The invention relates to a method for controlling a thruster of a marine vehicle (1) including a body (2) and a thruster (3) mounted on the body (2) of the vehicle (1). The vehicle (1) is at least partially submerged in a liquid, moves, relative to the liquid, along a movement axis (x) in a movement direction, and rotates about at least one axis of rotation perpendicular to the movement axis (x) at a rotational speed. The thruster (3) includes an upstream propeller and a downstream propeller along the movement axis in the movement direction. The method includes a stabilization step, during which the thruster is controlled such that the main axis of the upstream flow generated by the upstream propeller at a given time t is an estimated main axis on which a position (P) of a center of the downstream propeller, substantially located on the axis of rotation of the downstream propeller, is estimated to be located at a later time t+dt, at which the flow generated by the upstream propeller at the given time t reaches the downstream propeller. The estimated main axis (xe) depends on the rotational speed of the vehicle.
Marine vehicle thruster control method
2021-08-05
Patent
Electronic Resource
English