Benjamin Eberlei has an example posted to his blog of a use of Zend_Soap_Server and Zend_Soap_AutoDiscover in more of a Model/View/Controller setup.

The following example provides you with a working Soap server inside a Zend_Controller_Action, although I discourage the use of it and would suggest using a dedicated script outside the dispatching process to gain multitudes of performance, which webservices often require.

His setup request two routes to be added - one that points "server" to "serverActioin" and the other that points "wsdl" to "wsdlAction".