An Underwater Thruster Fault Diagnosis Simulator and Thrust Calculation Method Based on Fault Clustering

Table 2

Propeller thrust calculation.

Fault type	Actual main frequency (rad)	Actual speed (rpm)	Thrust loss rate (%)	Measured thrust (kg)
Fault 1	200	1910	9	6.37
Fault 2	775	1946	5	6.65
Fault 3	207	1977	2	6.86
Fault 4	700	1671	30	4.9