P16250: Self-Powered Autonomous Aquatic Vehicle
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Preliminary Detailed Design

Table of Contents

Team Vision for Preliminary Detailed Design Phase

The main items to be completed during this phase were:

We've obtained a MinnKota C2 45 Endura Freshwater Transom-Mount Trolling Motor. A test was run on the trolling motor to see if the Pololu High-Power Motor Driver (Model 18v25CS) could handle the current. Additionally, this test setup would allow for the Hall effect sensors to be prototyped and their feasibility for angular velocity measurement verified. Finally, the PWM frequency would be varied to study the effects on motor performance.

We’ve also obtained a water level sensor which will allow us to begin prototyping the analog circuitry necessary to detect water in the hulls.

The small-scale boat structure is completed but the steering/propulsion components and the controller still has to be mounted and developed.

We’re found a kinematics code that we will use as guide to develop our own.

Prototyping, Engineering Analysis, Simulation

Payload Specification

Above is the projected power consumption of the boat based on the maximum draw of all known components. The motors consume the most amount of power, therefore this system's power consumption was calculated at 100% (top left), 75% (top right), 50% (bottom left) and 25%(bottom right) of maximum draw while all others systems were kept at 100% power.

Power Generation

Number of solar panels needed at various hourly power generation levels

Number of solar panels needed at various hourly power generation levels

Small-Scale Model Boat

public/Photo Gallery/Foam1.jpg
public/Photo Gallery/Foam2.jpg

Updated Top-Level Architecture

Top-Level Electrical Architecture: Revision 2

Top-Level Electrical Architecture: Revision 2

The Top-Level Electrical Architecture was further refined to consolidate blocks and to further define the physical groupings of the system, now that we have a better idea of the enclosures that will be available to us. Additionally, the communications interfaces and power distribution were considered to get an idea of how much cabling will need to pass between the various enclosures and units.

Trolling Motor Test

Set-up

DC Trolling Motor, showing Hall effect sensor to measure angular velocity

DC Trolling Motor, showing Hall effect sensor to measure angular velocity

Scope Capture and Test Data

The trolling motor was tested using a Pololu 18V25CS Motor Driver utilizing PWM from a function generator, in order to characterize the motor power consumption versus angular velocity. The PWM frequency was varied from 500Hz up to 40kHz, and the duty cycle of the applied PWM signal was varied from 20% to 80%. Motor current consumption and angular velocity were recorded in Trolling Motor PWM Frequency and Duty Cycle.

Bill of Material (BOM)

Bill of Materials

Bill of Materials

Link to the live document: Bill of Materials - Excel

Test Plans for Small-Scale Boat

Tests include:

Test Plans for Small-Scale Boat - pdf

Risk Assessment

Addition of Risk 17

Addition of Risk 17

Link to the live document: Risk Assessment - Excel

Preliminary Detailed Design Review

Preliminary Detailed Design Review Presentation

Preliminary Detailed Design Review Notes

Plans for next phase

Below is a screenshot of our project schedule that focuses on the upcoming weeks.
Schedule for Detailed Design Review phase

Schedule for Detailed Design Review phase

A link to the live project schedule can be found here Project Schedule - MS Project file

In summary, the key items for our team to accomplish this portion are:


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