An experimental study of the response of small tunnel thrusters to triangular and square wave inputs
Cody, Steven E.
Healey, Anthony J.
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The response of small tunnel thrusters to triangular and square wave changes in applied voltages to the thruster motor is studied. Previous mathematical models have attempted to identify the dynamic characteristics in thruster responses in order to minimize limit cycling in underwater vehicle position control. These experiments validate the effect of fluid inertia in the tunnel for long and shorter period commands. Additionally, the presence of a transient lag between changes in propeller speed and affected water column velocity has been identified which delays and reduces the transient peak thrust for shorter period triangular waves and square wave input signals.
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