A Flat Design and a Validated Model for an AUV Reconfigurable Magnetic Coupling Thruster

Vega, Emanuel Pablo; Chocron, Olivier; Benbouzid, Mohamed

doi:10.1109/tmech.2016.2590141

Cited by 19 publications

(15 citation statements)

References 22 publications

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“…These improvements have focused on increasing the magnetic coupling torque in intensity and quality. First, we developed the Spherical-RMCT [1] and then the Flat-RMCT [18] (Figure 1) with a better torque transmission. The Flat-RMCT uses two parts of conventional axial permanent magnetic couplings but using flat shaped magnets (parallelepipedic), which makes easier its fabrication.…”

Section: The Flat Reconfigurable Magnetic Coupling Thruster or Flat-rmctmentioning

confidence: 99%

“…Figure 2 shows the Flat-RMCT. For more details about the mechanical model see [18]. The figure shows the magnetic parts without their nonmagnetic protection cover against water (jackets).…”

Section: The Flat Reconfigurable Magnetic Coupling Thruster or Flat-rmctmentioning

confidence: 99%

“…We should have a stable configuration when θ = 0 • (with the magnets alignments (1)-(5), (2)-(6), (3)-(7) and (4)- (8)) and also for θ = ±180 • (with the magnets alignments (1)-(7), (2)-(8), (3)-(5) and (4)-(6)), due the coupling symmetry. These stable positions (θ = 0 (mod π)) with no spring effect should present a magnetic spring torque T z = 0 [18]. There are other configurations where T z should be null but completely unstable.…”

Section: The Flat Reconfigurable Magnetic Coupling Thruster or Flat-rmctmentioning

confidence: 99%

“…Recently, we have started to develop a new RMCT version, the radial one [17]. In [18], we presented the flat reconfigurable magnetic coupling thruster (Flat-RMCT, see Figure 1), modeling the magnetic torque using partial domain simulation results with a commercial software (Flux3D) achieved by TE2M. TE2M (www.te2m.fr) is a French company based in Brest specialized on solutions for magnetic systems in high value products industry.…”

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confidence: 99%

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Torque Analysis of a Flat Reconfigurable Magnetic Coupling Thruster for Marine Renewable Energy Systems Maintenance AUVs

et al. 2018

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The concept of reconfigurable magnetic coupling thrusters (RMCT) applied to the vectorial thrust of autonomous underwater vehicles (AUV) has been recently developed and presented. This technology ensures greater robot watertightness with enhanced maneuvering capabilities, which are desired features in agile AUVs for marine renewable energy (MRE) system maintenance. It is possible since in RMCTs the driving torque is magnetically transmitted to the propeller, which has its orientation changed. This work is focused on the coupling and control torque calculation and further analysis of the latest prototype version (Flat-RMCT), in the static condition for the full thrust vector range. For this purpose, a numerical model is implemented and validated with experimental results. The numerical model is based on the finite volume integral method. The results indicate that the minimum magnetic reluctance propensity creates not only the expected magnetic spring effect but also an auto-driving torque due to the non-axial symmetry of coupling rotors, which exists only for reconfigurable couplings. Mathematical functions are proposed to model these effects and they are used to extend the understanding of the coupling. These models can be used to compose a full and accurate dynamic model for a better RMCT simulation, identification, and control.

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Section: The Flat Reconfigurable Magnetic Coupling Thruster or Flat-rmctmentioning

confidence: 99%

“…Figure 2 shows the Flat-RMCT. For more details about the mechanical model see [18]. The figure shows the magnetic parts without their nonmagnetic protection cover against water (jackets).…”

Section: The Flat Reconfigurable Magnetic Coupling Thruster or Flat-rmctmentioning

confidence: 99%

Section: The Flat Reconfigurable Magnetic Coupling Thruster or Flat-rmctmentioning

confidence: 99%

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confidence: 99%

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Torque Analysis of a Flat Reconfigurable Magnetic Coupling Thruster for Marine Renewable Energy Systems Maintenance AUVs

et al. 2018

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“…Some others make collective and cyclic pitch propellers by using a swash plate [12] or by using shape-memory alloys [24]. Vector propulsion can be achieved by adding forces from fixed thrusters [19,20] or using re-orientable (or reconfigurable) propellers [11,4,22]. Using vector thrusters, it has been shown that a dynamic reconfiguration of the propulsion would allow to adapt the AUV to different in-mission tasks specifications [5].…”

Section: Introductionmentioning

confidence: 99%

Trajectory-Based Synthesis of Propulsion Systems for Fixed-Thrusters AUVs

Chocron

Delaleau

2018

ROMANSY 22 – Robot Design, Dynamics and Control

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Abstract. This paper presents a synthesis method for the Autonomous Underwater Vehicle (AUV) propulsion system based on the features of a trajectory to follow. This method is based on solid/fluid dynamics analysis of a AUV performing the trajectory following task and gives actuation requirements to achieve it properly. This actuation is then used to generate a propulsion system under the form of a Thrust Configuration Matrix (TCM) that is compatible with the desired trajectory. From this matrix the number of thrusters, their position and direction can then be extracted to synthesis a fitted propulsion system. Thus, the propulsion capabilities of the robot will match the trajectory characteristics and it will be able to follow it. The objective of this work is to provide an evaluation as well as a design method to produce a controllable AUV for a given task. A second use of such an analysis is to provide an evaluation process allowing to perform AUV task-based design. The method is developed for generic fixed-thrusters AUVs on any trajectory, and is applied to an existing 4-thrusters AUV for a seabed scanning flat trajectory. The method shows why the initial AUV propulsion does not match the task and what is the solution solving the issue.

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A highly stable and efficient spherical underwater robot with hybrid propulsion devices

Guo

Zheng

2020

Auton Robot

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A Flat Design and a Validated Model for an AUV Reconfigurable Magnetic Coupling Thruster

Cited by 19 publications

References 22 publications

Torque Analysis of a Flat Reconfigurable Magnetic Coupling Thruster for Marine Renewable Energy Systems Maintenance AUVs

Torque Analysis of a Flat Reconfigurable Magnetic Coupling Thruster for Marine Renewable Energy Systems Maintenance AUVs

Trajectory-Based Synthesis of Propulsion Systems for Fixed-Thrusters AUVs

A highly stable and efficient spherical underwater robot with hybrid propulsion devices

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