SICE東北支部研究集会資料(2011年)

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1 268 ( ) Improvement of thrust capacity of a wireless thruster module for a lake surveying compact underwater robot Takuya OMURO,Yuhei SARUTA,Takayuki TAKAHASHI * ** *Graduate School of Fukushima University, **Fukushima University : (Underwater Robot) (Thruster) (Modular Structure) (Wireless Communication) : Tel.: (024) Fax.: (024) omu@rb.sss.fukushima-u.ac.jp 1. 1) 2) Fig

2 AUV ROV UROV(Untethered Remotely Operated Vehicle) UROV 1 Fig. 1 Schematic diagram of conceptual model of the proposed underwater robot 2. ROV 30[kg] 500[mm] 500[mm] 500 [mm] 100[m] 1.0[MPa] 3) 2.1 AUV (Autonomous Underwater Vehicle) ROV(Remotely Operated Vehicle) AUV ROV (1) 2

3 (2) (3) (1) (2). (3) ( ) 5) Table 1 Old prtotype specifications Item Unit Value Span [mm] 267 Outer diameter [mm] 99 Weight(in air) [kg] 1.8 Weight(in fresh water) [kg] 0.5 Max.Thrust [N] 4.4 Pressure performance [MPa] Fig. 3 Table 1 A5052P MC 267[mm] 1.8[kg] 0.5[kg] maxon EC45 flat 30[W] RABOESCH blades pitch 71.7[mm] diameter 70[mm] 4.4[N] [N] Fig [kt](0.5[m/s]) Table 2 (1) Re R e = vl/ν (1) 3

3 10 6 Kinetic viscosity C D 0.84 Drag coefficient A m 2 0.20 Cross sectional area ρ kg/m 3 1.

4 Fig. 2 Assumed shape of the robot Table 2 Parameters used for estimation of drag force Fig. 3 Image of old prtotype thruster module Symbol Unit Value Recital d [m] 0.5 Diametaer l [m] 0.5 Length v [m/s] 0.5 Flow rate ν [m/s 2 ] Kinetic viscosity C D 0.84 Drag coefficient A m Cross sectional area ρ kg/m Fluid density D [N] 21 Drag force Re 10 5 Reynolds number 10 5 C D ) (2) D D = C D Aρv 2 /2 (2) 21[N] 1 11[N] 6.6[N] 11[N] Fig. 4 Image of old prtotype cylinder cap Fig. 4 4 ( ) 3.3 1) 2) 3) 4. Fig. 6 Fig. 5 Table 3 4

5 Nose cone Control electronics Cylinder Magnet cupling Fig. 5 Parts of the improved thruster module Table 4 Specifications of new magnet coupling Item Unit Value Thickness [mm] 20 Diameter [mm] 45 Weight [g] 82 Max. holding torque [mnm] 348 (10[mm]Air gap) Fig. 6 Improved thruster module Table 3 Prototype specifications Item Unit Value Length [mm] 364 Outer diameter [mm] 99 Weight(in air) [kg] 1.9 Weight(in fresh water) [kg] 0.4 Max.Thrust [N] 14 Pressure performance [MPa] (( ) CP C20) 163[g] 9[mm] Fig. 7 Table 4 5

[MPa] Crushing pressure a [mm] Cylinder inner radius t p [mm] Required thickness S f [1,2,3...] Safety factor Fig. 7 Old(left) and new magnet coupling 4.

6 Table 5 Variables and parameters Symbol Unit Recital P k [MPa] Elastic buckling pressure E [MPa] Youngs modulus n [2,3,4...] Buckling mode number ν Poisson s ratio t [m] Cylinder thickness r [m] Cylinder inner radius + t/2 l [m] Cylinder length σ [MPa] Maximum stress σ B [MPa] Tensile strength P [MPa] Crushing pressure a [mm] Cylinder inner radius t p [mm] Required thickness S f [1,2,3...] Safety factor Fig. 7 Old(left) and new magnet coupling 4.2 O (3) 4) O [ π 4 ( ) r 4 P k = E n 4 (n 2 1) l + n2 1 12(1 ν 2 ) ( t r ) 2]( t r ) (3) Table ) 1.0[MPa] 2800 [MPa] [mm] O 7[mm] MC (4) (5) 7) Table 5 σ = 1.24P a 2 /t 2 p (4) σ = σ B /S f (5) MC 96[MPa] 5.0[mm] O 6.0[mm] 4.3 Fig. 8 Digi 6

Item CPU Table 7 Specifications of R8C/2L Operating frequency Current consunption Timer Serial Interface Size Specifications Multiplier: 16bits 16bits 32bits Multiply-accumulate instruction: 16bits

0[V]) Watchdog,2 8bit,2 16bits Clock synchronous serial I/O/UART 2 9.0 9.0 1.7 [mm] Fig.

7 Item CPU Table 7 Specifications of R8C/2L Operating frequency Current consunption Timer Serial Interface Size Specifications Multiplier: 16bits 16bits 32bits Multiply-accumulate instruction: 16bits 16bits+32bits 32bits 20MHz(VCC = 3.0 to 5.5[V]) 10MHz(VCC = 2.7 to 5.5[V]) 5MHz(VCC = 2.2 to 5.5[V]) Typ.10[mA](VCC=5.0[V]) Typ.6[mA](VCC=3.0[V]) Watchdog,2 8bit,2 16bits Clock synchronous serial I/O/UART [mm] Fig. 8 XBee RF module Table 6 Specifications of XBee RF module Indoor/Urban Range [m] Up to 30 Outdoor line-of-sight Range [m] Up to 90 RF Data Rate [kbps] 250 Supply Voltage [V] Operating Frequency [GHz] ISM 2.4 Number of Channels 16 Fig. 9 R8C/2L International XBee OEM RF XBee Table 6. 5) R8C/2L 20[MHz] R8C/2L AD R8C/2L Fig. 9 Table 7 RC Electoronic Speed Controller(ESC) MC951 H/A ESC CPU ESC Table 8 Fig. 10 7

8 Table 8 Specifications of Electoronic Speed Controller(ESC) Max.continuous current [A] 50 Switching rate [khz] 32 Size [mm] Weight [g] 52 Table 9 Specifications of Brushless DC motor(bldc) Power rating [W] 50 Nominal voltage [V] 18.0 Stall torque [mnm] 1100 Max. continuous current [A] 3.54 Fig. 11 BLDC motor Table 10 Specifications of Li-Po battery Rated voltage [V] 22.2 Capacity [mah] 3300 Size [mm] Weight [g] DC maxon EC45 flat 30[W] maxon EC45 flat 50[W] Table 9 Fig. 11 Hyperion 22.2[V] 3300[mAh] Li-Po Li-Po Li-ion Table 10 Reed Switch Relay ESC Signal Brushless DC motor V Reg 3 Batt R8C XBee 5.1 Fig. 10 System block diagram 8

18 16 14 Thrust [N] 12 10 8 6 4blades 65[mm] 4blades 55[mm] 4blades 45[mm] 3blades 65[mm] 3blades 55[mm] 3blades 45[mm] 4 2 0 Fig.

5 4 4.5 Fig. 14 Current-thrust graph of diﬀerent propellers with 50[W] motor Fig. 15 Measurement of continuous operation time and thrust ロペラで目標とする 11[N] の推力を発生させる深部を上回る 1.

0[MPa] プロペラを採用することとしたまたこのスの水圧に耐えることが確認されたクリュープロペラを用いた場合最大で 14[N] の推力を発生させることができた 5.2 最大推力測定試験試作機での課題より最大推力の目標を 11[N] 5.

9 Thrust [N] blades 65[mm] 4blades 55[mm] 4blades 45[mm] 3blades 65[mm] 3blades 55[mm] 3blades 45[mm] Fig. 12 Pressure and leak tests of the designed pressure vessel Fig and 3 blades propeller 様子を Fig. 12 に示す試験は JIS B8265 を参考にしておこなった 6) 試験圧力は猪苗代湖の最 Current [A] Fig. 14 Current-thrust graph of diﬀerent propellers with 50[W] motor Fig. 15 Measurement of continuous operation time and thrust ロペラで目標とする 11[N] の推力を発生させる深部を上回る 1.0[MPa] で徐々に加圧した後ことができたものの試験の結果より最も消費試験圧力を 1.0 時間維持したこの試験において電流の少ない 4 枚羽直径 55[mm] のスクリュー塑性変形や漏水は生じなかったため 1.0[MPa] プロペラを採用することとしたまたこのスの水圧に耐えることが確認されたクリュープロペラを用いた場合最大で 14[N] の推力を発生させることができた 5.2 最大推力測定試験試作機での課題より最大推力の目標を 11[N] 5.3 として最大推力を測定する試験をおこなった連続稼働時間測定試験開発した改良型スラスタモジュールに RABO 試験ではスラスタモジュールを吊り秤に懸垂さ ESCH 製 blades pitch 56.4[mm] diam- せ推力を測定したまた予備実験の結果より eter 55[mm] を取り付けて連続稼働時間を測定 RABOESCH 製スクリュープロペラの 4 枚羽 3 した試験の様子を Fig. 15 に示す試験では開枚羽についてそれぞれ直径が 65[mm] 55[mm] 始時の推力が 11[N] となるようにして測定をお 45[mm] の計 6 種類をそれぞれ取り付けた試こなった試験の結果連続で 2.0 時間稼働す験に用いたスクリュープロペラを Fig. 13 に試ることが確認された験の結果を Fig. 14 に示す全てのスクリュープ 9

10 6. 400[g] 100[g] 1) :,Journal of Geography, 109(6),pp , ),,,, :, 29,RSJ2011AC1K3-5, ) HO/KOSYO-inawashiro.html,1.March, ), ( ):, (1994) 5), :, 11,1A2-M13,2011 6) JIS, html,1.march, ), / α:,,

SICE東北支部研究集会資料(2010年)

SICE東北支部研究集会資料(2010年) 261 (21.11.17) 261-6 Development of a wireless smart thruster module for underwater robots Takuya Omuro, Takayuki Takahashi Fukushima University : (underwater robots) (thruster) (module) (small) : 96-1296