CN109728619B - Underwater charging device for AUV (autonomous underwater vehicle) and control method - Google Patents
Underwater charging device for AUV (autonomous underwater vehicle) and control method Download PDFInfo
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- CN109728619B CN109728619B CN201711054213.2A CN201711054213A CN109728619B CN 109728619 B CN109728619 B CN 109728619B CN 201711054213 A CN201711054213 A CN 201711054213A CN 109728619 B CN109728619 B CN 109728619B
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Abstract
The invention relates to an underwater charging device and method for an AUV (autonomous Underwater vehicle), wherein the device comprises a charging power supply, a test circuit, a controller, a driver circuit, an IGBT (insulated gate bipolar transistor) power switch, a hardware protection circuit, a diode, a relay and a voltage and current sensor. The method includes logic control and algorithms to automatically adjust the charging process. The invention can adjust the on-off and current value of the charging loop according to the actual situation, so that the underwater electric energy can be safely and reliably supplied to the AUV battery pack, and the inconvenience caused by repeated retraction is avoided. In the system, a controller controls the connection and disconnection of a charging loop through a relay; controlling a driving circuit and an IGBT power switch through a PWM interface, and adjusting the magnitude of charging current; when the current exceeds the limit, the hardware protection circuit forcibly turns off the IGBT to ensure the safety of the circuit; the test circuit sends the loop state to the controller through the sensor to judge the states of line insulation, AUV battery pack access condition, whether charging can be started and the like.
Description
Technical Field
The invention relates to underwater electric energy supply for an AUV battery pack, in particular to an underwater charging device for an AUV and a control method.
Background
An Autonomous Underwater Vehicle (AUV) is a novel underwater robot, and mainly comprises the aspects of waterproof structure design, propeller technology, energy storage and application, computer control, data fusion processing, positioning navigation, remote communication, sensors and the like in terms of technical level. At present, the AUV can be applied to the aspects of marine resource exploration, marine oil gas development and the like. Therefore, the method has wide development prospect.
Energy is one of the key technologies of AUV, and its endurance, speed and load capacity are all limited by available energy, which depends on battery type, space and weight. Currently, most AUVs use electrical energy as power, with the electrical energy coming from a battery pack carried by the AUV. Despite the low energy density, batteries will dominate over longer periods of time in view of cost, life, convenience, serviceability, safety, etc. Under the restriction of the factors, currently, the AUV must recover electric energy for supplementing after executing a certain time of tasks, otherwise, the safety of the submersible is endangered. Due to the uncertainty of the working environment, each deployment and retrieval of the submersible is a very cumbersome task, requiring a large number of workers, taking a long time, and also requiring a suitable vessel deck to cooperate with the lifting equipment. The need to develop a device that can recharge the AUV underwater is therefore evident. The device design fully considers the special underwater application occasions, and the current value in the processes of starting charging, finishing charging and charging can be automatically controlled, so that the electric energy supply of the AUV is completed underwater. Therefore, the problem of recycling and releasing caused by charging is avoided, the use efficiency is improved, and the use cost is reduced.
Disclosure of Invention
Aiming at the defects in the prior art and the requirements of AUV underwater electric energy supply, the invention adopts the technical scheme that: an underwater charging device for an AUV and a control method.
An underwater charging device for an AUV, comprising: charging circuit, test circuit.
The charging circuit is used for controlling the on-off of the IGBT power switch through an internal controller and a driver circuit and charging an AUV battery pack connected to the output end of the charging circuit.
The test circuit is connected with the output end of the charging circuit and used for measuring the insulation state of the charging circuit under the control of the controller and judging whether the battery pack is successfully accessed and can start charging.
The charging circuit includes: the controller comprises an IGBT power switch, a first diode, a main relay, a second diode, a controller, a driver circuit, a hardware protection circuit and a main relay, wherein the IGBT power switch and the first diode are sequentially connected between the positive pole of a charging power supply and the positive pole of an output end, the main relay and the second diode are sequentially connected between the negative pole of the charging power supply and the negative pole of the output end, the controller, the driver circuit, the hardware protection circuit and the main relay are respectively connected with the controller, the driver circuit is also connected with the control end of the IGBT power switch and the hardware protection circuit, and the hardware protection circuit is also connected with a current sensor of the charging circuit;
the controller outputs a PWM square wave signal to drive the driver circuit to control the on-off of the IGBT power switch so as to charge the AUV battery pack connected to the output end; the hardware protection circuit is used for detecting and judging whether the current value of the charging loop exceeds the limit or not, alarming to the controller and outputting a turn-off signal to the driver circuit to turn off the IGBT power switch; the main relay is used for controlling the on-off of the charging loop.
The charging power supply provides a charging voltage of 400V and a maximum charging current of 20A.
The controller can run a control program to provide 32 analog input channels, 24I/O outputs, and 4 8-bit PWM outputs.
The driver circuit takes an HCPL-316J integrated gate driving chip as a control device, the highest collector current of the circuit driving IGBT is 150A, and the voltage of the highest collector and the voltage of an emitter are 1200V.
The hardware protection circuit adopts a comparator circuit to detect whether the current value of the charging loop exceeds the limit.
The test circuit comprises a current-limiting resistor, a test power supply, a test circuit current sensor, a test relay and a test circuit voltage sensor, wherein the current-limiting resistor, the test power supply, the test circuit current sensor and the test relay are sequentially connected between the charging loops, and the test circuit voltage sensor is used for detecting the voltage of the test circuit.
An underwater charging control method for an AUV, comprising:
the test circuit tests whether the charging loop is insulated, judges whether the battery pack is successfully accessed and can start charging;
and the charging circuit controls the IGBT power switch to charge the AUV battery pack connected to the output end of the charging circuit through an internal controller and a driver circuit.
The testing circuit tests whether the charging loop is insulated, judges whether the battery pack is successfully accessed and can start charging, and comprises the following steps;
the controller drives the test relay to close and connect the test circuit, the test circuit current sensor detects the current value of the test circuit, and if the butt joint of the battery pack is not completed or the insulation value between the anode and the cathode of the output end is insufficient, the first diode and the second diode are in a conducting state, the current value exceeds the range, and the detection is continued and waiting is carried out; if the battery pack is connected completely and the first diode and the second diode are in a reverse cut-off state, the current value of the test loop is smaller than a set value, and the controller controls the test relay to disconnect the test circuit to complete the test before charging.
The step that the charging circuit controls an IGBT power switch to charge the AUV battery pack connected to the output end of the charging circuit through an internal controller and a driver circuit comprises the following steps:
the controller is connected with a main relay for controlling the charging circuit to be closed, outputs a PWM square wave signal to drive the driver circuit to control the on-off of the IGBT power switch, and charges the AUV battery pack connected to the output end; in the charging process, the controller collects the voltage and current values in the charging circuit and adjusts the duty ratio of the PWM square wave signal through a PI algorithm, so that the charging current is kept in a preset range, when the duty ratio reaches 100% and the charging current is smaller than 1A, the charging is judged to be completed, the IGBT power switch and the main relay are sequentially turned off by the controller, and the charging is finished.
The invention has the following beneficial effects and advantages:
1. the invention can automatically judge whether the battery pack is connected to the charging loop, and execute actions such as starting charging, ending charging and the like.
2. In the charging process, the device can automatically adjust the size of the charging current according to the requirement, so that the safety is ensured, and the efficiency can be improved to the maximum extent.
3. The whole volume of the control system is small, the control system is suitable for being used under the condition that special requirements are met in space, and the connection and the use are convenient and reliable.
4. An external communication interface can be provided, and the charging process can be artificially monitored and controlled.
Drawings
FIG. 1 is a schematic circuit diagram of the apparatus of the present invention;
fig. 2 is a flow chart of a control method adopted by the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1, the charging device includes a charging power supply, a test circuit, a controller, a driver circuit, an IGBT power switch, a hardware protection circuit, diodes (a first diode, a second diode), a power relay, voltage and current sensors, and the like. IGBT power switch and the first diode that connect gradually set up between charging source positive pole and output positive pole, main relay and the second diode that connects gradually set up between charging source negative pole and output negative pole, driver circuit, hardware protection circuit, the main relay that the controller connected respectively, driver circuit still connects IGBT power switch's control end, hardware protection circuit, and hardware protection circuit still connects charging circuit current sensor. The controller outputs a PWM square wave signal to drive the driver circuit to control the on-off of the IGBT power switch so as to charge the AUV battery pack connected to the output end; the hardware protection circuit is used for detecting and judging whether the current value of the charging loop exceeds the limit, giving an alarm to the controller and outputting a turn-off signal to the driver circuit so as to switch the IGBT power switch; the main relay is used for controlling the on-off of the charging loop.
The charging device can adjust the on-off of the charging loop and the current according to the actual situation, so that the electric energy can be safely and reliably supplied to the battery pack of the AUV underwater, and the inconvenience caused by repeated AUV retraction is avoided.
The charging power supply selects a high-power direct-current power supply, the output voltage is 400VDC, and the maximum output current is 20A; the current regulation rate is constant voltage less than 0.3%; the voltage regulation rate is that the constant voltage is less than 0.2%; the insulation resistance is not less than 5M omega.
The controller is a core component of the whole charging device, receives voltage and current signals fed back by the sensor, judges the charging state, controls the driving circuit and the IGBT power switch tube through logic judgment and calculation, and regulates the magnitude of output current through PWM modulation. The controller is based on an Intel Atom N455/D525 processor, supports 667/800MHz DDR3 memory, simultaneously comprises an updated third-generation graphics processing core, and supports a 64-bit operating system; 32 analog quantity input channels with 16-bit precision and programmable software are provided, the sampling rate of 200kHz can be achieved by matching with FIFO operation, a 32-bit timer/counter is used for triggering A/D conversion, and a 16-bit timer/counter is provided for users to use; providing 24 paths of I/O output, wherein the isolation voltage is 2500V, the output frequency is 10kHz, the maximum output voltage is 40V DC, and the output current is 500mA; 4 paths of 8-bit PWM signal outputs are provided, each path of PWM output can be enabled or disabled, and a 10M clock is divided by a 16-bit timing counter, so that the PWM frequency is adjusted to be 0.5 Hz-19.5 Hz.
The test circuit comprises a test power supply, a current-limiting resistor, a test relay, diodes (a first diode and a second diode), a test circuit voltage sensor, a test circuit current sensor and the like. The function of the test circuit is to test the insulation of the charging circuit before charging the battery pack. And after the test relay is closed, the test circuit is switched on. When the output end is not connected with a battery, the output end is exposed in water, so that the output end is equivalent to a short circuit state, the diode is conducted, only the current limiting resistor R exists in a loop, and the current sensor can detect a large current; when the output end is connected with a battery, because the working voltage of the battery pack is far higher than the voltage of a test power supply, the diode can block the conduction of the circuit, the current sensor can only detect small leakage current, and in addition, the voltage sensor can detect the voltage value close to the test power supply, so that when the detected current value and the detected voltage value meet the conditions, the battery pack can be judged to be successfully connected into a charging loop, and meanwhile, the insulation requirement is met. At this point the relay of the test circuit is open and ready to enter a charging state. Wherein the test power supply is a +15V direct current power supply; the current limiting resistor is a high-precision 1k omega/2W resistor; the model of the test relay is ohm dragon DK2a-24V, the maximum switchable voltage DC of the test relay is 30V, the maximum switching current can reach 10A, the response time is 3ms, and the consumed power of the coil is 200mW.
The driver circuit takes an HCPL-316J integrated gate drive chip as a core, the required power supply voltage range is wide, the driving capability is strong, and switching devices such as an IGBT (insulated gate bipolar transistor) and the like can be reliably driven; the main performance parameters include: the IGBT can be driven to have the highest collector current of 150A and the highest collector and emitter voltage of 1200V; optical coupling isolation and fault alarm; compatible with CMOS/TTL level; 500ns (2 MHz) maximum switching frequency; the soft shutdown function is realized, overcurrent detection is realized, and low-voltage latching is realized; the drive waveform may be reversed, automatically restarted or turned off.
The hardware protection circuit is used for preventing the elements from being damaged by overlarge charging current, and judges the detection signal by using the LM239 chip of the comparator. When the current exceeds a set value, the IGBT is turned off by the hardware protection circuit through the driver circuit, so that the charging loop is cut off. The reference input end of the comparator is connected with a rheostat which can be used for adjusting the protection value according to different conditions.
As shown in fig. 2, the control program is stored in the controller, and the controller automatically starts to operate when the device enters the docking device. First, the controller will drive the test relay to close, and the test power circuit is turned on. The current sensor can detect a circuit value in the loop, if the butt joint of the battery pack is not completed or the insulation values of the positive end and the negative end output are insufficient, the current value exceeds the range, and the detection is continued and the waiting is carried out; when the battery pack is connected, the current in the test power supply loop is smaller than a set value, and the controller disconnects the test relay. Secondly, after time delay, the controller can be connected with a main relay of the charging power supply loop, and then the IGBT is driven to realize the charging process. In the charging process, the controller collects the voltage and current values in the line, and adjusts the duty ratio of the PWM modulation square wave for driving the IGBT through a PI algorithm, so that the charging current is kept within a reasonable interval range. And when the duty ratio reaches 100% and the charging current is less than 1A, judging that the charging process is finished, sequentially turning off the IGBT and the main relay by the controller, and ending the control program.
The invention can adjust the on-off and current value of the charging loop according to the actual situation, so that the underwater electric energy can be safely and reliably supplied to the AUV battery pack, and the inconvenience caused by repeated retraction is avoided. In the system, a controller controls the connection and disconnection of a charging loop through a relay; controlling a driving circuit and an IGBT power switch through a PWM interface, and adjusting the magnitude of charging current; when the current exceeds the limit, the hardware protection circuit forcibly turns off the IGBT to ensure the safety of the circuit; the test circuit sends the loop state to the controller through the sensor to judge the states of line insulation, AUV battery pack access condition, whether charging can be started and the like.
Claims (7)
1. An underwater charging device for an AUV, comprising: a charging circuit and a test circuit; the charging circuit is used for controlling the on-off of the IGBT power switch through an internal controller and a driver circuit and charging the AUV battery pack connected to the output end of the charging circuit; the charging circuit includes: the controller comprises an IGBT power switch, a first diode, a main relay, a second diode, a controller, a driver circuit, a hardware protection circuit and a main relay, wherein the IGBT power switch and the first diode are sequentially connected between the positive pole of a charging power supply and the positive pole of an output end, the main relay and the second diode are sequentially connected between the negative pole of the charging power supply and the negative pole of the output end, the controller, the driver circuit, the hardware protection circuit and the main relay are respectively connected with the controller, the driver circuit is also connected with the control end of the IGBT power switch and the hardware protection circuit, and the hardware protection circuit is also connected with a charging circuit current sensor; the controller outputs a PWM square wave signal to drive the driver circuit to control the on-off of the IGBT power switch so as to charge the AUV battery pack connected to the output end; the hardware protection circuit is used for detecting and judging whether the current value of the charging loop exceeds the limit or not, alarming to the controller and outputting a turn-off signal to the driver circuit to turn off the IGBT power switch; the main relay is used for controlling the on-off of the charging loop;
the test circuit is connected with the output end of the charging circuit and used for measuring the insulation state of the charging circuit under the control of the controller and judging whether the battery pack is successfully accessed and can start charging; the method comprises the following steps: the controller drives the test relay to be closed and connected with the test circuit, the test circuit current sensor detects the current value of the test circuit, if the butt joint of the battery pack is not completed or the insulation value between the anode and the cathode of the output end is insufficient, the first diode and the second diode are in a conducting state, the current value exceeds the range, and the detection is continued and waiting is carried out; if the battery pack is connected and the first diode and the second diode are in a reverse cut-off state, the current value of the test loop is smaller than a set value, and the controller controls the test relay to disconnect the test circuit to complete the test before charging; the test circuit comprises a current-limiting resistor, a test power supply, a test circuit current sensor, a test relay and a test circuit voltage sensor, wherein the current-limiting resistor, the test power supply, the test circuit current sensor and the test relay are sequentially connected between the charging loops, and the test circuit voltage sensor is used for detecting the voltage of the test circuit.
2. The underwater charging device for an AUV of claim 1, wherein the charging power supply provides a charging voltage of 400V and a maximum charging current of 20A.
3. The subsea charging device of claim 1, wherein the controller is capable of running a control program providing 32 analog input channels, 24I/O outputs, and 4 8-bit PWM outputs.
4. The underwater charging device for the AUV according to claim 1, wherein the driver circuit uses an HCPL-316J integrated gate drive chip as a control device, the highest collector current of the circuit drive IGBT is 150A, and the highest collector and emitter voltage is 1200V.
5. The underwater charging device for the AUV of claim 1, wherein the hardware protection circuit employs a comparator circuit for detecting whether a current value of the charging loop is out of limit.
6. An underwater charging control method for an AUV, comprising:
the test circuit tests whether the charging loop is insulated, judges whether the battery pack is successfully accessed and can start charging; the method comprises the following steps: the controller drives the test relay to be closed and connected with the test circuit, the test circuit current sensor detects the current value of the test circuit, if the butt joint of the battery pack is not completed or the insulation value between the anode and the cathode of the output end is insufficient, the first diode and the second diode are in a conducting state, the current value exceeds the range, and the detection is continued and waiting is carried out; if the battery pack is connected and the first diode and the second diode are in a reverse cut-off state, the current value of the test loop is smaller than a set value, and the controller controls the test relay to disconnect the test circuit to complete the test before charging;
and the charging circuit controls the IGBT power switch to charge the AUV battery pack connected to the output end of the charging circuit through an internal controller and a driver circuit.
7. The method of claim 6, wherein the step of the charging circuit controlling the IGBT power switch via an internal controller and driver circuit to charge the AUV battery pack connected to the output of the charging circuit comprises:
the controller is connected with a main relay for controlling the charging circuit to be closed, outputs a PWM square wave signal to drive the driver circuit to control the on-off of the IGBT power switch, and charges the AUV battery pack connected to the output end; in the charging process, the controller collects the voltage and current values in the charging circuit and adjusts the duty ratio of the PWM square wave signal through a PI algorithm, so that the charging current is kept in a preset range, when the duty ratio reaches 100% and the charging current is smaller than 1A, the charging is judged to be completed, the IGBT power switch and the main relay are sequentially turned off by the controller, and the charging is finished.
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| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000284001A (en) * | 1999-03-31 | 2000-10-13 | Shimadzu Corp | Underwater potential measuring device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201118253Y (en) * | 2007-10-10 | 2008-09-17 | 荣及峰 | battery charging device |
| CN103885391B (en) * | 2012-12-19 | 2016-08-03 | 中国科学院沈阳自动化研究所 | A kind of small-sized autonomous underwater robot power-supply management system |
| CN104678264B (en) * | 2013-11-30 | 2017-12-15 | 中国科学院沈阳自动化研究所 | The online Insulation monitoring of AUV DC power-supply systems and fault treating apparatus and method |
| KR101621143B1 (en) * | 2014-06-19 | 2016-05-16 | 포항공과대학교 산학협력단 | Underwater docking system based on underwater agent and the method of docking using thereof |
| CN105429257B (en) * | 2015-12-02 | 2018-10-26 | 哈尔滨工程大学 | A kind of AUV intelligent chargers and charging method |
| CN205693412U (en) * | 2016-06-28 | 2016-11-16 | 广州沃港电子科技有限公司 | A kind of automatic charge device with communication function for AGV |
| CN106786882B (en) * | 2016-12-21 | 2019-09-10 | 重庆邮电大学 | A kind of universal automatic butt charging unit suitable for indoor mobile robot |
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| JP2000284001A (en) * | 1999-03-31 | 2000-10-13 | Shimadzu Corp | Underwater potential measuring device |
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