Mathematical models of propeller thrust and torque are traditionally based on steady state thrust and torque characteristics obtained in model basin or cavitation tunnel tests. Experimental results showed that these quasi steady state models do not accurately describe the transient phenomena in a thruster. A recently published dynamic model was based on the experimental observations. Describing zero advance speed conditions accurately, this model, however, does not work for a vessel at non- zero relative water speed. This paper derives a large signal dynamic model of propeller that includes the eects of transients in the ow over a wide range of operation. The results are essential for accurate thrust control in dynamic positioning and in underwater robotics.
|Title of host publication
|Manoeuvring and control of marine craft 2000 (MCMC 2000) : Proceedings volume from the 5th IFAC conference.
|Mogens Blanke, M.M.A. Pourzanjani, Z. Vukić
|International Federation of Automatic Control
|Published - 2000
|5th IFAC Conference on Manoeuvring and Control of Marine Craft - Aalborg, Denmark
Duration: 23 Aug 2000 → 25 Aug 2000
Conference number: 5
|5th IFAC Conference on Manoeuvring and Control of Marine Craft
|23/08/2000 → 25/08/2000
- Dynamic positioning
- Underwater robotics
- Thrust control