Title :
Development, comparison, and preliminary experimental validation of nonlinear dynamic thruster models
Author :
Whitcomb, Louis L. ; Yoerger, Dana R.
Author_Institution :
Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA
fDate :
10/1/1999 12:00:00 AM
Abstract :
This paper examines dynamical models for bladed-propeller-type marine thrusters. Previously reported thruster dynamics models are reviewed, and a simplified model is proposed. Experimental testing of both the transient and steady-state performance of a marine thruster corroborates previously reported data, validates the simplified thruster model, and raises new questions. A companion paper reports preliminary experiments in the design and testing of thrust controllers which incorporate the dynamical thruster models described in the present paper
Keywords :
dynamic response; electric propulsion; fluid dynamics; nonlinear control systems; position control; underwater vehicles; bladed-propeller-type marine thrusters; dynamic response; dynamical thruster models; experimental testing; marine thruster; marine vehicle control; nonlinear dynamic thruster models; simplified model; steady-state performance; thrust controllers; transient and steady-state performance; Automatic control; Hydrodynamics; Marine vehicles; Propellers; Propulsion; Remotely operated vehicles; Steady-state; Testing; Underwater vehicles; Vehicle dynamics;
Journal_Title :
Oceanic Engineering, IEEE Journal of
