CN107560779A - A kind of underwater relative output pressure self-adapting detecting device and method - Google Patents
A kind of underwater relative output pressure self-adapting detecting device and method Download PDFInfo
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- CN107560779A CN107560779A CN201710917110.8A CN201710917110A CN107560779A CN 107560779 A CN107560779 A CN 107560779A CN 201710917110 A CN201710917110 A CN 201710917110A CN 107560779 A CN107560779 A CN 107560779A
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Abstract
The invention discloses a kind of underwater relative output pressure self-adapting detecting device and method, the present invention sets two sensors in pressure-resistant cabin, two sensors connect differential amplifier, differential amplifier connects closed loop amplifier, closed loop amplifier connects external plug-in, the present apparatus can have the characteristics of good applicability, versatile, easy to use, flexible arrangement as a standard block of underwater relative operating pressure detection after packaging；The present apparatus has the characteristics that cost is low, good with hydraulic system matching, application prospect is extensive compared with direct-immersion type sensor.
Description
Technical field
The invention belongs to underwater hydraulic transmission field, and in particular to a kind of underwater relative output pressure self-adapting detecting device
And method.
Background technology
Ocean is the cradle of life, contains affluent resources, so far, the mankind for 90% sea floor world still not
Know.At present, countries in the world enter deep-sea research and development period, and explore ocean has turned into the common objective of the whole mankind, and China possesses rich
Rich marine resources, but development and utilization level is very low, therefore, develops deep-sea hydraulic test and realizes that marine resources effectively utilize
Necessary ways.However, for underwater hydraulic apparatus control system, generally use pressure compensating method adapts it to deep-sea work
Make environment, the environmental pressure of surrounding seawater application is now addition of in hydraulic system.By taking closed-loop control hydraulic pump as an example, tradition pressure
Power detection method is generally using pump discharge pressure as pressure feedback signal, when the timing of oil pressure source pressure input signals one, pump output pressure
Power changes with depth of water environmental change, and this is not inconsistent with the principle of invariance required by control system.Therefore, it is right in environment under water
The relative output pressure self-adapting detecting of hydraulic system just becomes extremely important.Therefore, a kind of underwater relative output pressure is designed
Self-adapting detecting method and its device, to realize under deep-sea with respect to the detection of operating pressure, realize the relative of underwater hydraulic system
The effective Feedback of output pressure.
Existing straight leaching seawater formula pressure sensor is easy to use, underwater strong adaptability, but it is limited by the depth of water, cost is held high
Expensive, construction cycle length.In addition, existing differential pressure type pressure sensor cost is high, quality is big, appearance and size is big, and measurement range
It is smaller, do not meet underwater hydraulic system, the actually detected requirement under particularly big depth, require light with underwater installation exploitation yet
Quantitative design thought is runed counter to.
The content of the invention
It is an object of the invention to overcome above-mentioned deficiency, there is provided a kind of underwater relative output pressure self-adapting detecting device and
Method, can realize underwater hydraulic system, high-precision to meet with respect to the continuous measurable function of operating pressure under particularly big depth
Spend the requirement of control.
In order to achieve the above object, a kind of underwater relative output pressure self-adapting detecting device, including pressure-resistant cabin, pressure-resistant cabin
First sensor and second sensor are inside provided with, first sensor is used to gather outlet pressure, and second sensor is used to gather
Seawater pressure, first sensor and second sensor connect differential amplifier, differential amplifier connection closed loop amplifier, and closed loop is put
Big device connection pressure-resistant cabin external plug-in；
The signal that differential amplifier is used to gather first sensor and second sensor is compared computing, and will compare
Relatively result is sent into closed loop amplifier；
Closed loop amplifier is used to being converted to comparative result into the signal for meeting interface input and control.
Differential amplifier includes gathering first sensor and two adapter amplifiers of second sensor data respectively, two
Adapter amplifier is all connected with subtracter, subtracter connection wave filter, wave filter connection downstream module, wave filter, subtracter and two
Individual adapter amplifier is all connected with power module.
Adapter amplifier includes resistance R7, resistance R7 one end access sensor, resistance R7 other end connection resistance R8
One end, and by being grounded after electric capacity C7, resistance R8 other end connection diode D1 positive pole, diode D2 negative pole, fortune
Calculate amplifier U1 negative input, one end of RC filter circuits and resistance R2 one end, diode D1 negative pole connection two
Pole pipe D2 positive pole and operational amplifier U1 positive input and ground connection, the one of resistance R2 other end connection resistance R41
End, the resistance R41 other end access 5V power supplys, operational amplifier U1 output end connection RC by resistance R1 and resistance R5 respectively
The other end and resistance R44 of filter circuit, resistance R44 are grounded by resistance R17, resistance R44 matching connection signal output parts, fortune
Calculate amplifier U1 to power by 12V power supplys, and connect load R45.
Subtracter includes operational amplifier U2, operational amplifier U3 and operational amplifier U6, two adapter amplifiers it is defeated
Go out value input operational amplifier U2 positive input and operational amplifier U6 positive input respectively, operational amplifier U2's
Reverse input end passes through electricity by resistance R15 concatenation operation amplifiers U2 output end, operational amplifier U6 reverse input end
Resistance R21 is connected between resistance R30 concatenation operation amplifiers U6 output end resistance R15 and resistance R30, operational amplifier U2's
Output end passes through resistance R23 by resistance R16 concatenation operation amplifiers U3 reverse input end, operational amplifier U6 output end
Concatenation operation amplifier U3 positive input, operational amplifier U3 output end connection LC filter circuits, operational amplifier U3
Positive input be grounded by resistance R29, operational amplifier U2, operational amplifier U3 and operational amplifier U6 pass through 12V
Power supply is powered, and operational amplifier U2, operational amplifier U3 and operational amplifier U6 are connected to load R42, load R49 and born
Carry R53.
Pressure-resistant cabin uses aluminum alloy materials.
First sensor and second sensor use pressure sensor.
A kind of detection method of underwater relative output pressure self-adapting detecting device, comprises the following steps：
Step 1, first sensor and second sensor gather outlet pressure and seawater pressure respectively, and by outlet pressure
Sent with seawater pressure into differential amplifier；
Outlet pressure and seawater pressure are compared by step 2, differential amplifier, then comparative result is sent to closed loop
In amplifier；
Step 3, closed loop amplifier is converted to comparative result the signal for meeting interface input and control, then signal is led to
Cross and transmit to external plug-in.
In step 2, the operation principle of differential amplifier is as follows：
The feedback signal of outlet pressure and seawater pressure is respectively enterd in corresponding adapter amplifier, adapter amplifier
Feedback signal is returned to zero, after amplitude modulation and amplification, send to subtracter, subtracter and the output signal of adapter amplifier is pressed into institute
Ratio is needed to ask difference and amplification, then by meeting the input requirements of closed loop amplifier after filtering, by signal legal system closed loop amplifier.
Compared with prior art, the present invention sets two sensors in pressure-resistant cabin, and two sensors connect differential amplification
Device, differential amplifier connection closed loop amplifier, closed loop amplifier connection external plug-in, the present apparatus can be used as underwater phase after packaging
To a standard block of operating pressure detection, there is the characteristics of good applicability, versatile, easy to use, flexible arrangement；This
Device has the characteristics that cost is low, good with hydraulic system matching, application prospect is extensive compared with direct-immersion type sensor.
Further, the characteristics of pressure-resistant cabin of the invention uses aluminum alloy materials, has light weight, and crushing resistance is strong and have
Good watertightness and resislance to corrosion from sea water.
The present invention two sensors of use gather outlet pressure and seawater pressure respectively, by differential amplifier relatively after
Closed loop amplifier is sent into, closed loop amplifier is converted to comparative result the signal for meeting interface input and control, then signal is led to
Cross to transmit to external plug-in, this method is not influenceed by water depth ratio, and the deep lower hydraulic system in full sea can be achieved with respect to output pressure
Adaptive detection.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the theory of constitution figure of differential amplifier in the present invention；
Fig. 3 is the electrical schematic diagram of adapter amplifier in the present invention；
Fig. 4 is the electrical schematic diagram of subtracter in the present invention；
Wherein, 1, pressure-resistant cabin；2nd, first sensor；3rd, second sensor；4th, differential amplifier；5th, closed loop amplifier.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig. 1, a kind of underwater relative output pressure self-adapting detecting device, including pressure-resistant cabin 1, pressure-resistant cabin 1 is interior to be set
There are first sensor 2 and second sensor 3, first sensor 2 is used to gather outlet pressure, and second sensor 3 is used to gather sea
Water pressure, first sensor 2 and second sensor 3 connect differential amplifier 4, and differential amplifier 4 connects closed loop amplifier 5, closed
Ring amplifier 5 connects the external plug-in of pressure-resistant cabin 1, and first sensor 2 and second sensor 3 use pressure sensor；
The signal that differential amplifier is used to gather first sensor 2 and second sensor 3 is compared computing, and will
Comparative result is sent into closed loop amplifier 5；
Closed loop amplifier 5 is used to being converted to comparative result into the signal for meeting interface input and control.
Referring to Fig. 2, differential amplifier 4 includes gathering two matchings of first sensor 2 and the data of second sensor 3 respectively
Amplifier, two adapter amplifiers are all connected with subtracter, subtracter connection wave filter, wave filter connection downstream module, wave filter,
Subtracter and two adapter amplifiers are all connected with power module.The system working pressure that two-way pressure sensor will detect respectively
Input respective adapter amplifier with seawater pressure feedback signal, subtracter entered after processing and carries out linear operation, after through filter
Closed loop proportional amplifier is sent into the processing of ripple device.The effect of wherein power module is to provide electricity for differential comparing circuit and sensor
Source.
Referring to Fig. 3, adapter amplifier of the invention is by pre-matching circuit, zeroing link, amplitude modulation link and operation amplifier
Device and peripheral components composition.Pre-matching circuit adjusts pressure signal to be adapted to the requirement of operational amplifier input interface, has slow
Punching, the effect of increase system conversion accuracy.To be met the specified criteria of pressure feedback actual requirement, i.e., zero set-point or
The set-point of maximum corresponds to zero output or the output of maximum respectively, realizes output middle position adjustable function, sets R41, R44
Two groups of zero-regulator resistors and amplitude modulation resistance, to obtain higher common-mode rejection ratio, using with offset voltage is low, offset voltage temperature drift
Low, the advantages that input voltage noise is small and common-mode rejection ratio is high operational amplifier OP07.
Adapter amplifier includes resistance R7, resistance R7 one end access sensor, resistance R7 other end connection resistance R8
One end, and by being grounded after electric capacity C7, resistance R8 other end connection diode D1 positive pole, diode D2 negative pole, fortune
Calculate amplifier U1 negative input, one end of RC filter circuits and resistance R2 one end, diode D1 negative pole connection two
Pole pipe D2 positive pole and operational amplifier U1 positive input and ground connection, the one of resistance R2 other end connection resistance R41
End, the resistance R41 other end access 5V power supplys, operational amplifier U1 output end connection RC by resistance R1 and resistance R5 respectively
The other end and resistance R44 of filter circuit, resistance R44 are grounded by resistance R17, resistance R44 matching connection signal output parts, fortune
Calculate amplifier U1 to power by 12V power supplys, and connect load R45.
Referring to Fig. 4, subtracter of the invention is by operational amplifier U2, operational amplifier U6, operational amplifier U3 and its outer
Peripheral device forms differential amplifier circuit, and the circuit can effectively achieve amplification difference mode signal, suppression common mode signal, obtain high input
Impedance and the purpose of high cmrr.Because the deficiencies such as input impedance is small, common-mode rejection ratio is low be present in basic operation amplifier,
To improve the common mode of the two major parameter circuit external resistance input impedance and operational amplifier of influence common-mode rejection ratio in itself
Rejection ratio, the method for using symmetric design during design to whole subtracter, with the interference of suppression common mode signal, three fortune in Fig. 4
Operational amplifier U2 and operational amplifier U6 and its peripheral circuit in amplifier is calculated, using being arranged symmetrically, to form with the difference that is in parallel
Dynamic amplifying device, realizes high input impedance, and another operational amplifier U3 and peripheral components are also by symmetrical shape
Mode builds basic differential amplifier.
Subtracter includes operational amplifier U2, operational amplifier U3 and operational amplifier U6, two adapter amplifiers it is defeated
Go out value input operational amplifier U2 positive input and operational amplifier U6 positive input respectively, operational amplifier U2's
Reverse input end passes through electricity by resistance R15 concatenation operation amplifiers U2 output end, operational amplifier U6 reverse input end
Resistance R21 is connected between resistance R30 concatenation operation amplifiers U6 output end resistance R15 and resistance R30, operational amplifier U2's
Output end passes through resistance by resistance R16 concatenation operation amplifiers U3 reverse input end, operational amplifier U6 output end
R23 concatenation operation amplifiers U3 positive input, operational amplifier U3 output end connection LC filter circuits, operational amplifier
U3 positive input is grounded by resistance R29, and operational amplifier U2, operational amplifier U3 and operational amplifier U6 pass through
12V power supplys are powered, and operational amplifier U2, operational amplifier U3 and operational amplifier U6 are connected to load R42, load R49
With load R53.
Its common-mode rejection ratio is calculated below, to illustrate that it has the characteristics of null offset is small, output stability is high.
In Fig. 4, operational amplifier U2 and operational amplifier U6 is formed with the differential amplifier circuit that is in parallel, by output current
It is equal, its output voltage UiIt is expressed from the next：
Abbreviation obtains
U in formula1Inputted for the matching of outlet pressure signal, U2Inputted for the matching of ambient pressure signal
The differential amplifier circuit difference mode gain K that then operational amplifier U2 and operational amplifier U6 is formedf26For：
Using the symmetrical external circuit of parameter, that is, take resistance R15=R30=R11=Rf, now difference mode gain can be reduced to
To with the differential amplifier circuit concatenation basic operation amplifier that is in parallel, being known by superposition principle, input signal U1And U2Can
Decomposition and combination is input difference mode signal UdWith common-mode signal UcIf they are in the differential total output U of circuit0Caused component is U0d
And U0c, now
Abbreviation obtains：
K in formulaf3For operational amplifier U3 difference mode gain；
Then, total difference mode gain KfIt is represented by：
Kf=Kf26Kf3 ⑦
Operational amplifier U2 and operational amplifier U6 are common mode input signal UcBy 1:1 ground passes to its output end, and U3 has Uc
Input common mode voltage, i.e.,
U0c=Kfc3Uc ⑧
It can thus be concluded that total common-mode gain KfcFor：
Kfc=Kfc3 ⑨
Therefore total common-mode rejection ratio of differential amplifier circuit：
CMMR in formula3For operational amplifier U3 common-mode rejection ratio；
Because the circuit is Single-end output, therefore can be by UiCommon-mode signal U over the groundcCurb.Know from above formula, this is differential
The total difference mode gain of amplifying circuit compares basic operation differential amplifier circuit and improves Kf26Times, corresponding total common-mode rejection ratio CMRR
Improve Kf26Times.
In the differential amplifier, operational amplifier U3 amplifiers select OP07 chips, its common-mode rejection ratio CMRR3=
126dB, by Rf=R21=100K Ω substitute into above formula, and the total common-mode rejection ratio for being amplified device is 378dB, much larger than using single
Common-mode rejection ratio during operational amplifier, therefore the amplifier common mode rejection ratio is higher, and null offset can be played and effectively suppress to make
With amplifier stability and control accuracy requirement can be met.
Because there may be clutter and external interference, differential output also needs to carry out necessarily before closed loop proportional amplifier is sent into
Filtering process.To provide reliably working voltage, power module uses integrated voltage-stabilized chip.
Claims (8)
1. a kind of underwater relative output pressure self-adapting detecting device, it is characterised in that interior including pressure-resistant cabin (1), pressure-resistant cabin (1)
First sensor (2) and second sensor (3) are provided with, first sensor (2) is used to gather outlet pressure, second sensor
(3) it is used to gather seawater pressure, first sensor (2) and second sensor (3) connection differential amplifier (4), differential amplifier
(4) closed loop amplifier (5), closed loop amplifier (5) connection pressure-resistant cabin (1) external plug-in are connected；
The signal that differential amplifier is used to gather first sensor (2) and second sensor (3) is compared computing, and will
Comparative result is sent into closed loop amplifier (5)；
Closed loop amplifier (5) is used to being converted to comparative result into the signal for meeting interface input and control.
2. a kind of underwater relative output pressure self-adapting detecting device according to claim 1, it is characterised in that differential to put
Big device (4) includes two adapter amplifiers for gathering first sensor (2) and second sensor (3) data respectively, two matchings
Amplifier is all connected with subtracter, subtracter connection wave filter, wave filter connection downstream module, wave filter, subtracter and two
Power module is all connected with amplifier.
3. a kind of underwater relative output pressure self-adapting detecting device according to claim 2, it is characterised in that matching is put
Big device includes resistance R7, resistance R7 one end access sensor, resistance R7 other end connection resistance R8 one end, and passes through electricity
It is grounded after holding C7, the resistance R8 other end connection diode D1 positive pole, diode D2 negative pole, operational amplifier U1 negative sense
One end of input, one end of RC filter circuits and resistance R2, diode D1 negative pole connection diode D2 positive pole and fortune
Calculate amplifier U1 positive input and ground connection, resistance R2 other end connection resistance R41 one end, the resistance R41 other end
5V power supplys are accessed by resistance R1 and resistance R5 respectively, the other end of operational amplifier U1 output end connection RC filter circuits and
Resistance R44, resistance R44 are grounded by resistance R17, and resistance R44 matching connection signal output parts, operational amplifier U1 passes through 12V
Power supply is powered, and connects load R45.
A kind of 4. underwater relative output pressure self-adapting detecting device according to claim 2, it is characterised in that subtracter
Including operational amplifier U2, operational amplifier U3 and operational amplifier U6, the output valve of two adapter amplifiers inputs fortune respectively
Amplifier U2 positive input and operational amplifier U6 positive input are calculated, operational amplifier U2 reverse input end passes through
Resistance R15 concatenation operation amplifiers U2 output end, operational amplifier U6 reverse input end are put by resistance R30 concatenation operations
Resistance R21 is connected between big device U6 output end resistance R15 and resistance R30, operational amplifier U2 output end passes through resistance R16
Concatenation operation amplifier U3 reverse input end, operational amplifier U6 output end pass through resistance R23 concatenation operation amplifiers U3
Positive input, operational amplifier U3 output end connection LC filter circuits, operational amplifier U3 positive input passes through
Resistance R29 is grounded, and operational amplifier U2, operational amplifier U3 and operational amplifier U6 are powered by 12V power supplys, operation amplifier
Device U2, operational amplifier U3 and operational amplifier U6 are connected to load R42, load R49 and load R53.
A kind of 5. underwater relative output pressure self-adapting detecting device according to claim 1, it is characterised in that pressure-resistant cabin
(1) aluminum alloy materials are used.
6. a kind of underwater relative output pressure self-adapting detecting device according to claim 1, it is characterised in that first passes
Sensor (2) and second sensor (3) use pressure sensor.
A kind of 7. detection method of underwater relative output pressure self-adapting detecting device described in claim 1, it is characterised in that
Comprise the following steps：
Step 1, first sensor (2) and second sensor (3) gather outlet pressure and seawater pressure respectively, and outlet is pressed
Power and seawater pressure are sent into differential amplifier (4)；
Step 2, outlet pressure and seawater pressure are compared by differential amplifier (4), then comparative result is sent to closed loop and put
In big device (5)；
Step 3, closed loop amplifier (5) is converted to comparative result the signal for meeting interface input and control, then signal is passed through
Transmit to external plug-in.
8. a kind of detection method of underwater relative output pressure self-adapting detecting device according to claim 7, its feature
It is, in step 2, the operation principle of differential amplifier (4) is as follows：
The feedback signal of outlet pressure and seawater pressure is respectively enterd in corresponding adapter amplifier, and adapter amplifier is to anti-
Feedback signal is returned to zero, after amplitude modulation and amplification, is sent to subtracter, subtracter and is compared the output signal of adapter amplifier by required
Example asks difference and amplification, then by meeting the input requirements of closed loop amplifier (5) after filtering, by signal legal system closed loop amplifier (5)
In.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109799023A (en) * | 2019-03-21 | 2019-05-24 | 杭州电子科技大学 | A kind of compensation tension sensing device of deep-sea detecting |
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