Rudder - Revision history

Stoefoe at 21:19, 13 May 2026

2026-05-13T21:19:56Z

← Older revision		Revision as of 21:19, 13 May 2026
Line 143:		Line 143:
	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
Line 17:		Line 17:
	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 ==
Line 25:		Line 25:
	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 =
Line 123:		Line 123:
	* 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 ==
Line 133:		Line 133:
	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
Line 16:		Line 16:

	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 ==
Line 22:		Line 24:

	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 =
Line 118:		Line 122:
	* 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 ==
Line 126:		Line 132:

	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
Line 83:		Line 83:

	* 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

Stoefoe at 13:12, 12 May 2026

2026-05-12T13:12:05Z

← Older revision		Revision as of 13:12, 12 May 2026
Line 1:		Line 1:
	The text already contains a lot of good technical detail, it mostly needed cleanup for readability, grammar, and consistency. I kept the tone technical and informal enough that it still reads like internal team documentation rather than something heavily polished.

	~~---~~

	# Propulsion System History and Overview		# Propulsion System History and Overview

Stoefoe: New text describing drivetrain units

2026-05-12T13:11:47Z

New text describing drivetrain units

Show changes

Quintenlb at 08:42, 11 November 2025

2025-11-11T08:42:55Z

← Older revision		Revision as of 08:42, 11 November 2025
Line 32:		Line 32:
	!Function		!Function
	\|-		\|-
	\|Red		\| style="background: #ED1D0E;color:white;" \|Red
	\|B+		\|B+
	\|-		\|-
	\|Black		\| style="background: #000000;color:white;" \|Black
	\|A+		\|A+
	\|-		\|-
	\|Blue		\| style="background: #2222EE;color:white;" \|Blue
	\|B-		\|B-
	\|-		\|-
	\|Green		\| style="background: #116902;color:white;" \|Green
	\|A-		\|A-
	\|}		\|}
Line 53:		Line 53:
	!Function		!Function
	\|-		\|-
	\|Red		\| style="background: #ED1D0E;color:white;" \|Red
	\|24v		\|24v
	\|-		\|-
	\|Black		\| style="background: #000000;color:white;" \|Black
	\|GND		\|GND
	\|}		\|}
Line 68:		Line 68:
	!Function		!Function
	\|-		\|-
	\|Red		\| style="background: #ED1D0E;color:white;" \| Red
	\|5-24v		\|5-24v
	\|-		\|-
	\|Black		\| style="background: #000000;color:white;" \| Black
	\|GND		\| GND
	\|-		\|-
	\|Green		\| style="background: #116902;color:white;" \|Green
	\|50k Temp		\|50k Temp
	\|-		\|-
	\|Yellow		\| style="background: #CDDB00;" \|Yellow
	\|Pulse out		\|Pulse out
	\|-		\|-
	\|Red and Blue		\| style="background: #EE2266;color:white;" \| Red and Blue
	\|TDS sensor		\|TDS sensor
	\|}		\|}

Fromeijn at 20:43, 10 November 2025

2025-11-10T20:43:10Z

← Older revision		Revision as of 20:43, 10 November 2025
Line 46:		Line 46:
	\|-		\|-
	\|Water pump		\|Water pump
	\|The available waterpump: [https://nl.aliexpress.com/i/32870145384.html ZC-A210]		\|The available waterpump: [https://nl.aliexpress.com/i/32870145384.html ZC-A210](24 V version)
	\|2-pins connector		\|2-pins connector
	{\| class="wikitable mw-collapsible mw-collapsed"		{\| class="wikitable mw-collapsible mw-collapsed"

Quintenlb at 20:33, 10 November 2025

2025-11-10T20:33:21Z

← Older revision		Revision as of 20:33, 10 November 2025
Line 13:		Line 13:
	\|Power		\|Power
	\|Power will be coming from the [[CAN-bus]]		\|Power will be coming from the [[CAN-bus]]
	\|4-pins connector that hosts the CAN-bus and Power		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		\|Communication
	\|The board will use the [[CAN-bus]] to communicate and retrieve commands		\|The board will use the [[CAN-bus]] to communicate and retrieve commands
	\|4-pins connector that hosts the CAN-bus and Power		\|4-pins connector that hosts the [[CAN-bus]] and Power
	\|-		\|-
	\|Back-foil control		\|Back-foil control
Line 24:		Line 25:
	\|-		\|-
	\|Back-foil motor		\|Back-foil motor
	\|The ~~control of the back-foil will be done with 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]		\|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		\|4-pins connector for power and control
	{\| class="wikitable mw-collapsible mw-collapsed"		{\| class="wikitable mw-collapsible mw-collapsed"
Line 45:		Line 46:
	\|-		\|-
	\|Water pump		\|Water pump
	\|~~For the water flow the following pump has been chosen~~: [https://nl.aliexpress.com/i/32870145384.html ZC-A210]		\|The available waterpump: [https://nl.aliexpress.com/i/32870145384.html ZC-A210]
	\|2-pins connector		\|2-pins connector
	{\| class="wikitable mw-collapsible mw-collapsed"		{\| class="wikitable mw-collapsible mw-collapsed"