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This paper examines dynamical models for bladed-propeller-type marine thrusters. Previously reported thruster dynamics models are reviewed, and a simplified model is proposed. Experimental testing of both the transient and steady-state performance of a marine thruster corroborates previously reported data, validates the simplified thruster model, and raises new questions. A companion paper reports preliminary experiments in the design and testing of thrust controllers which incorporate the dynamical thruster models described in the present paper.
Whitcomb et al. (Fri,) studied this question.