Collaboration diagram for Thruster:

The thruster model is a interpolation in a 2 dimensional matrix of force in newton as a function of RPS and PD ratio. The thruster generates a force along an axis which is input to the model. The rotation functionality of the attachment point is used with the thruster object to represent thrusters and the rotation functionality is used in order to represent rotating azimuth thrusters. The thruster is a current producer which generates a jet stream in the sea environment.

Input ports

Name	Width	Description
AxisNED	1
PositionNED	3
Pitch	1
N	1

Output ports

Name

Width

Description

ForceNED

3

The force of the thruster in north-east-down coordinates

PositionNED

3

The position of the thruster in north-east-down coordinates

Configuration parameters

Name	Width	Description
ForceMax	1
Diameter	1
NAxis	1	The RPS axis of the thruster data
PitchAxis	1	The PD axis of the thruster data
ThrusterData	1	The two dimensional map between the current RPS and PD of the thruster and the produced thrust