20092009

UNIVERSIDAD SIMÓN BOLÍVARUNIVERSIDAD SIMÓN BOLÍVARHUMAN POWERED SUBMARINE 2009HUMAN POWERED SUBMARINE 2009

TECHNICAL PRESENTATIONTECHNICAL PRESENTATION

HUMAN POWERED SUBMARINE TEAM 2009 HUMAN POWERED SUBMARINE TEAM 2009

TEAM GOALS

-Create the HPS group in the University and recruit and organize the team

-Be the first Venezuelan Team to compete in the ISR

- Complete successfully one run

-Set records and establish parameters for further competitions

DESIGN PHILOSOPHY

The picua is designed to complete successfully one run at the ISR. Due is the first time

that the university participate in this event, we build a conservative submarine in order

to gain team experience and setting parameters and posible improvements for the new

generation

HULL DESIGN

•Concieved in three parts (nose, body and tail)

•Originally with 11,48 feet long

•Designed for Caribbean Waters (density and viscosity)

•Speed design 6 knots

•Several computer analysis were carried out.

2-D XFOIL®

3-D CFX®

•Final Hull Parameters:Hull Parts mm inLength of nose 857 33,74Length of body 1286 50,63Length of tail 857 33,74Front diameter 800 31,5Rear diameter 800 31,5End angle nose 8°Start angle tail 8°Drag coefficient 0,011

HULL FABRICATION

BULKHEADS WITH PUTTY

MOULDPRE - MOULD

HULL WITH GATES AND HATCH

FINS DESIGN

•Developed under analysis of NACA profiles (4-digit and 4-digit modified)•Software employed Design Foil R6 ®•Analysis were performed with density and dynamic viscosity aprrox. 16°•Generates turbulent flow at 67,6% from the length of the chord•The profile selected has the lowest lift coefficient and moment equal to zero•Also the lowest drag coefficient and force•Final Profile Directional Fins NACA 0012-55

Stabilizer Fins NACA 0012-55 Reduction chord length

DIRECTIONAL FIN STABILIZER FIN

FINS FABRICATION

MOULD MACHINED FIN WITH MOULD (COUPLING) FIN MACHINED ON ONE SIDE

FIN MACHINED ON BOTH FACES

PROPELLER DESIGN

•A variable pitch system was designed to optimize the propulsion

•Drag force (129 N) and speed flow (6 knots)

•Propeller diameter was set to 31.5 in

•Hub diameter 4.12 in

•Two blades propeller

•Transmission ratio 1:1.6. Pedals speed 60 rpm

•From hub to shroud variations from the E193 airfoil were chosen

•Final Propeller material aluminum

PROPELLER FABRICATION

•Manufacturing process same as for the fin

•Complications working with stainless steel

•Final blades are from aluminum.

PROPULSION AND ERGONOMICS

First stage

Second stage

Principal shaft

Variable pitch shaft

Crosspieces

Bearings

Aluminum cone

Conic gears

Flat gears

PROPULSION AND ERGONOMICS

VARIABLE PITCH CONE AND SHAFT VARIABLE PITCH SYSTEM

ALUMINUM CONE

PROPULSION AND ERGONOMICS

CHEST SUPPORT PILOT POSITION IN THE HULL

TEST BENCH

CONTROL SYSTEM AND STABILITY

•Choose a programmable control

unit manage the actuation of the

immersion and directional fins

•The control unit choosen is

PIC16F877

SCHEMATIC DIAGRAM OF MICROCONTROLLER

PIC16F877 ARQUITECTURE

•The programmable control unit controls four motors that provide movement to the flaps

•Operation of the microcontroller is based on a pseudo-language

•For the joystick, the microcontroller will be in alert mode to any input signal

CONTROL SYSTEM AND STABILITY

PIC16F877

SERIAL PORT

•The mainboard has a serial port to facilitate

the programming

MAINBOARD

ELECTRONIC AND DIRECTIONAL SYSTEM

•The fins flaps are moved with a DC motor . Bunker ® series commonly employed for the

windows elevation of the medium cars

•The activation depends on the signal from the joystick

•Sensors were incorporated inside the motors to capture its movement or rotation

•H bridge circuit was placed to avoid loss power

SENSOR PLACED

H BRIDGE CIRCUIT

GEAR MARKEDINFRARED SENSOR

•The joystick transfer the rotation of the potentiometers into electronic information

•Each flap is moved under the action of 4 independent motor

CONTROL HOUSING AND JOYSTICK

FULL DIRECTIONAL SYSTEMCONTROL HOUSING

PSONE JOYSTICK

SAFETY AND LIFE SUPPORT

•Emergency system designed is the dead-man mechanism

•Made of bicycle brake , reel, caliper and a buoy

•The stroboscopic light is the one used by the divers

RELEASE MECHANISM OF SECURITY SYSTEM STROBOSCOPIC LIGHT

TESTING AND TRAINIG

•Trainig based basically in aerobics exercises

•Tested in a swimming pool

BUDGET

•Sponsorship via L.O.C.T.I. (Ley Organica de Ciencia y Tecnologia) and contribution

ITEM DESCRIPTION NET. PRICE PRICE US$

1 Test bench 272,00 126,512

2 Trailer for submarine 2.874,00 1.336,744

3 Divers and equipment 44.742,00 20.810,233

4 Tools 3.750,00 1.744,186

5 Hull 8.650,00 4.023,256

6 Transmission and propulsion system 4.070,00 1.893,023

7 Chest support 400,00 186,047

8 Transporting the submarine 9.000,00 4.186,047

9 Passages 38.700,00 18.000,000

10 Control systems and stability 1.250,00 581,395

TOTAL 113.708,00 52.887,442

VENEZUELA HPS TEAM 2009

This is the first time that students from Venezuela designed and developed a submarine

for the ISR competition. Sponsorship, Shipment out of the country, Customs Service

Exchange control and Visa were hard task that we had to figure out to be here.

For the next submarine we will have this previous experience to improve our design.