THRUSTER DESIGN FOR UNMANNED UNDERWATER VEHICLES

Abstract

THRUSTER DESIGN FOR UNMANNED UNDERWATER VEHICLES Abstract Underwater researches have been carried out for various purposes such as the protection and investigation of natural and environmental resources, various construction activities, finding and extracting fossil fuel resources, academic and industrial researches. Especially in the last two decades, unmanned underwater vehicles are effectively used in almost all of these researches. One of the most essential parts of those vehicles is their thrust system which gives them the ability to move underwater. In this study, the design of a thruster for unmanned underwater vehicles is given. The designed thruster system consists of four main parts: an electric motor, a driver circuit, a magnetic coupling transmission element, and a propeller. The electrical and mechanical designs of these parts are performed depending on the predetermined design criteria. A brushless type DC motor is chosen as an electric motor, and the required torque and rpm values are determined analytically. Depending on the chosen electric motor, a suitable driver circuit is determined. Then the propeller, the magnetic coupling element, and the motor housing are designed by using the SolidWorks software package. Pressure and fluid dynamics analyses of the housing and propeller are performed by using the Ansys software package. The thruster design is validated by simulation results. Keywords : Unmanned underwater vehicle, thruster, magnetic coupling, transmission, propeller INSANSIZ SUALTI ARACLARI ICIN ITICI TASARIMI Ozet Dogal ve cevresel kaynaklarin korunmasi ve arastirilmasi, cesitli sualti insaat calismalari, fosil yakit kaynaklarinin saptanmasi ve cikarilmasi, akademik arastirmalar ve endustriyel calismalar gibi bircok farkli alanlarda su alti arastirmalari yapilmaktadir. Ozellikle son yirmi yilda insansiz sualti araclari bu arastirmalarin hemen hepsinde etkin bir sekilde kullanilmistir. Insansiz su alti araclarinin en onemli sistemlerinden biri de onlara su altinda hareket kabiliyetini saglayan itki sistemleridir. Bu calisma, insansiz su alti araclari icin bir itki sistemi tasarimi gosterilmistir. Tasarlanan itki sistemi elektrik motoru, surucu devresi, manyetik aktarim organi ve pervane olmak uzere dort ana bilesenden olusmaktadir. Bu bilesenlerin elektriksel ve mekanik tasarimlari onceden belirlenmis tasarim kriterlerine gore yapilmistir. Elektrik motoru olarak fircasiz dogru akim motoru secilmis ve gerekli tork ve devir sayisi degerleri analitik olarak belirlenmistir. Belirlenen elektrik motoru icin uygun bir motor surucu devresi secilmistir. Pervane, manyetik aktarim elemani ve sistem muhafazasi tasarimlari SolidWorks programinda yapilmistir. Sistem muhafazasi ve pervanenin basinc ve akis dinamigi analizleri Ansys programi kullanilarak yapilmistir. Gelistirilen itici tasarimi simulasyon sonuclari ile dogrulanmistir. Anahtar Kelimeler: Insansiz Sualti Araci, Itki Sistemi, Manyetik Kaplin, Guc Aktarim, Pervane