Title :
Marine Propeller Thrust Estimation in Four-Quadrant Operations
Author :
Pivano, L. ; Smogeli, N. ; Johansen, T.A. ; Fossen, Thor I.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim
Abstract :
This paper proposes a scheme for thrust estimation of a marine propeller over the full four-quadrant range of propeller shaft speed and vessel speed. Based on shaft speed and motor torque measurements, the scheme involves a nonlinear observer for the propeller torque that shows stability and robustness for hounded modeling and measurement errors. The propeller thrust is computed as a static function of the propeller torque. The performance has been demonstrated in experimental tests
Keywords :
marine vehicles; nonlinear control systems; observers; propellers; robust control; shafts; torque control; velocity control; four-quadrant operations; hounded modeling; marine propeller; motor torque measurements; nonlinear observer; propeller shaft speed; static function; thrust estimation; vessel speed; Ambient intelligence; Loss measurement; Nonlinear control systems; Position measurement; Propellers; Propulsion; Shafts; Torque control; Torque measurement; USA Councils;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377281
