This paper covers the design, development, and testing of a 43 kg (95 lb) amphibious cycloidal propeller unmanned underwater vehicle (Cyclo-UUV) that utilizes a combination of cycloidal propellers (or cyclo-propellers), screw propellers, and tank treads for operations on land and underwater. The use of cyclo-propellers allows for 360° thrust vectoring for more robust dynamic controllability compared to UUVs with conventional screw propellers. Four cyclo-propellers are used to control the Cyclo-UUV while underwater and can be retracted into a set of four wheels to allow for transitioning between underwater and land locomotion. Control of the vehicle underwater is achieved by modulating the cyclo-propeller rotational speed and blade pitch phase angle, allowing for control over the magnitude and direction of the thrust vector of each cyclo-propeller to enable surge, heave, roll, pitch, and yaw motions. These changes to pitch phase angle are controlled by rotary servos which receive commands via an on-board autopilot with an inertial measurement unit (IMU) that measures the vehicle's attitude and stabilizes the vehicle using a proportional-integral-derivative (PID) controller. Systematic testing of the Cyclo-UUV was conducted to verify its mechanical operation, trim the cyclo-propellers for forward motion, tune the PID controller gain values for good response and disturbance rejection, and evaluate the vehicle's performance in both calm water and in the presence of breaking waves similar to those found in the surf zone. The Cyclo-UUV has demonstrated a high degree of maneuverability and controllability in forward motion underwater, as well as the unique capability of performing transitions between land and underwater through breaking waves.
Design and Testing of an Amphibious Cycloidal Propeller Unmanned Underwater Vehicle
OCEANS 2024 - Singapore ; 1-10
2024-04-15
18390359 byte
Conference paper
Electronic Resource
English
Engineering Index Backfile | 1946
Engineering Index Backfile | 1946
REMOTE CONTROL UNMANNED SURFACE VEHICLE WITH WIND-DRIVEN CYCLOIDAL PROPELLER
European Patent Office | 2021
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