Dynamic Model for Thrust Generation of Marine Propellers

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 nonzero relative water speed. This paper derives a large signal dynamic model of propeller that includes the e ects 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.