Estimation of propeller torque in azimuth thrusters ?

摘要

In this paper, the problem of estimating unknown propeller torque excitations and angular velocities in an azimuth-thruster driveline is considered. A dynamical model of the driveline has been derived and is used to construct a fixed-lag Kalman-filter-type smoother for estimating the propeller torque from indirect measurements. The proposed method has been validated in a simulation case study.