介绍了7000米载人潜水器推进系统的组成和推进器布置，描述了潜水器控制分配问题，对推进器推力和期望控制量进行了归一化处理。
This paper analyses the propulsion system of a 7000m manned submarine, offers a 6-dof thrust conversion model, and discusses its optimal control allocation problem in particular.
与此同时，一台推进器也已经被装配在了X2的机身后方，以此来提供额外的推力。
A pusher propeller has been fitted at the rear of the X2 to provide extra oomph.
通过加快推进器的旋转来增加其推力，同时改变叶片的角度来改变推力的方向。
Speeding up the propeller's rotation increases its thrust, while shifting the blades' angles changes the direction of the thrust.
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