一、前言 深潜器的使命和一般的潜水艇不同,它在操纵性方面的特点与战斗潜艇相比有很大的差异,操纵要求和操纵手段均有不同。它不仅要求和普通潜艇一样在水平面和垂直面内有良好的操纵性,而且由于水下作业和潜艇救生等的需要,还要求艇能在水中完成停悬、横向平移、原地回转、纵摇、滚转以及水下对接等特殊的操作。此外,由于受到能源的限制,深潜器的航速比较低,用舵操纵效率很低,所以深潜器往往采用转动套环螺旋浆、槽道推 First, the preface The mission of the submarine submarine and general different, its maneuverability characteristics and combat submarines are very different, the requirements of the operation and control are different. Not only does it require good maneuverability in the horizontal and vertical planes just like conventional submarines, but it also requires boats to be suspended, transversed, pivoted, pitched in water due to underwater operations and submarine life-saving needs , Roll and underwater docking and other special operations. In addition, due to the energy constraints, the speed of the low-submersible low helm steering efficiency is very low, so the submarine often use rotating collar propeller, channel push