From this method a simple formula is derived. This formula be used to calculate the magnitude and trimAngle of the balancer.
由这一方法导出了平面杆机构惯性力部分平衡配重大小及方位角的简单计算公式。
2
Using the mean draft, heel Angle and trimAngle as the design variables, it need not calculate tangent values of the angles and is more convenient for application.
设计变量直接取吃水、横倾角和纵倾角，不必预先计算倾角的正切值，使用方便。
3
Finally, the control stability was discussed and it was found out that trimAngle control is a simple and effective method to make the submersible stable near the free surface.