Abstract
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.
Highlights
Since the end of the 20th century, autonomous robots have been used in tasks where the presence of divers is costly, dangerous, or even impossible
We proposed a new vectorial thruster based on reconfigurable magnetic couplings, which is named reconfigurable magnetic coupling thruster (RMCT) [10]
The motor shaft movement is transmitted to the propeller one at a distance, without any material medium, through a magneto-mechanical device which works as a coupling and/or joint allowing the propeller driving and orientation
Summary
Since the end of the 20th century, autonomous robots have been used in tasks where the presence of divers is costly, dangerous, or even impossible. We proposed a new vectorial thruster based on reconfigurable magnetic couplings, which is named reconfigurable magnetic coupling thruster (RMCT) [10] In this thruster, the motor shaft movement is transmitted to the propeller one at a distance, without any material medium, through a magneto-mechanical device which works as a coupling and/or joint allowing the propeller driving and orientation. As the Flat-RMCT technology needs a detailed presentation, the present work aims at a further understanding on its coupling torque mechanism Since this coupling is based on permanent magnets attraction, it has a steady-state synchronous behavior and its causes can be analyzed in detail using a magnetostatic model. The last section gives the conclusion, ongoing works, and perspectives
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
