METHOD OF PROVIDING CONTROLLABILITY OF UNDERWATER APPARATUSES Russian patent published in 2011 - IPC B63G8/00 

FIELD: transport.

SUBSTANCE: invention relates to provision of underwater apparatus controllability and may be used in under water research, underwater rescue operations and drilling jobs. Proposed method consists in dividing apparatus structure into two assemblies, i.e. structural assembly fixed relative to engines thrust vector and associated system of coordinates (main structural axes of underwater apparatus), and pitch control assembly. Each assembly is balanced in water by floating elements by aligning center of gravity with that of magnitude for structural assembly, and, in pitch control assembly, spacing apart said centers relative to pitch axis. Said pitch axis makes axis of mutual revolution of both assemblies that run parallel with apparatus main transverse axis. Said axis of mutual revolution is arranged in construction assembly bearings and coupled with mutual revolution drive that provided for moment: M=L×p, where L is metacentric height, distance between center of gravity and center of magnitude of pitch control assembly; p is pitch control assembly weight in water. Said assemblies may be jointed by universal joint with heel and pitch degrees of freedom. Note here that there is independent drive for each said degree of freedom.

EFFECT: eliminating constraints on controllability limits at minimum control forces, higher efficiency of underwater apparatus.

2 cl, 5 dwg