I am intending to replace the t200 thrusters on my ROV with high power high thrust thrusters running on 300 V.
The thrusters are powered by a 300 V cable from a separate power supply, while the Pixhawk battery monitor is powered by the usual 15 V battery. This battery is not connected to any thruster.
The new thrusters are controlled with a PWM signal, the same as the old thrusters.
Is there any control issue from upgrading to more powerful thrusters?
I imagine there are feedback gains that are attuned to specific thrust/servo command slopes.
Also, I imagine there could be some algorithm that safety checks that acceleration and gyroscope readings are consistent with thruster inputs.
Is there any control issue from upgrading to more powerful thrusters?
No, but It’s not clear if your model will be a drop in replacement without the spec. The pixhawk signals are 3.3V.
I imagine there are feedback gains that are attuned to specific thrust/servo command slopes.
Yes and no. The gains right now were adjusted slightly to be good on the stock vehicle, but we haven’t put a ton of work into this. Things are so damped underwater, it’s really easy to adjust for different vehicles.
Also, I imagine there could be some algorithm that safety checks that acceleration and gyroscope readings are consistent with thruster inputs.