Model of Propeller for the Precision Control of Marine Vehicle

Abstract:

This paper describes mathematical models of propeller thrust and torque. The models are traditionally based on steady state thrust and torque characteristics. These characteristics usually are obtained in model towing tanks. Often experimental results are showed that these quasi steady state models do not accurately describe the transient phenomena in a thruster of the marine mechatronic system. Nowadays papers published in conference proceedings includes dynamic models usually was based on the experimental observations. Describing zero advance speed conditions accurately, this model however does not work for a marine vehicle at nonzero relative water speed. This paper derives a dynamic model of propeller that includes the effects of transients in the flow over a wide range of sea operation. The results of this trials are essential for accurate thrust control in precise control of marine vehicle.

• Periodical: Solid State Phenomena (Volume 180)
• Pages: 323-330
• DOI: https://doi.org/10.4028/www.scientific.net/SSP.180.323
• Online since: November 2011
• Authors: Józef Małecki
• Keywords: Marine Vehicle, Precise Control, Propeller, Thruster

References

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[7] L. L. Whitcomb, D. Yoerger, Development, comparison, and preliminary experimental validation of nonlinear dynamic thruster models. IEEE Journal of Oceanic Engineering, (1999) 481-494. Appendix 1. Nomenclature of a Propeller Ap Propeller disc area [m2] u Surge speed of ship [m/s] up Axial flow velocity in disc [m/s] ua Ambient water velocity [m/s] n Propeller shaft speed [rad/s] t Thrust deduction number [-] w Wake fraction number [-] mf Mass of in control volume [kg] m Mass of vehicle [kg] df0 Linear damping [kg/s] df Quadratic damping [kg/m] Jm Inertia for motor/propeller [kgm2] Qm Motor control torque [Nm] D Propeller diameter [m] T Propeller thrust [N] Q Propeller torque [Nm] J0 Advance ratio [-] KT Thrust coefficient [-] KQ Torque coefficient [-] ρ Density of water [kg/m]3 βi Angle of attack [rad] Tnn Thrust coefficient [kgm] Tnua Thrust coefficient [kg] Qnn Torque coefficient [kgm]2 Qnua Torque coefficient [kgm] Appendix 2. Thrust and Moment Parameters [1] Tnn 3,523 Tnua0 -23,74 Qnn 0,1559 Qnua0 -0,9148