Torque estimation in marine propulsion systems

An augmented Kalman filter for torque estimation in marine propulsion-system drive trains is presented. Propeller and motor excitations responses are estimated based on a dynamical model of the system inboard shaft measurements. Input affecting propulsion systems signals whose statistical properties vary between finite time intervals. Hence, this paper, characterized as quasi-stationary with bounded power spectral density. Given that upper bounds densities known prior to estimation, it shown linear time-invariant input-and-state observer, minimizing worst-case errors, can be synthesized by conventional Kalman-filtering techniques. Experiments have been conducted laboratory-scale test bench assess applicability proposed observer use systems. The was built emulate behavior full-scale operated ice other high load conditions. Estimation results from full-size underwater mountable azimuthing thruster also Experiment show at all locations interest engine-propeller drivetrain accuracy few indirect measurements convenient shaft.