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![Fig. 1. Initial Prototype with all thrusters [1]](profile/Srujana-Eega/publication/265991723/figure/fig1/AS:669422410805252@1536614148310/nitial-Prototype-with-all-thrusters-1_Q320.jpg)
![Fig. 2. Speed Vs Torque Characteristics of BLDC [3]](profile/Srujana-Eega/publication/265991723/figure/fig2/AS:669422410809345@1536614148327/Speed-Vs-Torque-Characteristics-of-BLDC-3_Q320.jpg)
Brushless Dc Motor (BLDC) is widely used in industries for various applications. The advantages of BLDC motor over the other types of motors made it a best choice for the design of low cost thruster. Presently the remotely operated underwater vehicle uses bilge pump motors to drive the vehicle under the water. Improvements are being done to make th...
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Citations
... It is possible to say that thrusters are commonly used in the UUV [2,3]. The seal and brush DC motor are traditionally considered in thruster's manufacturing. ...
Unmanned underwater vehicle (UUV) is a type of robot that operates underwater for multi purposes such as underwater exploration purpose, hydro-meteorological exploration, and military purposes…. One of the most important part in the UUV is its thruster. This paper presents the design, analysis and control results of an underwater thruster of 300 W, which can be used for a small-sized UUV. The underwater thruster is designed by integrating different modules and built according to each system from mechanical design, hardware design, and control algorithm to ensure the thruster can operate underwater continuously in the depth of 100 m lifespan (equal to 145 psi) for long time. The thruster use magnetic coupling for waterproof and also can perform the overload protection for thruster. The housing and magnetic coupling were analyzed by using finite element analysis to optimize the thickness of the housing in deep water level. The mathematical model and simulation result of the speed control using PID and Fuzzy controllers are also presented.
... speaker 2 The author is an Associate Professor in Faculty of Mechanical and Aerospace Engineering, Bandung Institute of Technology (e-mail: moelyadi@ftmd.itb.ac.id). methodology of a low cost thruster for AUV has been proposed by Srujana [4]. In addition. ...
... The author is an Associate Professor in Center for Unmanned System Studies (CentrUMS),ITB, Bandung, Indonesia, Sumedang, Indonesia (e-mail: budiyono@alum.mit.edu).4 The author is a mechanical engineer at Parametrik RnD, Bandung, Indonesia (e-mail: ahmad.hafizhh@gmail.com).5 ...
The technological advances in underwater vehicles have increased the demand for the underwater thrusters. As propulsion system, the underwater thrusters are widely used for both manned and unmanned vehicles. The highest hydrodynamic performance fulfilling the market needs becomes a challenge in the development of thruster. This research addresses the design of underwater thruster based on reverse engineering method and hydrodynamics performance optimization using multi-objective evolutionary algorithm. The thruster breakdown, components function analysis, and 3D model reconstruction of thruster propeller obtained from 3D scan data are presented. In addition, a hydrodynamic simulation using high fidelity software are also included. The results of the hydrodynamic simulation are validated by experimental data. Furthermore, the optimization of thruster performance is only focused on propeller geometry. The objectives of optimization are to maximize the thrust and minimize the input power. The current propeller geometry is parameterized into several geometry variables including root and tip blade angle, blade number, rake distance, and chord distribution. Those variables may give significant or less significant effects to the objectives of the optimization. Therefore, in order to reduce the design spaces and only involving the critical input variables, a sensitivity analysis is conducted. The remaining variables are then used in the optimization process. The algorithm used is the Strength Pareto Evolutionary Algorithm 2 (SPEA2) which is currently used in many practical design problems. The results of optimized geometry shows that there is 2% increment of thrust and 7% decrement of input power.
span lang="EN-US">This paper focuses on the development of a prototype of thruster motor speed controller which exhibits robust performance for an Autonomous underwater vehicle. H infinity based speed controller with particle swarm optimized weights for a sensorless BLDC motor which is used as electrical thruster has been simulated in MATLAB/ SIMULINK and implemented using TI C2000 Delfino LaunchPad LaunchXL-F28377S and BoostXL DRV 8301. A performance comparison in reference tracking has been done with conventional PI controller and experimental results have been discussed in detail. The percentage variation in speed with respect to reference speed of proposed strategy has been observed to be 0.65% whereas it is 1.1% with PI controller. It has also been found that the proposed control strategy exhibits smooth starting with better reference tracking and less torque ripples.</span
