On Modeling of Marine Thrusters for Underwater Vehicles

Aït-Ahmed, Nadia; Vonnet, Matthieu; Loron, Luc; Guibert, C.

doi:10.3182/20070919-3-hr-3904.00038

Cited by 3 publications

(3 citation statements)

References 9 publications

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“…Note that measure or estimation of the axial fluid velocity close to the propeller is not necessary when using this model, contrary to [1], [2], [8], [12], [13], [14].…”

Section: Resultsmentioning

confidence: 98%

Marine propeller dynamics modeling using a frequency domain approach

Vonnet¹,

Aït-Ahmed²,

Loron³

2008

2008 5th International Multi-Conference on Systems, Signals and Devices

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This paper reports the modeling, identification and experimental validation of a marine propeller dynamic model. In fact, the existing models \vell reproduce propeller thrust and torque, but only at low dynamics. In practice, the rate of change of propeller rotational speed is then limited by the thruster controllers to avoid unmodeled phenomena. Otherwise important tracking error can occur during transient responses. In both cases, the dynamic performances of the whole controlled system are limited. To avoid this difficulty, we propose a dynamic model for marine propeller based on a frequency domain approach using a Wiener-Hammerstein model. The identification is carried out using a harmonic study of the asymptotic response of the model to a sinusoidally varying input. Simulations and experiments are performed to evaluate the performances of the proposed model.

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“…Note that measure or estimation of the axial fluid velocity close to the propeller is not necessary when using this model, contrary to [1], [2], [8], [12], [13], [14].…”

Section: Resultsmentioning

confidence: 98%

Marine propeller dynamics modeling using a frequency domain approach

Vonnet¹,

Aït-Ahmed²,

Loron³

2008

2008 5th International Multi-Conference on Systems, Signals and Devices

Self Cite

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“…The hydrodynamic model (propeller model) used in most scientific works [1], [4], [5], [18], is the steady-state model, this model is simple and was been verified in [19], [20], but there are other models that are more complex and require a lot of measurement to identify their parameters. This model is characterized by a coefficient of thrust noted K T and a coefficient of the hydrodynamic torque noted K Q , the block diagram is presented in the Figure 3.…”

Section: Figure 2 Motor Angular Velocity Response For the Input Volta...mentioning

confidence: 99%

A marine thruster’s model identification based on experimental-simulation approach

Laidani

Bouhamida

Bellahcene

2022

IJEECS

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In recent years, underwater vehicles play a very important role in the marine field, and tasks cannot be accomplished quickly and accurately without the use of such devices. Despite the progress achieved, these vehicles still have prob- lems with their controls in order to have a very good dynamic positioning or a path tracking accurately, and these problems have a direct link to their thrusters, either by negligence or by ignorance of its mathematical model. Several works were carried out to have an accurate model of them, but its behavior is still diffi- cult to be described and it strongly influences the behavior of a vehicle in which it is integrated. In this work we try to deal this problem in the aim to iden- tify a marine thruster designed by us using a low-cost test bench and a hybrid identification approach, which combines the both experimental and simulation parts. The thruster will be integrated on a remotely operated vehicle under devel- opment by AVCIS-Lab to make simulation using UUV (unmanned underwater vehicle) Simulator and ROS (Robot Operating System) toolbox under Matlab. The outcomes will be presented at the end of this paper.

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“…Autonomous Intervention ROV (Ait-Ahmed et al, 2007). 이것은 무차원 항(Non-dimensional term)인 진행비 (Advance ratio)의 함수로 표현되며, 프로펠러의 직경(Diameter), 회전속도(Rotation velocity), 프로펠러의 이동 속도가 주요 인자 이다.…”

Section: Experimental Study On Propulsion Characteristic Ofunclassified

Experimental Study on Propulsion Characteristic of Autonomous Intervention ROV

Yeu¹,

Lee²,

Chae³

et al. 2019

J. Ocean Eng. Technol.

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In autonomous interventions using an underwater vehicle with a manipulator, grasping based on target detection and recognition is one of the core technologies. To complete an autonomous grasping task, the vehicle body approaches the target closely and then holds it through operating the end-effector of the manipulator, while the vehicle maintains its position and attitude without unstable motion. For vehicle motion control, it is very important to identify the hydrodynamic parameters of the underwater vehicle, including the propulsion force. This study examined the propulsion characteristics of the autonomous intervention ROV developed by KRISO, because there is a difference between the real exerted force and the expected force. First, the mapping between the input signal and thrusting force for each underwater thruster was obtained through a water tank experiment. Next, the real propulsion forces and moments of the ROV exerted by thrusting forces were directly measured using an F/T (force/torque) sensor attached to the ROV. Finally, the differences between the measured and expected values were confirmed.

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On Modeling of Marine Thrusters for Underwater Vehicles

Cited by 3 publications

References 9 publications

Marine propeller dynamics modeling using a frequency domain approach

Marine propeller dynamics modeling using a frequency domain approach

A marine thruster’s model identification based on experimental-simulation approach

Experimental Study on Propulsion Characteristic of Autonomous Intervention ROV

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