US2419164A - Steering apparatus - Google Patents

Description

IJR 15, 1947. H. v. PUTMAN ET Al. 2,419,164

STEERING APPARATUS F'led Aug. 19, 1944 5 Sheets-Sheet 1 Mrwmm ATTORN EY' April 15, 1947 H. v. PUTMAN x-:T A; 2,419,164

STEERING APPARATUS Filed Aug. 19, 1944 3 Sheets-Sheet 2 ATTORN EY April 15, 1941 H. v. PUTMAN ETAL 2,419J64 STEERING APPARATUS Filed Aug. 19, 1944 3 Sheets-Sheet 3 WlTN ESSES:

BY Md y ATTORNEY Patented Apr. 15, 1947 UNITED STATES PATENT FFI'CE STEERNG APPARATUS Henry V. Putman and Merrill G. Leonard,'Sharon, Pa., assignors to Westinghouse Electric Corporation, 'East Pittsburgh, Pa., a corporation of Pennsylvania Application Augustli), 1944, Serial No. 550,249

4 Claims. 1

Our invention relates to gyroscopic control apparatus and more particularly to gyroscopic control apparatus for submersible crafts as to torpedoes.

'The Government of the United States has been granted a certain royalty-free license for ,governmental purposes with respect to the invention herein described.

Gyroscopic control for steering a torpedo is well -known but with the recent first fairly extensive use of electrically propelled torpedo some special problems called Vfor solution.

One object of our invention is the provision of simple and reliable gyroscopic steering control apparatus for a torpedo.

Another object of our invention is the provision `of clutching means for the drive ofagyro wheel interlocked with locking means `for the rotating assembly which when unlocked `provides three degrees of freedom with respect .to rotation for the `gryro wheel.

Another object of our invention is the provision for steering control that is .substantially yunafiected by vibration fof the torpedo.

,A still further object of your invention `is the provision of automatic means `responsive to the firing of a torpedo for vstopping the gyro `wheel drive motor, disengaging the gylo IWheel Vfrom the drive motor, and ,releasing .the igyrorwheel that it has three degrees of freedom Yof, rotation.

The foregoing objects expressly made `are merely illustrative, .and are not in 'the least to be taken as exhaustive statements of the objects and advantages of Your invention. IMany other objects and advantages will become ,more `read-- ily apparent from a ,study of the following specication and the .appended claims when .made in conjunction with the accompanying drawings, in which.:

Figure 1 is .adiagrammaticshowing of the .electrical control and a schematic showing of some of the mechanical elements coacting with ythe `electric control;

Fig. 21s a view from the aft region, with certain 4parts broken away .at the left and at the top, showing our steering control gyro;

3 is a side viewfrom the port side, of `our control gyro, the :case being 'broken ,away and .some .other .parts `being broken laway to illustrate some details; rand Fig. 4 is a plan -viewoi vour` control gyro.

To gai-n a better understanding .of the :details of our invention, -a `brief general discussion `of gyroscopic steering ,of torpedoes and a 4study of the operation oi the electrical equipment shown in Fig. 1 may be helpful.

In Fig. l we show a portion ci a torpedo `in cluding the tail-cone I, the afterbody- 2, `and a portion of the main section fio-f .a torpedo. :Since the torpedo `is electrically propelled, we show a battery B varranged to be connected to the torpedo propulsion motor M. The propulsionmotor is, through shaft 4S and suitable transmission gears, coupled to vthe two propellers Pto drive them, respectively, in .opposite directions during propulsion of the torpedo. The motor 1M is also coupled to `drive a distance gear d for operating `a drum controller or other suitable switches 5 for eiecting certain control functions, some of which constitute no part of our invention.

The torpedo, as is well known, is providedwith horizontal rudders 6 for controlling the depth ci operation of the torpedo and with vertical'rudders l and .8 for controlling the course of the torpedo. .Our invention is primarily concerned with 'the control of the .vertical rudders.

The vertical rudders are mechanically coupled to the armatures 9 and In which are in turn actu- .ated by the solenoids El) and lll. The gyro, or rgyrostat, G, to effect proper steering of the torpedo vtoward the enemy target, controls "the energizaticn Vof solenoids 4D and '41.

Normally during transportation, the 'rotating `assembly of ,gyro Gris locked in fixed position on the torpedo and the gyro wheel 23 is in clutching engagement with the gyro motor GM. Just `before the torpedo .is fired, the gyro wheel is brought up to .full speed by the gyro motor GM and the course for the .torpedoris selected by so positioning the contact segments ,2S and 3i), having Athe relatively narrow spacer 3l o'f insulation between them, that the spacer 3l points in the direction required for the course setting selected.

Just beforeiirng the switch l I is closed Whereupon a circuit is established from the upper terminal `of the lbattery B through switch ll, conductor l2, through the gyro motor GM, conductor 13, contacts i4 4of the gyro transfer switch l5 to the lower terminal of the battery.

Substantially at the same time switch 'Il is closed, the l.course for the torpedo is set. The gyro wheel 23 attains full speed in a relatively short time whereupon the torpedo is fired.

r.l'heinstantthe torpedois fired the trigger lever 'I'.actuated bythe dog D closes the ,switch I6 to thus establish a circuit from the positively .energizedconductor 'I2 through switch IB, coil IJ of the .clutching mechanism 'I8 to the negatively ,energized conductor I3.

Energization of coil, or solenoid, I1 actuates the armature 1.9 toward the right thus Amoving the lever 2B pivoted at 2| clockwise to thus cause the `clutch 22 to release its driving connection between the ,gyro motor GM and the gyro wheel. The clockwise movement oi .the lever 2l] releases the spring biased levers 24 and 25 so that they move clockwise and counterclockwise, .respectively. .Counterclockwise movement of .lever 251eleases the .spring biased gyro `transfer switch .I5 rso `that this switch opens its contacts lA and hand halfl of resistor closes its contacts 28. Opening of contacts |4 effects deenergization of both the gyro motor GM and the coil I1, both of which at this stage being no longer needed.

Closure of contacts 28 establishes a circuit from the positive terminal through the actuating coil of contactor 21 and contacts 28 to the negative terminal of the battery B. Operation of contactor 21 causes the closure of contacts 26 to thus connect the propulsion motor M to the battery to propel the torpedo through the water.

To eiect proper steering of the torpedo toward the target the contact segments 29 and 30, having the relatively narrow strip of insulation 3| between them, are so positionedthat the strip 3| holds a given position with reference to the target. The given position nearly always means thatthe strip 3| points toward the target; it thus indicates the direction the torpedo is to take to arrive at, or hit, the target. For all torpedo shots except one directly at the target the small contact roller 32 will be in Contact with either segment 29 or segment 30, depending on the direction of the target with reference to the torpedo tube.

Assuming that the target is to the left of the longitudinal axis of the torpedo as it is fired, then the small roller 32, making substantially point contact, will be in contact with segment 30. This means a circuit is established from the positive terminal of the battery through contacts 33, potentiometer resistor 34, conductor 35, terminal contact arms 90, 9|, and 92 coupled to `rotate with the outer gimbal ring 1I) of the gyro, roller 32, segment 3U, actuating coil 36 of the steering control relay 31 back to the junction between the potentiometer resistor and contacts 33.

The circuit traced will cause operation of the relay 31 to close its contacts 38. Closure of contacts 38 establishes a circuit from the positive terminal of the battery through contacts 26 and 38, conductor 33, solenoid or coil 40 for actuating the armature l0, and conductor 4| to the negative terminal of the battery,

The rudders 1 and 8 are thus deflected so as to turn, or steer, the torpedo toward the left.

This deflection of the rudders continues until the torpedo has moved to the left sufciently so that the roller 32 comes into contact with the strip of `insulation 3|. When this happens the direct circuit for coil 36 of the relay 31 is interrupted at the roller and it is connected in series with relsistor 42.

Resistor 42 has a relatively high resistance value to thus decrease the energization of coil 36 .longitudinal axis of the torpedo. In order that the control operation or effect of the gyro may be invariable and be immediately ,effective in proper magnitude the potentiometer .resistor is connected to the battery when the torpedo boat arrives at the battle station. The circuit -for the potentiometer resistor 34 may be traced from the positive terminal of the battery through the contacts 33, potentiometer resistor 34, back to the negative terminal of the battery.

The actuating coil 36 is connected in series with the resistor 42 and segment 30 across the left- 34. The actuating coil 43 is similarly in series circuit with resistor 48 and segment 23 connected across the left-hand half of. resistor 34. The resistance values of resistors 42 and 4B are so chosen that the coils 36 and 43 and the resistors 42 and 48 are at a stable temperature. The coils 36 and 43 thus, when called upon to control the rudders, are already heated and thus produce invariable control eiiect.

Further, the segments 29 and 30 are during transportation of the torpedo so adjusted that the roller 32 makes contact with the strip 3| only. Coils 36 and 43 are thus energized an equal relatively small amount. The energization is just sufficient to produce the heating effect mentioned but insuiiicient to cause actuation of the relays 31 and 44.

It is, of course, apparent that the control effect hereinbefore discussed is not dead beat and in consequence there is some tendency, at least on the first approach of the torpedo to a position such that roller 32 falls on the strip 3|, for the torpedo to move beyond the required direction.

'As the torpedo moves beyond the desired direction the roller 32 makes contact ,with segment 23 whereupon coil 43 of relay 44 is directly and fully energized and this relay closes its contacts 45. Closure of contacts 45 establishes a circuit from the positive terminal of the battery through contacts 26 and 45, conductor 46, coil or solenoid 41 for actuating armature 9, to the negatively energized conductor 4|. The rudders 1 and 8 are again actuated to bring the torpedo back on the course.

After a few possibly rapid and possible aperiodic hunting cycles the torpedo takes a steady substantially direct course toward the target. What hunting there is after a steady state is obtained is not great and is periodic and thus does in no way harmfully aiect the course of the torpedo.

If the torpedo has moved beyond the target as determined by the range setting of the distance gear 4 without making a hit the controller 5 will establish a circuit from the positive terminal of the battery through contacts 26, conductor 49, segment 5|), conductor 5|, actuating coil 52 of the spiralling relay 53, to the negative terminal of the battery.

Operation of the spiralling relay opens the contacts 33, thus disconnecting the gyroscopic control, and closes the contacts 54. A circuit is thus established from the positive terminal of the battery through contacts 54, resistor 55, conductor 46, solenoid 41, and conductor 4| back to the negative terminal of the battery.

This energization of the solenoid 41, through armature 9 operates the rudders 1 and 8 hard over to one side, and in consequence the torpedo begins to move in a spiral seeking the target it failed to hit.

In the absence of resistor 55 the torpedo might move in circles but the characteristics of resistor 55 are so chosen that the resistance value keeps rising as it becomes heated. This means that the energization of the solenoid 41 decreases more and more and the rudders are held in the hard-over position with less and less force. As the torpedo speed is still not materially diminished the spiral operation of the torpedo is obtained.

If, in spite of the spiral searching of the torpedo for the target, it still fails tomake a hit, the battery will become exhausted and the propulsion motor will stop. Since the torpedo normally has a negative buoyancy, it will, under these conditions, sink and thus not become a menace to shipping generally.

While We have gone into considerable detail about the steering control system, the structural features of our gyro are no less important but 4constitute an important contribution to the art.

As seen in Figs. 2 Vand 3, it will be noted that the gyro wheel 23 is mounted on the inner gimbal ring 6B for rotation about the spin axis falling, as `near as manufacture can accomplish this inthe geometric axis of the drive shaft BI for the gyro Wheel.

'I'he left-hand end of the inner gimbal ring 60, as -seen in Fig. 3, is provided with a hollow stud 62 threaded externally and threaded internally. Disposed within the stud beyond the internal threads, the outer race 63 of the ball bearings is positioned. To prevent any axial movement ofthe drive shaft 4with reference to the gimbal ring 60 the nut E4, having the sleeve extension or projection 65 shown at the right end of the nut, is driven down so that the extension rmly `engages the outer ball bearing race 63. The drive shaft 6l `thus has no end play toward the left.

At the right, the gimbal ring 50 has an internally threaded opening for receiving the external threads of the knurled generally cup shaped nut 66. The base of the nut E6 is provided with an opening through the sleeve-like left end of the clutch disk, or clutch cone, 61 extends. A roller bearing similar to the one at the left is positioned in the nut 6E. A washer 58 is disposed directly to the right of the roller bearing. This washer has an annular left-hand projection engaging the outer race 69 of the ball bearing and an annular right-hand projection for centering the compression spring 'I. The compression spring Til of suitable design and under a selected compression firmly positions the ball bearing so that shaft El has no end play in a direction toward the right.

At points directly at right angles to the spin axis the inner gimbal ring 60 is journalled in the outer gimbal ring 10. These journals are also provided with ball bearings which are rmly held against axial displacement as shown at the left in Fig. 2.

At points directly at right angles to both the spin axis and the axis of rotation of the inner gimbal ring 60 on the outer gimbal ring 10, the outer gimbal ring is journalled in the frame H of the gyro mechanism. This is best shown in 2. It will be noted that the annular nut 'i2 has an inner downwardly directed shoulder against which the outer race of the upper ball bearing 13 rests so as to prevent the possibility of any upward axial movement of the control shaft 14. At the lower journal for the gimbal ring 'I a nut 75 having an annular inner projection engaging the outer race of the ball bearing 'IB prevents any downward axial movement of the control shaft.

The axis of rotation of the outer gimbal ring in the frame 'Il is disposed at right angles to the axis of rotation of the inner gimbal ring 60 on the outer gimbal ring 1l? and also at right angles to the spin axis of the gyro wheel. The arrangement, design and care of manufacture is such that the three axes are mutually perpendicular axes intersecting at the point of the center of mass of the rotating system. This means that the gyro wheel, assuming perfect balance and assuming the conditions of intersection for the axes mentioned are satisfied, is a solid body unconstrained with reference to rotation, since the body can rotate about any one, two, or all three of the axes. Such a body if set to spin, disregarding friction turques, etc., will indefinitely maintain .its spin axis in a given direction in space.

From the foregoing, it is vapparent that if a pointer were `to be attached to the upper Yend :of the control shaft 14 and the gyro wheel were spinning at a relatively high speed, .any .movement of the frame Il 'in uazimuth about the shaft 14 Would in nowise aifect the disposition fof vthe pointer in space.

In practice, the control shaft T4 is mounted so as to bein a vertical position when the torpedo is on even keel. The depth .control devices :so acontrol the travel of .the torpedo that the control shaft 14 does remain in a substantially vertical position.

We, therefore, need merely to obtain a suitable controlling elfect from the position of such hypothetical pointer at the top of shaft M with reference to some point on the torpedo. This control effect we obtain from 'the mechanisms mounted at the top of the gylostat frame. Before we discuss these features of our invention, we must take into account at least two more factors.

It is manifestly impossible to obtain perfect balance of a rotating system Vmerely by careful dimensioning, machining, and positioning of the parts. After our `gyro Wheel and the rings associated with it have been carefully balanced, it is necessary as an added precaution and an added refinement that the rotating system loe rebalanced after assembly. This we accomplish by means of the balancing nut Tl disposed on the outer threads of the hollow stud 62. By'carefully shifting the `nut axially ofthe stud, a position can be obtained for the nut on the stud to make the gyro wheel unconstrained with respect Ito rotation.

An index is then placed on the extension strip 78 and on the nut, so that the position of balance is indicated.

The other factor is one dependent on the latitude at which the torpedo is lired. Suppose the torpedo were fired from a position at latitude .toward a target some distance away. Since the hypothetical pointer at the top of the control shaft 'I4 continues to point in the same direction in space, the torpedo, if following the direction in which the pointer points, will miss the target because the target not being at latitude 90 `will have moved east by an amount directly dependent upon the time it took for the torpedo to travel from latitude 90 to the latitude of the target.

At other latitudes than 90, the discrepancy will not be as great, but nevertheless will be a function of the ratio of time to the sine of the angle `of latitude.

If a force of the right magnitude and distance from lthe center of mass can be caused to act perpendicular to the spin axis, just the right amount of precession can be given to shaft 14 to compensate for latitude. We use the weight 11 for this purpose.

The weight 71, after its balance position has been xed, is provided with graduations indicating the extent to which the nut must be moved toward the left or away from the center of mass for various degrees of latitude.

At the upper portion of the frame H, we rotatably mount the annular member 'lil on the projecting hollow stud 80. At the outer periphery of the sleeve-like extension 8|, we provide gear teeth 82 for engagement with a Worm on shaft 83. By means of suitable shafts carrying bevel gears as shown, the transmission is carried to the shaft 84 (see Fig. 2) The shaft 84 is disposed athwart the torpedo and the ends are provided with cou plings 85 and 86, so that the 'annular member 19 may be angularly adjusted from either side of the torpedo. The drive to .the'c'ouplings 85 and 86 may be done from the outside without the chance of any leakage into the torpedo at such points after the torpedo is iired.

Mounted on the annular member 19 is the cap 81 of insulating material. This cap has an annular projection 88 to firmly hold it on the member 19 so that it may rotate with member 19 when setting the course for the torpedo. Rigiclly se cured to .the inner periphery of the cap are two semicircular segments 29 and 30 of conducting material separated by two relatively narrow dametrically disposed insulating strips, one of which, as 3|, being shown in Figs. 1 and 2.

Connected to the upper end of the control shaft 14 is the disc-like construction 89 upon which is mounted the relatively wide and fairly rigid strap 90. To one end of strap 90 is secured the leaf-spring contact, or current-carrying member, 9|. The other end of the strap is bent up at right angles to the plane of the strap. To this bent-up end is secured the contact strap 92 carrying the roller 32. Elements 90, 9|, 92 and 32 in effect constitute the hypothetical pointer mentioned. This strap 92 is disposed with the edges up and down, that is, the side surfaces falling in Vertical planes.

'Considerable vibration occurs on a torpedo and not to subject the control to the danger of current failure at the roller 32, the strong strap 90 and the edgewise disposition of strap 92 prevent shifting of the roller 32 with reference to the segments 29 and 30 so as to have any electric circuit open at the roller.

Vibration radially of the shaft 14 is not very prevalent, besides strap 98 permits of no radial vibration of the roller 32 and strap 92 `is too short and too strong to permit such vibration. Our construction thus prevents current interruption at roller 32 because of vibration.

Disposed on the frame 1| is an index 93 coacting with graduations on the conical surface 9|! of the cap 81. This index 93 and the graduations on surface 90 are visible from the outside of the torpedo through a lens-like window. The disposition of the graduations is such that they indicate with reference to the index 93 the exact angle shot that is being made. In other words, if the target is disposed 37 and 30 to the right of the torpedo tube, the attendants through couplings 85 or 88 rotate the cap until 37 and 30 to the right of the zero graduation register with the index. This means the insulating strip 3| is disposed 37 and 30' to the right of the position of the point contact of roller 32 with segment 29. Then when the torpedo is red, the steering mechanisms willturn the torpedo until the roller contacts the strip 3| at which time the torpedo is on course.

It is manifestly important that the gyro wheel and the gimbal rings be so locked in position while the gyro wheel is to be brought up to speed that the clutch disc El makes proper operative contact with the clutch element |08 but that the gimbal rings 60 and 18, after release of the clutch elements 61 and |89, be free to rotate.

- The clutch actuating lever 20 is of the inverted Y-type pivoted at the ends of the Y. At the crotch, the lever straddles the clutch actuating spool-like sleeve |82. This sleeve is actuated toward the left by a relatively heavy spring |04 to normally cause rm engagement of the clutch 22. When the solenoid |1 is energized, the armature I9 is actuated toward the right (see Fig. 3), and the gyro wheel is thus declutched from the gyro motor GM.

The lever 20 is provided with an arm |06 for coaction with the gyro locking means to prevent release of the rotating assembly before the gyro wheel is Vreleased from the motor.

The locking means for the rotating assembly comprises a generally H-shaped member |08 pivoted to the frame 1| at the outer ends |09 and I8 of the lower legs. The upper legs and ||2 are designed to straddle the outer gimbal ring 'l0 with a fairly close fit, so that this ring, when member |88 is in locking position, can not rotate about its trunnions in the frame. Since the gimbal ring 18 can have a right and a wrong position, it is important that it be made impossible to properly position member |08 except when the gimbal ring 19 is in the right position. To this end, we provide one quadrant of the ring With small projections, as H3, shown in Fig. 2, at each side of the ring. These projections are, when ring 10 is in the wrong position, in the path of the upper legs of the member |88. Member |08 can thus be positioned correctly to lock ring 10 only when the proper quadrant of the ring faces the upper legs of member |08.

The upper ends of the legs and ||2 are provided with projections and |I5. These projections carry bolts as shown. These bolts may be locked in such position that the upper ends engage the bottom side of the port side of ring 60 when this ring is in proper position.

The wrong side of the ring 60 is provided with projections ||8 and ||1 that are in the path of the upper ends of the bolts in the projections ||l| and |5. Member |08, even if ring 1D be correctly positioned, can not be moved to locking position except if both rings 60 and 10 are in correct position.

Further, as long as member |08 is not in locking position, the arm |06 will rest on the shou1 der ||8 and the gyro wheel 23 can not be driven.

The member |88 is normally biased to move out of locking engagement by the tension spring |20 secured to member |08 and the frame. The unlocking operation, once the member |08 is in locking position, can not take place because arm |06 is then disposed in front of shoulder I8. The only way the rotary assembly can be unlocked is after the gyro wheel is up to speed and the torpedo has been red so as to energize the solenoid |1.

The gyro transfer switch comprises a threearmed member |2| pivoted on a pivot transverse of the torpedo and biased by a suitable spring as shown to rotate clockwise. Such clockwise rotation can, however, not take place, except the member |08 be out of the locking position, because arm |22 rests on shoulder |23.

When in the position shown in Fig. 3, the gyro transfer switch is in position to close contacts I4 in the circuit of both the gyro motor GM and solenoid |1.

After the torpedo is fired, the trigger switch energizes solenoid I1 long enough to rapidly disengage the drive connection between the gyro motor and the gyro wheel. This time is more than ample to cause spring |20 to move the H-shaped member |08 toward the observer, as seen in Fig. 3, or counterclockwise, as seen in Fig. 2, so as to unlock the rotating system. y

The shoulder |23 thus 'moves out from under the arm |22 and in consequence the circuit for the gyro motor and for the solenoid I'I is interrupted at contacts I4. Contacts 28 are, however, closed, so that the circuit for the propulsion motor is closed.

At the same time that solenoid I`| is energized, the armature |9 causes arm |06 to move up or clockwise, so that shoulder H8 moves under the arm |06. The deenergization of solenoid l1 can thus have no further eiect on the motion of clutch elements 61 and |00. These elements 61 and |00 are positively held at a considerable distance from each other by arm |06 and shoulder H8.

'I'he gyro wheel, therefore, assumes its function of controlling the steering of the torpedo to the course set by the appropriate movement of the torpedo with reference to roller 32.

While we have shown but one embodiment of our invention, both schematically and in detail, we do not wish to be limited to the particular showing made, but wish to be limited only by the scope of the claims hereto appended.

We claim as our invention:

l. In an automatic steering control for a submersible craft, in combination, a rotatable assembly comprising, a gimbal ring disposed to ro tate about a vertical axis when the craft is operating on even keel, a second gimbal ring disposed to rotate on a horizontal axis at right angles to the axisof rotation of the rst girnbal ring, a gyro wheel disposed to rotate about a horizontal axis at right angles to both the other two axes of rotation mentioned; a frame for the rotatable assembly fixed to the craft, means for locking the gimbal rings against rotation, said locking means comprising a generally H-shaped lever pivoted to the frame at two of its parallel legs so that the other two parallel legs, or free legs, may straddle the outer gimbal ring to prevent it from rotating, means on the outer girnbal ring for preventing the free legs from straddling the outer gimbal ring except the outer gimbal ring be in the correct position, means on the free legs adapted to engage the inner gimbal ring to prevent it from rotating, means on the inner gimbal ring adapted to prevent locking engagement between free legs and the inner gimbal ring except the inner gimbal ring be in correct position; a motor for driving the gyro wheel; a clutch for coupling the gyro wheel to the motor; a clutch lever for actuating the clutch, said clutch lever having a part disposed to engage the at side of the H-shaped lever to prevent unlocking of the rotatable assembly when said H-shaped lever is in position to lock the gimbal rings and when the clutch lever is in position for the clutch to couple the motor to the gyro wheel and disposed to engage the edge of the H-shaped lever when the H-shaped lever is not in locking position so that the clutch lever can not be actuated to engage the clutch once the rotatable assembly is unlocked.

2. In a steering control for a torpedo, in combination, a source of electric energy, a gyro motor adapted to be connected to the source of energy, a rotating assembly including a gyro wheel mounted to have, when released, three degrees of "freedom of rotation, the gyro wheel mounted to have a horizontal spin axis and a vertical precession axis, a clutch coupling the gyro wheel tothe gyro motor, locking means for locking the rotating assembly so that the gyro wheel has but one degree of freedom of rotation namely about the spin axis, adjustable means disposed for adjustment axially of the spin axis for producing a precession about the precession axis to compensate for the latitude at which the gyro wheel is used for controlling the torpedo, and means responsive to the ring of the torpedo for decoupling the gyro motor from the gyro wheel and for releasing the locking means.

3. In an automatic steering control for a sub mersible craft, in combination, a gyrostat including a gyro wheel mounted, when released, to have three degrees of freedom of rotation and disposed on the craft so that the precession axis is vertical, locking means for holding certain of the elements of the gyrostat so that the gyro Wheel has but one degree of freedom oi rotation namely about the spin axis, driving means for the gyro wheel, means responsive to the starting of the craft for decoupling the gyro Wheel from the gyro motor and for operating said locking means to release the gyro wheel so that it has three degrees of freedom of rotation, means responsive to the position of the precession axis With reference to a selected point on the craft for controlling the steering of the craft so that the precession axis holds a selected position with reference to the selected point on the craft, and means responsive to a selected distance of travel of the craft for causing the 'craft to move in a spiral course.

4. In an automatic steering control for a submersible craft, in combination, a source of electrical energy, electromagnetic steering control devices, gyroscopic means for controlling the energization of said electromagnetic devices as a function of the direction of travel of the craft with reference to a direction of travel of the craft selected by said gyroscopic means, said gyroscopic means including a gyro wheel, a gyro motor, connected to the source of energy, for driving the gyro wheel, means for locking the gyro wheel in position to have one degree of freedom of rotation about a horizontal spin axis, means responsive to the starting of the craft for uncoupling the gyro Wheel from the gyro motor and for unlocking the gyro wheel so that it has three degrees of freedom of rotation, means responsive to the unlocking of the gyro wheel for interrupting the electrical connection of the gyro motor and source of energy.

HENRY V. PU'IMAN.

MERRILL G. LEONARD.

REFERENCES CITED The following references are of record in the file of this patent:

UNITED STATES PATENTS Number Name Date 1,173,435 Jones Feb, 29, 1916 1,153,678 Dieter Sept. 14, 1915 1,309,592 Tanner et al. July 8, 1919 1,421,854 Sperry July 4, 1922 FOREIGN PATENTS Number Country Date 365,190 British Dec. 19, 1931

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