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An underwater thruster is a configuration of marine propellers and hydraulic or electric motor built into or mounted to an underwater robot as a propulsion device. These give the robot movement and maneuverability against sea water resistance. The main difference between underwater thrusters and marine thrusters is the ability to work under heavy water pressure, sometime up to full ocean depth.
There are three general types of thrust devices: the lateral thruster or tunnel thruster, which consists of a propeller installed in a athwartship tunnel; a jet thruster which consists of a pump taking suction from the keel and discharge to either side; and azimuthal thruster, which can be rotated through 360°
Underwater thrusters can be further divided in two main groups, hydraulic thrusters and electric thrusters. Below are some pros and cons of each type:
| Pros | Cons | |
|---|---|---|
| Hydraulic Thrusters |
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| Electric Thrusters |
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Hydraulic thrusters are mainly used on larger work class ROVs, mainly because they take up a lot of space and weight due to the extra components such as valves and pipes. [3] Hydraulic thruster technology is older than the electrical one, they are more rugged and their weight-to-thrust ratio is higher than electric thrusters, but maintenance and piping issues cause some dissatisfaction with users.[ citation needed ] Weight-to-thrust ratios are higher for hydraulic thrusters than for electric thrusters, but after taking into account the required hydraulic components including valves, hydraulic power units, pipes joints, etc. hydraulic thruster systems come out heavier than electric thrusters.[ citation needed ]
Electric thrusters are mainly used on battery operated underwater robots such as AUVs, submarines, and electric ROVs. Electric thrusters usually use brushless DC or permanent magnet synchronous motors (PMSM). These motors may be sealed within air- or oil-filled cavities, or use a flooded design that allows water to come into contact with the motor, providing extra cooling and lubrication. [4] [5]
The main components of an electric thruster are:
Many parameters affect underwater thrusters considerably. Under the sea, energy become more valuable as it is difficult to transfer it (ROVs) or to store it (AUV, UUV, Submarine), Then its very important to have the maximum efficiency. Motor driver, electric motor, shafting, sealing, propeller, nozzle and thruster outer geometry and surface all affect the efficiency.
Propulsion is the generation of force by any combination of pushing or pulling to modify the translational motion of an object, which is typically a rigid body but may also concern a fluid. The term is derived from two Latin words: pro, meaning before or forward; and pellere, meaning to drive. A propulsion system consists of a source of mechanical power, and a propulsor.
Thruster may refer to:
A remotely operated underwater vehicle (ROUV) or remotely operated vehicle (ROV) is a free-swimming submersible craft used to perform underwater observation, inspection and physical tasks such as valve operations, hydraulic functions and other general tasks within the subsea oil and gas industry, military, scientific and other applications. ROVs can also carry tooling packages for undertaking specific tasks such as pull-in and connection of flexible flowlines and umbilicals, and component replacement. They are often used to visit wrecks at great depths beyond the capacities of submersibles for research purposes, such as the Titanic, amongst others.
A synchronous electric motor is an AC electric motor in which, at steady state, the rotation of the shaft is synchronized with the frequency of the supply current; the rotation period is exactly equal to an integer number of AC cycles. Synchronous motors use electromagnets as the stator of the motor which create a magnetic field that rotates in time with the oscillations of the current. The rotor with permanent magnets or electromagnets turns in step with the stator field at the same rate and as a result, provides the second synchronized rotating magnet field. A synchronous motor is termed doubly fed if it uses independently-excited multiphase AC electromagnets for both rotor and stator.
A diesel–electric transmission, or diesel–electric powertrain, is a transmission system for vehicles powered by diesel engines in road, rail, and marine transport. Diesel–electric transmission is based on petrol–electric transmission, a transmission system used for petrol engines.
A brushless DC electric motor (BLDC), also known as an electronically commutated motor, is a synchronous motor using a direct current (DC) electric power supply. It uses an electronic controller to switch DC currents to the motor windings producing magnetic fields that effectively rotate in space and which the permanent magnet rotor follows. The controller adjusts the phase and amplitude of the current pulses that control the speed and torque of the motor. It is an improvement on the mechanical commutator (brushes) used in many conventional electric motors.
A drive shaft, driveshaft, driving shaft, tailshaft, propeller shaft, or Cardan shaft is a component for transmitting mechanical power, torque, and rotation, usually used to connect other components of a drivetrain that cannot be connected directly because of distance or the need to allow for relative movement between them.
An autonomous underwater vehicle (AUV) is a robot that travels underwater without requiring continuous input from an operator. AUVs constitute part of a larger group of undersea systems known as unmanned underwater vehicles, a classification that includes non-autonomous remotely operated underwater vehicles (ROVs) – controlled and powered from the surface by an operator/pilot via an umbilical or using remote control. In military applications an AUV is more often referred to as an unmanned undersea vehicle (UUV). Underwater gliders are a subclass of AUVs.
A linear actuator is an actuator that creates linear motion, in contrast to the circular motion of a conventional electric motor. Linear actuators are used in machine tools and industrial machinery, in computer peripherals such as disk drives and printers, in valves and dampers, and in many other places where linear motion is required. Hydraulic or pneumatic cylinders inherently produce linear motion. Many other mechanisms are used to generate linear motion from a rotating motor.
A fluid coupling or hydraulic coupling is a hydrodynamic or 'hydrokinetic' device used to transmit rotating mechanical power. It has been used in automobile transmissions as an alternative to a mechanical clutch. It also has widespread application in marine and industrial machine drives, where variable speed operation and controlled start-up without shock loading of the power transmission system is essential.
Manoeuvering thrusters are transversal propulsion devices built into or mounted to either the bow or stern of a ship or boat to make it more manoeuvrable. Bow thrusters make docking easier, since they allow the captain to turn the vessel to port or starboard side, without using the main propulsion mechanism which requires some forward motion for turning; The effectiveness of a thruster is curtailed by any forward motion due to the Coandă effect. A stern thruster is of the same principle, fitted at the stern. Sufficiently large vessels often have multiple bow thrusters and stern thrusters.
Marine propulsion is the mechanism or system used to generate thrust to move a watercraft through water. While paddles and sails are still used on some smaller boats, most modern ships are propelled by mechanical systems consisting of an electric motor or internal combustion engine driving a propeller, or less frequently, in pump-jets, an impeller. Marine engineering is the discipline concerned with the engineering design process of marine propulsion systems.
An outrunner is an electric motor having the rotor outside the stator, as though the motor were turned inside out. They are often used in radio-controlled model aircraft.
A ducted propeller, also known as a Kort nozzle, is a marine propeller fitted with a non-rotating nozzle. It is used to improve the efficiency of the propeller and is especially used on heavily loaded propellers or propellers with limited diameter. It was developed first by Luigi Stipa (1931) and later by Ludwig Kort (1934). The Kort nozzle is a shrouded propeller assembly for marine propulsion. The cross-section of the shroud has the form of a foil, and the shroud can offer hydrodynamic advantages over bare propellers, under certain conditions.
This article briefly describes the components and systems found in jet engines.
A drum motor is a geared motor drive enclosed within a steel shell providing a single component driving pulley for conveyor belts.
The Double Eagle is a remotely operated vehicle (ROV) built by the Swedish defence company Saab Underwater Systems AB and used for the disposal of naval mines.
The rim-driven thruster, also known as rim-driven propulsor/propeller is a novel type of electric propulsion unit for ships. The concept was proposed by Kort around 1940, but only became commercially practical in the early 21st century due to advances in DC motor controller technology. As of 2017, commercial models of between 500 kW and 3 MW are available from manufacturers such as Rolls-Royce, Schottel, Brunvoll, Baliño, Voith, Van der Velden, etc.
Schottel is a manufacturer of propulsion and steering systems for ships and offshore applications. The company founder Josef Becker invented the rudderpropeller, a z-drive, in 1950. Today the company develops and manufactures azimuth propulsion, maneuvering and steering systems. In 2014 the subsidiary Schottel Hydro was founded to bundle up the company activities in the hydrokinetic energy segment.
A marine thruster is a device for producing directed hydrodynamic thrust mounted on a marine vehicle, primarily for maneuvering or propulsion. There are a variety of different types of marine thrusters and each of them plays a role in the maritime industry. Marine thrusters come in many different shapes and sizes, for example screw propellers, Voith-Schneider propellers, waterjets, ducted propellers, tunnel bow thrusters, and stern thrusters, azimuth thrusters, rim-driven thrusters, ROV and submersible drive units. A marine thruster consists of a propeller or impeller which may be encased in some kind of tunnel or ducting that directs the flow of water to produce a resultant force intended to obtain movement in the desired direction or resist forces which would cause unwanted movement. The two subcategories of marine thrusters are for propulsion and maneuvering, the maneuvering thruster typically in the form of bow or stern thrusters and propulsion thrusters ranging from Azimuth thrusters to Rim Drive thrusters.
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