CN111030290B - Intelligent power management system and method for semi-submersible unmanned submersible vehicle - Google Patents
Intelligent power management system and method for semi-submersible unmanned submersible vehicle Download PDFInfo
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- CN111030290B CN111030290B CN201911389107.9A CN201911389107A CN111030290B CN 111030290 B CN111030290 B CN 111030290B CN 201911389107 A CN201911389107 A CN 201911389107A CN 111030290 B CN111030290 B CN 111030290B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/061—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for DC powered loads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Aviation & Aerospace Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention belongs to the technical field of semi-submersible unmanned submersible vehicles, and particularly relates to an intelligent power management system and method for a semi-submersible unmanned submersible vehicle. The semi-submersible unmanned submersible vehicle intelligent power management system is combined with program software, so that the solar battery or the lithium battery pack is automatically selected to be used as a main power supply for configuration on the premise of ensuring long-time endurance, the electric quantity condition of the lithium battery pack can be monitored, and the battery pack with sufficient electric quantity can be automatically switched under the condition that a certain battery pack is exhausted. According to the invention, when severe weather is encountered, the power supply is switched through the upper computer, and extra power compensation is provided for the system by using the super capacitor; the power system has the remote monitoring function, operators can realize the whole-course management of the power system without on-site operation, more flexible space is provided for the operators, and the safety of the semi-submersible unmanned submersible vehicle operation is greatly improved.
Description
Technical Field
The invention belongs to the technical field of semi-submersible unmanned submersible vehicles, and particularly relates to an intelligent power management system and method for a semi-submersible unmanned submersible vehicle.
Background
The unmanned submersible vehicle has the characteristics of low operation cost, flexible and convenient use and the like, and is widely applied to the fields of ocean monitoring, resource investigation and the like. The unmanned submersible vehicle is mostly driven by electric power, and the energy comes from a portable battery pack. The lithium battery pack is used as an energy source, so that the lithium battery pack has high energy density, long service life and high output power, but is easy to overdischarge during use, and the battery core is damaged. When the electric quantity of the battery pack is too low or the battery pack fails, equipment on the unmanned submersible vehicle cannot work normally, communication is lost, and the accident of carrier loss is caused. In order to ensure the operation safety of the semi-submersible unmanned submersible, an intelligent power management system is required to be designed to cope with the faults of the battery pack.
Disclosure of Invention
The invention aims to provide a semi-submersible unmanned submersible intelligent power management system.
The aim of the invention is realized by the following technical scheme: the intelligent power/voltage monitoring system comprises a power/voltage monitoring module, a wireless communication module, an intelligent controller module, a solar cell module, a necessary load, a voltage stabilizing module, a lithium battery pack module, a battery switching module, a super capacitor module, an unnecessary load and a constant power charging module; the lithium battery pack output interface is connected with the detection input end of the power/voltage monitoring module and the power input interface of the battery switching module; the digital signal output end of the power/voltage monitoring module is connected to the intelligent controller module; the power supply output end of the battery switching module is connected with the input end of the constant power charging module, and the control port of the battery switching module is connected to the intelligent controller module; the output end of the constant power charging module is connected to the input end of the super capacitor module and the power supply end of the unnecessary load, and the power control end of the constant power charging module is connected to the intelligent controller module; the output end of the super capacitor module is respectively connected with the input end of the voltage stabilizing module and the input end of the unnecessary load; the power supply end of the necessary load is connected with the output end of the voltage stabilizing module and the output end of the solar cell module through a high-power diode respectively; the wireless communication module is connected with the intelligent controller module.
The invention may further include:
the voltage of the voltage stabilizing module is higher than that of the solar cell module; when normal power supply is performed, the high-power diode on the solar battery module side is cut off, the high-power diode on the voltage stabilizing module side is conducted, and at the moment, the voltage stabilizing module supplies power to a necessary load; when the power supply of the lithium battery pack module is cut off and the electric quantity of the super capacitor module is used, the voltage of the solar battery module side is higher than that of the voltage stabilizing module side, the high-power diode of the solar battery module side is conducted, the high-power diode of the voltage stabilizing module side is cut off, and the solar battery module supplies power to a necessary load.
The invention further aims to provide an intelligent power management method for the semi-submersible unmanned submersible vehicle.
The aim of the invention is realized by the following technical scheme: the method comprises the following steps:
step 1: constructing a semi-submersible unmanned submersible vehicle intelligent power management system;
the semi-submersible unmanned submersible vehicle intelligent power management system comprises a power/voltage monitoring module, a wireless communication module, an intelligent controller module, a solar battery module, a necessary load, a voltage stabilizing module, a lithium battery module, a battery switching module, a super capacitor module, a non-necessary load and a constant power charging module; the lithium battery pack output interface is connected with the detection input end of the power/voltage monitoring module and the power input interface of the battery switching module; the digital signal output end of the power/voltage monitoring module is connected to the intelligent controller module; the power supply output end of the battery switching module is connected with the input end of the constant power charging module, and the control port of the battery switching module is connected to the intelligent controller module; the output end of the constant power charging module is connected to the input end of the super capacitor module and the power supply end of the unnecessary load, and the power control end of the constant power charging module is connected to the intelligent controller module; the output end of the super capacitor module is respectively connected with the input end of the voltage stabilizing module and the input end of the unnecessary load; the power supply end of the necessary load is connected with the output end of the voltage stabilizing module and the output end of the solar cell module through a high-power diode respectively; the wireless communication module is connected with the intelligent controller module;
step 2: starting power supply monitoring, and wirelessly connecting the wireless communication module with an upper computer; the upper computer sets a current voltage threshold and a current power threshold, and the intelligent controller module sends current power supply data; in the running process of the semi-submersible unmanned submersible vehicle, the intelligent controller module continuously monitors the power of the whole ship and the power supply voltage;
step 3: judging whether the current power supply voltage is smaller than a voltage threshold set by an upper computer; if the current power supply voltage is smaller than the voltage threshold value set by the upper computer, the intelligent controller module utilizes the multi-channel ADC to read multi-channel data of the power/voltage monitoring module, positions the lithium battery pack with insufficient power and cuts off the power supply of the lithium battery pack;
step 4: judging whether the current power is smaller than a power threshold value set by an upper computer; if the current power is smaller than the power threshold value set by the upper computer, a switch of the super capacitor module is turned on to perform power compensation;
step 5: if the whole voltage of the lithium battery pack is insufficient or the power of the whole ship is still insufficient after power compensation, the intelligent controller module controls the battery switching module to cut off the power supply of the lithium battery pack, stops the work of unnecessary loads, and continuously sends a distress signal with coordinate information to the upper computer through the wireless communication module to wait for rescue; and if the power monitoring and the power supply voltage monitoring of the whole ship are normal, returning to the step 3 to perform the next round of monitoring.
The invention has the beneficial effects that:
the semi-submersible unmanned submersible vehicle intelligent power management system is combined with program software, so that the solar battery or the lithium battery pack is automatically selected to be used as a main power supply for configuration on the premise of ensuring long-time endurance, the electric quantity condition of the lithium battery pack can be monitored, and the battery pack with sufficient electric quantity can be automatically switched under the condition that a certain battery pack is exhausted. According to the invention, when severe weather is encountered, the power supply is switched through the upper computer, and extra power compensation is provided for the system by using the super capacitor; the power system has the remote monitoring function, operators can realize the whole-course management of the power system without on-site operation, more flexible space is provided for the operators, and the safety of the semi-submersible unmanned submersible vehicle operation is greatly improved.
Drawings
Fig. 1 is a block diagram of the whole structure of a semi-submersible unmanned submersible intelligent power management system of the invention.
Fig. 2 is a flow chart of a lithium battery power control strategy of the semi-submersible unmanned aerial vehicle intelligent power management system of the invention.
Fig. 3 is a schematic diagram of the semi-submersible unmanned submersible intelligent power management system of the present invention powering the essential loads.
Fig. 4 is a schematic layout diagram of the semi-submersible unmanned submersible intelligent power management system of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention designs an intelligent power management system of a semi-submersible unmanned submersible vehicle, which comprises a power/voltage monitoring module, a wireless communication module, an intelligent controller module, a solar battery module, a necessary load, a voltage stabilizing module, a lithium battery pack module, a battery switching module, a super capacitor module, an unnecessary load and a constant power charging module. The power of the semi-submersible unmanned submersible vehicle is monitored in real time through the power/voltage monitoring module, and intelligent control and switching can be performed on the power. In the event of battery failure or charge depletion, the battery pack is protected from damage by overdischarge by switching off the supply of the battery via the battery switching module and the necessary load is supplied via the solar cell module. When the system encounters severe sea conditions, the power supply is switched through the upper computer, and extra power compensation is provided for the system by using the super capacitor. The invention greatly improves the safety of the semi-submersible unmanned submersible vehicle operation.
Fig. 1 shows a composition and connection diagram of a semi-submersible unmanned submersible intelligent power management system, wherein solid lines are power supply connections, and broken lines are data and control connections. Fig. 4 is a layout diagram of a semi-submersible unmanned submersible intelligent power management system.
A semi-submersible unmanned submersible intelligent power management system comprising: the lithium battery pack module 1, the power/voltage monitoring module 2, the battery switching module 3, the constant power charging module 4, the super capacitor module 5, the unnecessary load 6, the voltage stabilizing module 7, the high-power diode 8, the necessary load 9, the solar battery module 10, the high-power diode 11, the wireless communication module 12 and the intelligent controller module 13. The lithium battery pack output interface is connected with the detection input end of the power/voltage monitoring module and the power input interface of the battery switching module, and the digital signal output end of the power/voltage monitoring module is connected to the intelligent controller module; the power supply output end of the battery switching module is connected with the input end of the constant power charging module, and the control port of the battery switching module is connected with the intelligent controller module; the output end of the constant power charging module is connected to the input end of the super capacitor module and the power supply end of the unnecessary load, and the power control end of the constant power charging module is connected with the intelligent controller module; the output end of the super capacitor module is connected to the input end of the voltage stabilizing module, and the output end of the super capacitor module is directly connected to the input end of the unnecessary load; the input end of the voltage stabilizing module is connected to the power supply end of the necessary load through a high-power diode; the output end of the solar battery module is connected to the power supply end of the necessary load through a high-power diode; the wireless communication module is connected to the intelligent controller module through TTL 232.
In the power/voltage monitoring module, the power detection has digital current, voltage and power monitor, and the obtained voltage, current and power information is sent back to the low-power consumption intelligent controller module. The constant power charging module is a module capable of setting maximum power and limiting power, and is used for charging the super capacitor with constant power.
The wireless communication module is used for wireless communication with a monitoring end of the upper computer. The intelligent controller for power consumption adopts an ARM single-chip microcomputer and contains relevant intelligent control programs. The necessary load is the necessary device of the corresponding sensor, intelligent controller module and module with the necessary information communication function with the upper computer in the semi-submersible unmanned submersible system. The unnecessary load is a power component with high power and related to gesture and course control.
The voltage stabilizing module has the function of stabilizing voltage and supplying power to loads except for necessary loads, and the voltage is slightly higher than the voltage of the solar cell module. The lithium battery pack module is formed by connecting a plurality of lithium batteries in parallel. The battery switching module adopts a high-power relay to switch a capacitor module consisting of a plurality of high-capacity Faraday capacitors of the super capacitor module and a super capacitor equalizing plate. The solar cell module has a function of storing energy when enough sunlight is available and supplying power to a necessary load when power supply to the lithium battery side is cut off. The high-power diode has a characteristic of being able to conduct a rated current required for a necessary load and a lower voltage drop.
When the power is normally supplied, the voltage of the stabilized power supply side is higher than that of the solar battery side, the high-power diode of the solar battery side is cut off, and the diode of the stabilized power module side is conducted, so that the stabilized power supply module supplies power to the necessary load. When the power supply of the lithium battery is cut off and the electric quantity of the super capacitor module is used, the voltage of the solar battery side is higher than that of the voltage stabilizing module side, and the two sides of the super capacitor module are connected to the necessary load through the high-power diode, so that the high-power diode of the solar battery module side is conducted, the high-power diode of the voltage stabilizing module side is cut off, and the necessary load supplies power for the necessary load for the solar battery module.
As shown in fig. 2, a semi-submersible unmanned aerial vehicle intelligent power management method based on a semi-submersible unmanned aerial vehicle intelligent power management system specifically comprises the following steps:
step 1: constructing a semi-submersible unmanned submersible vehicle intelligent power management system;
step 2: starting power supply monitoring, and wirelessly connecting the wireless communication module with an upper computer; the upper computer sets a current voltage threshold and a current power threshold, and the intelligent controller module sends current power supply data; in the running process of the semi-submersible unmanned submersible vehicle, the intelligent controller module continuously monitors the power of the whole ship and the power supply voltage;
step 3: judging whether the current power supply voltage is smaller than a voltage threshold set by an upper computer; if the current power supply voltage is smaller than the voltage threshold value set by the upper computer, the intelligent controller module utilizes the multi-channel ADC to read multi-channel data of the power/voltage monitoring module, positions the lithium battery pack with insufficient power and cuts off the power supply of the lithium battery pack;
step 4: judging whether the current power is smaller than a power threshold value set by an upper computer; if the current power is smaller than the power threshold value set by the upper computer, a switch of the super capacitor module is turned on to perform power compensation;
step 5: if the whole voltage of the lithium battery pack is insufficient or the power of the whole ship is still insufficient after power compensation, the intelligent controller module controls the battery switching module to cut off the power supply of the lithium battery pack, stops the work of unnecessary loads, and continuously sends a distress signal with coordinate information to the upper computer through the wireless communication module to wait for rescue; and if the power monitoring and the power supply voltage monitoring of the whole ship are normal, returning to the step 3 to perform the next round of monitoring.
The upper computer is a general terminal or special equipment provided with monitoring software and connected with the wireless communication receiving end, and the general terminal comprises a mobile phone, a computer and the like.
As shown in fig. 3, the necessary load of the semi-submersible unmanned submersible intelligent power management system is powered by the voltage stabilizing module and the solar cell module, and is switched in different battery states:
(1) When the battery is in a normal state, the lithium battery pack supplies power normally, and the voltage stabilizing module voltage U is used for stabilizing the voltage 2 Higher than the solar cell module voltage U 1 At this time, the high-power diode I is turned off, and the high-power diode II is turned on. The necessary load is formed by a voltage stabilizing module path T 2 And (5) supplying power.
(2) When the battery is in an abnormal state, the lithium battery pack stops supplying power, and the voltage of the voltage stabilizing module U is regulated at the moment 2 Lower than the solar cell module voltage U 1 At this time, the high-power diode I is turned on, and the high-power diode II is turned off. The necessary load is formed by the solar cell module path T 1 And (5) supplying power.
The key parameters of the voltage threshold and the power threshold are set by a user, and the system power supply switching, the battery pack switching on and off and the like are automatically completed by the intelligent controller and the hardware circuit, so that the risk that the power supply is possibly powered off in the power supply switching process is reduced. Meanwhile, the super capacitor module provides additional power for the semi-submersible unmanned submersible under extreme conditions, and the battery can be better protected.
Example 1:
the technical problem to be solved by the invention is to provide an intelligent battery management scheme for the semi-submersible unmanned submersible vehicle, which can monitor and protect the battery electric quantity and the state and can also protect the state data and the normal operation of a sensor when the electric quantity of a lithium battery is exhausted. The super capacitor module can be used for carrying out power compensation and battery protection when the special situation requires great power consumption.
In order to solve the prior art problems, the invention adopts the following scheme: the utility model provides a semi-submerged unmanned submersible vehicle intelligent power management system, includes power/voltage monitoring module, wireless communication module, intelligent control ware module, solar cell module, essential load, voltage stabilizing module, lithium cell group module, battery switching module, super capacitor module, unnecessary load and constant power charging module. The intelligent controller is responsible for reading data from the power/voltage monitoring module and the sensors in the necessary load, controlling the battery switching module, the constant power charging module and other modules, and communicating with the upper computer through the wireless communication module.
The lithium battery pack output interface is connected with the detection input end of the power/voltage monitoring module and the power input interface of the battery switching module, and the digital signal output end of the power/voltage monitoring module is connected to the intelligent controller module; the power supply output end of the battery switching module is connected with the input end of the constant power charging module, and the control port of the battery switching module is connected with the intelligent controller module; the output end of the constant power charging module is connected to the input end of the super capacitor module and the power supply end of the unnecessary load, and the power control end of the constant power charging module is connected with the intelligent controller module; the output end of the super capacitor module is connected to the input end of the voltage stabilizing module and the input end of the unnecessary load; the input end of the voltage stabilizing module and the output end of the solar cell module are connected to the power supply end of the necessary load; the wireless communication module is connected to the intelligent controller module through a TTL232 level.
A semi-submersible unmanned submersible vehicle intelligent power management method comprises the following steps:
step one: and the input end of the power/voltage monitoring module is connected to the semi-submersible unmanned aerial vehicle lithium battery pack, and the output end of the semi-submersible unmanned aerial vehicle lithium battery pack is connected with the measurement input end of the power/voltage monitoring module, and the measurement output end of the power/voltage monitoring module is connected with the power input end of the battery switching module.
Step two: the signal output end of the power/voltage monitoring module is connected with the intelligent controller module through TTL232, and the power output end of the battery switching module is connected with the input end of the constant-power charging module through a high-current diode; the control end of the battery switching module is connected with the battery switching control interface of the intelligent controller, and the power setting interface of the constant-power charging module is connected with the power control interface of the intelligent controller.
Step three: and the communication interface of the intelligent controller is connected with the signal input end of the wireless communication module.
Step four: and connecting the output end of the constant-power charging module with the power supply end of the super capacitor module and the power supply end of the unnecessary load.
Step five: the power supply end of the super capacitor is directly connected with an unnecessary load, and the power supply end of the super capacitor is connected to the input end of the voltage stabilizing module.
Step six: the output end of the solar battery is connected with the output end of the voltage stabilizing module through a high-current diode and the power supply end of the necessary load. The essential load power supply terminal is connected with all power supply terminals except for the essential load.
Step seven: the negative electrode of the lithium battery pack, the negative electrode of the input end of the charging module is connected to the ground plane on the same side, and is marked as GND_1. The cathodes of the output end of the constant-power charging module, the cathodes of the super capacitor module, the cathodes of the power/voltage monitoring module, the cathodes of the intelligent controller module and other residual modules are connected into the ground plane on the same side, and are marked as GND_2.
Step eight: and starting power monitoring, and wirelessly connecting the wireless communication module with the upper computer.
Step nine: the upper computer sets the current power supply voltage threshold value, and the intelligent controller module sends the current power supply data.
Step nine: in the operation process of the semi-submersible unmanned submersible vehicle, the intelligent controller module continuously monitors the power of the whole ship and the power supply voltage.
Step ten: judging whether the current power supply voltage is smaller than a threshold value set by the upper computer. Judging whether the current power is smaller than a set threshold value, if so, turning to step eleven, otherwise, turning to step nine.
Step eleven: if the voltage is smaller than the set threshold, the intelligent controller module utilizes the multi-channel ADC to read multi-channel data of the voltage monitoring module, positions the lithium battery pack with insufficient power and cuts off the power supply. If the power is less than the set threshold value,
and opening the super capacitor switch to perform power compensation. If the positioning lithium battery pack is insufficient in all voltage or the power of the whole ship is still insufficient after power compensation, the step twelve is carried out, otherwise, the step nine is returned,
step twelve: the intelligent controller module controls the battery switching module to cut off the power supply of the lithium battery pack, stops the work of unnecessary loads, continuously sends a distress signal with coordinate information to the upper computer through the wireless communication module, and waits for rescue.
The control and execution specific processes in the step nine to the step ten are as follows:
(1) The intelligent controller reads the real-time measurement result of the power/voltage detection module at regular time, and the intelligent controller comprises the following components: real-time voltage, current, power of the lithium battery pack;
(2) The intelligent controller sends a real-time measurement result of the power/voltage detection module to the upper computer at regular time through the wireless transmission module, compares the read parameter with the set parameter of the upper computer, judges whether an abnormal condition exists and a forced running instruction of the upper computer exists, executes the next step if the abnormal condition exists and the forced running instruction is not sent by the upper computer, and returns to the previous step if the abnormal condition exists and the forced running instruction is not sent by the upper computer;
(3) According to the existing condition of the battery pack, the intelligent controller sends abnormal condition information to the upper computer at regular time through the wireless transmission module, and the high-power relay is disconnected through controlling the control port of the battery switching module, so that the battery stops supplying power to the external part;
(4) If the personnel at the monitoring end judge that the condition of the lithium battery pack can enable the semi-submersible unmanned submersible to return, a forced running instruction can be sent to the semi-submersible unmanned submersible through the upper computer.
The power management system is combined with program software, so that the solar battery or the lithium battery pack is automatically selected to be used as a main power supply for configuration on the premise of ensuring long-time endurance, the electric quantity condition of the lithium battery pack can be monitored, and the battery pack with sufficient electric quantity can be automatically switched under the condition that the electric quantity of a certain battery pack is exhausted; according to the invention, when severe weather is encountered, the power supply is switched through the upper computer, and extra power compensation is provided for the system by using the super capacitor; the remote monitoring system has the function of remote monitoring, operators can realize the whole-course management of the power supply system without being on site, and more flexible space is provided for the operators.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. The intelligent power management method for the semi-submersible unmanned submersible vehicle is characterized by comprising the following steps of:
step 1: constructing a semi-submersible unmanned submersible vehicle intelligent power management system;
the semi-submersible unmanned submersible vehicle intelligent power management system comprises a power/voltage monitoring module, a wireless communication module, an intelligent controller module, a solar battery module, a necessary load, a voltage stabilizing module, a lithium battery module, a battery switching module, a super capacitor module, a non-necessary load and a constant power charging module; the lithium battery pack output interface is connected with the detection input end of the power/voltage monitoring module and the power input interface of the battery switching module; the digital signal output end of the power/voltage monitoring module is connected to the intelligent controller module; the power supply output end of the battery switching module is connected with the input end of the constant power charging module, and the control port of the battery switching module is connected to the intelligent controller module; the output end of the constant power charging module is connected to the input end of the super capacitor module and the power supply end of the unnecessary load, and the power control end of the constant power charging module is connected to the intelligent controller module; the output end of the super capacitor module is respectively connected with the input end of the voltage stabilizing module and the input end of the unnecessary load; the power supply end of the necessary load is connected with the output end of the voltage stabilizing module and the output end of the solar cell module through a high-power diode respectively; the wireless communication module is connected with the intelligent controller module;
step 2: starting power supply monitoring, and wirelessly connecting the wireless communication module with an upper computer; the upper computer sets a current voltage threshold and a current power threshold, and the intelligent controller module sends current power supply data; in the running process of the semi-submersible unmanned submersible vehicle, the intelligent controller module continuously monitors the power of the whole ship and the power supply voltage;
step 3: judging whether the current power supply voltage is smaller than a voltage threshold set by an upper computer; if the current power supply voltage is smaller than the voltage threshold value set by the upper computer, the intelligent controller module utilizes the multi-channel ADC to read multi-channel data of the power/voltage monitoring module, positions the lithium battery pack with insufficient power and cuts off the power supply of the lithium battery pack;
step 4: judging whether the current power is smaller than a power threshold value set by an upper computer; if the current power is smaller than the power threshold value set by the upper computer, a switch of the super capacitor module is turned on to perform power compensation;
step 5: if the whole voltage of the lithium battery pack is insufficient or the power of the whole ship is still insufficient after power compensation, the intelligent controller module controls the battery switching module to cut off the power supply of the lithium battery pack, stops the work of unnecessary loads, and continuously sends a distress signal with coordinate information to the upper computer through the wireless communication module to wait for rescue; and if the power monitoring and the power supply voltage monitoring of the whole ship are normal, returning to the step 3 to perform the next round of monitoring.
2. The intelligent power management method for the semi-submersible unmanned submersible vehicle according to claim 1, wherein the intelligent power management method is characterized by comprising the following steps: the voltage of the voltage stabilizing module is higher than that of the solar cell module; when normal power supply is performed, the high-power diode on the solar battery module side is cut off, the high-power diode on the voltage stabilizing module side is conducted, and at the moment, the voltage stabilizing module supplies power to a necessary load; when the power supply of the lithium battery pack module is cut off and the electric quantity of the super capacitor module is used, the voltage of the solar battery module side is higher than that of the voltage stabilizing module side, the high-power diode of the solar battery module side is conducted, the high-power diode of the voltage stabilizing module side is cut off, and the solar battery module supplies power to a necessary load.
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| CN111987787B (en) * | 2020-08-28 | 2022-07-26 | 北京航空航天大学 | Power management system of underwater vehicle with recoverable energy |
| CN117526543B (en) * | 2024-01-03 | 2024-03-22 | 成都汉度科技有限公司 | Power supply system adopting solar panel and battery dual power supply |
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