CN109728619A - A kind of underwater charging unit and control method for AUV - Google Patents
A kind of underwater charging unit and control method for AUV Download PDFInfo
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- CN109728619A CN109728619A CN201711054213.2A CN201711054213A CN109728619A CN 109728619 A CN109728619 A CN 109728619A CN 201711054213 A CN201711054213 A CN 201711054213A CN 109728619 A CN109728619 A CN 109728619A
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Abstract
The present invention relates to a kind of underwater charging unit and method for AUV, device includes charge power supply, test circuit, controller, drive circuit, IGBT power switch, hardware protection circuit, diode, relay, voltage and current sensor.Method includes logic control and the algorithm for automatically adjusting charging process.The present invention can according to the actual situation be adjusted the on-off of charge circuit and current value, make it possible to it is safe and reliable carry out underwater electric energy supply for AUV battery pack, it is inconvenient to avoid repeating folding and unfolding bring.In systems, controller controls switching on and off for charge circuit by relay；By PWM interface, driving circuit and IGBT power switch are controlled, adjusts charging current；Hardware protection circuit can turn off by force IGBT, it is ensured that circuit safety when electric current transfinites；Test circuit send loop state to controller by sensor, to judge that line insulation, AUV battery pack access situation, the states such as whether can start to charge.
Description
Technical field
The present invention relates to carry out underwater electric energy supply, specifically a kind of underwater charging for AUV for AUV battery pack
Device and control method.
Background technique
Autonomous Underwater Vehicle (AUV) is that the new-type underwater robot of one kind mainly includes for technological layer
It is waterproof construction design, propeller technology, energy storage and application, computer control, Data Fusion, location navigation, long-range
Communication, sensor etc..Currently, AUV can be applied to the exploration of marine resources, the exploitation of marine oil and gas etc..Therefore
With very vast potential for future development.
The energy is one of key technology of AUV, and endurance, the speed of a ship or plane and load capacity are limited by the available energy, and can
Depend on the factors such as battery types, space and weight again with the energy.Currently, majority AUV uses electric energy as power, and electric energy comes
From in entrained battery pack.Although energy density is lower, cost, service life, convenience, maintenanceability, safety are considered
Etc. factors, battery will occupy leading status in a long time.It is restricted by this factor, AUV is executing a timing at present
Between task after must just recycle carry out electric energy supplement, otherwise will injure the safety of submersible.Not due to operating environment
Certainty is all every time a very complicated job to the release of submersible and recycling, needs a large amount of worker, cost longer
Time, and it also requires the cooperation of suitable ship's deck hangs equipment.Therefore developing a set of can charge under water to AUV
Device necessity just highlighted come out.Underwater particular application is fully considered in device design, it should can be certainly
It is dynamic to control to starting to charge, terminate current value in charging and charging process, and then realize and completed under water to AUV's
Electric energy supply.Thus service efficiency can be improved, reduction makes to avoid due to the problem of needing charging and bring recycling release
Use cost.
Summary of the invention
The demand fed aiming at the shortcomings in the prior art with AUV underwater electric energy, the technical scheme adopted by the invention is that:
A kind of underwater charging unit and control method for AUV.
A kind of underwater charging unit for AUV, comprising: charging circuit, test circuit.
The charging circuit is used to control the on-off of IGBT power switch by internal controller and drive circuit, is
It is connected to the AUV battery pack charging of charging circuit output end.
The output end of the test circuit connection charging circuit, for measuring the exhausted of charging circuit under the control of the controller
Edge state judges whether battery pack is successfully accessed and whether can start to charge.
The charging circuit includes: the sequentially connected IGBT power switch between charge power supply anode and output head anode
And first diode, sequentially connected main relay and the second diode between charge power supply cathode and negative pole of output end, with
And controller and the drive circuit being separately connected with it, hardware protection circuit, main relay, drive circuit are also connected with IGBT
The control terminal of power switch, hardware protection circuit, hardware protection circuit are also connected with charging circuit current sensor；
The on-off of the controller output PWM square-wave signal driving drive circuit control IGBT power switch, for connection
It charges in the AUV battery pack of output end；Hardware protection circuit is for detecting and judging whether charge circuit current value transfinites and report
It is alert to controller, export cut-off signals and gives drive circuit shutdown IGBT power switch；Main relay is for controlling charge circuit
On-off.
The charge power supply provides the charging voltage of 400V, and maximum charging current 20A.
The controller can run control program, provide 32 analog input channels, 24 road I/O output, 48, tunnel PWM
Output.
The drive circuit is using HCPL-316J integral gate driving chip as control device, and circuit drives IGBT is most
High collector current is 150A, highest collector, emitter voltage 1200V.
The hardware protection circuit is using comparator circuit for detecting whether charge circuit current value transfinites.
The test circuit includes the current-limiting resistance being connected in turn between charge circuit, test power supply, test circuit
Current sensor, busy relay, and the test circuit voltage sensor for detecting test circuit voltage.
A kind of underwater charge control method for AUV, comprising:
Whether test circuit test charge circuit insulate, judges whether battery pack is successfully accessed and whether can start to fill
The step of electricity；
Charging circuit is connected to charging circuit by internal controller and drive circuit control IGBT power switch
The step of AUV battery pack charging of output end.
Whether the test circuit test charge circuit insulate, judges whether battery pack is successfully accessed and whether can open
The step of beginning to charge, including；
Controller drives busy relay closure to connect test circuit, test circuital current sensor detection test circuit electricity
Flow valuve, if the insulation values between the undocked completion of battery pack or output positive and negative charge are insufficient, first diode, the second diode
In the conductive state, then current value over range, then continue to detect and wait；If battery pack access is completed, the one or two pole
Pipe, the second diode are in reverse blocking state, then test loop current value is less than setting value, and controller controls busy relay
Test circuit is disconnected, test before charging is completed.
The charging circuit is connected to charging by internal controller and drive circuit control IGBT power switch
The step of AUV battery pack charging of circuit output end, comprising:
Controller connects the main relay closure of control charging circuit, output PWM square-wave signal driving drive circuit control
The on-off of IGBT power switch, for the AUV battery pack charging for being connected to output end；During the charging process, controller acquisition charging
Voltage, current value in circuit and the duty ratio that PWM square-wave signal is adjusted by PI algorithm, make charging current be maintained at default model
In enclosing, and charging complete is determined when duty ratio reaches 100%, charging current less than 1A, controller successively turns off IGBT power
Switch and main relay terminate charging.
The invention has the following beneficial effects and advantage:
1, the present invention can judge automatically whether battery pack accesses charge circuit, and execute and start to charge, Yi Jijie
The movements such as beam charging.
2, during the charging process, device can automatically adjust the size of charging current, not only guarantee safety, but also can as needed
To improve efficiency to greatest extent.
3, control system overall volume is smaller, is suitble to use in the case where spatially having particular/special requirement, connects user
Just, reliably.
4, can provide external communication interface, can taking human as charging process is monitored and is controlled.
Detailed description of the invention
Fig. 1 is apparatus of the present invention circuit diagram；
Fig. 2 is control method flow diagram of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
As shown in Figure 1, charging unit includes that charge power supply, test circuit, controller, drive circuit, IGBT power are opened
Pass, hardware protection circuit, diode (first diode, the second diode), power relay, voltage and current sensor etc..
Sequentially connected IGBT power switch and first diode are arranged between charge power supply anode and output head anode, are sequentially connected
Main relay and the second diode be arranged between charge power supply cathode and negative pole of output end, driving that controller is separately connected
Device circuit, hardware protection circuit, main relay, drive circuit are also connected with the control terminal of IGBT power switch, hardware protection electricity
Road, hardware protection circuit are also connected with charging circuit current sensor.The controller output PWM square-wave signal driving driver electricity
Road controls the on-off of IGBT power switch, for the AUV battery pack charging for being connected to output end；Hardware protection circuit is for detecting simultaneously
Judge whether charge circuit current value transfinites and alarm to controller, export cut-off signals to drive circuit to IGBT power
Switch；Main relay is used to control the on-off of charge circuit.
Charging unit can the size according to the actual situation to the on-off of charge circuit and electric current be adjusted, being allowed to can
Electric energy supply is carried out under water with the safe and reliable battery pack for AUV, and it is inconvenient to avoid repetition folding and unfolding AUV bring.
Charge power supply selects powerful DC power supply, output voltage 400VDC, and output electric current is up to 20A；Electric current
Regulation is constant pressure less than 0.3%；Voltage regulation factor is constant pressure less than 0.2%；Insulation resistance is not less than 5M Ω.
Controller is the core component of entire charging unit, the voltage and current letter of controller receiving sensor feedback
Number, and then charged state is judged, by logic judgment and calculating, driving circuit and IGBT power switch tube are controlled, is led to
PWM modulation is crossed, the size of output electric current is adjusted.Controller is based on Intel Atom N455/D525 processor, supports 667/
800MHz DDR3 memory, while including the third generation graphics processing core of a update, and support 64 bit manipulation systems；It provides
The analog input channel of 32 16 precision and software programmable, cooperation FIFO operation, can reach the sampling rate of 200kHz,
One 32 bit timing devices/counter is used to trigger A/D conversion, and a 16 bit timing devices/counter is supplied to user's use；It provides
24 road I/O output, isolation voltage 2500V, output frequency 10kHz, maximum output voltage are 40V DC, and output electric current is
500mA；The pwm signal output of 8,4 tunnel is provided, every road PWM output can be enabled or forbid, and 10M clock is through 16 bit timing meters
Number device frequency dividing, PWM frequency is adjusted to 0.5Hz~19.5Hz at this time.
Test circuit by test power supply, current-limiting resistance, busy relay, diode (first diode, the second diode),
Test the composition such as circuit voltage sensor and test circuital current sensor.The function of test circuit is right before battery pack charging
The insulation situation of charge circuit is tested.After busy relay closure, test circuit is connected.When output end does not have battery pack to connect
Fashionable, in water due to output end exposure, so output end is equivalent to short circuit state, diode current flow only exists limit in circuit
Leakage resistance R, current sensor can detect biggish electric current at this time；When output end has battery pack access, due to battery pack
Operating voltage can block the conducting of circuit much higher than test supply voltage, diode, and current sensor can only detect very little
Leakage current, in addition voltage sensor can detect the voltage value close to test power supply, so, when the current value and voltage detected
It can determine that battery pack has been successfully accessed charge circuit when value meets above-mentioned condition, while meeting insulating requirements.It tests at this time
The relay of circuit disconnects, and is prepared to enter into charged state.Wherein test power supply is+15V DC power supply；Current-limiting resistance is high-precision
1k Ω/2W resistance；The model Omron DK2a-24V of busy relay, maximum switchable voltage DC30V, maximum switching
Electric current consumes power 200mW up to 10A, response time 3ms, coil.
For drive circuit using HCPL-316J integral gate driving chip as core, the power supply voltage range needed is wider, drives
Kinetic force is strong, can reliably drive the switching devices such as IGBT；Its Specifeca tion speeification includes: that can drive IGBT highest collector
Electric current 150A, highest collector, emitter voltage 1200V；Light-coupled isolation, fault alarm；CMOS compatible/Transistor-Transistor Logic level；500ns
(2MHz) maximum switching frequency；Have soft turn-off function, overcurrent detection, low-voltage latches；Drive waveforms can invert, and be restarted automatically
Or it closes.
The effect of hardware protection circuit is to prevent charging current is excessive from damaging to element, hardware protection circuit use than
Compared with device LM239 chip, detection signal is judged.When electric current is more than setting value, hardware protection circuit can pass through driver
Circuit turns off IGBT, to cut off charge circuit.The reference input of comparator is terminated with rheostat, can use for different situations
To adjust the size of protection value.
As shown in Fig. 2, the storage of control program is in the controller, after equipment enters docking facilities, controller can be automatic
Starting operation.Firstly, controller can drive busy relay to be closed, power circuit is tested at this time and is connected.Current sensor can be examined
Circuit values in survey time road, if the insulation values of the positive and negative terminal of the undocked completion of battery pack or output are insufficient, current value meeting
It goes beyond the scope, then continue to detect and waits；After the completion of battery pack access, the electric current tested in electric power loop, which can be less than, to be set
Definite value, controller will disconnect busy relay.Secondly, controller can connect the main relay in charge power supply circuit, so after delay
Driving IGBT realizes the process of charging afterwards.During the charging process, controller can acquire voltage, current value in route, pass through PI
Algorithm adjusts the duty ratio of the PWM modulation square wave of driving IGBT, is maintained at charging current within reasonable interval range.When
Duty ratio has reached 100%, and charging current is less than 1A, then determines that charging process is completed, controller will be turned off successively
IGBT and main relay, finishing control program.
The present invention can according to the actual situation be adjusted the on-off of charge circuit and current value, make it possible to safety
Underwater electric energy supply reliably is carried out for AUV battery pack, avoids repeating the inconvenience of folding and unfolding bring.In systems, controller passes through
Relay controls switching on and off for charge circuit；By PWM interface, driving circuit and IGBT power switch are controlled,
Adjust charging current；Hardware protection circuit can turn off by force IGBT, it is ensured that circuit safety when electric current transfinites；Test electricity
Road is sent loop state to controller by sensor, to judge line insulation, AUV battery pack access situation, whether can be with
The states such as start to charge.
Claims (10)
1. a kind of underwater charging unit for AUV characterized by comprising charging circuit, test circuit；
The charging circuit is used to control the on-off of IGBT power switch by internal controller and drive circuit, for connection
It charges in the AUV battery pack of charging circuit output end；
The output end of the test circuit connection charging circuit, for measuring the insulation shape of charging circuit under the control of the controller
State judges whether battery pack is successfully accessed and whether can start to charge.
2. according to a kind of underwater charging unit for AUV described in claim 1, which is characterized in that the charging circuit includes:
It is born in the positive sequentially connected IGBT power switch between output head anode of charge power supply and first diode, in charge power supply
Sequentially connected main relay and the second diode and controller and the drive being separately connected with it between pole and negative pole of output end
Dynamic device circuit, hardware protection circuit, main relay, drive circuit are also connected with the control terminal of IGBT power switch, hardware protection
Circuit, hardware protection circuit are also connected with charging circuit current sensor；
The on-off of the controller output PWM square-wave signal driving drive circuit control IGBT power switch, it is defeated to be connected to
The AUV battery pack of outlet charges；Hardware protection circuit for detect and judge charge circuit current value whether transfinite and alarm to
Controller, export cut-off signals give drive circuit shutdown IGBT power switch；Main relay is used to control the logical of charge circuit
It is disconnected.
3. according to a kind of underwater charging unit for AUV described in claim 1, which is characterized in that the charge power supply provides
The charging voltage of 400V, and maximum charging current 20A.
4. according to a kind of underwater charging unit for AUV described in claim 2, which is characterized in that the controller can be transported
Row control program provides 32 analog input channels, 24 road I/O output, 48, tunnel PWM output.
5. according to a kind of underwater charging unit for AUV described in claim 2, which is characterized in that the drive circuit with
HCPL-316J integral gate driving chip is control device, and the highest collector current of circuit drives IGBT is 150A, maximum set
Electrode, emitter voltage 1200V.
6. according to a kind of underwater charging unit for AUV described in claim 2, which is characterized in that the hardware protection circuit
Using comparator circuit for detecting whether charge circuit current value transfinites.
7. according to a kind of underwater charging unit for AUV described in claim 1, which is characterized in that the test circuit includes
Current-limiting resistance, test power supply, test the circuital current sensor, busy relay being connected in turn between charge circuit, with
And the test circuit voltage sensor for detecting test circuit voltage.
8. a kind of underwater charge control method for AUV characterized by comprising
Whether test circuit test charge circuit insulate, judges whether battery pack is successfully accessed and whether can start to charge
Step；
Charging circuit controls IGBT power switch by internal controller and drive circuit and exports to charging circuit is connected to
The step of AUV battery pack charging at end.
9. according to a kind of underwater charge control method for AUV described in claim 8, which is characterized in that the test circuit
Test whether charge circuit insulate, judges the step of whether battery pack is successfully accessed and whether can start to charge, including；
Controller drives busy relay closure to connect test circuit, test circuital current sensor detection test circuital current
Value, if the insulation values between the undocked completion of battery pack or output positive and negative charge are insufficient, at first diode, the second diode
In on state, then current value over range, then continue to detect and wait；If battery pack access is completed, first diode,
Second diode is in reverse blocking state, then test loop current value is less than setting value, and it is disconnected that controller controls busy relay
Test circuit is opened, test before charging is completed.
10. according to a kind of underwater charge control method for AUV described in claim 8, which is characterized in that the charging circuit
IGBT power switch is controlled to the AUV battery pack for being connected to charging circuit output end by internal controller and drive circuit
The step of charging, comprising:
Controller connects the main relay closure of control charging circuit, and output PWM square-wave signal driving drive circuit controls IGBT
The on-off of power switch, for the AUV battery pack charging for being connected to output end；During the charging process, controller acquires charging circuit
In voltage, current value and by PI algorithm adjust PWM square-wave signal duty ratio, so that charging current is maintained at preset range
It is interior, and charging complete is determined when duty ratio reaches 100%, charging current less than 1A, controller successively turns off IGBT power and opens
It closes and main relay, end is charged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711054213.2A CN109728619B (en) | 2017-10-31 | 2017-10-31 | Underwater charging device for AUV (autonomous underwater vehicle) and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711054213.2A CN109728619B (en) | 2017-10-31 | 2017-10-31 | Underwater charging device for AUV (autonomous underwater vehicle) and control method |
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| Publication Number | Publication Date |
|---|---|
| CN109728619A true CN109728619A (en) | 2019-05-07 |
| CN109728619B CN109728619B (en) | 2022-11-08 |
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| CN201711054213.2A Active CN109728619B (en) | 2017-10-31 | 2017-10-31 | Underwater charging device for AUV (autonomous underwater vehicle) and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110749623A (en) * | 2019-10-28 | 2020-02-04 | 中国兵器工业集团第二一四研究所苏州研发中心 | Underwater environment discrimination circuit |
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| JP2000284001A (en) * | 1999-03-31 | 2000-10-13 | Shimadzu Corp | Underwater potential measuring device |
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