Please use this identifier to cite or link to this item: doi:10.22028/D291-30618
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Title: Development and testing of an efficient and cost-effective underwater propulsion system
Author(s): Paolucci, Libero
Grasso, Emanuele
Grasso, Francesco
König, Niklas
Pagliai, Marco
Ridolfi, Alessandro
Rindi, Andrea
Allotta, Benedetto
Language: English
Title: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Volume: 233
Issue: 10
Startpage: 1309
Endpage: 1328
Publisher/Platform: Sage
Year of Publication: 2019
Publikation type: Journal Article
Abstract: Underwater vehicle propulsion performed by exploiting electrical motor is in general the most flexible solution and it is growing in popularity because of its high efficiency both at high and at low advance speed, quick and simple deployment, low costs, and encumbrance. In the present work, permanent magnet synchronous motors for underwater propulsion are proposed. In particular, advanced sensorless control techniques of permanent magnet synchronous motors permit reduced costs, high reliability, and performances. When dealing with small autonomous underwater vehicle propulsion, such devices are hard to find in the market. Hence, the authors focused the research in the development of a system able to perform a reliable rotational speed and torque sensorless estimation. The design and implementation of a complete solution for underwater propulsion are presented as well as a novel rotor polarity identification technique exploiting a high-frequency injection control. Pool tests for the identification of the performances and of the dynamic parameters of the propulsion system are presented. Finally, the possibility of operating a sensorless estimation of the thrust and torque exerted by the propeller and pool test measurements are presented. These features could be exploited to improve navigation accuracy and involves obvious benefits in terms of cost reduction and reliability of the system.
DOI of the first publication: 10.1177/0959651819829627
URL of the first publication:
Link to this record: hdl:20.500.11880/28936
ISSN: 2041-3041
Date of registration: 2-Apr-2020
Faculty: NT - Naturwissenschaftlich- Technische Fakultät
Department: NT - Systems Engineering
Professorship: NT - Prof. Dr. Matthias Nienhaus
Collections:SciDok - Der Wissenschaftsserver der Universität des Saarlandes

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