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Publication No: IN202311013325 [India] Application No: IN202311013325
Title: Reconfigurable six-axis speed and direction controller for subsea thrusters
Publication Date: 30-08-2024 File Date: 27-02-2023
Inventor(s): Srinivasa Reddy Nemalidinne; Sumit Kumar; Srinivasan Aruchamy; Chandan Har; Siva Ram Krishna Vadali; Sambhunath Nandy
IPC Classification: B64G 1/26, B64G 1/24, H04N 19/46, B63G 8/16, B63G 8/00
Abstract:
The present invention relates to the development of a reconfigurable six axis embedded thruster controller for speed and direction control of subsea thrusters.  The embedded thruster controller board can independently control up to six thrusters which require Pulse Width Modulation (PWM) or analog voltage input for speed  variation of the motor residing inside the thruster. In analog mode, the present invention allows selection one of the modes from unipolar analog and bipolar analog  control signals. The six output channels of the embedded thruster controller can be independently configured to generate either PWM or analog voltage signals through  hardware and software. The embedded thruster controller in the present invention houses a Teensy microcontroller which accepts serial input command from a  computing module through one of the two available serial interfaces and runs a real-time software program to configure and simultaneously control speed and direction  of six underwater thrusters. In view of the increasing demand of underwater robotics research, the present invention is potentially beneficial in handling the dynamics of  newer generation underwater robotic vehicles using thrusters of different make and model. Figure: 4
Startup Options: Advantages:
  • Reconfigurability aspect incorporated into subsea thruster speed and direction controllers used in underwater robotic vehicles and relevant robotic mechanisms using BLDC motors. 
  • Commonly required control signal reference voltages for thrusters of different make and models are made selectable through hardware, from one of three different preset voltages. This is to help control the dynamics of underwater robotic vehicles of different sizes, shapes, and mechanical dimensions.
  • Commonly required control signal modes, namely, PWM, analog control signal modes for thrusters of different make and models are made selectable through software and hardware. 
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Industrial Applications Engine and Motors [Mechanical] Instrumentation, Appliances, Devices Applications [Instrumentation, Appliances, Devices] Mechanical Processes [Mechanical]