UNDERWATER GLIDER MOTION CONTROL SYSTEM Russian patent published in 2019 - IPC B63H25/00 B63G8/18 

FIELD: shipbuilding.

SUBSTANCE: invention relates to shipbuilding and can be used to provide movement and maneuvering in azimuth and depth for underwater vehicles, autonomous underwater self-propelled vehicles, sailplanes-gliders in oceanological and hydroacoustic studies of water areas. Motion control system of the underwater glider includes tail empennage with hydrodynamic profiles, mounted on the end of the lever of the first kind, the support of which is a ball joint with at least one cylindrical pin located on the sphere of the support joint and fixed perpendicularly relative to the lever. Support lever installed on the longitudinal axis of the apparatus at the end point of the stern of the glider, and the second end of the lever is equipped with a movable telescopic connection and through an additional ball joint mounted on the connecting rod. End of the connecting rod pivotally connects the sliders of the two swinging frame wings, the rolling axes thereof are the shafts of servo drives connected to the electronic control unit and spaced 90 degrees in a circle on a plane, which is a sealed bulkhead of the aft compartment parallel to the cross section of the glider body.

EFFECT: ease of movement of the glider is achieved without changing its center of gravity.

4 cl, 1 dwg