• The Journal of the Korea institute of electronic communication sciences
• /
• v.18 no.3
• /
• pp.405-412
• /
• 2023

With the development of drone and ICT convergence technology, the use of underwater drones such as leisure underwater drones such as underwater exploration for fishing and industrial drones such as bridge piers is increasing. Existing motor controllers are suitable for aerial drones and these can increase the completeness of underwater drones and their reliability in motor control by developing BLDC motor controllers dedicated to underwater drones. By developing a battery management system (BMS) exclusively for underwater drones, battery stability was ensured by checking the state of charge, checking the state of discharge, adjusting cell balancing, and implementing high/voltage protection functions.

• Journal of Advanced Marine Engineering and Technology
• /
• v.34 no.8
• /
• pp.1128-1134
• /
• 2010

This paper is about the development of the 300W underwater thrusting system driven by a brushless DC motor (BLDC) for underwater robots. A design of the structure such as the structure analysis on the thrusting system using FEM and the design of the propeller using the fluid analysis has been performed. Also, a new structure such as decoupling and non-gear structure has been explained. The performance test of the designed and developed thrusting system in water and in air was undertaken and its results were compared with an existing product with high performance. The comparison results show that the developed thrusting system has better performance by 16% in forward thrusting force and by 12% in backward thrusting force.

• Journal of Advanced Marine Engineering and Technology
• /
• v.34 no.8
• /
• pp.1107-1114
• /
• 2010

In this paper, a development of a new 5 d.o.f. underwater manipulator which is actuated by electric motors capable of carrying over 20kg payload and of various operation under the water has been studied. The manipulator for applying to midium-sized AUV or ROV has been designed small and light but to handle a heavy 25kg payload. The joint actuator for the manipulator is designed and builted as a new modular typed double oil jacket for waterproofness. Also, superior joint torque performance of the developed joint actuator has been varified through tests in the air. And, a 5 d.o.f. highly perfomable underwater manipulator has been builted applying the developed underwater joint actuators.

• The KSFM Journal of Fluid Machinery
• /
• v.12 no.2
• /
• pp.58-61
• /
• 2009

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.2 s.95
• /
• pp.95-103
• /
• 1999

수중운동체가 수중에서 진행할 때 외부 파도에 의한 불확실한 부하 저항을 받으므로 이에 대응하는 핀(조타) 구동부의 제어 문제를 고려한다. 본 논문에서 제시하는 제어기는 본체로부터의 지정 각도를 부여 받으면 이에 부응하여 핀의 각도와 각속도를 이용하여 제어기의 알고리즘을 구축하여 지정된 경로를 추적하게 한다. 또한 핀의 각속도 정보의 이용이 부득이 어려운 상황에 대처하기 위하여 핀의 각도만을 이용한 출력제어기나 추정기를 설계하여 주위 환경의 불확실성을 극복할 수 있는 제어기를 제안한다. DC서보 모터로 구성괸 핀 구동부에 대해 실제 데이터를 사용하여 제안된 제어기의 성능을 시뮬레이션을 통하여 검증한다.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.22 no.4
• /
• pp.12-17
• /
• 2018

A natural cavitation-type high-speed underwater vehicle with solid rocket motor is tested, and its speed and running distance are measured. The outputs from pressure sensors on the surface of the vehicle reveal a pressure-time history reflecting the development of supercavitation. Underwater cameras installed on the wall of the test pool record the entire process from the onset of supercavitation to its full development. CNU-SuperCT, based on two-dimensional inviscid theoretical analysis, is used to simulate test results. Considering CNU-SuperCT does not include the control fins of the vehicle, simulation results agree with test results very well. Additionally, pictures from underwater cameras support the test results.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.20 no.6
• /
• pp.472-482
• /
• 2019

This paper describes the stabilization of underwater TAS winch system Deploy/Recover operation performance. TAS winch installed on the stern of submarine performs to deploy/recover sensor, towing cable and rope tail which is deployed from the stern and separated from submarine itself. Also TAS winch provides transmission path of power to the sensor and data transmitting/receiving path which data are acquired from underwater environment like sound, depth and temperature. At the step of TAS winch evaluation test, sporadic standstill and rotating speed oscillation phenomenon were occurred. Winch motor provides the available torque to deploy/recover TAS and root cause analysis to the winch motor was done to find exact reason to sporadic malfunction. When winch motor was disassembled, eccentricity of rotor, slip-ring and the other composition part for winch motor were found. These might cause magnetic field distortion. To make TAS winch system more stable and block magnetic field distortion, this paper suggests methods to enhance fixing status installed in winch motor. For reliable data acquisition for TAS winch operation, the deploy/recover function of the improved type of TAS winch was verified in LBTS making similar condition with sea status. At the end of stage, improved type of TAS winch was tested on some functions not only deploy/recover function, but sustainability of TAS operation on specific velocity, steering angle of submarine in the sea trial. Improved type of TAS winch was verified in accordance with design requirement. Also, validity of suggested methods were verified by the sea trial.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2021.11a
• /
• pp.160-161
• /
• 2021

추진동력원인 모터의 동력을 외부 수중에 있는 프로펠러에 전달하는데 있어서 해수 유입을 막은 수밀화 장치를 해야하고 매년 정기적으로 또는 손상시 본 부품을 교체하는데 많은 비용을 들어 선박을 Dry dock나 Slip Way에 상가해서 교체하는 단점을 가지고 있다. 크루선에 장착된 Azipod System은 조정성이 우수해 자력 이접안이 가능하다. K-Azipod형 무접촉 동력전달 장치는 Azipod 및 일반 선박에도 적용이 가능한 제품이다.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.37 no.2
• /
• pp.149-154
• /
• 2013

This study was performed to develop a high efficiency submersible axial pump for concentration wastewater treatment. To do this, we simulated the effect of some parameters such as the axial twist angle of a blade(${\beta}$), the radial twist angle of a blade(${\alpha}$) and the length of a blade (l) on pump efficiency using commercial code, ANSYS CFX and BladeGen. The results showed that the axial twist angle of a blade(${\beta}$) was the most sensible parameter on the pump efficiency. And the pump efficiency had a maximum at ${\beta}=20^{\circ}$, ${\alpha}=110^{\circ}$ and l=240 mm.

• Tribology and Lubricants
• /
• v.27 no.4
• /
• pp.198-203
• /
• 2011

The purpose of this paper is to find a proper cooling system of bearing unit in the submersible motor pump to extend a life time. To do this, heat transfer analysis of the submersible motor pump were performed using commercial CFD code ANSYS. In order to obtain the resonable heat transfer simulation results, we first set up mathematical model of heat source in the bearing system, and carried out heat transfer analysis with the model. As a results, new type bearing cap which had several ribs for cooling the bearing was proposed. Finally, through the comparison between experimental results of old and new model pump, we proofed that maximum bearing temperature of new model was about 10% lower than that of old model.