Post on 06-Apr-2018
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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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