Abstract
The actual power system of the MUN Explorer Autonomous Underwater Vehicles (AUVs) uses 11 Lithium-ion (Li-ion) batteries as a main energy source. The batteries are directly connected into the BLDC motor to run the MUN Explorer for the desired operating sequence. This paper presents a dynamic model of the MUN Explorer AUV including a fuel cell system to run under the same operating conditions as suggested by its manual. A PI controller was applied into the dynamic model to maintain the operating conditions such as motor speed, DC bus voltage and the load torque, due to its advantages and simplicity for tuning technique. The MUN Explorer AUV dynamic model with a fuel cell is a proposed system to increase the power capacity, it is better to use a simple controller to see the system behaviors. The simulation of the entire system dynamics model along with the proportional-integral (PI) controller is done in MATLAB / Simulink. The simulation results are included in the paper. The DC bus voltage is measured at 48 V, and the motor speed is 20 (rad/s), which is equivalent to 190 (rpm). The power profile of the fuel cell and battery are presented and plotted against time. The PI controller gives satisfactory results in terms of maintaining the same operating conditions of the MUN Explorer AUV with a fuel cell.
Highlights
This paper presents a dynamic model of the MUN Explorer Autonomous Underwater Vehicle (AUV) including a fuel cell system to run under the same operating conditions as suggested by its manual
The integration of the fuel cell into the existing battery power system plays a significant role in running the MUN Explorer AUV under the desired and proper operating conditions
An energy management system using a PI controller has been implemented into the dynamic model of the MUN Explorer
Summary
For the design and operations of AUVs, the control system is classified as one of the most important system, especially when it comes to renewable energy system implemented on submarines where batteries, fuel cells, charging stations, and electrical loads are concerned. Storage systems (fuel cells and batteries) as well as the energy demand of many applications such as submarines and AUV applications are essential for sustainability and the reduction of CO2 emissions. To maximize the amount of energy generated by fuel cell and batteries, a system controller plays a significant role in generating and consuming power precisely and effectively. As far as batteries and fuel cell are concerned, we wish to reduce losses during energy transfer and conversions. The energy consumption must be as low as possible to overcome the challenges of limited energy availability in submarines working underwater [2]
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