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MODELISATION ET COMMANDE EN POUSSEE DE MOTEURS A COURANTS ALTERNATIFS EN PROPULSION NAVALE

Abstract : This work deals with the thrust control for marine electric thrusters. In order to simplify the problem, we consider the case of the thrusters which equip the Autonomous Underwater Vehicles (AUV) or Remotely Operated underwater Vehicles (ROV).

The first part of this work presents the thruster modelling and several thrust controls find in the literature. The most of these controls are based on the inverse models, sometimes with a cascade regulation loop.

In a second part an original control law is proposed. This one is based on three parts : the observation of the hydrodynamic torque, the thrust estimation by the inverse model and the use of PID controllers. A comparative study with the existing control laws is undertaking in simulation.

Finally, the last part relates to the design of a thruster test stand. This test will allow to validate the models and the control laws used for the thrust control of AUV and ROV.
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https://tel.archives-ouvertes.fr/tel-00128368
Contributor : Cédric Guibert <>
Submitted on : Wednesday, January 31, 2007 - 7:51:32 PM
Last modification on : Wednesday, February 13, 2019 - 3:20:03 PM
Long-term archiving on: : Tuesday, April 6, 2010 - 8:18:12 PM

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  • HAL Id : tel-00128368, version 1

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Cédric Guibert. MODELISATION ET COMMANDE EN POUSSEE DE MOTEURS A COURANTS ALTERNATIFS EN PROPULSION NAVALE. Automatique / Robotique. Université de Nantes, 2005. Français. ⟨tel-00128368⟩

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