Electrically actuated thrusters for autonomous underwater vehicle
Electrically actuated thrusters for autonomous underwater vehicle
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用于自主水下航行器的电动推进器
DOI：
10.1109/amc.2010.5464062
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
M. Arshad
中科院分区：
文献类型：
--
作者：
D. Ishak;N. Manap;M. S. Ahmad;M. Arshad
本文旨在介绍电动推进器的设计、开发和原型制作，作为自主水下航行器基于三相永磁无刷电机的直接驱动推进系统。永磁无刷电机的非线性设计和分析完全采用二维有限元方法进行。然后，电机直接连接到 6 英寸机械螺旋桨，从而为 AUV 的操纵提供 25N 的峰值推力。分析中考虑了关键的关键性能，例如 48Vdc 电池供电时的最大速度能力、最大输出扭矩和效率。还解决了其他电磁考虑因素，例如齿槽转矩、槽数和极数。霍尔效应传感器嵌入电机结构内部，以便电机在 BLDC 模式下成功运行。优化的电机设计已经过原型设计并经过测试，可作为直接驱动推进系统使用。在实验室开放水域试验台上进行的实验获得的结果表明，在 1200rpm 电机速度下，额定 15N 连续系柱推力具有令人满意的性能。
This paper is to present the design, development and prototyping of an electrically actuated thruster as a direct drive propulsion system based on a 3-phase permanent magnet brushless machine for an autonomous underwater vehicle. The non-linear design and analysis of the permanent magnet brushless motor are entirely performed in 2-d finite element method. The motor is then coupled directly to a 6-inch mechanical propeller, thus providing a peak thrust of 25N for the AUV's manoeuvre. Critical key performances are accounted for in the analysis such as maximum speed capability, maximum output torque and efficiency at 48Vdc battery supply. Other electromagnetic considerations such as cogging torque, slot numbers and pole numbers are also addressed. Hall-effect sensors are embedded inside the motor structure in order for the motor to successfully operate in bldc mode. The optimized motor design has been prototyped and tested to work as direct drive propulsion system. The results obtained from the experiment conducted in laboratory in an open water testbed show satisfactory performance with a rated 15N continual bollard thrust at 1200rpm motor speed.