Control equipment for submersible water craft - comprises 4 Voight: Schneider propulsion units spaced around circular plan hull

摘要

The submersible craft with a special control equipment has a hull (1) shape approaching a flattened ellipsoid of revolution, and Voight-Schneider propellers set in its periphery for propulsion and manoeuvring. There is a requirement for 6 degrees of freedom of movement. To meet this a min. of 3 Voight-Schneider units is required, 4 are fitted here to simplify the solution of control problems. One, the "bow" unit (3) is set in line with the control cabin of the craft. A second (2) is diametrically opposite the first and 2 more (4) are on either side, at 90 deg. to the first pair. All have their axes in the plane of the major axis of the ellipse on which the hull shape is based.