ON MODELING OF MARINE THRUSTERS FOR UNDERWATER VEHICLES

This paper deals with the problem of modeling of marine thrusters especially for underwater vehicules. It examines several models for ducted propeller type marine thrusters. First, reported main thrusters dynamics are reviewed. Second, a study of the validity of basic hydrodynamic relation is carried on simulation. Experimental testing validates the steady-state of marine thruster models presented, and raises questions and especially on the transient model and then the thrust control problem.