DEVICE FOR UNDERWATER VEHICLE CONTROL Russian patent published in 2014 - IPC B63H25/00 

FIELD: transport.

SUBSTANCE: device contains vertical and horizontal movement propellers, telecamera installed with possibility of rotation, steering angle sensors, summation units, reference signal sources, threshold elements, sine and cosine functional generators, multiplier and divider units, amplifiers, switches, logic gates, proximity and command sensors, multilevel relay component, module taking units.

EFFECT: automatic selection of required rotation speed of underwater vehicle propellers with regard to directions of these rotations when none of these propellers enters saturation mode irrespective to direction of their rotation.

1 dwg