# BR2 Heavy acceleration dynamics

**URL:** <https://discuss.bluerobotics.com/t/br2-heavy-acceleration-dynamics/7734>\
**Category:** BlueROV2\
**Created:** [July 9, 2020, 2:53pm UTC](https://discuss.bluerobotics.com/t/br2-heavy-acceleration-dynamics/7734 "2020-07-09T14:53:43Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![Ornella](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/ornella/32/5343_2.png) [@Ornella](https://discuss.bluerobotics.com/u/Ornella)\
**Post date:** [July 9, 2020, 2:53pm UTC](https://discuss.bluerobotics.com/t/br2-heavy-acceleration-dynamics/7734/1 "2020-07-09T14:53:43Z")

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Hello,

I’d like to know the BR2 max acceleration (its time to go from 0 m/s to full speed - 1,5 m/s)  
Does someone has it from experiments for example ?

I modeled the BR2 Heavy in Vortex simulator with its 8 thrusters and their properties (RPM to thrust characteristics) and in simulation it reaches 0,6 m/s in 0,3 s which seems quite fast. The only parameters that may change this result now may be the drag coefficient (I chose 1, not knowing the real parameter either) or maybe the reaction time of the T200 (that I supposed negligible).

Thanks for your answers !

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**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\
**Post date:** [July 20, 2020, 4:45pm UTC](https://discuss.bluerobotics.com/t/br2-heavy-acceleration-dynamics/7734/2 "2020-07-20T16:45:11Z")

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Hi @Ornella,

I just tested my ROV in the pool with a dvl, it seems to take between 0.4 s and 0.6 s to accelerate to 0.6m/s in my setup (heavy with a lot of accessories: ping360, ping1d, gripper, dvl, and waterlinked locator)

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**Author:** ![Ornella](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/ornella/32/5343_2.png) [@Ornella](https://discuss.bluerobotics.com/u/Ornella)\
**Post date:** [August 3, 2020, 8:50am UTC](https://discuss.bluerobotics.com/t/br2-heavy-acceleration-dynamics/7734/3 "2020-08-03T08:50:36Z")

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Hi @williangalvani ,

Thank you so much for your helpful answer.

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**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\
**Post date:** [August 4, 2020, 9:00pm UTC](https://discuss.bluerobotics.com/t/br2-heavy-acceleration-dynamics/7734/4 "2020-08-04T21:00:03Z")

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