The overall electrical system of the ASV is split into multiple housings, namely the Navigation and Acoustics housing, Telemetry housing, Manipulator housing and the Main housing. The Main housing contains the electronics which are the backbone of the whole electrical system and are categorised into 3 sub-systems: Power Distribution, Sensors and Actuation, and Kill system.
Ethernet and CAN remain our primary methods of communication for high and low level components respectively.
The key design consideration was for flexibility and eliminating mis-plugging of PCBs onto the backplane. Each of the isolated DC-DC converters could be plugged onto the backplane and the same custom PCB was utilised for all three converters, which output different voltages, by allowing multiple configurations during component assembly. The three daughter boards also utilise the same concept of using a standardised pin mapping to connect to the backplane.
A Quad-FTDI circuit was integrated onto the ASV backplane, providing the interface to reprogram the firmware of multiple daughter boards with a single USB cable on-the fly.
Electrical Drive System
A pair of Roboteq HDC2460 Electronic Speed Controllers (ESC) are used to control the Minn Kota Riptide RT80. The Thruster Daughter Board interfaces the Roboteq HDC2460 ESC via CAN using the CANOpen protocol, apart from monitoring internal humidity and temperature, battery information and controlling the light tower which indicates the ASV operation mode.