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

Volume

24

Issue

4

fYear

1999

fDate

10/1/1999 12:00:00 AM

Firstpage

481

Lastpage

494

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;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/48.809270

Filename

809270