To realize high-precision self-supplied speed measurement of Autonomous Underwater Vehicle (AUV) propellers, a self-powered piezoelectric speed sensing and detecting system is developed, which consists of a self-powered piezoelectric detection module and energy management and sensing circuits. The system uses three piezoelectric cantilevers for power and sensing detection. The proposed speed detection system is based on the piezoelectric effect and realizes self-powered sensing by utilizing the kinetic energy generated during the rotation of the propeller into electrical energy. The comprehensive model of the proposed piezoelectric sensing system under periodic toggled excitation is established and analyzed. The optimal output power of the system is investigated through theoretical analysis and simulation. The experimental system of the self-powered speed sensing system is constructed and the effect of speed measurement is tested. Experimental results show that the maximum output power of the piezoelectric self-powered sensing system developed in this work is 218 μW, which is much higher than that of the purely triboelectric sensing system. And the average detection error of the self-powered sensing system is 1.4% and the linearity is 1.09% when the propeller speed ranges from 0 to 300 r/min. Compared with similar self-powered systems, the proposed piezoelectric self-powered system is more advantageous in terms of measurement accuracy and can provide more accurate propeller speed measurement.
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