CN110775238A - Unmanned ship hybrid power driving system based on hydraulic transformer - Google Patents
Unmanned ship hybrid power driving system based on hydraulic transformer Download PDFInfo
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- CN110775238A CN110775238A CN201911119998.6A CN201911119998A CN110775238A CN 110775238 A CN110775238 A CN 110775238A CN 201911119998 A CN201911119998 A CN 201911119998A CN 110775238 A CN110775238 A CN 110775238A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/20—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/22—Handling or lashing of anchors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/44—Control devices non-automatic pneumatic of hydraulic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/20—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units
- B63H2021/202—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units of hybrid electric type
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The utility model provides an unmanned ship hybrid drive system based on hydraulic transformer belongs to unmanned ship hybrid drive technical field, and aim at solves the problem that prior art exists. The invention comprises the following steps: a central controller and a power and transmission system; the regulating device of the power and transmission system is connected with the port A of the hydraulic transformer to regulate the transformation ratio and the transformation direction of the hydraulic transformer; the port B of the hydraulic transformer is respectively connected with the oil ports A of the first hydraulic motor, the second hydraulic motor and the third hydraulic motor, and the port T is respectively connected with the oil ports B of the three hydraulic motors; the output shaft of the first hydraulic motor is connected with a third output end and a fourth output end through a differential mechanism, the output shafts of the second hydraulic motor and the third hydraulic motor are respectively connected with a first output end and a second output end, the first output end and the second output end are water-jet propellers on two sides of the unmanned ship, and the third output end and the fourth output end are two water-jet propellers on the tail of the unmanned ship; the central controller controls the power and transmission system to work.
Description
Technical Field
The invention belongs to the technical field of hybrid power driving of unmanned ships, and particularly relates to a hybrid power driving system of an unmanned ship based on a hydraulic transformer.
Background
With the rapid development of world economy, the consumption of non-renewable resources such as petroleum and the like is increased rapidly, the environmental problem is aggravated, meanwhile, the technology is developed continuously, and the concept of energy conservation and environmental protection gradually becomes an important index of technological innovation. Hybrid drive technology has become a major research target in the manufacturing industries of automobiles, ships, airplanes, and the like. The hybrid technology is a technology in which two or more power sources are combined and used in a working machine body. The original hydraulic hybrid power system is mainly in the form of a pump-controlled motor, and along with the rise and development of a hydraulic constant pressure network and a hydraulic transformer, a hydraulic hybrid power system based on the hydraulic constant pressure network and the hydraulic transformer is developed. At present, most of driving systems widely applied to unmanned ships directly drive propellers by engines or motors to work, have simple structures, but have the defects of poor stability, low control precision, poor dynamic performance and large transmission efficiency loss, and limit the scale and the application of the unmanned ships. The unmanned ship has diversified purposes and complicated load, and an efficient hybrid power system combined with a hydraulic driving system is urgently needed to be developed.
Disclosure of Invention
The invention aims to provide a hybrid power driving system of an unmanned ship based on a hydraulic transformer, which solves the problems of poor stability, low control precision, poor dynamic performance and high transmission efficiency loss in the prior art.
In order to achieve the above object, the hybrid driving system for unmanned ship based on hydraulic transformer of the present invention comprises: a central controller and a power and transmission system;
the power and transmission system at least comprises a regulating device, a hydraulic transformer, a first hydraulic motor, a second hydraulic motor, a third hydraulic motor, a first electric gate valve, a second electric gate valve, a third electric gate valve and a differential mechanism; enabling three ports of the hydraulic transformer to be a port A, a port B and a port T respectively; two oil ports of each of the first hydraulic motor, the second hydraulic motor and the third hydraulic motor are an oil port A and an oil port B; the regulating device is connected with a port A of the hydraulic transformer to regulate the transformation ratio and the transformation direction of the hydraulic transformer; the port B of the hydraulic transformer is respectively connected with the oil ports A of the first hydraulic motor, the second hydraulic motor and the third hydraulic motor, and the port T is respectively connected with the oil ports B of the first hydraulic motor, the second hydraulic motor and the third hydraulic motor; an output shaft of the first hydraulic motor is connected with the differential; a first electric gate valve is arranged between the port B of the hydraulic transformer and the oil port A of the first hydraulic motor, a second electric gate valve is arranged between the port B of the hydraulic transformer and the oil port A of the second hydraulic motor, and a third electric gate valve is arranged between the port B of the hydraulic transformer and the oil port A of the third hydraulic motor; the differential is connected with a third output end and a fourth output end through rod transmission and gear transmission, output shafts of a second hydraulic motor and a third hydraulic motor are respectively connected with a first output end and a second output end through rod transmission, the first output end and the second output end are water jet propellers on two sides of the unmanned ship, and the third output end and the fourth output end are two water jet propellers on the tail of the unmanned ship;
and the central controller is respectively connected with the regulating and controlling device, the first electric gate valve, the second electric gate valve and the third electric gate valve for control.
The hybrid power driving system further comprises a hoisting system, and the hoisting system drives the winding drum on the unmanned ship to rotate forwards or backwards through the power and transmission system and the hoisting system so as to drive the ship anchor to be retracted relative to the winding drum.
The power and transmission system also comprises an engine, a transmission shaft, a third gearbox, a first torque coupler, a variable hydraulic pump, a high-pressure energy accumulator, a first overflow valve, a low-pressure energy accumulator, a second overflow valve, a first motor/generator, a filter, a first rectifier or inverter, a super flashlight, a second rectifier or inverter, a second motor/generator and a first gearbox;
the engine and the first motor/generator are respectively connected to a first torque coupler in a parallel mode, the first torque coupler is connected with a third gearbox through a transmission shaft and then connected with a differential mechanism, and the third gearbox is connected to a variable hydraulic pump through an output shaft; an oil inlet of the variable hydraulic pump is connected with an oil tank through a filter to form an oil inlet pipeline of the variable hydraulic pump; the port A of the hydraulic transformer is connected with the high-pressure energy accumulator, the regulating device and the oil outlet of the variable hydraulic pump, the port B of the hydraulic transformer is simultaneously connected with the hoisting system and the first hydraulic motor, and the port T of the hydraulic transformer is connected with the other ends of the hoisting system and the first hydraulic motor and the low-pressure energy accumulator; the variable hydraulic pump oil outlet pipeline is connected with a high-pressure energy accumulator and a port A of a hydraulic transformer, the port A of the hydraulic transformer is connected with the high-pressure energy accumulator, a port B of the hydraulic transformer is simultaneously connected with a hoisting system, and an oil outlet port of the variable hydraulic pump is connected with a first overflow valve to form a high-pressure network line; oil ports B of the winch system and the first hydraulic motor are connected with a low-pressure energy accumulator, a port T of a hydraulic transformer and a second overflow valve to form a low-pressure network line, and the high-pressure network line and the low-pressure network line are connected with a first check valve through the first overflow valve and the second overflow valve; the first motor/generator is sequentially connected with a first rectifier or inverter, a super capacitor, a second rectifier or inverter and a second motor/generator, and the second motor/generator and the first gearbox are connected with an output power;
the central controller is connected with and controls the first motor/generator, the first rectifier or inverter, the super capacitor, the second rectifier or inverter and the second motor/generator respectively.
The winch system comprises a second torque coupler, a torque sensor, a winding drum, a ship anchor, a second gearbox, a fourth hydraulic motor, a third overflow valve, a second one-way valve, a third one-way valve, a first throttling valve, a fourth overflow valve, a fourth one-way valve, a fifth one-way valve, a second throttling valve and an electro-hydraulic servo valve;
the P port of the electro-hydraulic servo valve is connected with the port B of the hydraulic transformer, the T port of the electro-hydraulic servo valve is connected with the low-voltage accumulator and the second overflow valve, the A port of the electro-hydraulic servo valve is connected with a first throttling valve which is connected with a second one-way valve, the second check valve is connected with one port of the fourth hydraulic motor and a third overflow valve, the third overflow valve is connected back to the port A of the electro-hydraulic servo valve through the third check valve, the fourth hydraulic motor is connected with the second gearbox for providing power, the second gearbox is connected with the second torque coupler, the second torque coupler is connected with a reel of the winding drum through a torque sensor to control the retraction of the ship anchor, the other port of the fourth hydraulic motor is connected with the port B of the electro-hydraulic servo valve through a fourth overflow valve and a fifth one-way valve, the port B of the electro-hydraulic servo valve is simultaneously connected with a fourth overflow valve and a fourth hydraulic motor through a second throttling valve and a fourth one-way valve;
the central controller and the electro-hydraulic servo valve are connected with each other to control action.
The regulating device comprises a direct-acting three-position four-way reversing valve and a hydraulic cylinder; the direct-acting three-position four-way reversing valve is characterized in that a port P of the direct-acting three-position four-way reversing valve is connected with a high-pressure energy accumulator and a variable hydraulic pump, a port T is connected with an oil tank, a port A is connected with an oil port A of the hydraulic cylinder, an oil port B of the hydraulic cylinder is connected with a port B of the direct-acting three-position four-way reversing valve, and a piston rod of the hydraulic cylinder is hinged with an.
The first hydraulic motor, the second hydraulic motor and the third hydraulic motor are all bidirectional constant-displacement motors.
The invention has the beneficial effects that: the invention realizes the control of the transformation ratio by adjusting the rotating angle of the swash plate of the hydraulic transformer through the adjusting and controlling device, thereby controlling the working state of the hydraulic motor and achieving the purpose of controlling the unmanned ship; the pressure transformation direction of the hydraulic transformer is adjusted through the regulating and controlling device, energy can be output to each hydraulic motor under different working conditions, and kinetic energy of the unmanned ship can be recovered from the high-pressure energy accumulator through the hydraulic motors. The central controller regulates and controls the electric gate valve to open/close the hydraulic motor, so that the state of the unmanned ship is controlled. The control complexity of the system is simplified, and the energy utilization rate is improved.
Drawings
FIG. 1 is a schematic structural diagram of a hybrid power driving system of an unmanned ship based on a hydraulic transformer according to the invention;
wherein: 1. an engine, 2, a transmission shaft, 3, a first clutch, 4, a differential, 5, a first hydraulic motor, 6, a variable hydraulic pump, 7, a high-pressure accumulator, 8, a regulating device, 9, a hydraulic transformer, 10, a low-pressure accumulator, 11, a second hydraulic motor, 12, a third hydraulic motor, 13, a third gearbox, 14, a first check valve, 15, a second electric gate valve, 16, a third electric gate valve, 17, a first electric gate valve, 18, a first overflow valve, 19, a second overflow valve, 20, a first rectifier or inverter, 21, a super capacitor, 22, a second rectifier or inverter, 23, a second motor/generator, 24, a first gearbox, 25, a sixth clutch, 26, a second torque coupler, 27, a seventh clutch, 28, a torque sensor, 29, a spool, 30, a ship anchor, 31, an eighth clutch, 32, a second gearbox, 33. a ninth clutch, 34, a fourth hydraulic motor, 35, a third relief valve, 36, a second one-way valve, 37, a third one-way valve, 38, a first throttle valve, 39, a fourth relief valve, 40, a fourth one-way valve, 41, a fifth one-way valve, 42, a second throttle valve, 43, an electro-hydraulic servo valve, 44, a central controller, 45, a first motor/generator, 46, a third clutch, 47, a first torque coupler, 48, a fifth clutch, 49, a filter, 50, a fourth clutch, 51, a second clutch.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1, the hybrid power driving system of the unmanned ship based on the hydraulic transformer of the invention comprises: a central controller 44 and power and transmission systems;
the power and transmission system at least comprises a regulating device 8, a hydraulic transformer 9, a first hydraulic motor 5, a second hydraulic motor 11, a third hydraulic motor 12, a first electric gate valve 17, a second electric gate valve 15, a third electric gate valve 16 and a differential mechanism 4; three ports of the hydraulic transformer 9 are respectively a port A, a port B and a port T; two oil ports of each of the first hydraulic motor 5, the second hydraulic motor 11 and the third hydraulic motor 12 are an oil port a and an oil port B; the regulating device 8 is connected with the port A of the hydraulic transformer 9 to regulate the transformation ratio and the transformation direction of the hydraulic transformer 9; the port B of the hydraulic transformer 9 is connected with the oil ports a of the first hydraulic motor 5, the second hydraulic motor 11 and the third hydraulic motor 12, respectively, and the port T is connected with the oil ports B of the first hydraulic motor 5, the second hydraulic motor 11 and the third hydraulic motor 12, respectively; the output shaft of the first hydraulic motor 5 is connected with the differential 4; a first electric gate valve 17 is arranged between the port B of the hydraulic transformer 9 and the oil port a of the first hydraulic motor 5, a second electric gate valve 15 is arranged between the port B of the hydraulic transformer 9 and the oil port a of the second hydraulic motor 11, and a third electric gate valve 16 is arranged between the port B of the hydraulic transformer 9 and the oil port a of the third hydraulic motor 12; the differential mechanism 4 is connected with a third output end and a fourth output end through rod transmission and gear transmission, output shafts of the second hydraulic motor 11 and the third hydraulic motor 12 are respectively connected with a first output end and a second output end through rod transmission, the first output end and the second output end are water jet propellers on two sides of the unmanned ship, and the third output end and the fourth output end are two water jet propellers on the tail of the unmanned ship;
the central controller 44 is respectively connected and controlled with the regulating and controlling device 8, the first electric gate valve 17, the second electric gate valve 15 and the third electric gate valve 16.
The hybrid power driving system further comprises a hoisting system, and the hoisting system drives the winding drum 29 on the unmanned ship to rotate forwards or backwards through the power and transmission system and the hoisting system so as to drive the ship anchor 30 to be retracted relative to the winding drum 29.
The power and transmission system also comprises an engine 1, a transmission shaft 2, a third gearbox 13, a first torque coupler 47, a variable hydraulic pump 6, a high-pressure accumulator 7, a first overflow valve 18, a low-pressure accumulator 10, a second overflow valve 19, a first motor/generator 45, a filter 49, a first rectifying or inverter 20, a super electric torch, a second rectifying or inverter 22, a second motor/generator 23 and a first gearbox 24;
the engine 1 and the first motor/generator 45 are connected in parallel to a first torque coupler 47 through a second clutch 51 and a third clutch 46 respectively, the first torque coupler 47 is connected with a third gearbox 13 through a transmission shaft 2 and a fourth clutch 50, and then is connected with a differential 4 through a first clutch 3, and the third gearbox 13 is connected with a variable hydraulic pump 6 through an output shaft and a fifth clutch 48; an oil inlet of the variable hydraulic pump 6 is connected with an oil tank through a filter 49 to form an oil inlet pipeline of the variable hydraulic pump 6; the port A of the hydraulic transformer 9 is connected with the high-pressure accumulator 7, the regulating device 8 and the oil outlet of the variable hydraulic pump 6, the port B of the hydraulic transformer 9 is simultaneously connected with the hoisting system and the first hydraulic motor 5, and the port T of the hydraulic transformer 9 is connected with the other ends of the hoisting system and the first hydraulic motor 5 and is also connected with the low-pressure accumulator 10; an oil outlet pipeline of the variable hydraulic pump 6 is connected with a high-pressure energy accumulator 7 and a port A of a hydraulic transformer 9, the port A of the hydraulic transformer 9 is connected with the high-pressure energy accumulator 7, a port B of the hydraulic transformer 9 is simultaneously connected with a hoisting system, and an oil outlet port of the variable hydraulic pump 6 is connected with a first overflow valve 18 to form a high-pressure network pipeline; oil ports B of the winch system and the first hydraulic motor 5 are connected with a low-pressure energy accumulator 10, a port T of a hydraulic transformer 9 and a second overflow valve 19 to form a low-pressure network line, and the high-pressure network line and the low-pressure network line are connected with a first overflow valve 18, a second overflow valve 19 and a first check valve 14 through the first overflow valve 18 and the second overflow valve 19; the first motor/generator 45 is connected with a first rectifying or inverter 20, a super capacitor 21, a second rectifying or inverter 22 and a second motor/generator 23 in sequence, and the second motor/generator 23 and the first gearbox 24 are connected with output power;
the central controller 44 is connected to and controls the first motor/generator 45, the first rectifier or inverter 20, the super capacitor 21, the second rectifier or inverter 22, and the second motor/generator 23, respectively.
The hoisting system comprises a second torque coupler 26, a seventh clutch 27, a torque sensor 28, a winding drum 29, a ship anchor 30, an eighth clutch 31, a second gearbox 32, a ninth clutch 33, a fourth hydraulic motor 34, a third overflow valve 35, a second one-way valve 36, a third one-way valve 37, a first throttle valve 38, a fourth overflow valve 39, a fourth one-way valve 40, a fifth one-way valve 41, a second throttle valve 42 and an electro-hydraulic servo valve 43;
the P port of the electro-hydraulic servo valve 43 is connected with the port B of the hydraulic transformer 9, the T port of the electro-hydraulic servo valve 43 is connected with the low-pressure accumulator 10 and the second overflow valve 19, the A port of the electro-hydraulic servo valve 43 is connected with the first throttle valve 38, the first throttle valve 38 is connected with the second one-way valve 36, the second one-way valve 36 is connected with one port of the fourth hydraulic motor 34 and the third overflow valve 35, the third overflow valve 35 is connected back to the A port of the electro-hydraulic servo valve 43 through the third one-way valve 37, the fourth hydraulic motor 34 is connected with the second gearbox 32 through the ninth clutch 33 to provide power, the second gearbox 32 is connected with the second torque coupler 26, the second torque coupler 26 is connected with the reel of the reel 29 through the torque sensor 28 to control the retraction of the ship anchor 30, the other port of the fourth hydraulic motor 34 is connected with the B port of the electro-hydraulic servo valve 43 through the fourth overflow valve 39 and the fifth one-way valve 41, the port B of the electro-hydraulic servo valve 43 is simultaneously connected with the fourth relief valve 39 and the fourth hydraulic motor 34 through the second throttle valve 42 and the fourth check valve 40;
the central controller 44 and the electro-hydraulic servo valve 43 are connected to control operation.
The regulating device 8 comprises a direct-acting three-position four-way reversing valve and a hydraulic cylinder; the port P of the direct-acting three-position four-way reversing valve is connected with a high-pressure energy accumulator 7 and a variable hydraulic pump 6, the port T is connected with an oil tank, the port A is connected with the oil port A of the hydraulic cylinder, the oil port B of the hydraulic cylinder is connected with the port B of the direct-acting three-position four-way reversing valve, and a piston rod of the hydraulic cylinder is hinged with an oil distribution disc of a hydraulic transformer 9.
The first hydraulic motor 5, the second hydraulic motor 11 and the third hydraulic motor 12 are all bidirectional constant-displacement motors.
The application discloses actuating system realizes when the hoist is transferred that gravity retrieves specifically is two parts: the first part is: the gravitational potential energy generated by the lowering of the winch system drives the second motor/generator 23 to work through the seventh clutch 27, the second torque coupler 26, the sixth clutch 25 and the first gearbox 24, and the second motor/generator 23 stores electric energy in the super capacitor 21 through the second rectifier or inverter 22, so that the gravitational potential energy is recovered when the winch is lowered; the second part is that the gravitational potential energy generated by the lowering of the winch system is converted into hydraulic energy through a seventh clutch 27, a second torque coupler 26, an eighth clutch 31 and a fourth hydraulic motor 34, and the hydraulic energy is stored in the high-voltage energy accumulator 7 through the pressurization effect of a fourth overflow valve 39, a fifth one-way valve 41, an electro-hydraulic servo valve 43 and a T port of a hydraulic transformer 9 in a hydraulic pipeline and through the pressurization effect of the hydraulic transformer 9, so that the recovery of the gravitational potential energy is realized when the ship anchor 30 is lowered; during the next start-up the high pressure accumulator 7 releases the stored hydraulic energy, which is applied to the load by the fourth hydraulic motor 34 via the boosting action of the hydraulic transformer 9.
The method specifically comprises the following working processes: initializing and accelerating a driving system of the unmanned ship: at the moment, the pressure of the high-pressure accumulator 7 is not built yet, starting energy needs to be provided through the engine 1, then high-pressure oil circuit pressure is built through the engine 1, the hydraulic transformer 9 is adjusted through the regulating and controlling device 8 to enable the transfer of the swash plate of the hydraulic transformer to reach the maximum turning angle of the transformation ratio so as to obtain the acceleration of the large unmanned ship, the hydraulic transformer 9 rotates clockwise, at the moment, the port A of the hydraulic transformer 9 is an oil inlet, the port B of the hydraulic transformer is an oil outlet, and the port T of the hydraulic transformer is a. High-pressure oil is input into a high-pressure energy accumulator 7 through a port A of a hydraulic transformer 9, high-pressure oil is input into a port B of the hydraulic transformer 9 to a first hydraulic motor 5, the first hydraulic motor 5 and the first hydraulic motor 5 to drive rotation, namely the unmanned ship is driven to advance through direct driving force of an engine 1 and auxiliary force of the first hydraulic motor 5, the first hydraulic motor 5 and the first hydraulic motor 5; in the process, the power of the engine 1, the energy storage function of a hydraulic constant-pressure network and the constant-power output characteristic of the hydraulic transformer 9 are fully utilized through the comprehensive control of the hydraulic transformer 9 and the engine 1, and the maximum power which can be provided by a high-pressure oil way is fully utilized;
braking stage of the unmanned ship driving system: decoupling between the engine 1 and the load is realized through the second clutch 51, the hydraulic transformer 9 is adjusted through the regulating and controlling device 8 to enable the hydraulic transformer 9 to transform reversely, the kinetic energy of the unmanned ship and the ship anchor 30 is recovered by the fourth hydraulic motor 34 to enable the kinetic energy to be converted into hydraulic energy to be pressurized through the pressurization effect of the hydraulic transformer 9, the hydraulic energy is recovered to the high-voltage energy accumulator 7 in the constant-voltage network, the stored hydraulic energy is released by the high-voltage energy accumulator 7 in the next starting process, and the hydraulic energy is applied to the load through the first hydraulic motor 5, the first hydraulic motor 5 and the first hydraulic motor 5 through the pressurization effect of the hydraulic transformer 9, so that the dynamic characteristic of the system is greatly improved;
the reversing process of the unmanned ship driving system comprises the following steps: the opening and closing of the second hydraulic motor 11 and the third hydraulic motor 12 are realized by respectively opening and closing the second electric gate valve 15 and the third electric gate valve 16, so that the steering of the unmanned ship is realized; the first output end and the second output end connected with the second hydraulic motor 11 and the third hydraulic motor 12 are propellers arranged on the left side and the right side of the unmanned ship respectively, and provide kinetic energy when the unmanned ship turns.
Claims (6)
1. A hybrid drive system for unmanned ships based on hydraulic transformers, comprising: a central controller (44) and a power and transmission system;
the power and transmission system at least comprises a regulating device (8), a hydraulic transformer (9), a first hydraulic motor (5), a second hydraulic motor (11), a third hydraulic motor (12), a first electric gate valve (17), a second electric gate valve (15), a third electric gate valve (16) and a differential (4); enabling three ports of the hydraulic transformer (9) to be a port A, a port B and a port T respectively; two oil ports of each of the first hydraulic motor (5), the second hydraulic motor (11) and the third hydraulic motor (12) are an oil port A and an oil port B; the regulating device (8) is connected with a port A of the hydraulic transformer (9) to regulate the transformation ratio and the transformation direction of the hydraulic transformer (9); the port B of the hydraulic transformer (9) is respectively connected with the oil ports A of the first hydraulic motor (5), the second hydraulic motor (11) and the third hydraulic motor (12), and the port T is respectively connected with the oil ports B of the first hydraulic motor (5), the second hydraulic motor (11) and the third hydraulic motor (12); the output shaft of the first hydraulic motor (5) is connected with the differential (4); a first electric gate valve (17) is arranged between the port B of the hydraulic transformer (9) and the oil port A of the first hydraulic motor (5), a second electric gate valve (15) is arranged between the port B of the hydraulic transformer (9) and the oil port A of the second hydraulic motor (11), and a third electric gate valve (16) is arranged between the port B of the hydraulic transformer (9) and the oil port A of the third hydraulic motor (12); the differential (4) is connected with a third output end and a fourth output end through rod transmission and gear transmission, output shafts of the second hydraulic motor (11) and the third hydraulic motor (12) are respectively connected with a first output end and a second output end through rod transmission, the first output end and the second output end are water-jet propellers on two sides of the unmanned ship, and the third output end and the fourth output end are two water-jet propellers on the tail of the unmanned ship;
and the central controller (44) is respectively connected and controlled with the regulating and controlling device (8), the first electric gate valve (17), the second electric gate valve (15) and the third electric gate valve (16).
2. The unmanned ship hybrid power driving system based on the hydraulic transformer as claimed in claim 1, wherein the hybrid power driving system further comprises a winding system, and the winding system drives the winding drum (29) on the unmanned ship to rotate forward or backward through the power and transmission system, so as to drive the ship anchor (30) to retract relative to the winding drum (29).
3. The unmanned marine hybrid drive system based on hydraulic transformer of claim 2, characterized in that the power and transmission system further comprises an engine (1), a transmission shaft (2), a third gearbox (13), a first torque coupler (47), a variable hydraulic pump (6), a high pressure accumulator (7), a first relief valve (18), a low pressure accumulator (10), a second relief valve (19), a first motor/generator (45), a filter (49), a first rectifier or inverter (20), a super torch, a second rectifier or inverter (22), a second motor/generator (23) and a first gearbox (24);
the engine (1) and the first motor/generator (45) are connected to a first torque coupler (47) in parallel respectively, the first torque coupler (47) is connected with a third gearbox (13) through a transmission shaft (2) and then connected with a differential (4), and the third gearbox (13) is connected to a variable hydraulic pump (6) through an output shaft; an oil inlet of the variable hydraulic pump (6) is connected with an oil tank through a filter (49) to form an oil inlet pipeline of the variable hydraulic pump (6); the port A of the hydraulic transformer (9) is connected with the oil outlets of the high-pressure energy accumulator (7), the regulating device (8) and the variable hydraulic pump (6), the port B of the hydraulic transformer (9) is simultaneously connected with the hoisting system and the first hydraulic motor (5), and the port T of the hydraulic transformer (9) is connected with the other ends of the hoisting system and the first hydraulic motor (5) and is also provided with the low-pressure energy accumulator (10); an oil outlet pipeline of the variable hydraulic pump (6) is connected with a high-pressure energy accumulator (7) and a port A of a hydraulic transformer (9), the port A of the hydraulic transformer (9) is connected with the high-pressure energy accumulator (7), a port B of the hydraulic transformer (9) is simultaneously connected with a hoisting system, and an oil outlet port of the variable hydraulic pump (6) is connected with a first overflow valve (18) to form a high-pressure network line; oil ports B of the winch system and the first hydraulic motor (5) are connected with a low-pressure energy accumulator (10), a port T of a hydraulic transformer (9) and a second overflow valve (19) to form a low-pressure network line, and the high-pressure network line and the low-pressure network line are connected with a first overflow valve (18), the second overflow valve (19) and a first check valve (14) through the first overflow valve (18); the first motor/generator (45) is connected with a first rectifying or inverter (20), a super capacitor (21), a second rectifying or inverter (22) and a second motor/generator (23) in sequence, and the second motor/generator (23) is connected with the first gearbox (24) to output power;
the central controller (44) is respectively connected with and controls the first motor/generator (45), the first rectifying or inverter (20), the super capacitor (21), the second rectifying or inverter (22) and the second motor/generator (23).
4. The unmanned ship hybrid driving system based on hydraulic transformer of claim 3, characterized in that the winching system comprises a second torque coupler (26), a torque sensor (28), a winding drum (29), a ship anchor (30), a second gearbox (32), a fourth hydraulic motor (34), a third overflow valve (35), a second check valve (36), a third check valve (37), a first throttle valve (38), a fourth overflow valve (39), a fourth check valve (40), a fifth check valve (41), a second throttle valve (42), an electro-hydraulic servo valve (43);
the P port of the electro-hydraulic servo valve (43) is connected with the port B of a hydraulic transformer (9), the T port of the electro-hydraulic servo valve (43) is connected with a low-pressure accumulator (10) and a second overflow valve (19), the A port of the electro-hydraulic servo valve (43) is connected with a first throttle valve (38), the first throttle valve (38) is connected with a second one-way valve (36), the second one-way valve (36) is connected with one port of a fourth hydraulic motor (34) and a third overflow valve (35), the third overflow valve (35) is connected back to the A port of the electro-hydraulic servo valve (43) through a third one-way valve (37), the fourth hydraulic motor (34) is connected with a second gearbox (32) for providing power, the second gearbox (32) is connected with a second torque coupler (26), and the second torque coupler (26) is connected with a reel of a reel (29) through a torque sensor (28) to control the retraction of a ship anchor (30), the other port of the fourth hydraulic motor (34) is connected with a port B of an electro-hydraulic servo valve (43) through a fourth overflow valve (39) and a fifth one-way valve (41), and the port B of the electro-hydraulic servo valve (43) is simultaneously connected with the fourth overflow valve (39) and the fourth hydraulic motor (34) through a second throttle valve (42) and a fourth one-way valve (40);
the central controller (44) and the electro-hydraulic servo valve (43) are connected to control actions.
5. A hybrid drive system for unmanned ships based on hydraulic transformers according to claim 3 or 4, characterized in that said regulating means (8) comprise a direct-acting three-position four-way reversing valve and a hydraulic cylinder; the port P of the direct-acting three-position four-way reversing valve is connected with a high-pressure energy accumulator (7) and a variable hydraulic pump (6), the port T is connected with an oil tank, the port A is connected with the oil port A of the hydraulic cylinder, the oil port B of the hydraulic cylinder is connected with the port B of the direct-acting three-position four-way reversing valve, and a piston rod of the hydraulic cylinder is hinged with an oil distribution disc of a hydraulic transformer (9).
6. A hydraulic transformer based unmanned marine hybrid drive system according to claim 1, wherein the first (5), second (11) and third (12) hydraulic motors are all bidirectional fixed displacement motors.
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| IT202100016952A1 (en) * | 2021-06-29 | 2022-12-29 | Gerrisboats S R L | Command system of a boat |
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Application publication date: 20200211 |