autonomous underwater vehicle propulsion design 2020-01-19آ  autonomous underwater vehicle...

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  • Autonomous Underwater Vehicle Propulsion Design

    Richard S. Duelley

    Thesis submitted to the faculty of the

    Virginia Polytechnic Institute and State University

    In partial fulfillment of the requirements for the degree of

    Master of Science

    In

    Aerospace Engineering

    Wayne L Neu

    Michael Philen

    Craig Woolsey

    August 12, 2010

    Blacksburg, Virginia

    Keywords: AUV, OpenProp, Efficiency, Propulsion, Propeller, NeuMotor

  • Autonomous Underwater Vehicle Propulsion Design

    Richard S Duelley

    Abstract

    The goal of this design process was to achieve the most efficient propulsive system for the

    candidate autonomous underwater vehicle (AUV) as possible. A mathematical approach, using

    fundamental motor equations and derived quantities, was used to characterize and select an

    efficient brushless electric motor for the propulsion system. A program developed at MIT,

    Massachusetts Institute of Technology, called OpenProp versions 1 and 2.3 was utilized to design a

    custom propeller that maximizes the efficiency of the system.

    A brushless electric motor was selected for the candidate AUV based on a survey of available off the

    shelf motors and a mathematical characterization process. In parallel with the motor

    characterization a propeller design was optimized using OpenProp v1 to perform a parametric

    analysis. OpenProp v2.3 was then used to design a unique propeller for the selected motor. The

    propeller design resulted in a final propeller with an efficiency of 79.93%. The motor

    characterization process resulted in two candidate motors being selected, the NeuMotor 1925-3Y

    and NeuMotor 1521-10.5Y, for in house testing and evaluation. A total propulsive system efficiency

    of between 44% and 46% was achieved depending on which motor is selected for the final design.

  • iii

    Contents Chapter 1 - Introduction ............................................................................................................................. 1

    Chapter 2 - Motor Selection........................................................................................................................ 2

    2.1 Motor Classification .......................................................................................................................... 2

    2.1.1 Physical ...................................................................................................................................... 2

    2.1.2 Mathematical ............................................................................................................................. 2

    Chapter 3 Propeller Design ......................................................................................................................... 7

    3.1 Physical ............................................................................................................................................. 7

    3.2 OpenProp v1 Parametric Design ....................................................................................................... 8

    3.2.1 Inputs ......................................................................................................................................... 8

    3.2.2 Results ........................................................................................................................................ 9

    3.3 OpenProp v2.3 Unique Propeller Design ......................................................................................... 11

    3.3.1 Input File, Rough Propeller Design ........................................................................................... 12

    3.3.2 Input File Modifications, Optimized Propeller Design .............................................................. 13

    3.3.3 Run Script ................................................................................................................................. 18

    3.3.4 Results and Off Design Analysis................................................................................................ 18

    Chapter 4 - Propeller and Motor Optimization ......................................................................................... 23

    Chapter 5 – Component Testing ............................................................................................................... 25

    5.1 Seal and Motor Testing ................................................................................................................... 25

    5.1.1 Dry Tail Seal Testing ................................................................................................................. 25

    5.1.2 Oil-Filled Tail Testing ................................................................................................................ 29

    Chapter 6 Final Propulsion Design ............................................................................................................ 32

    6.1 Final Motor Selection and Propeller Design for Dry Tail ................................................................. 32

    Chapter 7 Conclusions .............................................................................................................................. 38

    Works Cited .............................................................................................................................................. 39

  • iv

    List of Figures

    Figure 2-1: Interior-Rotor vs Exterior-Rotor [1]........................................................................................... 2

    Figure 3-1: Propeller nomenclature [1] ....................................................................................................... 7

    Figure 3-2: Propeller rake, θ ....................................................................................................................... 8

    Figure 3-3: OpenProp v1 starting screen .................................................................................................... 8

    Figure 3-4: OpenProp v1 Input screen ........................................................................................................ 9

    Figure 3-5: Results after clean up ............................................................................................................. 10

    Figure 3-6: Results after elimination of undesired results ........................................................................ 11

    Figure 3-7: Second parametric run ........................................................................................................... 11

    Figure 3-8: Example selection of code from Input m file .......................................................................... 12

    Figure 3-9: Default propeller geometry inputs ......................................................................................... 13

    Figure 3-10: Default propeller results 3D blade image ............................................................................. 13

    Figure 3-11: Example 1 chord modification .............................................................................................. 14

    Figure 3-12: Example 2 chord modification .............................................................................................. 15

    Figure 3-13: Example 3 chord modification .............................................................................................. 15

    Figure 3-14: OpenProp thickness option 1 ................................................................................................ 16

    Figure 3-15: OpenProp thickness option 4 ................................................................................................ 16

    Figure 3-16: Prototype propeller 1 ........................................................................................................... 16

    Figure 3-17: 2nd Prototype propeller ......................................................................................................... 17

    Figure 3-18: Graphical report .................................................................................................................... 17

    Figure 3-19: 2-D blade image .................................................................................................................... 20

    Figure 3-20: 3-D blade image .................................................................................................................... 20

    Figure 3-21: Propeller performance curves .............................................................................................. 21

    Figure 3-22: Cavitation map ...................................................................................................................... 22

    Figure 5-1: Seal Housings .......................................................................................................................... 26

    Figure 5-2: Pressure Chamber ................................................................................................................... 27

    Figure 5-3: Seal torque test set up ............................................................................................................ 27

    Figure 5-4: Prototype BAL seal torque test results, prototype 1 top, prototype 2 bottom ......

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