Development of a dual-shaft propeller thruster equipped with rotational speed sensor for UVMS control

Bin Ambar, Radzi and Sagara, Shinichi and Yamaguchi, Takuya (2013) Development of a dual-shaft propeller thruster equipped with rotational speed sensor for UVMS control. In: The Eighteenth International Symposium on Artificial Life and Robotics 2013 (AROB 18th '13), 30 Jan - 01 Feb 2013, Daejeon Convention Center, Daejeon, Korea.

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Abstract

Majority of underwater robots utilize single propeller thrusters for navigation. A disadvantage on using a single propeller thruster is the thrust force generated from a single propeller for reverse and forward thrust is asymmetric due to the disturbed flow caused by the thruster’s body which may reduce thruster efficiency. Measurement procedures to precisely calculate propeller’s rotation speed were also not available. To address these problems, this paper proposes a dual-shaft magnetic coupling driven propeller thruster for underwater vehicle-manipulator system (UVMS) equipped with sensors for measuring propeller’s rotational speed. Numerical studies and experimental results on the position and orientation control of the proposed thruster are presented. Detail comparison of the rotational speed, thrust force and duty-ratio between numerical calculation and actual experimental measurement results shows the effectiveness of the proposed thruster. The ability to determine propeller rotation directions is also a major advantage.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:dual-shaft, thruster, rotational speed, UVMS, control
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ163-163.12 Mechanical and electrical engineering combined
T Technology > TJ Mechanical engineering and machinery > TJ212-225 Control engineering systems. Automatic machinery (General)
Divisions:Faculty of Electrical and Electronic Engineering > Department of Computer Engineering
ID Code:4188
Deposited By:Mr. Radzi Ambar
Deposited On:28 Aug 2013 11:12
Last Modified:28 Aug 2013 11:12

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