Jet-boats perform remarkably well at high-speed but lack low speed maneuverability for tight maneuvers such as docking. This paper presents a joystick controlled omnidirectional propulsion system for jet-boats. The concept uses a set of fixed jet nozzles disposed around the hull. When a force is commanded by the joystick, valves on each nozzle modulate the flow so that the sum of nozzle thrusts correspond to the commanded force. The positions and angles of the nozzles are optimized with an index of omnidirectionality quality based on the projection of a set of force solutions on a shell with the shape of a desired force space. The choice of valve positions and engine speeds is done by the numerical inversion of an internal viscous flow model. A 3D simulator, backed by experimental results, serves to (1) evaluate the ability of the proposed concept in meeting its design requirements and (2) develop control algorithms. Experimental results show that the proposed omnidirectional system is effective for low speed maneuverability with open-loop force control. The present work also offers an effective omnidirectional propulsion system that is easy to enhance with advanced control laws. Velocity feedback control is given as an example and shows important improvement of maneuverability and robustness to miscalibration.

1.
Foley
,
D.
, and
Plante
,
J. -S.
, 2010, “
Design of an Omnidirectional Propulsion System for Small Jet-Boats
,”
IEEE International Conference on Robotics and Automation 2010 (ICRA‘10)
.
2.
Bulten
,
N. W. H.
, 2006, “
Numerical Analysis of a Waterjet Propulsion System
,” Ph.D. thesis, Eindhoven University of Technology, Eindhoven.
3.
Cun-Gen
,
L.
,
Yong-Ming
,
Q.
,
Zhen-Qiu
,
Y.
, and
Jie-Ren
,
L.
, 2000, “
Application of Genetic Evaluative Algorithm in Ship Preliminary Design
,”
J. Shanghai Jiaotong Univ.
0253-9942,
34
(
1
), pp.
41
45
.
4.
Trease
,
B.
, and
Kota
,
S.
, 2009, “
Design of Adaptive and Controllable Compliant Systems With Embedded Actuators and Sensors
,”
ASME J. Mech. Des.
0161-8458,
131
(
11
), p.
111001
.
5.
White
,
F. M.
, 2003,.
Fluid Mechanics
,
5th ed.
,
McGraw-Hill
,
Boston, MA
.
6.
Controls
,
F.
, 1999,
Control Valve Handbook
,
3rd ed.
,
Fisher
,
Sun City West, AZ
.
7.
Spirax-Sarco
, 2010, Control Valve Characteristics.
8.
Seil
,
G. J.
, 1997. “
Computational Fluid Dynamics Investigation and Optimisation of Marine Waterjet Propulsion Unit Inlet Design
,” Ph.D. thesis, University of New South Wales, Sydney.
9.
Terwisga
,
T. J. C.
, 1996, “
Waterjet-Hull Interaction
,” Ph.D. thesis, Delft University of Technology, Delft.
10.
Yang
,
W. -Y.
, 2005,
Applied Numerical Methods Using MATLAB
,
Wiley-Interscience
,
Hoboken, NJ
11.
Brent
,
R. P.
, 1972.
Algorithms for Minimisation Without Derivatives
,
Prentice-Hall
,
Englewood Cliffs, NJ
.
12.
13.
Perez
,
T.
, 2005,
Ship Motion Control: Course Keeping and Roll Stabilisation Using Rudder and Fins
,
Springer
,
London
.
14.
Bertram
,
V.
, 2000.
Practical Ship Hydrodynamics
,
1st ed.
,
Butterworth-Heinemann
,
Oxford, UK
.
15.
Jones
,
E.
,
Oliphant
,
T.
, and
Peterson
,
P.
, 2001, SCIPY: Open Source Scientific Tools for PYTHON.
17.
Journée
,
J.
, and
Massie
,
W.
, 2001,
Offshore Hydromechanics
,
Delft University of Technology
,
Delft
.
18.
van Amerongen
,
J.
, 1982, “
Adaptive Steering of Ships: A Model-Reference Approach to Improved Manoeuvring and Economical Course Keeping
,” Ph.D. thesis, Delft University of Technology, Delft.
You do not currently have access to this content.