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The Hugin 3000 AUV at the Kristineberg Marine Research Station at Gullmarsfjorden, Sweden. (Photo: Malin Mörk).
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This study combines high-fidelity simulation models with experimental power consumption data to evaluate the performance of Energy Management Strategies (EMS) for fuel cell/battery hybrid Autonomous Underwater Vehicles (AUV). The performance criteria are energy efficiency, power reliability and system degradation. The lack of standardized drive cyc...
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... University of Gothenburg's Hugin 3000 AUV (Fig. 1) is a batterypowered, 7.5 m long and 1850 kg heavy AUV designed and manufactured by Kongsberg, Norway. It is frequently used in the offshore oil & gas industry and in the defense sector [9,16], but is also operated by several research institutes [31,62]. The AUV was used to sample power consumption data during field trials on the ...
Citations
... Two methodologies employed to assess energy management strategies are fuzzy logic and finite-state machines. [11]. Chen et al. [12] investigated the relationship between the Magnus force and controlling AUHs to characterize the disturbance area. ...
A new autonomous underwater vehicle (AUV) has high maneuverability near the bottom and a direction turnaround ability, called the autonomous underwater helicopter (AUH). This paper numerically investigates the hydrodynamic performance of the AUH. A Reynolds-Averaged Navier–Stokes (RANS) equation, a computational fluid dynamics (CFD) technique, is applied to analyze the AUH’s behavior. Investigations of the AUH’s hydrodynamic characteristics become more obvious with a service speed in the range of 0.4–1.2 m/s. For the same velocity condition, the resistance of the AUH increases, and the irregular eddy at the rear of the AUH expands with changes in the angles of attack and the length/height ratio. Essential design characteristics including pressure, velocity distribution, and velocity streamlines are shown and analyzed. These insights can be used as a guideline to reduce drag force and optimize the AUH profile for future designs. It has great potential for improving the AUH’s control algorithms.
... The same configuration was examined in [9] to supply power and allow energy recovery during regenerative braking in a hybrid tramway. Similarly, study [10] evaluates energy management strategies but in this case for hybrid fuel cell-battery autonomous underwater vehicles. ...
... The rule-based deterministic EMS (Figure 3e) operates as a finite-state machine, making it the simplest among the EMS options used. The power setpoint for the fuel cell is established based on the battery's state of charge, and the corresponding battery power can be calculated using Equation (10). The strategy is incorporated into a look-up table of eight states, as shown in Table 4. ...
The growing use of proton-exchange membrane fuel cells (PEMFCs) in hybrid propulsion systems is aimed at replacing traditional internal combustion engines and reducing greenhouse gas emissions. Effective power distribution between the fuel cell and the energy storage system (ESS) is crucial and has led to a growing emphasis on developing energy management systems (EMSs) to efficiently implement this integration. To address this goal, this study examines the performance of a fuzzy logic rule-based strategy for a hybrid fuel cell propulsion system in a small hydrogen-powered passenger vessel. The primary objective is to optimize fuel efficiency, with particular attention on reducing hydrogen consumption. The analysis is carried out under typical operating conditions encountered during a river trip. Comparisons between the proposed strategy with other approaches—control based, optimization based, and deterministic rule based—are conducted to verify the effectiveness of the proposed strategy. Simulation results indicated that the EMS based on fuzzy logic mechanisms was the most successful in reducing fuel consumption. The superior performance of this method stems from its ability to adaptively manage power distribution between the fuel cell and energy storage systems.
... The same configuration was examined in [9], to supply power and allow energy recovery during regenerative braking in a hybrid tramway. Similarly, study [10] evaluates energy management strategies but in this case for hybrid fuel cell-battery autonomous underwater vehicles. ...
... VB is the battery's rated capacity, and Q is its nominal voltage. 10 Fuel cell power is calculated by subtracting the battery's power from the load power, which is the sum of all resource powers. The battery's power is managed using a Proportional-Integral (PI) controller, which operates based on both current and past input signal values. ...
The growing use of proton-exchange membrane fuel cells (PEMFC) in hybrid propulsion systems, aimed at replacing traditional internal combustion engines and reducing greenhouse gas emis-sions. Effective power distribution between the fuel cell and the energy storage system (ESS) is crucial, which has led to a growing emphasis on developing energy management systems (EMS) to efficiently implement this integration. To address this goal, this study examines the performance of a fuzzy logic rule-based strategy for a hybrid fuel cell propulsion system in a small hydro-gen-powered passenger vessel. The primary objective is to optimize fuel efficiency, with particular attention to reducing hydrogen consumption. The analysis is carried out under typical operating conditions encountered during a river trip. Comparisons between the proposed strategy with other approaches —control-based, optimization-based and deterministic rule-based— are con-ducted to verify the effectiveness of the proposed strategy. Simulation results indicated that EMS based on fuzzy logic mechanisms was the most successful in reducing fuel consumption. The superior performance of this method stems from its ability to adaptively manage power distri-bution between the fuel cell and energy storage systems.
... Furthermore, internal combustion engine vibrations and noise can disturb marine organisms and harm the fragile underwater environments where underwater radiated noises is also a key challenge for scientific and defense missions where UUVs and AUVs are very useful. Given these difficulties, it is imperative to investigate and implement environmentally conscious and sustainable propulsion options, especially those designed for AUVs [4]. ...
... In the current study a power configurations of an AUV using a system architecture similar to that described in is considered [4], with the inclusion of supercapacitors for load adjustment. In the hybrid energy system of the studied AUV, battery are employed to effectively balance the power generated by the fuel cell (FC), while supercapacitors (SC) are utilized for load correction. ...
... In the studied configuration described in figure 1 , FC, batteries and SC are interconnected to the DC-bus via DC/DC converters to a common DC bus, while the three-phase AC propulsion motor of the AUV is interfaced with the DC bus through a classical DC/AC motor drive. Although alternative configurations are feasible, the configuration studied closely resemble the one described in [4] to minimize alterations to the energy/propulsion structure (mass, volume, weight, etc.) of the case study under consideration. In our study a simulation tool to determine the behaviour of the multi-source hybrid system has been elaborated under Matlab/simulink environement. ...
The demand for sustainable and efficient power sources in underwater vehicles has led to increased exploration of alternative energy solutions. In this chapter, fuel cells, known for their high energy density and low environmental impact, are evaluated for their potential in providing continuous power for extended underwater missions. Additionally, two types of energy storage system configurations, including batteries and supercapacitors, are explored in terms of their energy storage capabilities and overall efficiency. To optimize energy utilization in underwater vehicles, a comparative analysis of different rule-based energy management strategies is performed combined with experimental power consumption data and high-fidelity simulation models. The comparative analysis aims to highlight the advantages and limitations associated with fuel cells and storage systems to achieve the objectives in the context of unmanned and autonomous underwater vehicles. Ultimately, the findings contribute to the ongoing efforts in advancing the field of unmanned underwater vehicle technology with a focus on enhancing energy efficiency and mission endurance.
... Fuel cells for surveillance equipment building were found to experience noticeable advancements [75,76]. Recently, fuel cells in powering medical equipment have also been reported in the literature and their prospect in mitigating the energy demand in the health sector to power equipment for explorative research and diagnostic equipment. ...
... Fuel cells are electrochemical devices that convert chemical energy into electrical energy and are highly efficient for converting hydrogen into heat and electricity. Regarding their most popular use, we can find them such as power for ships [20], power for underwater autonomous vehicles [21], and power for cars [20,22]. Some factors such as flexible operation, high efficiency in partial load, short technical lifetime, and small power output make them suitable for distributed power generation, backup power supply, and off-grid and on-grid power generation [9,11,19,23]. ...
Although widely used for energy production, fossil fuels pose a challenge in the fight against climate change. They are used in various sectors, with construction accounting for 40% of total energy demand.. To address this issue, the article looks at alternative technologies and fuels that can effectively reduce our dependence on fossil fuel-based energy, reduce our carbon footprint, and make existing buildings more self-sufficient. Hydrogen-powered fuel cells have the potential to completely transform energy production in buildings, generating energy on-site and reducing the carbon footprint of existing constructions. This article compares four commercial fuel cell options (SOFC and PEMFC) based on their technical, regulatory, and economic viability. Moreover, the selected equipments, suitable for domestic use and scalable, will be evaluated for their integration into an existing building to provide a proportion and knowledge of space. In conclusion, Equipment B (PEMFC) was chosen for installation after carefully considering the spatial and technical requirements that had to be met. The low maintenance costs of Equipment B played a crucial role, and the use of disruptive technology was in line with the case study strategy. Some parameters, such as space, ventilation, and temperature, are future fuel cell policy benchmarks. The comparison of PEMFC shows a developing competitive sector applicable to our building.
... In order to compare the proposed EMS to previous studies, same configuration as in [11] is used, but with the addition of supercapacitors for load compensation. Studied hybrid AUV integrates: FC as the primary source, SC for load compensation, and Batteries (BAT) for strategically balancing FC output. ...
... The configuration of studied system is shown in Fig. 1. Of course other configurations can be used but the chosen one is very near of the one presented in [11] in order to not modify a lot the energy/propulsion design (mass, volume, weight, etc.) of the case study which is considered. The main characteristics of the different elements of the systems are given in Tables 1, 2, and 3. ...
... The used FC is a PEM type. Its mathematical model is given as follow [11]: ...
The integration of fuel cells into autonomous underwater vehicles (AUVs) has paved the way for the adoption of hybrid energy storage systems (HESS) to enhance power system dynamics, increase autonomy, improve discretion and minimize impacts of AUVs. As a result, HESS sizing and energy management strategy (EMS) design have become critical research areas, aiming to strike a balance between different energy sources and load demands to ensure system efficiency, stability and reliability. In this paper, an EMS for AUV with hybrid energy system comprising fuel cells, batteries, and supercapacitors is studied. The aim of the proposed method is to efficiently control the power flow between these sources. Utilization of Fuzzy Logic Control (FLC) is proposed to manage the hybrid system's energy fluxes in response to varying load demands, battery state of charge (SOC), and supercapacitor state. The primary objective is the reduction of fuel consumption, and extension of the battery lifespan. To assess the efficiency of the proposed system, its performance is compared with other results obtained from previous research.
... Anderlini et al. 2 developed a simple rule base for detecting wing losses using fluctuations in the average steady-state roll angle between descents and ascents. Deutsch et al. 8 combine high-fidelity simulation models with experimental power consumption data to evaluate the performance of energy management strategies for battery hybrid AUV and noted that a rule-based method is particularly suitable for designing energy-efficient operations. However, the rule-based approach is great for a single UG, but increasing the number of deployments requires an alternative approach that increases redundancy. ...
Underwater glider (UG) plays an important role in ocean observation and exploration for a more efficient and deeper understanding of complex ocean environment. Timely identifying the motion states of UG is conducive for timely attitude adjustment and detection of potential anomalies, thereby improving the working reliability of UG. Combining limited penetrable visibility graph (LPVG) and graph convolutional networks (GCN) with self-attention mechanisms, we propose a novel method for motion states identification of UG, which is called as visibility graph and self-attention mechanism-based graph convolutional network (VGSA-GCN). Based on the actual sea trial data of UG, we chose the attitude angle signals of motion states related sensors collected by the control system of UG as the research object and constructed complex networks based on the LPVG method from pitch angle, roll angle, and heading angle data in diving and climbing states. Then, we build a self-attention mechanism-based GCN framework and classify the graphs under different motion states constructed by a complex network. Compared with support vector machines, convolutional neural network, and GCN without self-attention pooling layer, the proposed VGSA-GCN method can more accurately distinguish the diving and climbing states of UG. Subsequently, we analyze the variation of the transitivity coefficient corresponding to these two motion states. The results suggest that the coordination of the various sensors in the attitude adjustment unit during diving becomes closer and more efficient, which corresponds to the higher network measure of the diving state compared to the climbing state.
... For this purpose, a generic FC model was utilized, which comes pre-loaded with parameters for a 1.26 kW (24 Vdc) PEM-FC. 36 The Wind and Tidal Turbine blocks were employed to model the steady-state power characteristics of both wind and tidal turbines. It is important to note that the drive train's stiffness is considered infinite, and to accurately represent the system, the friction factor and inertia of the turbine are combined with those of the permanent magnet synchronous generator (PMSG) coupled to the turbine. ...
This paper proposes a comprehensive solution to the challenges of managing a hybrid microgrid that generates electricity from multiple sustainable energy sources by proposing a coordinated energy management strategy and storage system. As renewable energy generation becomes increasingly popular, it introduces greater intermittency and stochasticity in energy management. To address this issue, a coordinated energy management strategy and storage system is proposed, which includes a fuzzy logic modified super twisting algorithm (MSTA). The objectives are to optimize the design and operation of microgrid including electrical based energy conversion systems such as photovoltaic (PV) and wind turbines, fuel cells (FCs), tidal energy, electric vehicle charging stations, and main grid. The second objective is to develop an energy management system for hybrid energy storage systems (HESS) and renewable energy sources (RESs) to maximize power production and ensure service continuity and smooth output energy of the microgrid, while also providing optimal benefits.To maintain cost-effectiveness, an On/Off maximum power point tracking (MPPT) algorithm is also proposed. The contribution of this paper is to provide a solution to the intermittent and stochastic nature of renewable energy management and to improve the efficiency and durability of the energy conversion systems. The proposed management unit provides consistent output power and long-term service.
... To design a high performance, it is essential to design PEMFC with high performance, long life and high durability. In order to boost PEMFC's electrical power generation and power production efficiency, several tests and studies have been conducted recently, such as modifying electrode materials [5], improving cell structure, control algorithmand, applying physical fields [6][7][8]. X. Chen et al.studied that aiming at improving the temperature distribution and cooling capacity of PEMFC, a novel treeshaped fractal fuel cell bipolar plate cooling flow field is proposed. This novel cooling flow field design offers an excellent solution to solve the local overheating of PEMFC [5]. ...
... The results reveal that there is a trade-off between the objectives. The rigidity of the EMS determines its load-following behavior and consequently the performance regarding the objectives [7]. The application of magnetic fields in PEMFC has recently received increasing attention [8,9]. ...
This study explores the impact of magnetic fields on the operation and performance of proton exchange membrane fuel cells (PEMFCs) with various flow fields. Different positions and intensities of magnetic fields were applied to investigate their effects. The performance of PEMFCs with different flow fields was then tested under different magnetic field strengths and arrangements. The experimental results demonstrate that, under the same conditions, the power density of the PEMFCs increases when subjected to magnetic fields of varying strengths (180mT, 220mT, and 260mT) compared to no magnetic field. Furthermore, the maximum power density of the cells increases with higher applied magnetic field strengths. The experiments also compared the performance of the fuel cell's cathode, anode, and bipolar operations with magnetic field arrangements in different flow fields. The results reveal that the performance enhancement of the fuel cell with magnetic field arrangement in the cathode is greater than that with magnetic field arrangement in the anode and bipolar. Specifically, when a magnetic field of 260mT is loaded onto the cathode for fuel cells with parallel, wave, and M−type flow fields, the maximum power density (MPD) increases by 55%, 23.9%, and 23.22%, respectively. In conclusion, the utilization of magnetic fields can enhance the performance of PEMFCs under operating conditions.
