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Supt. 3, 1946. >_|-|. A. SATTERLE'E‘ 2,406,855 APPARATUS FOR CONTROLLING ROTATION ‘ Filed March 2, 1936 15' /7 1e 3 Sheets-Sheet 1 19 INVENTOR. BY FIG. '3 ' ‘ . HOWARD A; SATTERLEE , Sept. 3, 1946- . H. A. SATTERLEE’ ‘ ' 2,406,355. APPARATUS FOR CONTROLLING ROTATION Filed March 2, 1936 . s Sheets-Sheet 2 ’ ' 33 1,45 43 ’ 44 42 $2 49 FIG. 4 m5 ‘:4, 25c. supbLv PO+TENTI,AL FIG. 5 __ _ INVENTOR. _ HQWARD'ASAT'FERLEE _ BY ‘ - Wick”? SePt- 3, 1946‘ ' H.‘A..SATTERLEE '_ ‘ I 2,4065855 APPARATUS FOR CONTROLLING ROTATION Filed March 2, 1936 ea - 77 ' A 76 _ _ 3'Sheets-Sheet 3 I > - * . I 14, C. SUDPLY 0.901 DELAY ' , /7' 6/ e2 ' HEX? ‘E Y L_ 79) e57 ______‘| v ' . FIG; 6 , _ ' 'INVENTOR'. HowARo A. SATTERLEE ' 2,406,855 Patented Sept. 3, ‘1946 UNITED STATES PATENT OFFICE 2,406,855 APPARATUS FOR CONTROLLING ROTATION Howard A. Satterlee, Sharon, Mass, assignor, by mesne assignments, to Submarine Signal Com pany, Boston, Mass, a corporation of Delaware Application March 2, 1936, Serial No. 66,634 6 Claims. 1 The present invention relates to an apparatus for controlling rotation. More particularly the (01. 181—0.5) 2 schematic wiring diagram of one modi?cation of the invention; Fig. 5 shows certain voltage curves illustrating the operation of the system shown in Fig. 4; Fig. 6 shows a modi?cation of the inven~ tion; and Fig. 7 shows an elevation of an adjust able resistance device employed in the modi?ca The present invention is especially adaptable tion shown in Fig. 6. to the control of the rotation of a signaling The signaling head is shown at | in Fig. 1 head on a ship. In signaling under water with mounted at the end of the tube 2 projected compressional Waves it is often desirable to pro through the skin 3 of the ship. At the upper end ject a signaling head through the skin of the of the tube 2 is a shaft 4 to which are rigidly ship into the water beneath. The signaling head secured the gears 5 and B. The actual work of is a device for sending or receiving compressional rotating the head I is accomplished by the motor waves. In many cases it is necessary to be able ‘I to which further reference 'will be made later. to rotate the signaling head into various positions. This is particularly necessary when the signaling 15 At some convenient place in the Vessel, for exam pic, on the bridge or in the radio room, there is device has a strong directional characteristic such present invention relates to an apparatus for ro tating a heavy device into a desired position from a remote point. as‘is the case with a compressional wave trans mounted a handwheel 8 at the end of a shaft 9. A gear I0 is ?xed to the shaft 9 and meshes with mitter or receiver whose diaphragm is large in a gear H ?xed to the shaft l2. Also ?xed to the comparison with the wave length employed. For this purpose it is necessary to be able to rotate 20 shaft I2 is a dial E3 the front view of which is shown in Fig. 3. Also ?xed to the shaft 9 is a the signaling head into any desired position with gear [4 which meshes with gear I5 ?xed to shaft considerable accuracy. . l6 which carries an inertia mass I‘! to prevent too Heretofore the most accurate way of accom~ rapid a turning of the handwheel B. At the end plishing this has been by means of a hydraulic of shaft 9 there is ?xed a gear l8 forming part control arrangement. However, hydraulic de of a di?erential system which includes also the vices are extremely expensive and a cheaper con idler gear I9 and the gear 29. The idler gear trol system is very much desired. Electric motor carrier I9’ is ?xed to the end of shaft 2| 'while the driven arrangements have also been used, ‘but these have been open to a number of objections. . gears 2i! and 39 are fastened to each other, but They have not permitted a sumciently accurate 30 free to revolve on the shaft 2|. At the opposite end of shaft 2! there is mounted a cam 22 carry and close setting of the signaling device and have ing the arms 23, 24, whose ends are provided with been rather erratic in behavior in that it has not rollers 25 and 26, respectively, adapted to make been possible to obtain a smooth flow of power to rotate the signaling device. Furthermore, it . contact with resistance windings 21 and 23 has not been possible at a reasonable cost toob 35 wound around an insulating ring 29 ?xed to the support 29a. tain a variable operating speed with full torque An elevation of this variable resistance device is at low starting speed or variable speed with full shown in Fig. 2 from which it will be noted that torque. each of the resistances 21 and 28 are circular in According to the present invention there is pro vided an improved electrical system for control 40 shape and extend over approximately ninety de grees of arc. Furthermore, it will be noted that ling the rotation and position of a signaling head; they are so arranged that the roller 25 can make and for controlling the motion and position of contact only with the resistance 2'! and that roller any massive device. such as, for instance, a gun 26 can make contact only with resistance 28. stops or a bridge or the like. Furthermore, the present invention provides a variable speed device with 45 30, 3! and 32 being provided on the support 29c and on the arms 23 and 24 to limit the rotation of full torque available at all speeds. these arms. It will also be noted that the re The present invention will best be understood sistances are arranged so that only one of the from the following description with. reference to rollers is in contact with its resistance at a time. the accompanying drawings in which Fig. l is a schematic representation of the mechanical ele 50 Thus, as shown in Fig. 2, while the roller 25 is in contact with the resistance 21, the roller 26 is ments of the system; Fig. 2 is an elevation of an bearing against the insulating ring 29. This var adjustable resistance device which is shown part~ iable resistance serves to control the operation of ly in section in Fig. 1 and is employed in the the gaseous electron tubes 33, 3t, shown in Fig. 1i, modi?cation shown in Fig. 4; Fig. 3 is an eleva tion of the control Wheel and scale; Fig. 4 is a 55 as will be described later. 3 2,406,865 As mentioned above, a gear 5 is rigidly ?xed to the signaling head shaft 2 and rotates with it. Meshing with the gear 5 is a gear 35 which is ?xed to the shaft of a self-synchronous gener ator 35. The ratio of gear 5 to gear 35 is the same as that between gears H and Ill, respec tively. The self-synchronous generator 36 drives the selfmsynchronous motor 31 which, through ode circuit of the tube 33 also contains a current limiting resistor 57 and a choke 58 in series with the secondary 55. Likewise, the grid cathode circuit of the tube 34 contains the current~lim~ iting resistor 59 and the choke 60 in series with the secondary winding 56. These elements t0~ gether with the resistances 21 and 28, which are introduced into the circuit by the operation of the gears 33 and 39 of a one to one ratio, rotates the arms 23 and 24, form phase~shifting networks arms 23 and 24. 10 for varying the phase of the grid-~cathode volt“ The operation of the mechanical parts of the age with respect to the anode-cathode voltage of system just described is brie?y as follows: When each of the two tubes 33 and 34. As is known, the handwheel 8 is turned to set the dial l3 to by varying the relative phase between the grid the desired bearing of the signaling head, the and anode voltages, it is possible to vary the arms 23 and 24 are rotated to cause one of the 15 length of time in each cycle during which the rollers to make contact with its resistance, there discharge tube is conductive whereby the average by operating one of the gaseous electron tubes 33 anode current is varied. or 34 and causing the motor ‘I to rotate in the It has been customary, however, to bring about proper direction. The rotation of the signaling the phase shift of grid voltage progressively in head by the motor also rotates the self~synchro~ the opposite direction from that of the passage nous generator 36 which reacts upon the motor of time as determined by the anode potential, 3'! which, in turn, tends to turn the arms 23 and whereas in the present invention the progressive 24 back to their original position which will. be phase shift occurs in the same direction as the reached when the signaling head I faces in the passage of time. Also, in the present arrange direction indicated by the setting of the dial [3. 25 ment the anode circuits contain the armature of The operation of the motor 1 and its control the shunt motor ‘I. When the armature revolves, will be evident from a consideration of Fig. 4. The motor 7 is of the type generally used as a direct current shunt motor. It has an armature a back E. M. F. will be developed in its windings which will oppose the applied alternating volt~ age during one-half of the cycle and will aid it 40 and a ?eld winding 4| which, however, is sep 30 during the other half of the cycle. Furthermore, arately excited from a source of direct current. the back E. M. F. will oppose the alternating Its armature 40 is in series with a source of alter voltage during that portion of the cycle in which nating current and with the anode~cathode cir~ one of the discharge tubes is conductive and dur~ cuit of either of the electron tubes 33 or 34 de ing which current ?ows through the armature. pending upon the position of the relay 42. The This has the effect of limitingr the maximum tubes 33 and 34 are three-electrode electron tubes speed at which the motor 4|] will run with any of the gaseous type. given setting of the variable resistance device. When the moving arm 43 of the relay connects with contact 44 as shown in Figure 4, the arma ture 40 is in series with the anode of the tube 33, while when the relay coil 42 is deenergized, its moving arm 43 will be in connection with con~ All this will better be understood by a con» sideration of Fig. 5 in which various voltages are plotted as ordinates against time as abscissae. If we assume that the arms 23 and 24 of the variable resistance are in such a position that tact 45, thereby placing the armature 40 in series they both contact only the insulating ring 2?}, with the anode of tube 34. It will be noted that which would be in a vertical position in Fig. 4, when 43 contacts 44, current impulses will flow 45 the alternating potential applied tothe grid of through the armature 40 in one direction while when 43 contacts 45, current impulses will ?ow through the armature in the opposite direction. The coil 42 of the relay is energized when the contacts 46, 41 are closed by the cam 22. each tube will be 180 degrees out of phase with the anode potential of that tube as indicated by the curve E91. The anode voltage is illustrated by the curve E19. Since in order for either tube This 50 to discharge, it is necessary that the grid voltage occurs when the arm 23 makes contact with re~ sistance 2‘! whereas the contacts 46, 51 are open when the arm 24 makes contact with the resist‘ ance 23. be above a certain minimum, which we may as» sume for the purpose of this discussion to be zero volts, it will be evident that neither tube can discharge under these conditions, and conse The cathodes of the tubes 33 and 34 are sup 55 quently the motor ‘I will remain at rest. plied with energy from the alternating current If, now, the handwheel be turned so that one source through a transformer having a primary of the arms makes contact with its resistance, winding 48 and two secondary windings 49 and 50, say, as shown in Fig. 4, so that the arm 23 makes the cathode of tube 33 being supplied from the contact with resistance 21, the contacts 46 and secondary winding 49 while the cathode of tube 60 47 will be closed by the cam 22 and consequently 34 is supplied from the secondary winding 50. the relay coil 42 will be energized closing conThe anode circuit of tube 33 is returned to its tacts 43 and 44 and opening the anode circuit to cathode by means of the conductor 5| which is the tube 34. Under suitable conditions, tube 33 connected to a center tap on the secondary can then operate, while tube 34 is isolated from winding 49. Likewise the anode circuit of the 65 the circuit. The alternating potential which is tube 34 is returned to its cathode by means of now applied to the grid of tube 33 is less than the conductor 52 which is connected to a center 180 degrees out of phase with the anode poten tap on the secondary winding 50. tial of that tube as indicated, for example, by The grid cathode circuits of the tubes 33 and the dotted curve Egg. Let us assume that the 34 are energized through the transformer 53 70 minimum anode potential required to effect a which is supplied from the same source of alter discharge of the tube is the value a, as indi nating current as the anode circuits. The trans cated by the line Ep(minimum). It will now be seen former 53 has a primary winding 54 and two that in a positive half cycle of anode voltage, as secondary windings 55 and 56, each of the latter indicated by the curve Ep, when the anode Volt being provided with a center tap. The grid cath age reaches the value a, the grid voltage Egg is 2,406,855 6 5 still positive. At this point, therefore, the dis charge will take place and anode current will flow through the armature 40 to the end of the positive half cycle when the anode voltage again becomes negative. In the latter condition the tube cannot, of course, conduct current since it is a uni-directional device, but in the succeeding positive half cycle, the same effect will again 00our. The armature 40 will, therefore, be ener gized with uni-directional current impulses caus ing it to rotate. As the armature gains in speed, a back E. M. F. will be generated. Now. it will be noted from Fig. 5 that at the instant the anode voltage is again moved back to its original position, mak~ ing contact with the insulating ring 29, at which time the grid voltage of tube 33 will again be exactly 180 degrees out of phase with its anode voltage so that current can no longer flow, through the motor armature which consequently will cease turning. Should the inertia of the parts be such that the motor revolves the signaling head 1 beyond the desired position, the self-synchronous motor 31 will likewise rotate the arms 24 beyond the insulating segment 29 so that the arm 24 makes contact with the resistance 7.8 and also causing the contacts 46, 4'! to open and thereby to de reaches the value b, the grid voltage Egz has energize the relay 42 which permits contacts reached zero. 43, 45 to close. The tube 34 is, therefore, ener gized to rotate the motor in the reverse direc tion to bring the signaling head back into the Therefore, the back E. M. F. can increase until it has the Value —(b-a), for if it becomes greater than this, no further current impulses will be supplied to the motor armature, wherefor its speed will decrease. This is because desired position. a back E. M. F. of the value —(b—a) is su?i~ cient to reduce the anode voltage to its minimum at the very ?rst turning of the handwheel from permissible value at the instant the grid voltage It should be noted that the resistance 21 (or 28) is varied from an in?nite to a ?nite value its position of rest. Upon continued turning of the handwheel, the resistance is ?nally gradually reaches its minimum value so that no discharge of the tube occurs. If, now, the arm 23 were 25 reduced to zero. Now, since maximum torque is turned still further in a clockwise direction, the grid voltage curve Egz would be displaced still more to the right in 5 and consequently the back E. M. F, and therefore also the speed of the motor could build up to a higher value than 30 previously. ' It should be noted that the progressive phase shift of grid voltage with respect to anode voltage developed by the motor while the resistance is near its maximum ?nite value, as explained above, it is highly desirable to place a limitation upon the speed with which the handwheel is turned so as to give the motor time to set the signaling head into rotation while maximum torque is still available. This is the function of the inertia weight I1, shown in Figure 1, although any other suitable device may be substituted for in starting the motor is in the same direction as the passage of time as determined by the anode 35 limiting the speed at which the handwheel 8 can voltage, as shown in Fig. 5. This is made pos sible by choosing the correct polarity for the primary of transformer 53, and results in the ap— plication to the motor of maximum power. The motor consequently develops maximum torque on 40 starting. be turned, particularly at starting. On the other hand, the resistances can be tam‘ pered or arranged in steps of any desired mag nitude in order to obtain any desired speed at the various settings of the resistance control arm. It may, for example, be desired to have the motor rotate extremely slowly near the position of bal From the above it will be evident that the tube ance and when the handwheel is only very 33 with the phase shift control of its grid voltage slightly displaced while much faster rotation is in combination with the shunt motor 1 offers an to occur when the handwheel is displaced a arrangement for obtaining a variable motor greater amount. For this purpose the resistance speed with full torque at starting which obvi variation is made small near the position of bal ously may be useful in a number of instances ance and is made to reduce rapidly for greater other than the example herein given. It is par displacements of the resistance arm. ticularly useful where the inertia of a heavy mass The handwheel 8 need, of course, not be man 50 must be overcome in order to set it in motion. ually operated, but it can be controlled by an Referring again to Fig. 4 it will be evident that automatic device, such as, for example, a gyrowhen the arm 24 makes contact with the resist compass in order to keep the device I facing in ance 28, the contacts 46, 41 will be opened and a desired direction. contacts 43, 45 closed, whereby the tube 34 be The system shown in Figs. 6 and '7 is in many comes active to rotate the armature Ml in the ways superior to the arrangement shown in Fig. reverse direction from before. The control of 4. The modified arrangement is considerably the potential of the grid of tube 34 is similar simpler in as much as one of the transformers to that described with reference to tube 33 and and the chokes are eliminated. Furthermore, a the back E. M, F. generated in the armature of very smooth control of the'signaling head or of the motor ‘I likewise brings about an automatic speed variation can be obtained. limitation of the motor speed. The system as de' In Fig. 6 the motor 1 is likewise of the direct— scribed, therefore, not only provides a 'motor current shunt motor type having its ?eld wind speed control, but also provides this control for ing 52 separately excited from a direct-current both directions of rotation. source. The gaseous electron tube 63 has its In the system as applied to the rotation of the anode-cathode circuit supplied with alternating signaling head shown in Fig. 1, it will now be current and contains the armature 6! of the mo understood that when the handwheel has been tor ‘l in series with it. A relay 65 is provided rotated to set the dial 13 in a given position which which is a double-pole, double-throw relay and may result, for example, in setting the arm 23 on the resistance 21, as shown in Fig. ‘l, the 70 serves to reverse the connections of the armaa ture SI of the motor ‘I. The potential applied motor 1 will operate to rotate the signaling head to the grid of the tube 63 is obtained from the I into the desired direction. At the same time, - however, the self-synchronous generator 36 is being rotated and is effecting a rotation of the direct current source through the current~limit ing resistor 64 and the variable potentiometer self-synchronous motor 31, whereby the arm 23 75 resistance 66. This resistance may be uniform or 7 2,406,855 tapered or stepped as mentioned above with re spect to the resistances ‘.27 and 28 of Fig. 1i. A. convenient mechanical form of the latter is shown in Figure 7. This variable resistance is mounted on the shaft 2! in Figure 1 in place of the device there shown and described in connec tion with Figure 4. The contact arm 61 normally makes contact with a conducting segment 68 mounted upon a suitable disc of insulating ma terial 59. On either side of the segment 68 are the resistances "ill and "H with which the arm 6'! makes contact when it is moved to one side or the other of segment A cam 72 is also provided ?xed to the shaft 2! so that it rotates with the arm 67. The cam ‘i3. is arranged so that the con tacts l3, W1 are open when the arm til engages the segment 63 as well as while it engages the re sistance ll. On the other hand, the contacts 73, M are closed while the arm 6'! engages the resist 8 below the critical potential and consequently to _cut off conduction through the tube. Thereupon the armature ill, no longer being supplied with current impulses, tends to slow down and the back E. M. F. consequently decreases to a point where it is no longer sufficient to neutralize the applied positive grid potential whereupon the tube again becomes conductive. This phenome non is repeated and results in the armature at taining a constant speed determined by the set ting of the arm ll'l along the resistance ‘Ill or ‘II. It will be evident that not only at starting but also at all speeds full torque is available, the ar~ mature being supplied with current impulses just sufficient in number to keep its speed at the value determined by the setting of the resistance 66 and the back E‘. M. F. developed by the armature. As applied to the rotation of the signaling head, it has already been mentioned that the arm 61 is to be ?xed to the shaft 2| of Figure 1. Thus, when the handwheel 8 is displaced in order to change the position of the signaling device ance ‘Hi. When the contacts 13, ‘M are closed, the coil "E5 of the relay is energized from the direct current supply, thereby connecting the ar mature ii! in the anode-cathode circuit of the I, the arms 5'! will be moved onto one or the tube in one direction; but when contacts ‘l3, ‘l4 of the resistances ‘Ill, ‘H and will be moved open, the relay coil is doenergized and the 25 other along the resistance by an amount depending armature is connected in the anode circuit in the upon the amount of change of position which reverse direction. Since current always ?ows is desired as indicated on the dial coupled to the through the anode circuit in the same direction, handwheel 8. The subsequent rotation of the the motor armature will rotate in one direction motor ‘l in turning the signaling device into the 0 the other, depending upon whether the arm desired position also brings about the rotation s contact with the resistance “Hi Or with the of the se1f~synchronous generator 35 and the s'istancc ‘H. self-synchronous motor 31, \ ch through gears The outer ends of the resistances Hi and ‘H are 38 and 39 operates to return the arm. E57! toward connected to the source of direct current while the segment 68 which will be reached when the the inner ends, nav ely those adjacent to the signaling device has been rotated into the proper segment 68, are connected together and through position. When this position is reached, the a high resistance to the segment lit and thence motor stops. through. the resistance l'li to the cathode of tube Since the motor speed is dependent upon the The gr'l cathode circuit of the tube thus position of the arm 67 on the resistance ‘It! or "H traced from the id of the tube through V as explained above, it will be understood that ' ...- resistance 534 to the in Ell. Then when the as the signaling device approaches the desired arm in contact with segment the circuit continues through resistances "ll and iii to the cathode, and when the is in contact with the position and consequently as the arm ?ll ap proaches the segment 58, the motor speed gradw ually reduces, so that the signaling device comes resistances ‘is or ll, the circuit continues through 45 to a smooth stop. There is substantially no teud~ a portion of the respective resistance to the re ency for it to overshoot the desired position, sistance Ill and the cathode of the tube. It will be noted that the resistances "ill and ‘H are each potentiometers connected across a source of (ii although if it should do so, the motor will re~ verse at slow speed to return to the correct posi-~ tion. Extremely accurate settings can be made reel: current, their outer terminals being positive 50 with the added advantages of high speed for and their inner terminals negative. Thus, as the large position changes, low speed for small i G? is moved outward, away from the segment changes, full torque at all speeds; and at the along either of the resistances N or ‘H, the sulting same time in low the manufacturing apparatus required and ismaintenance simple, d of tube E3 becomes more and more positive with respect to the cathode. costs. [is soon as the grid of tube 63 becomes positive, The arrangement shown in Figure 4 employs the tube will become conductive and uni-direc be twodispensed tubes, butwith it is by evident replacing that the one relay of these $2 with tic-pal, current impulses will flow in the anode circuit through the armature 6| causing it to lo a double-pole, double~throw relay arranged in tate. The rotation of the armature in the direct 60 a manner similar to that shown in Figure 6. current ?eld produced by the winding 62 causes While my invention has been described chie?y a back E. M. F. to be induced in the armature as desired applied position, to a system it has for been moving mentioned a body that intomy winding. The armature, it will be noted, is con nected through the conductors l8 and Til across invention also provides a variable speed d ' ' the terminals of the resistance ‘l6 which is in the system. As such, it can readily be app] to grid cathode circuit as above described. The the operation of machines at desired variable back E. M. F. is thus impressed across this resist» speeds. In this case it will be understood. of ance and is in the opposite direction to the grid course, that the coupling between the moved de cathode potential supplied through the resist vice and the resistance device represented in ance ‘ill or ‘H. As the armature El speeds up un» der the influence of the anode current, the back M. F. builds up to a greater and greater value until it is su?‘iciently high to neutralize the grid potential supplied through the resistances l0 and "H and thereby cause the grid potential to fall Figure and ill’ and 1 by the theattendant self-synchronous gearing can machines be ornit ted. It will also be evident that any desired sequence of fast or slow operation can readily be obtained by suitably proportioning the steps into which the resistance means are divided and 2,406,855 10 the manner in which the contacting arm is moved over them. Having now described my invention, I claim: 1. In a submarine signaling system having a signaling head, means for controlling the posi tion of said signaling head including in combi nation with said signaling head, a shaft on which said signaling head is mounted, an electric mo tor for rotating said shaft and means for con trolling the operation of said motor including a differentially controlled rotary system having means for controlling the speed and direction of rotation of said motor, said means having a point of stationary balance, means adapted to be rotate-d in one direction to rotate said shaft and signaling head clockwise and adapted to be rotated in a reverse direction to rotate said shaft counter clockwise, and a follow-up device operative through said rotary system to bring said means for controlling the speed and direction of rota tion of said motor to said point of stationary bal ance for each operation of positioning said signal ing head. 2. In a submarine signaling system having a signaling head, means for controlling the position of said signaling head including in combination with said signaling head, a shaft for turning the same, an electric motor for rotating said shaft. 4. In a submarine signaling system having a signaling head, means for controlling the position of said signaling head including in combination with said signaling head, a shaft for turning the same, an electric motor for rotating said shaft, a control switch means for starting and stopping said motor and controlling the direc tion of rotation thereof and a differential system operating said control switch means, said sys tem including means for manually turning said control switch in either direction, means for returning the control switch to its normal posi tion, said means including means operatively associated with the signaling head shaft, said con trol switch including means for applying direct current impulses to said motor, the direction of said impulses controlling the direction of rota tion of the motor. 5. In a submarine signaling system having a 20 signaling head, means for controlling the posi tion of said signaling head including in combina tion with said signaling head, a shaft for turn ing the same, an electric motor for rotating said shaft, 2. control switch means for starting and stopping said motor and controlling the direc tion of rotation thereof and a differential sys tem operating said control switch means, said system including means for manually turning said means for controlling the operation of said mo control switch in either direction, means for re tor and the position of the signaling head includ ing a control switch for starting and stopping said motor and controlling the direction of rotation thereof and differential rotary means for oper— ating said control switch, said means having means manually operative to turn the control switch a desired amount in one direction and also having means operating through the signaling head shaft to return the control switch the de— sired amount advanced. 3. In a submarine signaling system having a signaling head, means for controlling the posi~ tion of said signaling head including in combi nation With said signaling head, a shaft for turn~ ing the same, an electric motor for operating said turning the control switch to its normal position, said means including means operatively asso ciated with the signaling head shaft, said control switch including means for applying direct cur rent impulses to said motor to rotate the motor in the direction desired. 6. In a submarine signaling system having a signaling head, means for controlling the posi tion of said signaling head including in combi nation with said signaling head a shaft on which shaft, a control switch means for starting and. said signaling head is mounted, an electric motor for rotating said shaft, means for controlling the operation of said motor including means having a neutral position but adapted to be rotated in one direction to operate said motor for rotation of said signaling head clockwise and adapted to be stopping said motor and controlling the direc tion of rotation thereof and a differential system operating said control switch means, said sys rotated in a reverse direction to operate said motor for rotation of said signaling head coun ter-clockwise, said means including a follow-up tem including meansfor manually turning said device operatively associated with the rotation of said signaling head to cause said rotatable means to be returned to its normal neutral posi tion. HOWARD A. SATTERLEE. control switch in either direction, and means for returning the control switch to its normal position, said last means including means oper atively associated with the signaling head shaft.