Four quadrant dynamic model of the AUV II thruster

The dynamic behavior of the AUV II thruster was mathematically modeled by a four quadrant mapping of the propeller blade lift/drag coefficients as a function of fluid effective angle of attack. The model was validated with experimental transient response test tank data of the actual AUV II thruster, yielding improved predicted results with respect to previous thruster models. An open loop static mapping control law was formulated, simulated, and evaluated utilizing the new model.