Dynamic effects were reported in the literature in recent literature but mathematical models of the axial flow phenomena only covered near-zero speed conditions. These models could not be used for conditions with current or for ships at voyage speed. A large signal model was developed. A nonlinar controller that provide improved control. The model and the new control concept explanined phenomena with overshoot in propeller speed controls observed during many years and proposed a more accurate control system. The results are important for accurate manoeuvring of autonomous underwater vehicles and robots.
|Effective start/end date||01/01/2000 → 01/01/9999|