2009
UNIVERSIDAD SIMÓN BOLÍVAR
HUMAN POWERED SUBMARINE 2009
TECHNICAL PRESENTATION
HUMAN POWERED SUBMARINE TEAM 2009
•Daniel Bigott (C)
•Maria Martinez
•Marcos Paz
•Zoriant Rodriguez
•Javier Marquez
•Cristobal Acuña
•Rene Knopfel
•Freddy Guerra
•Alessandro Dos Santos
•Rafael Nucete
•Danny Gomez
•Maria Molina
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
Length of nose
Length of body
Length of tail
Front diameter
Rear diameter
End angle nose
Start angle tail
Drag coefficient
mm
857
1286
857
800
800
8°
8°
0,011
in
33,74
50,63
33,74
31,5
31,5
HULL FABRICATION
BULKHEADS WITH PUTTY
PRE - MOULD
HULL WITH GATES AND HATCH
MOULD
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
DIRECTIONAL FIN
NACA 0012-55 Reduction chord length
STABILIZER FIN
FINS FABRICATION
MOULD MACHINED
FIN MACHINED ON BOTH FACES
FIN WITH MOULD (COUPLING)
FIN MACHINED ON ONE SIDE
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
Aluminum
cone
Second
stage
First
stage
Principal
shaft
Flat
gears
Beari
ngs
Variable pitch
shaft
Crosspiec
es
Conic
gears
PROPULSION AND ERGONOMICS
VARIABLE PITCH CONE AND SHAFT
ALUMINUM CONE
VARIABLE PITCH SYSTEM
PROPULSION AND ERGONOMICS
PILOT POSITION IN THE HULL
CHEST SUPPORT
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
CONTROL SYSTEM AND STABILITY
•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
•The mainboard has a serial port to facilitate
the programming
SERIAL PORT
PIC16F87
7
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
H BRIDGE CIRCUIT
INFRARED SENSOR
GEAR MARKED
SENSOR PLACED
CONTROL HOUSING AND JOYSTICK
CONTROL HOUSING
FULL DIRECTIONAL SYSTEM
PSONE JOYSTICK
•The joystick transfer the rotation of the potentiometers into electronic information
•Each flap is moved under the action of 4 independent motor
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
113.708,00
52.887,442
TOTAL
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.