Rudder - Revision history

Aran Dokoupil: /* Rudder-controller */

2026-08-17T12:23:26Z

Rudder-controller

← Older revision		Revision as of 12:23, 17 August 2026
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	\|4-pin connector: 3.3 V, wiper, presence detect, GND		\|4-pin connector: 3.3 V, wiper, presence detect, GND
	\|-		\|-
	\|~~Motor and board~~ temperature		\|Board temperature
	\|An ~~NTC on the motor, plus an~~ I²C sensor measuring the board's own temperature.		\|An I²C sensor measuring the board's own temperature.
	\|~~Motor NTC shares the outlet flowmeter connector~~		\|
	\|}		\|}

Aran Dokoupil at 12:22, 17 August 2026

2026-08-17T12:22:20Z

← Older revision		Revision as of 12:22, 17 August 2026
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	= Propulsion System History and Overview =		= Propulsion System History and Overview =
			[[File:Roer_2025.png\|thumb\|300px\|2022 Rudder]]

	The main propulsion system is housed inside the rudder. The rudder is mounted at the rear of the boat, approximately 440 mm from the stern. Over the years several different versions of the propulsion system have been developed. A brief overview of the previous systems is given below.		The main propulsion system is housed inside the rudder. The rudder is mounted at the rear of the boat, approximately 440 mm from the stern. Over the years several different versions of the propulsion system have been developed. A brief overview of the previous systems is given below.
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	Although the system performed well initially, it was ultimately scrapped due to continuous water ingress into the motor tube. The resulting corrosion of the gearbox and motor caused repeated failures and required frequent replacement of expensive components.		Although the system performed well initially, it was ultimately scrapped due to continuous water ingress into the motor tube. The resulting corrosion of the gearbox and motor caused repeated failures and required frequent replacement of expensive components.

	~~[[File:Roer_2025.png\|thumb\|300px\|2022 Rudder]]~~

	== 2025: Mini Rudder V1 ==		== 2025: Mini Rudder V1 ==

Aran Dokoupil at 12:21, 17 August 2026

2026-08-17T12:21:52Z

← Older revision		Revision as of 12:21, 17 August 2026
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	== New Main Propulsion Unit ==		== New Main Propulsion Unit ==

			[[File:Roer_2026.png\|thumb\|300px\|New main drive unit]]

	The new main propulsion unit is powered by a Lehner Torqstar 3 7050/10 water-cooled outrunner motor. The motor drives a set of counter-rotating propellers mounted in pulling configuration.		The new main propulsion unit is powered by a Lehner Torqstar 3 7050/10 water-cooled outrunner motor. The motor drives a set of counter-rotating propellers mounted in pulling configuration.
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	* 4× 6701 bearings (12×18×4 mm)		* 4× 6701 bearings (12×18×4 mm)

	~~[[File:Roer_2026.png\|thumb\|300px\|New main drive unit]]~~

	== Rudder-controller ==		== Rudder-controller ==

Aran Dokoupil: /* Hydrofoil Trim System */

2026-08-17T12:14:16Z

Hydrofoil Trim System

← Older revision		Revision as of 12:14, 17 August 2026
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	[[File:Roer_2026.png\|thumb\|300px\|New main drive unit]]		[[File:Roer_2026.png\|thumb\|300px\|New main drive unit]]

	=== Rudder-controller ===		== Rudder-controller ==
	''Full documentation: [[Rudder controller]] — board function, connector pinouts, CAN messages, servo behaviour and firmware updates.''		''Full documentation: [[Rudder controller]] — board function, connector pinouts, CAN messages, servo behaviour and firmware updates.''

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	See [[Rudder controller]] for the exact pin numbering of each connector, the CAN message formats, and the outstanding issues.		See [[Rudder controller]] for the exact pin numbering of each connector, the CAN message formats, and the outstanding issues.


	== Mini Rudder V2 ==		== Mini Rudder V2 ==

Aran Dokoupil at 12:11, 17 August 2026

2026-08-17T12:11:15Z

Show changes

Stoefoe at 21:19, 13 May 2026

2026-05-13T21:19:56Z

← Older revision		Revision as of 21:19, 13 May 2026
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	The Mini Rudder can be installed without modification to the steering tube. Only the power cables need to be routed through the tube, allowing quick replacement of propulsion units and ensuring continued operation in case of drivetrain issues.		The Mini Rudder can be installed without modification to the steering tube. Only the power cables need to be routed through the tube, allowing quick replacement of propulsion units and ensuring continued operation in case of drivetrain issues.
	```		```

			=== Rudder-controller ===
			To accommodate the new rudder design and its features, a controller is needed. With this controller we want to enable a multiple of functionalities that will help with the integrate cooling system and the control of the back-foil.

			The design should therefore have the following requirements:
			{\| class="wikitable"
			\|+Requirements for the rudder-controller
			!Feature
			!Description
			!Electrical connections
			\|-
			\|Power
			\|Power will be coming from the [[CAN-bus]]
			It is important that the inrush of the connected motors must not decrease the [[CAN-bus]] voltage.
			\|4-pins connector that hosts the [[CAN-bus]] and Power
			\|-
			\|Communication
			\|The board will use the [[CAN-bus]] to communicate and retrieve commands
			\|4-pins connector that hosts the [[CAN-bus]] and Power
			\|-
			\|Back-foil control
			\|A TMC2209 or comparable is needed that supports [https://www.analog.com/en/lp/001/building-better-stepper-motor-system.html StallGuard™]
			\|Available on the platform connected to the back-foil motor
			\|-
			\|Back-foil motor
			\|The [https://www.omc-stepperonline.com/nema-11-stepper-l-31mm-w-rear-shaft-gear-ratio-14-1-planetary-gearbox-11hs12-0674d-pg14 Nema 11 Stepper motor] fits the rudder design to control the back-foil.
			\|4-pins connector for power and control
			{\| class="wikitable mw-collapsible mw-collapsed"
			\|+Connection information
			!Color
			!Function
			\|-
			\| style="background: #ED1D0E;color:white;" \|Red
			\|B+
			\|-
			\| style="background: #000000;color:white;" \|Black
			\|A+
			\|-
			\| style="background: #2222EE;color:white;" \|Blue
			\|B-
			\|-
			\| style="background: #116902;color:white;" \|Green
			\|A-
			\|}
			\|-
			\|Water pump
			\|The available waterpump: [https://nl.aliexpress.com/i/32870145384.html ZC-A210](24 V version)
			\|2-pins connector
			{\| class="wikitable mw-collapsible mw-collapsed"
			\|+Connection information
			!Color
			!Function
			\|-
			\| style="background: #ED1D0E;color:white;" \|Red
			\|24v
			\|-
			\| style="background: #000000;color:white;" \|Black
			\|GND
			\|}
			\|-
			\|Flowmeter
			\|We have 2 flowmeters for inlet and outlet: [https://nl.aliexpress.com/item/1005006813605315.html?gatewayAdapt=glo2nld#nav-specification DWS-MH-02]
			\|6-pins connector
			{\| class="wikitable mw-collapsible mw-collapsed"
			\|+Connection information
			!Color
			!Function
			\|-
			\| style="background: #ED1D0E;color:white;" \| Red
			\|5-24v
			\|-
			\| style="background: #000000;color:white;" \| Black
			\| GND
			\|-
			\| style="background: #116902;color:white;" \|Green
			\|50k Temp
			\|-
			\| style="background: #CDDB00;" \|Yellow
			\|Pulse out
			\|-
			\| style="background: #EE2266;color:white;" \| Red and Blue
			\|TDS sensor
			\|}
			\|-
			\|Platform
			\|Right now(10-11-2025) the [https://www.duet3d.com/duet3toolboard1lc Duet 3 1LC] is available to use for prototyping.
			Other options are [https://www.amazon.nl/-/en/BIGTREETECH-EBB-36-communication-STM32G0B1CBT6/dp/B0B1JBH8R5?dib=eyJ2IjoiMSJ9.u31ykTjqWpKnziWf-HlcFHPpjlpjFLlMqEGFS3VpEFoPMYB-ntfAoEM9qNUGVXtrwW3rHJDEbeMY6RI2Lnt_Jtbu8Ol-uZWBKFFmNuOY6nmBhfIGwyNLOpUkqAEEaxYpMGk7qOkz7OW_7PpcIhFg62Eqz-3x8XMlKipaq8vMtd6wiodByGlve9HrpBM9C38kSyzMRwFGneHUDJH7guP-7ENePjKpuOrLC7x83iRWhyoga6SRJgVPjpXohVvbPL6_Za6mVcNkD2xQyB3WFCoZoBKtCA469K9urtnIuDb5imU.4tJLo0B2n2WNGx17gcoOJ0Y6ITTdpQukln7ZNMG0YR8&dib_tag=se&keywords=ebb36&qid=1762803999&sr=8-1&th=1 EBB 36] and [https://mellow.klipper.cn/en/docs/ProductDoc/ToolBoard/fly-sht36/sht36/ SHT36 with TMC2209]
			\|Host listed connections above.
			\|}

Stoefoe at 07:15, 13 May 2026

2026-05-13T07:15:45Z

← Older revision		Revision as of 07:15, 13 May 2026
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	Although the system performed well initially, it was ultimately scrapped due to continuous water ingress into the motor tube. The resulting corrosion of the gearbox and motor caused repeated failures and required frequent replacement of expensive components.		Although the system performed well initially, it was ultimately scrapped due to continuous water ingress into the motor tube. The resulting corrosion of the gearbox and motor caused repeated failures and required frequent replacement of expensive components.

	[[File:Roer_2025.png\|thumb\|~~400px~~\|2022 Rudder]]		[[File:Roer_2025.png\|thumb\|300px\|2022 Rudder]]

	== 2025: Mini Rudder V1 ==		== 2025: Mini Rudder V1 ==
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	The rudder featured a carbon-fiber-reinforced 3D-printed body and focused mainly on reliability and ease of deployment rather than outright performance.		The rudder featured a carbon-fiber-reinforced 3D-printed body and focused mainly on reliability and ease of deployment rather than outright performance.

	[[File:Miniroer_v1.png\|thumb\|~~400px~~\|Mini rudder V1]]		[[File:Miniroer_v1.png\|thumb\|300px\|Mini rudder V1]]

	= Development of the New Propulsion Platform =		= Development of the New Propulsion Platform =
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	* 4× 6701 bearings (12×18×4 mm)		* 4× 6701 bearings (12×18×4 mm)

	[[File:Roer_2026.png\|thumb\|~~400px~~\|New main drive unit]]		[[File:Roer_2026.png\|thumb\|300px\|New main drive unit]]

	== Mini Rudder V2 ==		== Mini Rudder V2 ==
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	Because future plans include water cooling for additional electrical systems, the Mini Rudder V2 also includes a cooling water inlet similar to the main propulsion unit.		Because future plans include water cooling for additional electrical systems, the Mini Rudder V2 also includes a cooling water inlet similar to the main propulsion unit.

	[[File:Miniroer_v2.png\|thumb\|~~400px~~\|Mini rudder V2]]		[[File:Miniroer_v2.png\|thumb\|300px\|Mini rudder V2]]

	= Rudder Mounting System =		= Rudder Mounting System =

Stoefoe at 13:34, 12 May 2026

2026-05-12T13:34:05Z

← Older revision		Revision as of 13:34, 12 May 2026
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	Although the system performed well initially, it was ultimately scrapped due to continuous water ingress into the motor tube. The resulting corrosion of the gearbox and motor caused repeated failures and required frequent replacement of expensive components.		Although the system performed well initially, it was ultimately scrapped due to continuous water ingress into the motor tube. The resulting corrosion of the gearbox and motor caused repeated failures and required frequent replacement of expensive components.

			[[File:Roer_2025.png\|thumb\|400px\|2022 Rudder]]

	== 2025: Mini Rudder V1 ==		== 2025: Mini Rudder V1 ==
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	The rudder featured a carbon-fiber-reinforced 3D-printed body and focused mainly on reliability and ease of deployment rather than outright performance.		The rudder featured a carbon-fiber-reinforced 3D-printed body and focused mainly on reliability and ease of deployment rather than outright performance.

			[[File:Miniroer_v1.png\|thumb\|400px\|Mini rudder V1]]

	= Development of the New Propulsion Platform =		= Development of the New Propulsion Platform =
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	* 1× NBR shaft seal 6×16×4 mm		* 1× NBR shaft seal 6×16×4 mm
	* 4× 6701 bearings (12×18×4 mm)		* 4× 6701 bearings (12×18×4 mm)

			[[File:Roer_2026.png\|thumb\|400px\|New main drive unit]]

	== Mini Rudder V2 ==		== Mini Rudder V2 ==
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	Because future plans include water cooling for additional electrical systems, the Mini Rudder V2 also includes a cooling water inlet similar to the main propulsion unit.		Because future plans include water cooling for additional electrical systems, the Mini Rudder V2 also includes a cooling water inlet similar to the main propulsion unit.

			[[File:Miniroer_v2.png\|thumb\|400px\|Mini rudder V2]]

	= Rudder Mounting System =		= Rudder Mounting System =

Stoefoe at 13:15, 12 May 2026

2026-05-12T13:15:16Z

Show changes

Stoefoe at 13:12, 12 May 2026

2026-05-12T13:12:57Z

← Older revision		Revision as of 13:12, 12 May 2026
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	* 1× NBR R 20×28×7 between the housing and outer propeller shaft		* 1× NBR R 20×28×7 between the housing and outer propeller shaft
	* 2× NBR R 8×16×7 between:		* 2× NBR R 8×16×7 between: the inner and outer propeller shafts and the housing and the upper main driveshaft

	* the inner and outer propeller shafts
	* the housing and the upper main driveshaft

	## Keys		## Keys