SUBMARINE PROPULSION CONTROL SYSTEM

摘要

An underwater vehicle (1) having a negative buoyancy comprises thrust units (4, 5) by which it can hover. Slow speed manoeuvrability while hovering is achieved by moving the position of a mass (9) fore and aft and/or side to side such as to cause the vehicle to pitch or roll and thereby vector the otherwise vertical thrust such that the vehicle is propelled in the direction in which the mass has moved.