Development, comparison, and preliminary experimental validation of nonlinear dynamic thruster models

This paper examines dynamical models for bladed-propeller-type marine thrus ters, Previously reported thruster dynamics models are reviewed, and a simp lified model is proposed. Experimental testing of both the transient and st eady-state performance of a marine thruster corroborates previously reporte d data, validates the simplified thruster model, and raises new questions, A companion paper reports preliminary experiments in the design and testing of thrust controllers which incorporate the dynamical thruster models desc ribed in the present paper.