underwater vihicle research project

8/2/2019 Underwater Vihicle Research Project

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UNDERWATER VEHICLE RESEARCH PROJECT


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Mechanical details:

LOA 12.23 m.

Beam 2.71 m.

Height 3.82 m.

Draft 0.5 m.

Hull Thickness 15mm.

Freeboard 0.35 m.

Maximum operating depth 50 m.

Max speed 5 Knots

Dry weight 27 Tons

Hull diameter 1.8 m.

Hatch diameter 0.8 m.

Main thrusters 2x11.5 Kw

Vertical Thrusters 2x5 Kw

Lateral Thrusters 1x5 Kw

Power source

Rechargeable Lead Acid batteries

480 VDC - 300 Ah

24 VDC - 300 Ah(Main)

24 VDC - 300 Ah(Emergency)

Mission Duration 5 Hrs.

Passenger capacity 6 persons

Crew 3 persons

Classification agency ABS/LLOYDS OR AS REQUESTED

Forward viewport 1xhemispherical acrylic 900 mm DIA.


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Water Ballast

Forward Trim tanks (port +stbd) 2x0.33 cu.m

Aft Trim Tanks (port+stbd) 2x0.33 cu.m

Variable Payload 1300 Kg

Air System

Main air 100 Liters @150bar

Reserve air 100 Liters@150bar

Total 300 Liters@150bar

Life Supports

Main Oxygen 100 Liters@150 bar

Reserve Oxygen 200Liters@150bar

CO2 Absorbent 0.125 cu.m

Monitors O2, CO2, Temp., Humidity, H2, Cabin Pressure

Emergency Life Support Minimum 72 Hrs./persons

Other Features

Navigation equipment 1xDepth Gauge

1xFluxgate Compass

1xTrim + Heel indicators

Internal light White, Red LED

External lights 24x250w

Emergency Drop Weight 500 Kg.

Emergency equipment Lifejackets

Bibs masks

First Aid Kit

Fire Extinguisher

Emergency Power supply 24VDC Supply

Scrubbers, Comms., Internal lights


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Under Water Telephone 3km. range

VHF

Figures 1. General Arrangement

Figures 2. Exo-Structures


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Pressure Hull

The pressure hull made from Lloyds Grade A(yield 38 kg/mm2) or equivalent and

15mm. thickness 7x1m. Stiffener ring, Viewports (600mm.) located on front side of the pressure

hull

The main hull contains the primary pilot control and life supports control functions

Figures 3. Pressure Hull Construction

Hull Protection

A painting system together with sacrificial anodes are used to provide protection fromseawater corrosion. The paint system for the pressure hull painted by

1xcoat Rea-Galvex

1xcoat Intergard Primer(EGA085/089) white

1xcoat intergard Primer(EGA 085/089) white

1xcoat interracing orange finish

Sacrificial aluminum anode are fitter to the main pressure hull and to the ballast tanksand air receivers


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Figures 4 Pressure Hull and Exo-Structures Painting

Exo-Structure

The exo-structures of underwater vehicle consists basically of steel fairing supports

frame and fairing, Skid, Drop weight, Thruster Supports

Figures 5 Exo-Structures Equipments

Drop Weight

Drop weight performs manual function. It located under the main pressure hull and

nearly CG. The weight can be ejected from the crew by operating the manual hydraulic eject

hand pump

Fairing

The fairing is manufactured from GRP(Glass Reinforced Plastic) and serves two primary

purposed. Firstly for hydrodynamic purposed, to afford optimum performance of the vessel with

respect to available thruster power. Secondly to minimize entanglement risk by enclosing the

many protruding items of machinery, piping works and cabling associated with the vessel

systems.


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Figures 5 Fairing

Air Storage Cylinders

Four high pressure air storage cylinders are fitted to the outside of the pressure hull. Each

cylinder is 50 liters capacity, and charged to 150 bar. The air storage cylinders are divided into

two groups. Three normal ballast air storage, and one emergency air storage.

Oxygen Storage Cylinders

Six oxygen storage cylinders are fitted to the outside of the pressure hull. All cylinders

are charged to 150 bar. The cylinders will be painted externally, to the same standard as the

pressure hull, in order to prevent corrosion. The oxygen storage cylinders are divided into two

groups. Two cylinders for normal operation and four cylinders for emergency

Penetrations

The pressure hull and hard ballast tanks are fitted with penetration, to provide air,

oxygen, ballast water and electrical services.

A. Electrical Penetrators.The electrical penetrators used on the underwater vehicle are either smooth shank,or shank threaded, with an O-ring sealing onto the external face . The external cable

is bonded onto the external side of the hull penetrator

B. Air and Oxygen PenetratorsThe hull penetrators for the air and oxygen systems, are all hull stopped by

valves, immediately on entry into the main pressure hull. All pipework connected


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Propulsion and Control

The underwater vehicle have 2x5Kw / 380 VAC /3PH /0-50Hz direct vertical drive,

variable speed, bi-directional fixed thrusters in the vertical and one bow lateral positions. The

verticals are housed in vectored tunnels within the fairing to afford maximum thrust with

minimum entanglement potential. The lateral thruster is mounted transversally across the lower

bump rail section of the exo-structure.

The main propulsion will be 2x11.5Kw /380VAC/3PH /0-50 Hz variable speed, bi-

directional thrusters. All thrusters can be tuned in situ for optimum performance in their

respective operating positions under real load conditions.

All thrusters are driven by CT, DC/AC invertor controllers with fully programmable

digital control. Thruster are controlled via a single 3-axis joystick with trim controls in each axis

and a friction set throttle control joystick. Steering also included. The pilots control feedback is

via flat screen computer monitor readout of all control parameter

Figures 6 Main Thruster(left) and lateral Thruster(right)

Motor Controllers

Motor controllers have three controls in put option, 0-10vdc, +5vdc to -5vdc or 4-20 mA

current loops. There are also digital and analog outputs to drive analog or digital meters /

displays to relay motor and controller performance to the pilots console. Each controller has a

remote motor enable / disable function making thruster isolation simple and effective

Steering

Steering is controlled using one of the three function incorporated in the 3-axis joystick

controller. Joystick steering signals are buffered via the propulsion control computer and fed to

the steering servo valve drive controller.


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Steering is effected primarily by the main aft thruster training in the horizontal axis on aft

mounted rudder pedestal, assisted by the laterally mounted lateral thruster rotary movement of

the rudder pedestal is effected by a top mounted electronically controlled servomotor

Power

The vessel is powered via 240x2VDC Batteries. This main power is supplied to the main

PDU(Power Distribution Unit) within the machinery space, where it is bussed together to

provide the main 480 VDC propulsion power source.

Control and emergency 24 VDC battery banks are also located within the same battery

box enclosures. Control and emergency power is supplied to the 24VDC Main PDU within the

controls sphere

Batteries used are Lead / Acid Heavy duty traction cells. All battery banks are fuse

protected. Battery capacity is sufficient to enable 5 Hrs. of operation under normal operatingcondition

Lighting

The UWV(Underwater Vehicle) incorporates forward and side mounted, fixed Halogen

or High Power (HP) 5600k LED light units for maneuvering purposes. Facilities to power four

extra dedicated flood Power supplies and control for one 24 VDC electrical pan and tilt unit.

Communications

Surface communication are effected using a Marine Band VHF radio within the controlsphere

Sub-surface communication are UWT(Under Water Telephone) operating at 10 kHz and

27 kHz in the control sphere

Life Support

UWV carries sufficient consumables to effect life support for a mission time of nine

hours, plus emergency life support for 72 Hrs. for each passenger. Life support equipment

includes; CO2 scrubbers, metered O2 CO2, Temperature, Humidity and barometric monitoring.

BIBS(Built in breathing system) with full-face masks. Emergency, water, food, life jackets and

standby soda lime storage for three persons.

Environmental Controls

UWV has and environmental control system that monitor and controls the internal

atmosphere of the UWV. The system maintains the levels of oxygen, carbon dioxide, and

humidity at normally accepted levels. Life supports system has been designed for an operational

dive time of 5 hours with 9 persons. Plus 72 hours of emergency reserve


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Navigation

The UWV is piloted and navigated from the pilots compartment where all thruster

controls ballast valves and navigation equipment are located. The pilot can navigate visually by

using the front viewports. To Assist the pilot a number of navigation and safety aids will be

fitted: Depth Gauges, Fluxgate Compass, Trim and heel indicator and External Lights

Fluxgate Compass

An electronic fluxgate compass allows the pilot to control the heading of The UWV.

Power supplied from 24 VDC panel

Trim and Heel Indicator

The trim and heel indicator provide the pilot with an accurate indication of the attitude of

the UWV. The trim angle gives the number of degrees nose up or nose down. The heel angle

gives the number of degrees that the submarine is heeling to port or starboard

Instrumentation

The electrical instrumentation items in The UWV that are used to display information are

the LED type with low power consumption. Battery voltages and thruster current are displayed

on analogue instruments

Emergency Equipment

The emergency equipment on board The UWV comprised the following

Emergency Breathing System: This system described in the section describing H.P. Air

Emergency Lifting Point : The UWV has one lift points that can be used in an

emergency. Located on the top of the hull beneath removable hatches in the fairing

Emergency Buoy Release : The UWV is fitted with an emergency marker buoy that can

be released from inside the submarine. The buoy is released by selecting the Emergency Buoy

Release valve opening the appropriated hull stop and operating the hydraulic ejection hand pump

Emergency Drop Weight : This system is described in the section describing the exo-structure

Emergency Life Support

Life support (Oxygen and CO2 absorbent) for a duration of 72 Hrs. is carried onboard

The UWV at all time. See section describing the Environmental system. Emergency food and

water should also be carried, to cover 72 hour period. A first aid kit is available inside The UWV


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Emergency 24VDC Battery System

Emergency 24 VDC power is supplied to the following system, UWT, VHF, internal

lights and Scrubbers. When the emergency 24 VDC supply is switched on a warning light and

buzzer is activated on each panel.


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Harbor Test(HAT)


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underwater vihicle research project

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