抄録
Thrusters with a single propeller are used for underwater robots. The thrust force of the thruster differs according to the rotational direction of the propeller and cannot be measured directly because of the use of magnet couplings. We have been developing a dual-shaft propeller thruster having sensing parts of rotational speed of propellers. In this paper, we examine a thruster control system using PIC. The experimental results show the effectiveness of the control system.
