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Low Energy Buoyancy Actuator for Vertical Underwater Motion

Børseth, Stian
Master thesis
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URI
http://hdl.handle.net/11250/2461343
Date
2017
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  • Institutt for teknisk kybernetikk [3511]
Abstract
This thesis presents the physical and technical premise for implementing and designing an

underwater vehicle capable of moving vertically using the unit s own buoyancy force, and

how this principle benefit in energy efficiency. The goal is to create a prototype unit that

makes experimental testing and documentation of this principle possible.

An electrical linear actuator with a piston was used to manipulate the unit s volume. Depth

control was achieved using a PID controller combined with a pressure sensor, and the control

parameters tuned by implementing simulations of the unit s dynamical behavior. By

combining two power saving methods, it was estimated (using simulations) to reduce the

power consumption to 12.6% of maximum power consumption. A 3D model of the unit

was made to determine the vertical stability, mass properties, and to create drawings of a

prototype.

A functional prototype was successfully implemented, and two physical experiments were

carried out. The physical experiments were not sufficient to determine the unit s energy

efficiency using buoyancy as a principle of vertical movement underwater. But the work

here suggest there is a promising potential for the unit being energy efficient.
Publisher
NTNU

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