Luca Pivano Thrust Estimation and Control of Marine Propellers in Four - Quadrant Operations

Speed and position control systems for marine vehicles have been subject to an increased focus with respect to performance and safety. An example is represented by drilling operations performed with semi submersible rigs where the control of position and heading requires high accuracy. Drifting from the well position could cause severe damage to equipment and environment. Also, the use of underwater vehicles for deep ocean survey, exploration, bathymetric mapping and reconnaissance missions, has become lately more widespread. The employment of such vehicles in complex missions requires high precision and maneuverability. This thesis focuses on the thrust estimation and control of marine propellers with particular attention to four-quadrant operations, in which the propeller shaft speed and the propeller in ‡ow velocity (advance speed) assume values in the whole plane. In the overall control system, propellers play a fundamental role since they are the main force producing devices. The primary objective of the low level thruster controller is to obtain the desired thrust from the propeller regardless the environmental state. During operations, propellers are often a¤ected by thrust losses due to e.g. changes in the in-line water velocity, cross ‡ows, ventilation, in-and-out-of water e¤ects, wave-induced water velocities, interaction between the vessel hull and the propeller and between propellers. Propellers may thus work far from ideal conditions. Therefore, the knowledge of the propeller thrust and torque, together with forces induced by the interaction between the vehicle and propellers and between propellers, is fundamental to achieve high control performance. Unfortunately a propeller system is usually not equipped with thrust and torque sensors, therefore thrust losses are not directly measured. Motivated by this, a new four-quadrant thrust estimation scheme is presented, extending previous results valid for propeller operating in two quadrants. Based on shaft speed and motor torque measurements, the scheme involves a nonlinear observer for the propeller torque that shows ii Summary stability and robustness for bounded modeling and measurement errors. The propeller thrust is computed as a static function of the propeller torque. The performance is demonstrated in experimental tests, showing improved accuracy in the thrust reproduction with respect to the direct use of the four-quadrant propeller characteristics. A nonlinear observer for the torque loss estimation, similar to the one implemented in the thrust estimation scheme, is included in a new four-quadrant nonlinear thrust controller, designed for calm and moderate sea conditions. The control strategy is based on a shaft speed controller where …