Computer-controlled synchronous rotation

A system for synchronizing rotation of a plurality of mainframes of an airship, the system comprising:

• a plurality of belt drive systems configured to mechanically rotate the plurality of mainframes, respectively;
• a central control system for sending a timing instruction to cause the plurality of mainframes to rotate synchronously about their respective rotational axis, wherein the plurality of mainframes are axis-aligned about their respective rotational axes and the timing instruction specifies a desired angular displacement of the plurality of mainframes;
• and
• a plurality of control units for controlling the plurality of belt drive systems to rotate the plurality of mainframes, respectively, wherein, for each mainframe of the plurality of mainframes, the associated control unit is configured to:
• receive the timing instruction from the central control system;
• determine, according to the timing instruction, a rotation instruction based on a size of the mainframe and the desired angular displacement;
• and
• instruct the belt drive system controlled by the control unit to rotate the mainframe based on the rotation instruction.