~ilufts*dties whes a specific ,lptptling Period is g.,tice,, Dqeremavt of Csinerce' for sale to Oth public. isdi.
* t05?4 CIA*. twon fact and sale th pelc*. if *:Nowft .
S. AUTTPIX(Sk fAmer the siaesi(s) of outhoss(s) as showss eo IL PPUW1&MrA*Y WYTK2 Us* (or abldl*Snmd e~spla-
of smthe opolt. gain?, lean fdnas (trot ftmm. tudde itiftial. W7-t
V wahistry. Abou t valk & branch of worlee. The sme of
ow t. 'ifc~op aspliar as 2^o3~olaq fite
.J m. ta," out" 12. UPOWIMMN XMITARY ACIIVTY't Raw thewe.
itma
&. lt!PONT ')ATL_ Eater tAn dam*a(of : rapatt &Ola.
do!- t ,)th
OW I
mew proand dr~a Wea~ ah spondme (po

-h acut. wa date of root attlesa 13. A521tRACITi Cater an ajsheect giving * as WW nmdfactreal
~
TOAL O itima
l'A3f~ymo. 5rimsy 44 dis daceatrt IndicatiUS of the 159544 *tonU lh"41A
7:vtTOTLo MY10M (
%KýWIflowassoal
AIMTi
al
q~tmies ptcoiarv.
Coast t
oflto~pocdun.L.
L.. aste Ilso
tia"
it @fem a.e
t. it sddletim
"?0"iss avi~e in as bsdit telo !9ccbel
pe. space ed ad000
cmatimae~ess shoet MAU~
~Is0-
maivtes of p".s C644*e1eitt imforuntaa. he
7& mr~iA OfRWYVZMCMWr *AtotA sw~w f t is Jieltp do~kahla that th. abstreci of cLavolfted rpstots
y.e cgced MR the otP01i. be socimqAtfle. Each 04aepbis atte abstrac shuit me" with
U CnTTWCT
M OR GRAN! M A1IM. If sois"Wetvt. 3aet an Lednla. 0t die oullitary sacrt7 closeasIcattlof . the WA.
tbý- qWl itt .61. imosr of tow cwwtlect a* g e ader uA.c
u#w Woeanstan is the Pososena,A Papi ums Ieane MVft). (2). (C). so (U)
the .99s WAS0wrtittee Two" to so limitation O&an
theeGO at tue suatMs4. Hoew.
91s. k. & &S. PIOjEWV P1.30 "Wate the owespiat* OWNat the emuad length is hem, 150 to 125 Words.
sailitary dapmatmem t4rdIIfcattse. sch as pesiori usse, KYV4S Ewed eekhlcl 7 savgl a.
siihesjer4 Wa'W swan.. bawaro. task in ob" s ict MetrOM,9 at nie clt vsis& sn
sotshe"t puma"e listhal otqz a as"e Andaft be usand as
go OU10lNAWý31' REPOWT WmeR(S ritess, the amti heq2 msba (ofo cabblogja t. sP.art. aey atod asst he
.'VIAt "Port matabor by 16ftcb thes decsm wilt hae tdatmled 9tiocied As tStol m sestity, cLaeslticatlaq to ")Mj~d. Wed-aI
OXd cosoeatlt %1tite ariginetl,& scuw~tt. Iwo setLer usalt fno". wsech em 09.4mat model dsstesunea beds name. maito,17
be -ftsese In Iths ropaet. Pta*ct C*& Aeta* sarphec location, @m he used $a It"
91 OT1#" RE-PO91T PIMEWSYS) "4Ike aPw i kenIm = 1 bat will be fol lows by amldo ets f ote Cast-
assymigs Val, etker topo" atAisahrs (@*1" 6, $,aseaes~itimar sai b ei~saeatM ofsA.rt". a." mo4isss to "do"n.a

to. AVAILAIKLITfT/tLm-ATMo NOTICK2 toter saytim

Itato ae ea far~hor g~..o C$1the nowni. *a-- that Z-
UNCLASSIFIED
secu~rity C).SBJc.LIO

*I~~5*~ - --. -- 1/ *