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1 Slide 2 Students:Vincent Boyd, Ocdt Timothy Ferguson, Cpl Shane Kavanagh, Ncdt Patrick Korhonen, Ocdt Supervisor: Dr. Mae Seto Client:Rolls-Royce Naval Marine Canada In-kind Sponsors: RCN Fleet Maintenance Facility Cape Scott DRDC - Atlantic 2 Slide 3 3 Picture taken from http://www.hartshorn.us/Navy/ WWII Naval Mine Mine-hunting systems Actively Controlled Towbody Rolls-Royce Naval Marine Canada (RRC) requests end product test-bed Submersible Design Process Slide 4 4 * Adapted from MECH 4440 class notes Slide 5 Design Criteria Dimensions 16 in. OD with variable length up to 4 m Equipped with manually configurable payload bay Maintain ordered depth, yaw, pitch, roll, and stability. Command, power, and data transfers via the tow cable Design must be marinized to operate at min of 30 m 5 Slide 6 Performance Goals Maximum operational depth will be 30 m Minimum operational speed will be 5 knts Minimum operational sea state will be sea state 3 Minimum survivable sea state will be sea state 5 6 Slide 7 Project: Design, Build, & Test a Configurable Towbody Testbed 7 * Greyjoy Solid Model Slide 8 8 Slide 9 9 Hull Spec Summary Outer Diameter405.0mm Overall Length2000-4000mm Allowable OOC1.0mm Thickness12.7mm Frame Spacing 1000.0mm Material6061-T6 Frame Thickness10.0mm Frame Depth40.0mm Material Yield241.0Mpa *Hull is constructed from 16 OD pipe as requested by RRC. Standard wall is 0.500 Slide 10 10 * Greyjoy Solid Model Safety Margins Pressure of InterestSF Material Yield241.0Mpa- Pressure at Max Depth 0.302Mpa- Circumferential Stress14.8Mpa- Interframe Buckling Pressure13.1Mpa- Longitudinal Yielding at Frames15.3Mpa50.88 Interframe Collapse Pressure6.2Mpa20.54 Circumferential Buckling5.1Mpa16.95 Slide 11 11 BOW GEOMETRY STERN GEOMETRY AL6061-T6 - 16OD - Thickness Bow Flooded Section Stern Houses Aft Control Planes Slide 12 12 Interframe Seals: Bolted Sections Internal mating flanges Dual circumferential seals Forward Control Section: Houses Servo Motors Separates Flooded Bow Separates Payload Area IMAGE? Slide 13 13 Slide 14 14 NACA 0025 Profile Symmetrical,.25 t/c, AR 2 Sized to offset buoyancy, cable tension Provides depressive force at velocity All hydrofoils equally sized for manufacturing ease Rudder sizing Slide 15 15 Shoulder or nose tow Considerations: Towing Bail Free-variable Nose * Adapted from www.sea-viewdiving.com * Adapted from http://www.wilkinsonplus.com Slide 16 16 Control surfaces independently controlled Depth, pitch, roll, yaw Non-linear problem 5x PID controllers Slide 17 17 Towbody Plant Depth control system Slide 18 18 SERVO MOTOR BLOCK DIAGRAM Slide 19 19 Slide 20 20 Sectional False Floor Rolls-Royce Requirements External Equipment (i.e., sensors) Image from: http://www.in.all.biz/raised-floor-g191649 Slide 21 21 1:5 Scale Model Constructed With Rapid Prototyping DAL Tow Tank Failed during 4 m/s Tow Unable to Isolate the Surface Expression of the Instrument Bar * 1:5 Scale model in DAL Tow Tank Slide 22 Weight and Balance Sheet Vessel Mass108.40kg Payload Mass0kg Vessel Volume0.2263m3 Displacement Volume SW0.1058m3 Vessel Weight1063.4N Payload Weight0kg Ballast Required FW122.85kg Ballast Required SW128.73kg Submerged FW 2219.4N Submerged SW 2277.2N LCB0.9490m VCB0.2032m TCB0m 22 Slightly Positive Buoyancy Maintain Weight & Balance Sheet Two Ballast Systems Gross Ballast Fine Ballast Gross Ballast Desired Buoyancy Fine Ballast Desired Trim * Adapted from www. matthewsmodelmarine.com Slide 23 SUB-COMPONENTEstimated Cost Hull$ 6,950 Forward Control Section$ 1,300 Stern Section$ 1,900 Bow Section$ 1,300 Control Surfaces$ 1,300 Control Systems$ 5,950 Modeling & Testing$ 1,300 Total$20,000 Technician Hours126 Hrs 23 Slide 24 24 Control system Sourcing Electronics & Servo Motors Inter-frame Seal and Payload Hatch Structural Integrity & Mating Flanges Weight/Balance Sheet Servo Motor Linking Shaft Update from RCN Photograph of Team Greyjoy at Dalhousie Tow Tank Tests Slide 25 25