CN103729047A - Power management method of underwater AUV control computer - Google Patents
Power management method of underwater AUV control computer Download PDFInfo
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- CN103729047A CN103729047A CN201210385514.4A CN201210385514A CN103729047A CN 103729047 A CN103729047 A CN 103729047A CN 201210385514 A CN201210385514 A CN 201210385514A CN 103729047 A CN103729047 A CN 103729047A
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Abstract
The invention provides a power management method of an underwater AUV control computer. The method comprises the following steps that 1), the control computer comprises the work modes of a maintenance state and a task state; 2), if a system needs to be in the task state, the step 3) is carried out; 3), a main battery and an emergency battery supply power at the same time; 4) the power input of the main battery and the power input of the emergency battery are connected with a first diode V1 and a second diode V2 in series respectively, and then a battery power supply is formed through the parallel connection; 5), a magnetic latching relay K1 is automatically controlled through relays K2, K3; 6), the battery power supply is connected with the magnetic latching relay K1 in series and supplies power to the control computer. The power management method of the underwater AUV control computer is high in reliability, and the automatic and manual switchover of three kinds of power supplies can be guaranteed; it is guaranteed that the main battery and the emergency battery are used only in the task execution period.
Description
Technical field
The present invention relates to Autonomous Underwater Vehicle field, relate in particular to the power control method that a kind of Autonomous Underwater Vehicle is controlled computing machine.
Background technology
Have unmanned and all in an increasingly wide range of applications on military and civilian from the Autonomous Underwater Vehicle (AUV) of main control feature, as navigation, communication and the duty of the whole equipment of control computer control of its core system, to the normal work of AUV, complete mission smoothly and there is very important status.According to the reliability requirement of the handling characteristics of AUV and control computing machine, during design, control three kinds of power supplys of the general employing of power supply of computing machine, when maintenance state, mainly adopt control desk Power supply, when normally executing the task, adopt the main battery power supply on AUV, at main battery, approach while exhausting, adopt the emergency cell power supply on AUV.Current situation is sought after a kind of power control method, effectively guarantees that the automatic or manual of three kinds of power supplys switches.
Summary of the invention
In order to solve existing technical matters in background technology, the present invention proposes a kind of AUV under water and control computer power management method, reliability is high, can guarantee the automatic and manual switchover of three kinds of power supplys; Guaranteed that main battery and emergency cell are only used the term of execution of task.
Technical solution of the present invention is: a kind of AUV under water controls computer power management method, said method comprising the steps of:
1) control computing machine and comprise maintenance state and two kinds of mode of operations of task status;
2) if system need to enter task status, carry out step 3);
3) main battery and emergency cell are powered simultaneously;
4) be connected in series respectively the first diode V1, the second diode V2 to main battery and the input of emergency cell power supply, then the battery supply that forms in parallel;
5) by relay K 2, K3, automatically control magnetic latching relay K1;
6) after battery supply serial connection magnetic latching relay K1, provide power supply to controlling computing machine;
7) if system need to enter maintenance state, carry out step 8);
8) system starts control desk powering mode;
9) to providing power supply to controlling computing machine after control desk power supply input serial connection the 3rd diode V3;
10) by relay SW1 and SW2, manually control magnetic latching relay K1;
11) pass through the mutual switching between magnetic latching relay K1 control desk power supply and main battery, emergency cell.
Above-mentioned steps 4) concrete methods of realizing is: when main battery voltage is normal, and the first diode V1 conducting, the second diode V2 cut-off, is powered by main battery; When main battery voltage is lower than+23V, now the first diode V1 cut-off, the second diode V2 conducting, is powered by emergency power pack.
Above-mentioned steps 5) concrete methods of realizing is: automatically switch to control by controlling discrete magnitude P_O_1 and the P_O_2 of computer export and realize, control be output as+5V of computing machine discrete magnitude voltage, on the ON coil or OFF coil that output to relay K 1 with relay K 2 and be converted to+24V of relay K 3.
Above-mentioned steps 6) concrete methods of realizing is: when needs main battery and emergency cell power supply, automatically on ON coil, apply pulse signal, when not needing main battery and emergency cell power supply, automatically on OFF coil, apply pulse signal, cut off the power supply input of battery.
Above-mentioned steps 10) concrete methods of realizing is: manual switchover is controlled to adopt button SW1 and SW2 realization are set on control desk, and when button SW1 or SW2 are manually set, corresponding+24V pulse voltage outputs on the ON coil or OFF coil of relay K 1.
Above-mentioned steps 11) concrete methods of realizing is: when needs main battery and emergency cell power supply, on ON coil, apply pulse signal, when not needing main battery and emergency cell power supply, on OFF coil, apply pulse signal, cut off the power supply input of battery.
Above-mentioned main battery voltage is greater than at least 1V of emergency cell voltage; Control desk supply voltage is greater than at least 1V of main battery voltage.
The present invention is directed to the characteristics of power supply of controlling computing machine in AUV, propose a kind of control method of power supply, the method reliability is high, can guarantee the automatic switchover of three kinds of power supplys; Guaranteed that main battery and emergency cell are only used the term of execution of task, used in other cases control desk power supply, avoided the unnecessary consumption of battery electric quantity; Guarantee to control the normal work of computing machine when power generation switches simultaneously.
Accompanying drawing explanation
Fig. 1 is that the present invention controls computer power supply and controls and to realize circuit diagram;
Embodiment
The present invention proposes a kind of AUV under water and control computer power management method, concrete circuit is realized referring to Fig. 1, and in the control computing machine of AUV, outside input power comprises three kinds: control desk power supply ,+24V; Main battery power supply ,+24V; Emergency cell power supply ,+23V.
According to the handling characteristics of AUV, when safeguarding, adopt control desk to power, during navigation, use main battery or emergency cell power supply, to controlling the powered operation requirement of computing machine, be now:
1) when maintenance state, can be automatically or manually by control desk Power supply;
2), when maintenance state, only provide control desk power supply or three kinds of power supplys that the normal work of controlling computing machine that do not affect is all provided;
3) when task status mainly by main battery Power supply, when main battery power supply is not enough, automatically switch to emergency power pack power supply;
4), when task status, only provide battery supply or three kinds of power supplys that the normal work of controlling computing machine that do not affect is all provided;
5) each power supply need to be realized seamless switching, can not affect the normal work of controlling computing machine during switching.In the power supply input circuit design of controlling computing machine, need to design accordingly according to these requirements, with meet AUV under water control computing machine can be reliably, the object of steady operation.
Design of the present invention realizes
AUV controls a computer power management method under water, comprises the following steps:
1) control computing machine and comprise maintenance state and two kinds of mode of operations of task status;
2) if system need to enter task status, carry out step 3);
3) main battery and emergency cell are powered simultaneously;
4) be connected in series respectively the first diode V1, the second diode V2 to main battery and the input of emergency cell power supply, then the battery supply that forms in parallel;
5) by relay K 2, K3, automatically control magnetic latching relay K1;
6) after battery supply serial connection magnetic latching relay K1, provide power supply to controlling computing machine;
7) if system need to enter maintenance state, carry out step 8);
8) system starts control desk powering mode;
9) to providing power supply to controlling computing machine after control desk power supply input serial connection the 3rd diode V3;
10) by relay SW1 and SW2, manually control magnetic latching relay K1;
11) pass through the mutual switching between magnetic latching relay K1 control desk power supply and main battery, emergency cell.
1, the power switching of main battery power supply and emergency cell
When AUV executes the task under water, use main battery and emergency power pack power supply, the normal output voltage of main battery electric weight is+24V that the normal output voltage of emergency cell electric weight is+23V.Referring to Fig. 1, in design, adopt serial connection the first diode V1, the second diode V2 to realize and automatically switch, when main battery voltage is normal, because main battery voltage is higher than emergency cell voltage, now the first diode V1 conducting, the second diode cut-off, is powered by main battery, when main battery voltage is lower than+23V, now the first diode V1 cut-off, the second diode V2 conducting, is powered by emergency power pack, realizes the automatic switchover of main battery and emergency cell.
2, the switching of control desk power supply and battery supply
When AUV carries out maintenance state, need to be powered by control desk, power supply that can not consuming cells, otherwise because electric weight deficiency may cause mission failure; And when task status, control desk power supply and battery supply all can use.Voltage-output due to control desk power supply changes greatly simultaneously, in order to improve reliability, so can not adopt above-mentioned direct series diode to switch, need to adopt the switching of two kinds of power supplys of hardware isolated.Referring to Fig. 1, in design, adopt magnetic latching relay K1 and series diode V3 to realize this function.
Because common relay coil when remaining valid state need to power up always, consumed power not only, and reliability is not high, so adopt magnetic latching relay to switch in actual design, any state of magnetic latching relay only need to apply pulse signal and can complete on corresponding coil, when needs powered battery, on ON coil, apply pulse signal, when not needing powered battery, on OFF coil, apply pulse signal, cut off the power supply input of battery.Battery supply after control desk power series diode V3 and after relay switch also connects and has realized handoff functionality.
1) manual switchover is controlled to adopt button SW1 and SW2 realization is set on control desk;
2) automatic switchover is controlled by controlling discrete magnitude P_O_1 and the P_O_2 of computer export and is realized, owing to controlling be output as+5V of computing machine discrete magnitude voltage, so need to carry out with the output of be converted to+24V of relay K 2 and K3 the coil control of K1.
Claims (7)
1. AUV controls a computer power management method under water, said method comprising the steps of:
1) control computing machine and comprise maintenance state and two kinds of mode of operations of task status;
2) if system need to enter task status, carry out step 3);
3) main battery and emergency cell are powered simultaneously;
4) be connected in series respectively the first diode V1, the second diode V2 to main battery and the input of emergency cell power supply, then the battery supply that forms in parallel;
5) by relay K 2, K3, automatically control magnetic latching relay K1;
6) after battery supply serial connection magnetic latching relay K1, provide power supply to controlling computing machine;
7) if system need to enter maintenance state, carry out step 8);
8) system starts control desk powering mode;
9) to providing power supply to controlling computing machine after control desk power supply input serial connection the 3rd diode V3;
10) by relay SW1 and SW2, manually control magnetic latching relay K1;
11) pass through the mutual switching between magnetic latching relay K1 control desk power supply and main battery, emergency cell.
2. AUV under water according to claim 1 controls computer power management method, it is characterized in that: concrete methods of realizing described step 4) is: when main battery voltage is normal, the first diode V1 conducting, the second diode V2 cut-off, is powered by main battery; When main battery voltage is lower than+23V, now the first diode V1 cut-off, the second diode V2 conducting, is powered by emergency power pack.
3. AUV under water according to claim 2 controls computer power management method, it is characterized in that: concrete methods of realizing described step 5) is: automatically switch to control by controlling discrete magnitude P_O_1 and the P_O_2 of computer export and realize, control be output as+5V of computing machine discrete magnitude voltage, on the ON coil or OFF coil that output to relay K 1 with relay K 2 and be converted to+24V of relay K 3.
4. AUV under water according to claim 3 controls computer power management method, it is characterized in that: concrete methods of realizing described step 6) is: when needs main battery and emergency cell power supply, automatically on ON coil, apply pulse signal, when not needing main battery and emergency cell power supply, automatically on OFF coil, apply pulse signal, cut off the power supply input of battery.
5. AUV under water according to claim 4 controls computer power management method, it is characterized in that: concrete methods of realizing described step 10) is: manual switchover is controlled to adopt button SW1 and SW2 realization are set on control desk, when button SW1 or SW2 are manually set, corresponding+24V pulse voltage outputs on the ON coil or OFF coil of relay K 1.
6. AUV under water according to claim 5 controls computer power management method, it is characterized in that: concrete methods of realizing described step 11) is: when needs main battery and emergency cell power supply, on ON coil, apply pulse signal, when not needing main battery and emergency cell power supply, on OFF coil, apply pulse signal, cut off the power supply input of battery.
7. AUV under water according to claim 6 controls computer power management method, it is characterized in that: main battery voltage is greater than at least 1V of emergency cell voltage; Control desk supply voltage is greater than at least 1V of main battery voltage.
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| CN201210385514.4A CN103729047B (en) | 2012-10-11 | 2012-10-11 | A kind of method for managing power supply of the control computers of AUV under water |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001021476A1 (en) * | 1999-09-20 | 2001-03-29 | Coflexip, S.A. | Apparatus and method for deploying, recovering, servicing, and operating an autonomous underwater vehicle |
| CN101378293A (en) * | 2007-08-29 | 2009-03-04 | 中国科学院自动化研究所 | Method and apparatus for measuring network node of underwater sensor |
| CN102684276A (en) * | 2012-04-01 | 2012-09-19 | 北京大学 | Underwater non-contact power supply method and device |
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- 2012-10-11 CN CN201210385514.4A patent/CN103729047B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001021476A1 (en) * | 1999-09-20 | 2001-03-29 | Coflexip, S.A. | Apparatus and method for deploying, recovering, servicing, and operating an autonomous underwater vehicle |
| CN101378293A (en) * | 2007-08-29 | 2009-03-04 | 中国科学院自动化研究所 | Method and apparatus for measuring network node of underwater sensor |
| CN102684276A (en) * | 2012-04-01 | 2012-09-19 | 北京大学 | Underwater non-contact power supply method and device |
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