Page 137 - The ROV Manual - A User Guide for Remotely Operated Vehicles 2nd edition
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Vehicle counter- rotation
CB
CG
No vehicle torque steering
CB
CG
Thruster aligned off the longitudinal axis
6.1 Propulsion and thrust 125
FIGURE 6.3
Thruster aligned off the longitudinal axis.
FIGURE 6.4
Prop rotation
Prop rotation
Counter- rotating prop
Prop rotation
Thruster rotational effect on vehicle.
Also, placing the thruster off alignment from the longitudinal axis of the vehicle (Figure 6.3) will allow a better turning moment, while still providing the vehicle with strong longitudinal stability.
One problem with multiple horizontal thrusters along the same axis, without counter-rotating propellers, is the “torque steer” issue (Figure 6.4). With two or more thrusters operating on the
