Power Distribution in Propulsion System of Semiautonomous Underwater Vehicle

摘要

This paper presents methods of power distribution in the propulsion system of a small torpedo-shape underwater vehicle maneuverable in three dimensions. It concentrates on finding an optimal thrust allocation among thrusters for demanded values of propulsive forces and moments. The proposed approach is directed towards obtain high propulsive efficiency necessary to realize required mission. Two described methods allow minimizing the propulsion system's power consumption necessary to produce the required thrusts.