CN100411944C - Underwater glider with complex powersource and its driivng method - Google Patents
Underwater glider with complex powersource and its driivng method Download PDFInfo
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- CN100411944C CN100411944C CNB2006101304866A CN200610130486A CN100411944C CN 100411944 C CN100411944 C CN 100411944C CN B2006101304866 A CNB2006101304866 A CN B2006101304866A CN 200610130486 A CN200610130486 A CN 200610130486A CN 100411944 C CN100411944 C CN 100411944C
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells
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Abstract
The underwater glider with complex power source includes successively connected bossing, fuel cell cooling cavity, heat engine cooling cavity, heat engine operation cavity and sealed chassis, which constitute one total sealed cavity. Each of the fuel cell cooling cavity and the heat engine cooling cavity is one sandwiched casing with cooling medium in the sandwich; the heat engine operation cavity is one double sandwiched casing with heat insulating material in the outer sandwich and temperature sensitive material and heat exchanger in the inner sandwich; and the total sealed cavity is provided with square support for fixing magnetic compass, control circuit board, torsion attitude regulating mechanism, pitch attitude regulating mechanism, electric driver and temperature difference driver. The present invention also discloses the two navigation methods of electric driving and temperature difference driving separately.
Description
Technical field
The present invention relates to a kind of electromechanical integrated device, especially relate to a kind of underwater propulsion equipment that utilizes compound energy to drive.
Background technology
Underwater glider is a kind of by changing self buoyancy and adjusting a kind of novel under-water robot that the navigation attitude obtains gliding simultaneously.The various sensors of its portability carry out long sequential ground bathymetry on a large scale, and can regularly send obtaining data back to base station via satellite, so it has become the important tool of marine environmental monitoring.The power source of underwater glider mainly contains two kinds at present: a kind of is to adopt electric energy, for example adopt lithium cell or alkaline battery, as all adopting battery as driven by energy by the Seaglider underwater glider of people such as the Eriksen of Washington university development, Slocum (electronic) underwater glider of being developed by the Spray underwater glider and the Webb laboratory of people such as the Sherman of Scripps marine laboratory development.Have higher functional reliability though electricity drives underwater glider, also have very significant disadvantages: duration of voyage and distance all will be subjected to the constraint of capacity of cell; Be operated under the abyssal environment, separate out bubble owing to pressure changes because of working medium sometimes plunger pump " gas lock " inefficacy takes place; The power density of battery is low, and it is higher to change battery cost relatively.Another kind is that the employing circumstance of temperature difference can be as the temperature difference underwater glider of power; the Slocum (temperature difference) that is developed as the Webb laboratory; but because the restriction of the physical attribute of temperature sensing material own; make it can only work under the abyssal environment; but also the waters temperature difference deficiency that the factors such as latitude, weather and ocean current that will be subjected to cause causes the navigation limited restriction in marine site, makes its development also be subjected to restriction definitely.
Summary of the invention
The present invention is in order to realize the breakthrough to the underwater glider energy utilization technology, a kind of underwater glider and driving method thereof of compound energy are provided, realized that underwater glider both can utilize Proton Exchange Membrane Fuel Cells (abbreviating PEMFC as in following character express) to realize that as the propulsion source of hydraulic planger pump electricity drives glide in the coastal waters, also can be by the mode of PEMFC cogeneration, when PEMFC provides electric energy for the current consumer in the glider, by increasing waste heat recovery apparatus the heat that PEMFC produces is supplied with temperature-difference heat engine, rely on the waste heat of PEMFC to drive the glide of the underwater glider realization temperature difference, so not only improved the degree of utilization of PEMFC fuel, and because the waste heat supply temperature of PEMFC is higher than the nature sea surface temperature, make the serviceability of temperature-difference heat engine also obtain improving significantly, fundamentally solved the temperature difference underwater glider navigation limited restriction in marine site.The underwater glider of compound energy of the present invention has overcome the shortcoming of the single drive pattern of electric energy and thermal gradient energy underwater glider, has enlarged the field of application of underwater glider, has strengthened the reliability of work.
The underwater glider of compound energy of the present invention is achieved by the following technical programs.It comprises magnetic compass instrument, control circuit board and the hydraulic planger pump that is arranged in total annular seal space, and described total annular seal space is made up of the streamlined reefer housing, fuel cell cooling chamber, hot machine cooling chamber, hot machine epitrochoidal chamber and the sealed chassis that connect successively; The front end of described total annular seal space is linked with skull, and the rear end of described total annular seal space is linked with deck store and tail vane successively, thereby constitutes main body; Described fuel cell cooling chamber and hot machine cooling chamber are the tubular shell that has single Sealed sandwich, are filled with cooling media in the interlayer; The housing that described hot machine epitrochoidal chamber is the double containment interlayer is provided with warm material in the outside sandwich of double containment interlayer, is provided with temperature sensing material and heat exchanger in the intraformational bed of double containment interlayer; Described total annular seal space internal fixation has the square support, described magnetic compass instrument and control circuit board are fixed on the front end of square support, and the rear end of described square support in turn is provided with reverses attitude-adjusting system, pitch attitude adjusting mechanism, electric driver and temperature difference actuating device; The described attitude-adjusting system that reverses is made of intermeshing large and small satellite gear, rotation DC servo motor, hydrogen cylinder and oxygen bottle; Described major planets wheel is fixed on the square support, described rotation DC servo motor, hydrogen cylinder and oxygen bottle all are fixed on first clamping plate, and by bearing sub-assembly and the connection of square support, by rotation hydrogen cylinder and oxygen bottle, to change the twist angle of glider when navigating by water; Described pitch attitude adjusting mechanism is made of the pitching DC servo motor, rack and pinion drive mechanism and the Proton Exchange Membrane Fuel Cells that are fixed on second clamping plate (clamping plate of Proton Exchange Membrane Fuel Cells); Described pitching DC servo motor drives described gear moves described Proton Exchange Membrane Fuel Cells on described tooth bar guide rail, with the center of gravity of control glider and the relative position of centre of buoyancy, to change the pitch angle of glider when navigating by water; Described electric driver be on the basis of control circuit board, also comprise successively the DC servo motor that connects, nut screw transmission, hydraulic planger pump, plunger pump two-way electromagnetic valve and outside leather bag, described hydraulic plunger pump case communicates with described outer leather bag by two-way electromagnetic valve, and described DC servo motor is by the secondary piston motion that drives hydraulic planger pump of nut screw; Make Proton Exchange Membrane Fuel Cells pass through described fuel cell cooling chamber by the control of two cooling two-way electromagnetic valves and form cooling loop; Described temperature difference actuating device be Proton Exchange Membrane Fuel Cells, fuel cell cooling chamber, hot machine epitrochoidal chamber, hot machine cooling chamber and outside on the basis of leather bag, also comprise energy storage and interior leather bag, make Proton Exchange Membrane Fuel Cells and fuel cell cooling chamber form cooling loop by two two-way electromagnetic valve controls; By two three-way magnetic valve controls the heat exchanger of hot machine epitrochoidal chamber and hot machine cooling chamber are connected; In described leather bag and outside all be filled with the transmission medium in the leather bag; Described hot machine epitrochoidal chamber is connected with the bipass joint, and connect a port of tee connection by India rubber tube, two other port of described tee connection, the one tunnel is connected to the input end of first check valve of forward conduction, and another road is connected to the mouth of second check valve of reverse-conducting; The mouth of described first check valve is divided into two-way: the one tunnel communicates with energy storage, another road first two-way electromagnetic valve is connected in outer leather bag, the input end of second check valve of reverse-conducting also is divided into two-way: the one tunnel directly is connected to interior leather bag, and another road is connected in outer leather bag through second two-way electromagnetic valve.
The underwater glider of compound energy of the present invention, wherein, the battery sheet of described Proton Exchange Membrane Fuel Cells is processed into annular, each battery sheet forms through hole in central authorities after being superimposed as battery pile, described square support is by passing in the through hole, adopt pinion and rack to drive fuel cell pack, realize underwater glider pitch attitude ground is regulated.Described bearing sub-assembly comprises fixed mount and a pair of angular contact ball bearing, described hydrogen cylinder and oxygen bottle are fixed on the described angular contact ball bearing by described bearing fixing frame, described angular contact ball bearing is installed on the square support by the bearing block, adopt the outer planet wheel mechanism to reverse described hydrogen cylinder and oxygen bottle, realize that underwater glider is reversed attitude ground to be regulated.Described hydraulic planger pump is given piston by the transmission of hydraulic planger pump DC servo motor drive nut lead screw pair, makes piston reciprocating in the hydraulic plunger pump case.Described temperature sensing material is the paraffin class material, and described transmission medium is a pure water.
The underwater glider of compound energy of the present invention adopts temperature difference method of driving may further comprise the steps: preliminary filling pressure, the interior partial vacuum of total annular seal space, temperature sensing material are melted to liquid state fully in (2-A) the control circuit board parameter preset, energy storage; (2-B) open first two-way electromagnetic valve in the temperature difference actuating device, the transfer medium stream in the outer leather bag is gone into interior leather bag, and underwater glider buoyancy reduces to begin to sink; (2-C) described two cooling two-way electromagnetic valves are opened simultaneously, and Proton Exchange Membrane Fuel Cells and fuel cell cooling chamber formation cooling loop sheds waste heat in the external environment; (2-D) described two three-way magnetic valves, one of them 2,3 and 1,3 connection of another one are connected heat exchanger and hot machine cooling chamber in the hot machine epitrochoidal chamber; (2-E) when sea temperature during less than the phase transition temperature of temperature sensing material, the heat of temperature sensing material is brought hot machine cooling chamber into by the cooling media in the heat exchanger, finally is discharged in the external environment condition; (2-F) become mutually when solid-state when temperature sensing material, the transmission medium in the interior leather bag flows into hot machine epitrochoidal chamber through second check valve (17-2); Simultaneously, the pitching servomotor in the control circuit board control pitch attitude adjusting mechanism, and adjust the position of mass makes the reach of underwater glider center of gravity, produces the downward angle of depression, and the hydrodynamism by wing, acquisition horizontal velocity forward; (2-G) the magnetic compass instrument is measured the angle of depression of glider in real time, and gives control circuit board with this message feedback; (2-H) judge whether the current angle of depression equals the default angle of depression, and the current degree of depth that reaches underwater glider equals preset value, otherwise, step (2-F) returned; (2-I) after the arrival desired depth, second two-way electromagnetic valve is opened, and the transfer medium stream in the energy storage is gone into outer leather bag, and the crust capsule volume increases, and underwater glider rises; (2-J) the pitching servomotor in the control circuit board control pitch attitude adjusting mechanism, and adjust the position of mass moves after making the underwater glider center of gravity, produces the elevation angle upwards, and the hydrodynamism by wing, obtains horizontal velocity forward; (2-K) the magnetic compass instrument is measured the elevation angle of glider in real time, and gives control circuit board with this message feedback; (2-L) judge whether the current elevation angle equals the default elevation angle, and the current degree of depth that reaches underwater glider equals preset value, otherwise, step (2-J) returned; (2-M) two cooling two-way electromagnetic valves are closed simultaneously, two three-way magnetic valves, one of them 1,3,2,3 connections of another one, the waste heat of Proton Exchange Membrane Fuel Cells conducts to temperature sensing material by heat exchanger, and warm material can prevent that the waste heat of fuel cell is lost in the external environment and go; (2-N) temperature sensing material undergoes phase transition thawing, cubic expansion because of being heated; Transmit medium and flow into energy storage with energy reserve through first check valve from hot machine epitrochoidal chamber; (2-O), underwater glider just finishes a working cycle when floating to water surface.
Compared with prior art, the invention has the beneficial effects as follows: owing to adopt the comprehensive drive energy of PEMFC as underwater glider, make underwater glider possess electric energy and two kinds of navigation of thermal gradient energy drive pattern, therefore the underwater glider of recombination energy driving can adapt to the job requirement under different depth, and owing to adopt the internal heat source of PEMFC as temperature-difference heat engine, the fuel utilization of PEMFC is significantly improved, the serviceability of temperature-difference heat engine has also obtained tangible improvement, has fundamentally solved temperature difference underwater glider and has caused the navigation limited restriction in marine site because of being subjected to nature marine site temperature traverse.Be with the comprehensive dynamic source of PEMFC among the present invention as underwater glider, both can provide electric energy to drive the electricity driving glide pattern that hydraulic planger pump is implemented in the coastal waters by PEMFC, also can utilize the cogeneration system of PEMFC to realize that the temperature difference of glider drives the glide pattern by with the internal heat source of PEMFC as the temperature-difference heat engine system.
Description of drawings
Fig. 1 is the underwater glider package assembly scheme drawing of compound energy of the present invention;
Fig. 2-the 1st, underwater glider front structure partial enlarged drawing shown in Figure 1;
Fig. 2-the 2nd, underwater glider central structure partial enlarged drawing shown in Figure 1;
Fig. 2-the 3rd, underwater glider rear structure partial enlarged drawing shown in Figure 1;
Fig. 3-1 and Fig. 3 the-the 2nd, the diagram of circuit of electric drive method when underwater glider of the present invention is operated in paralic environment;
Fig. 4-1, Fig. 4-2 and Fig. 4-the 3rd, the diagram of circuit of temperature difference driving method when underwater glider of the present invention is operated in abyssal environment;
Fig. 5 is the workflow diagram that underwater glider of the present invention reverses attitude-adjusting system;
Fig. 6 is the circuit control relation figure of underwater glider of the present invention.
Be the explanation of main position Reference numeral in the Figure of description below:
4---outer leather bag 9---hot machine epitrochoidal chamber 10---transmission media
11---warm material 12---heat exchanger 13---temperature sensing materials
17---check valve 18---hot machine cooling chamber 19---energy storages
21---wing 22---DC servo motor 23---Proton Exchange Membrane Fuel Cells
24---material battery cooling chamber 25---square support 29---hydrogen cylinders
30---major planets wheel 31---magnetic compass instrument 36---control circuit boards
37---asteroid wheel 39---rotation DC servo motor 40---oxygen bottle
43---tooth bar guide rail 44---transmission gear 45---pitching DC servo motor
47---the interior leather bags of piston 49-1,49-2---three-way magnetic valve 55---
15-1,15-2---first and second two-way electromagnetic valve 42-1,42-2---be two-way electromagnetic valve but
50---the plunger pump two-way electromagnetic valve
The specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
The structure of the underwater glider of compound energy of the present invention is shown in Fig. 1, Fig. 2-1, Fig. 2-2 and Fig. 2-3.It comprises tail vane 1, attaching screw 2, deck store 3, outer leather bag 4, counterweight 5, sealed chassis 6, sealing screw 7, O-ring seals 8, hot machine epitrochoidal chamber 9, transmit medium 10, warm material 11, heat exchanger 12, temperature sensing material 13, India rubber tube 14, two-way electromagnetic valve 15, tee connection 16, check valve 17, hot machine cooling chamber 18, energy storage 19, energy storage support 20, wing 21, DC servo motor 22, Proton Exchange Membrane Fuel Cells 23, fuel cell cooling chamber 24, square support 25, tightening screw 26, bearing block 27, angular contact ball bearing 28, hydrogen cylinder 29, major planets wheel 30, magnetic compass instrument 31, streamlined reefer housing 32, holding screw 33, skull 34, square support contiguous block 35, control circuit board 36, asteroid wheel 37, bearing fixing frame 38, rotation DC servo motor 39, oxygen bottle 40, first clamping plate 41, two cooling two-way electromagnetic valve 42-1,42-2, tooth bar guide rail 43, transmission gear 44, pitching DC servo motor 45, nut screw pair 46, piston 47, hydraulic plunger pump case 48, two three-way magnetic valve 49-1,49-2, plunger pump two-way electromagnetic valve 50, square rack connecting plate 51, energy storage support loam cake 52, valve support 53, endothelium rami capsulares frame loam cake 54, interior leather bag 55 and endothelium rami capsulares frame 56.
Be connected in the bottom of hot machine epitrochoidal chamber 9 by sealed chassis 6, the top of hot machine epitrochoidal chamber 9 is connected in the bottom of hot machine cooling chamber 18, the top of hot machine cooling chamber is connected in the bottom of fuel cell cooling chamber 24, the top of fuel cell cooling chamber 24 is connected in streamlined reefer housing 32, be connected with O-ring seals 8 by sealing screw 7 between each parts, thus total annular seal space of formation underwater glider.Square support 25 by square support contiguous block 35 and square rack connecting plate 51 by screw retention among the housing of glider.Magnetic compass instrument 31, control circuit board 36 have been installed respectively on square support 25 from front to back, have been reversed attitude-adjusting system, pitch attitude adjusting mechanism, hydraulic planger pump and two-way electromagnetic valve 50.Wherein reversing attitude-adjusting system is made up of major planets wheel 30, bearing block 27, angular contact ball bearing 28, bearing fixing frame 38, first clamping plate 41, rotation DC servo motor 39, hydrogen cylinder 29 and oxygen bottle 40.Major planets wheel 30 and the rotation DC servo motor 39 and the asteroid wheel 37 that are fixed on first clamping plate have been formed the transmission device that reverses attitude.Wherein, in reversing attitude-adjusting system, major planets wheel 30 by screw retention on square support 25, hydrogen cylinder 29 and oxygen bottle 40 are fixed together as reversing mass by first clamping plate 41, major planets wheel 30 and be fixed on rotation DC servo motor 39 on first clamping plate and asteroid wheel 37 has been formed the transmission device that glider reverses attitude.Reverse mass and be installed on a pair of angular contact ball bearing 28-1, the 28-2 by pair of bearings fixed mount 38-1,38-2, angular contact ball bearing 28 is installed on the square support 25 by bearing block 27-1,27-2 again.In the pitch attitude adjusting mechanism, by the mass of Proton Exchange Membrane Fuel Cells 23 as the pitching adjustment, pitching DC servo motor 45 and transmission gear 44 are fixed on second clamping plate of Proton Exchange Membrane Fuel Cells 23, and they have formed the transmission device of pitch attitude with the tooth bar guide rail 43 that is fixed on square support 25.Wherein the battery sheet of Proton Exchange Membrane Fuel Cells 23 is processed to annular, so that square support 25 is penetrated by the centre.Hydraulic planger pump is given piston 47 by 46 transmissions of hydraulic planger pump DC servo motor 22 drive nut lead screw pair, and it can be pumped in hydraulic plunger pump case 48.Control the selection of glider by two-way electromagnetic valve 50 to buoyancy-driven mechanism.Hot machine epitrochoidal chamber 9 is designed to have the column type sealing member of double-sandwich, and temperature sensing material 13 cans are in the interlayer internal layer of hot machine epitrochoidal chamber 9.The interlayer skin of hot machine epitrochoidal chamber 9 is filled with warm material 11, hot machine epitrochoidal chamber 9 at first connects the bipass joint, a port that connects tee connection 16 then by India rubber tube 14, two other port of tee connection 16, one the tunnel is connected to the input end of the first check valve 17-1 of forward conduction, another road is connected to the mouth of the second check valve 17-2 of reverse-conducting, the mouth of the first check valve 17-1 is divided into two-way: the one tunnel communicates with energy storage 19, another road first two-way electromagnetic valve 15-1 is connected in outer leather bag 4, the input end of the second check valve 17-2 of reverse-conducting also is divided into two-way: the one tunnel directly is connected to interior leather bag 55, and other has one tunnel process two-way electromagnetic valve 15-2 to be connected in outer leather bag 4.Interior leather bag 55 is supported by endothelium rami capsulares frame 56 and is fixing with endothelium rami capsulares frame loam cake 54.Energy storage 19 is supported by energy storage support 20, and is fixing with energy storage support loam cake 52.Valve support 53 is used for fixing two-way electromagnetic valve 15-1,15-2.In the bottom of sealed chassis 6 counterweight 5 is housed, is used for adjusting the buoyancy of underwater glider in water and the ratio of gravity.Select for use have temperature susceptibility paraffin class as temperature sensing material 13 cans at the inside of hot machine epitrochoidal chamber 9 interlayer, can under different temperatures, realize solid-state and liquid transformation, warm material 11 is used for the adiabatic heat-insulation to temperature sensing material 13.In interior leather bag 55, outer leather bag 4 and hydraulic system can with pure water as transmitting medium 10.Hot machine cooling chamber 18 and fuel cell cooling chamber 24 all are a kind of seal casinghousings of single sandwich-type, and the inside can, is respectively temperature-difference heat engine and fuel cell and realizes cooling heat dissipation as cooling media with pure water.Cooling loop for temperature-difference heat engine and fuel cell is realized control by cooling two-way electromagnetic valve 42-1,42-2 and three-way magnetic valve 49-1,49-2 respectively.
Embodiment:
For present embodiment, the working environment of the underwater glider of compound energy is set as follows: working depth 1500M; Annular seal space material and size: sealed chassis 6, hot machine epitrochoidal chamber 9, hot machine cooling chamber 18, fuel cell cooling chamber 24 and streamlined reefer housing 32 all use aluminum alloy materials and form annular seal space, its oad is: annular seal space length overall 2500mm, main body cover diameter 250mm, wall thickness 12mm; Outer leather bag 4 volumes are 900 milliliters; Hydraulic planger pump annular seal space diameter 90mm, piston movable distance 150mm; Hydraulic plunger pump case 48, piston 47, nut screw secondary 46 and plunger pump seal cover cap and bracing frame are aluminum alloy materials; The operating voltage of DC servo motor 45 is 12V, and power is 60W; The rating horsepower 100W of Proton Exchange Membrane Fuel Cells 23, voltage 12V, effective film area 32cm
2, the long 98mm of oad, wide 60mm, high 99mm; Wherein the battery sheet of Proton Exchange Membrane Fuel Cells 23 is processed to annular, so that square support 25 is penetrated by the centre; It is the barrier film energy storage of 2L, operation pressure 20Mpa that energy storage 19 adopts actual displacement; The operation pressure of electromagnetic valve 15, check valve 17 is 15Mpa; Temperature sensing material 13 is C16H34 (16 alkane), 16 ℃ of solid-liquid phase change temperature, and can is in hot machine epitrochoidal chamber 9 inside; Transmitting medium 10 adopts the pure water can in interior leather bag 55, outer leather bag 4 and hydraulic system; The preliminary filling pressure of energy storage 19 is 15 MPas, 0.7 barometric pressure of the inner maintenance of seal casinghousing; In hot machine cooling chamber 18, fuel cell cooling chamber 24 and cooling recirculation system, also adopt pure water as cooling media.Circuit control relation in the present embodiment as shown in Figure 6.
The underwater glider of compound energy of the present invention is operated in respectively and adopts the working process of different driving sail mode as follows near (shallow) sea or the abyssal environment:
One, when underwater glider is operated in paralic environment, adopt electricity to drive sail mode, shown in Fig. 3-1 and Fig. 3-2.
At first, underwater glider swims on the water surface, and buoyancy is slightly larger than gravity.Control circuit board 36 sends signal and gives two-way electromagnetic valve 50 and DC servo motor 22, makes two-way electromagnetic valve 50 open, and control circuit board 36 drives DC servo motor 22 rotations simultaneously.DC servo motor 22 owing to outer leather bag 4 communicates with hydraulic plunger pump case 48, and then is transmitted the outer leather bag 4 of medium 10 outflows by secondary 46 driven plunger, 47 upward movements of nut screw, and the buoyancy of underwater glider reduces, and begins to sink, and this moment, electromagnetic valve 50 was closed.Meanwhile, control circuit board 36 sends signal driving pitching DC servo motor 45 moves forward the Proton Exchange Membrane Fuel Cells 23 as pitch attitude adjustment mass by transmission gear 44 on tooth bar guide rail 43, therefore underwater glider center of gravity reach, produce downward pitch angle, by the hydrodynamism of wing 21, obtained horizontal velocity forward.The pitch angle size of underwater glider, control by the distance that mass moves, the size of pre-set pitch angle in control circuit board 36, measure the pitch angle of underwater glider in real time by magnetic compass instrument 31, give control circuit board 36 with the signal conveys that feedback is come, drive pitching DC servo motor 45 by control circuit board 36 and adjust accordingly.
When underwater glider arrives desired depth, pressure sensor provides feedback signal, control circuit board 36 provides signal, make electromagnetic valve 50 open, control DC servo motor 22 contrarotations simultaneously, piston 47 in the plunger pump housing 48 moves downward, and transmits medium 10 and is pushed in the outer leather bag 4, and underwater glider rises because buoyancy increases.It is that Proton Exchange Membrane Fuel Cells 23 moves after on the tooth bar guide rail 43 that while control circuit board 36 sends signal driving pitching DC servo motor 45 driving pitch attitudes adjustment masses, move after making the underwater glider center of gravity, produce pitch angle upwards, magnetic compass 31 is given control circuit board 36 with the signal feedback of measured navigation attitude angle, to adjust the control signal to pitching DC servo motor 45.In the process that rises and descend, the sensor record data of underwater glider by carrying, Proton Exchange Membrane Fuel Cells 23 provides electric energy for the motor in the underwater glider and sensor, control circuit board.Cooling two-way electromagnetic valve 42-1,42-2 open simultaneously, and Proton Exchange Membrane Fuel Cells 23 forms cooling loops with fuel cell cooling chamber 24, and waste heat is shed in the external environment.
As shown in Figure 5, when glider need change course, rotation DC servo motor 39 was rolled on major planets wheel 30 by driving asteroid wheel 37, drove to rotate around square support 25 for reversing mass with hydrogen cylinder 29 and oxygen bottle 40.Like this by changing the twist angle of glider when the navigation, as centripetal force, realize that glider changes course in the process of gliding with the hydrodynamic force component that produces at wing 21.
Two, when underwater glider is operated in abyssal environment, adopt temperature difference driving sail mode in the PEMFC, shown in Fig. 4-1, Fig. 4-2 and Fig. 4-3.
When starting working, underwater glider is in surface layer of water, and its attitude keeps level, the certain pressure of preliminary filling in the energy storage 19, and this pressure is a bit larger tham the pressure of working depth, and seal casinghousing inside is the retaining part vacuum.Temperature sensing material 13 is melted to liquid state fully, and cubic expansion is to maximum.Open the first two-way electromagnetic valve 15-1, leather bag 55 in the transmission medium in the outer leather bag 4 enters, this moment, body buoyancy reduced, and underwater glider sinks.Cool off two-way electromagnetic valve 42-1,42-2 and open simultaneously this moment, Proton Exchange Membrane Fuel Cells 23 forms cooling loop with fuel cell cooling chamber 24, waste heat is shed in the external environment, 2,3 of three-way magnetic valve 49-1,1,3 connection of 49-2 makes the heat exchanger 12 in the hot machine epitrochoidal chamber 9 connect with hot machine cooling chamber 18.In the sinking process along with the ambient temperature of sea water advanced increase underwater glider also in continuous reduction, when seawater during less than the phase transition temperature of temperature sensing material 13, the heat of temperature sensing material 13 is brought into hot machine cooling chamber 18 by the cooling media in the heat exchanger 12, finally is discharged in the external environment condition and goes.Temperature sensing material 13 is solid-state because of the heat release cooling becomes mutually, volumetric shrinkage, and flow into hot machine epitrochoidal chamber 9 as the transmission medium 10 in the interior leather bag 55 through the second check valve 17-2 this moment.Attitude-adjusting system is made corresponding action simultaneously, and detailed process is identical with the decline process that above-mentioned electricity drives in the sail mode, the horizontal motion that cooperates wing 21 to obtain forward.
When underwater glider sank to desired depth, two-way electromagnetic valve 15-2 opened, and the transmission medium 10 in the energy storage 19 flows into outer leather bag 4, and the crust capsule volume increases, and underwater glider rises.In uphill process, cooling two-way electromagnetic valve 42-1,42-2 close simultaneously, 1,3 of 49-1,2,3 connections of 49-2, the waste heat of Proton Exchange Membrane Fuel Cells 23 is given temperature sensing material 13 by heat exchanger 12 conduction, and warm material 11 can prevent that the waste heat of fuel cell 23 is lost in the external environment and go.Therefore temperature sensing material 13 undergoes phase transition thawing, cubic expansion because of being heated.Attitude-adjusting system is made corresponding action simultaneously, and detailed process is identical with electricity driving sail mode uphill process, the horizontal motion that cooperates wing 21 to obtain forward.Transmit medium 10 and flow into energy storage 19 through the first check valve 17-1, with energy reserve from hot machine epitrochoidal chamber 9.When floating to water surface, underwater glider just finishes a working cycle.
The course change of underwater glider is identical with electricity driving sail mode fully under the temperature difference driving sail mode in PEMFC, as shown in Figure 5, repeats no more herein.
Although in conjunction with the accompanying drawings the preferred embodiments of the present invention are described above; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; rather than it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not breaking away under the scope situation that aim of the present invention and claim protect, can also make a lot of forms, these all belong within the protection of the present invention.
Claims (6)
1. the underwater glider of a compound energy comprises the magnetic compass instrument, control circuit board and the hydraulic planger pump that are arranged in total annular seal space, it is characterized in that:
Described total annular seal space is made up of the streamlined reefer housing, fuel cell cooling chamber, hot machine cooling chamber, hot machine epitrochoidal chamber and the sealed chassis that connect successively; The front end of described total annular seal space is linked with skull, and the rear end of described total annular seal space is linked with deck store and tail vane successively, thereby constitutes main body; Described fuel cell cooling chamber and hot machine cooling chamber are the tubular shell that has single Sealed sandwich, are filled with cooling media in the interlayer; The housing that described hot machine epitrochoidal chamber is the double containment interlayer is provided with warm material in the outside sandwich of double containment interlayer, is provided with temperature sensing material and heat exchanger in the intraformational bed of double containment interlayer;
Described total annular seal space internal fixation has the square support, described magnetic compass instrument and control circuit board are fixed on the front end of square support, and the rear end of described square support in turn is provided with reverses attitude-adjusting system, pitch attitude adjusting mechanism, electric driver and temperature difference actuating device;
The described attitude-adjusting system that reverses is made of intermeshing large and small satellite gear, rotation DC servo motor, hydrogen cylinder and oxygen bottle; Described major planets wheel is fixed on the square support, described rotation DC servo motor, hydrogen cylinder and oxygen bottle all are fixed on first clamping plate, and by bearing sub-assembly and the connection of square support, by rotating and reversing hydrogen cylinder and oxygen bottle, to change the twist angle of glider when navigating by water;
Described pitch attitude adjusting mechanism is made of the pitching DC servo motor, rack and pinion drive mechanism and the Proton Exchange Membrane Fuel Cells that are fixed on second clamping plate; Described pitching DC servo motor drives described gear moves described Proton Exchange Membrane Fuel Cells on described tooth bar guide rail, with the center of gravity of control glider and the relative position of centre of buoyancy, to change the pitch angle of glider when navigating by water;
Described electric driver be on the basis of control circuit board, also comprise successively the DC servo motor that connects, nut screw transmission, hydraulic planger pump, plunger pump two-way electromagnetic valve and outside leather bag, described hydraulic plunger pump case communicates with described outer leather bag by two-way electromagnetic valve, and described DC servo motor is by the secondary piston motion that drives hydraulic planger pump of nut screw; Make Proton Exchange Membrane Fuel Cells pass through described fuel cell cooling chamber by the control of two cooling two-way electromagnetic valves and form cooling loop;
Described temperature difference actuating device be Proton Exchange Membrane Fuel Cells, fuel cell cooling chamber, hot machine epitrochoidal chamber, hot machine cooling chamber and outside on the basis of leather bag, also comprise energy storage and interior leather bag, make Proton Exchange Membrane Fuel Cells and fuel cell cooling chamber form cooling loop by two two-way electromagnetic valve controls; By two three-way magnetic valve controls the heat exchanger of hot machine epitrochoidal chamber and hot machine cooling chamber are connected; In described leather bag and outside all be filled with the transmission medium in the leather bag;
Described hot machine epitrochoidal chamber is connected with the bipass joint, and connect a port of tee connection by India rubber tube, two other port of described tee connection, the one tunnel is connected to the input end of first check valve of forward conduction, and another road is connected to the mouth of second check valve of reverse-conducting; The mouth of described first check valve is divided into two-way: the one tunnel communicates with energy storage, another road first two-way electromagnetic valve is connected in outer leather bag, the input end of second check valve of reverse-conducting also is divided into two-way: the one tunnel directly is connected to interior leather bag, and another road is connected in outer leather bag through second two-way electromagnetic valve.
2. according to the underwater glider of the described compound energy of claim 1, it is characterized in that: the battery sheet of described Proton Exchange Membrane Fuel Cells is processed into annular, each battery sheet forms through hole in central authorities after being superimposed as battery pile, described square support is by passing in the through hole, adopt pinion and rack to drive fuel cell pack, realize underwater glider pitch attitude ground is regulated.
3. according to the underwater glider of the described compound energy of claim 1, it is characterized in that: described bearing sub-assembly comprises fixed mount and a pair of angular contact ball bearing, described hydrogen cylinder and oxygen bottle are fixed on the described angular contact ball bearing by described bearing fixing frame, described angular contact ball bearing is installed on the square support by the bearing block, adopt the outer planet wheel mechanism to reverse described hydrogen cylinder and oxygen bottle, realize that underwater glider is reversed attitude ground to be regulated.
4. according to the underwater glider of the described compound energy of claim 1, it is characterized in that: described hydraulic planger pump is given piston by the transmission of hydraulic planger pump DC servo motor drive nut lead screw pair, makes piston reciprocating in the hydraulic plunger pump case.
5. according to the underwater glider of the described compound energy of claim 1, it is characterized in that: described temperature sensing material is the paraffin class material, and described transmission medium is a pure water.
6. one kind is utilized the driving method of the underwater glider of compound energy according to claim 1, it is characterized in that: may further comprise the steps:
Preliminary filling pressure, the interior partial vacuum of total annular seal space, temperature sensing material are melted to liquid state fully in (2-A) the control circuit board parameter preset, energy storage;
(2-B) open first two-way electromagnetic valve in the temperature difference actuating device, the transfer medium stream in the outer leather bag is gone into interior leather bag, and underwater glider buoyancy reduces to begin to sink;
(2-C) described two cooling two-way electromagnetic valves are opened simultaneously, and Proton Exchange Membrane Fuel Cells and fuel cell cooling chamber formation cooling loop sheds waste heat in the external environment;
(2-D) described two three-way magnetic valves, one of them 2,3 and 1,3 connection of another one are connected heat exchanger and hot machine cooling chamber in the hot machine epitrochoidal chamber;
(2-E) when sea temperature during less than the crossing temperature of temperature sensing material, the heat of temperature sensing material is brought hot machine cooling chamber into by the cooling media in the heat exchanger, finally is discharged in the external environment condition;
(2-F) become mutually when solid-state when temperature sensing material, the transmission medium in the interior leather bag flows into hot machine epitrochoidal chamber through second check valve; Simultaneously, the pitching servomotor in the control circuit board control pitch attitude adjusting mechanism, and adjust the position of mass makes the reach of underwater glider center of gravity, produces the downward angle of depression, and the hydrodynamism by wing, acquisition horizontal velocity forward;
(2-G) the magnetic compass instrument is measured the angle of depression of glider in real time, and gives control circuit board with this message feedback;
(2-H) judge whether the current angle of depression equals the default angle of depression, and the current degree of depth that reaches underwater glider equals preset value, otherwise, step (2-F) returned;
(2-I) after the arrival desired depth, second two-way electromagnetic valve is opened, and the transfer medium stream in the energy storage is gone into outer leather bag, and the crust capsule volume increases, and underwater glider rises;
(2-J) the pitching servomotor in the control circuit board control pitch attitude adjusting mechanism, and adjust the position of mass moves after making the underwater glider center of gravity, produces the elevation angle upwards, and the hydrodynamism by wing, obtains horizontal velocity forward;
(2-K) the magnetic compass instrument is measured the elevation angle of glider in real time, and gives control circuit board with this message feedback;
(2-L) judge whether the current elevation angle equals the default elevation angle, and the current degree of depth that reaches underwater glider equals preset value, otherwise, step (2-J) returned;
(2-M) two cooling two-way electromagnetic valves are closed simultaneously, two three-way magnetic valves, one of them 1,3,2,3 connections of another one, the waste heat of Proton Exchange Membrane Fuel Cells conducts to temperature sensing material by heat exchanger, and warm material can prevent that the waste heat of fuel cell is lost in the external environment and go;
(2-N) temperature sensing material undergoes phase transition thawing, cubic expansion because of being heated; Transmit medium and flow into energy storage with energy reserve through first check valve from hot machine epitrochoidal chamber;
(2-O), underwater glider just finishes a working cycle when floating to water surface.
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| CN107861421A (en) * | 2017-11-02 | 2018-03-30 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Based on the mutual rotatable dual redundant control device and method of distributed system principal and subordinate |
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