スラスターの推力制御

抄録

Precise automatic control of an underwater vehicle during maneuvering and dynamic positioning requirse accurate control of the thrusters. This paper focuses exclusively on the dynamics of electrically actuated thrusters typically employed on dynamically positioned vehicles, and on the thrust control of marine thrusters. A nonlinear mathematical model of a thruster was constructed using the results of experiments carried out to determine the thruster dynamics and an H_∞ controller combined with feedforward control was designed. Laboratory experiments and simulations of step and sinusoidal responses are carried out to demonstrate the effectiveness of the design.