CN112104059A - Power management system and management method for small deep-sea exploration operation type submersible - Google Patents
Power management system and management method for small deep-sea exploration operation type submersible Download PDFInfo
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- CN112104059A CN112104059A CN202010882324.8A CN202010882324A CN112104059A CN 112104059 A CN112104059 A CN 112104059A CN 202010882324 A CN202010882324 A CN 202010882324A CN 112104059 A CN112104059 A CN 112104059A
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- 238000007726 management method Methods 0.000 title claims abstract description 93
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 63
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 63
- 238000001514 detection method Methods 0.000 claims abstract description 41
- 239000002131 composite material Substances 0.000 claims abstract description 35
- 230000009193 crawling Effects 0.000 claims abstract description 14
- 238000002955 isolation Methods 0.000 claims description 38
- 238000006243 chemical reaction Methods 0.000 claims description 36
- 238000007599 discharging Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims description 8
- HEZMWWAKWCSUCB-PHDIDXHHSA-N (3R,4R)-3,4-dihydroxycyclohexa-1,5-diene-1-carboxylic acid Chemical compound O[C@@H]1C=CC(C(O)=O)=C[C@H]1O HEZMWWAKWCSUCB-PHDIDXHHSA-N 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000004913 activation Effects 0.000 claims 2
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 3
- 239000013589 supplement Substances 0.000 description 3
- 239000003990 capacitor Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/00304—Overcurrent protection
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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
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
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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
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/10—Control circuit supply, e.g. means for supplying power to the control circuit
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to the technical field of underwater robots, in particular to a power management system and a management method of a small deep sea detection operation type submersible, which comprises a power management unit and a power distribution unit, wherein the power management unit is connected with a lithium battery pack, the power distribution unit and a submersible control system and is also connected with an underwater base station power supply through a photoelectric composite cable; the power distribution unit is connected with the submersible control system, the floating body equipment and the chassis equipment. The invention adopts a parallel power supply scheme consisting of the photoelectric composite cable and the battery pack, thereby meeting the energy requirement and the maximum navigation power requirement of the submersible in normal working time, reducing the wire diameter and the weight of the photoelectric composite cable and improving the flexibility of the submersible during operation; the single-point fault influence range is effectively reduced, later maintenance and debugging are facilitated, and meanwhile, the stability and reliability of the submarine deep-sea floating crawling dual-mode detection operation are effectively improved.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a power supply management system and a power supply management method for a small deep-sea exploration operation type submersible.
Background
Although the traditional underwater robot has strong operation capability, the traditional underwater robot generally has the problems of large volume, several tons of weight, long development period, high cost, low operation efficiency and high risk. The small seabed floating crawling robot is a seabed mobile robot with small volume and strong operation capability, can perform floating and sitting detection operation, can be carried on other equipment to jointly submerge to the seabed, has the characteristics of long working time, flexible motion control, high efficiency, low cost and the like, and can meet the actual requirement of fine detection operation in the current deep sea environment.
The underwater robot faces complex sea conditions and severe working environments in the detection operation process, so that higher requirements on reliability and safety are provided. The power management system is used as a bridge between each device of the submersible and a power supply, and the energy management distribution condition directly influences whether the submersible can complete a detection operation task and safely return to the home. Under the condition, the small deep-sea floating and crawling detection operation type submersible has to be provided with a mature and reliable power management system, a dual-power parallel power supply system consisting of a mooring cable and a lithium battery pack can be managed, energy can be reasonably distributed to each device of a submersible carrier, and two detection operation modes of floating and crawling can be switched conveniently, quickly and safely.
Disclosure of Invention
In order to solve the above problems, the present invention provides a power management system for a small deep-sea exploration submersible.
The purpose of the invention is realized by the following technical scheme: a power management system for a small deep-sea exploration operation type submersible, comprising: a power management unit and a power distribution unit;
the power management unit is connected with the lithium battery pack, the power distribution unit and the submersible control system and is also connected with the power supply of the underwater base station through a photoelectric composite cable;
the power distribution unit is connected with the submersible control system, the floating body equipment and the chassis equipment.
The power management unit comprises a voltage reduction isolation module, a charging module, a discharging module, an electric quantity detection sensor, a lithium battery protection board BMS, a single chip microcomputer and a master switch;
the input end of the voltage reduction isolation module is connected with the photoelectric composite cable, the output end of the voltage reduction isolation module is connected with the lithium battery protection board BMS through the charging module and the discharging module, and the lithium battery protection board BMS is connected with the lithium battery pack; electric quantity detection sensors are connected between the charging module and the lithium battery protection board BMS and between the discharging module and the lithium battery protection board BMS, the electric quantity detection sensors are connected with the single chip microcomputer, and the charging module is connected with the submersible control system through the single chip microcomputer; and the output end of the voltage reduction isolation module is used as the output end of the power management unit after passing through the main switch and is connected with the power distribution unit.
The power distribution unit comprises a high-power equipment starting circuit, a propeller current sensor, a second current sensor, a floating body power conversion plate and a chassis power conversion plate;
the output end of the power management unit is connected with the high-power equipment starting circuit, the floating body power conversion plate and the chassis power conversion plate; a first current sensor and a second current sensor are respectively arranged on a connecting circuit between the output end of the power management unit and the starting circuit of the high-power equipment and on a connecting circuit between the output end of the power management unit and the chassis power supply conversion plate; and the detection signal end of the first current sensor and the detection signal output end of the second current sensor are connected with a submersible control system.
The high-power equipment starting circuit comprises a solid relay QD and resistors R1-R5;
the control input end of the solid-state relay QD is connected with a submersible control system through a resistor R1, the output end of the solid-state relay QD is used as the output end OUT + of a high-power equipment starting circuit and is connected with the output end of a power management unit, and the output end of the solid-state relay QD is used as the output end OUT-of the high-power equipment starting circuit through resistors R2-R5 which are connected in parallel and is connected with the power supply input ends of a plurality of propellers of the floating body equipment.
The high-power equipment starting circuit is connected with a solid-state relay KM1 in parallel.
The floating body power supply conversion board comprises an overcurrent protection fuse F1, a floating body power supply on-off branch and a plurality of floating body power supply conversion branches;
the output end of the power supply management unit is connected with the acoustic positioning communication device of the floating body equipment through the floating body power supply on-off branch, and is also connected with the floating body equipment through a plurality of floating body power supply conversion branches respectively through a current protection fuse F1;
the on-off branch of the floating body power supply comprises a solid-state relay K7 and an overcurrent protection fuse F8 which are sequentially connected;
the floating body power supply conversion branch comprises a DC/DC isolation power supply module, a solid-state relay and an overcurrent protection fuse which are sequentially connected, and the output end of the overcurrent protection fuse is connected with at least one of a plurality of propeller control power supply input ends of the floating body equipment, a camera, a depth gauge, an altimeter, an electronic compass and a camera pitching cloud deck.
The floating body power supply conversion branch comprises a DC/DC isolation power supply module, and the output end of the DC/DC isolation power supply module is connected with at least one of an optical transceiver, a main control board and an IO expansion board of the floating body equipment.
The chassis power supply conversion board comprises a direct-current isolation power supply module and overcurrent protection fuses FU 3-FU 6;
the output end of the power supply management unit is connected with at least one of a chassis control panel, a control electric input end of a track motor driver, a control electric input end of a swing arm motor driver and a control electric input end of an electric manipulator joint motor driver of chassis equipment through a current protection fuse FU3 and a direct current isolation power supply module in sequence;
the output end of the power management unit is connected with at least one of the power electric input end of a track motor driver, the power electric input end of a swing arm motor driver and the power electric input end of an electric manipulator joint motor driver of the chassis equipment through a current protection fuse FU4, an overcurrent protection fuse FU5 and an overcurrent protection fuse FU6 respectively.
And a solid-state relay KM2 is connected in series between the output end of the power management unit and the chassis power supply conversion plate.
A power supply management method for a small deep sea exploration operation type submersible comprises the following steps:
the voltage reduction and isolation module of the power management unit reduces the voltage of the high-voltage direct current transmitted by the photoelectric composite cable and converts the high-voltage direct current into direct current to be output, and the direct current charges the lithium battery pack through the charging module and the lithium battery protection board BMS; the single chip microcomputer of the power management unit is communicated with the submersible control system through a serial port, and adjusts the charging current and time of the charging module to the lithium battery pack through a received serial port communication instruction of the submersible control system; the electric quantity detection sensor converts charge-discharge voltage and charge-discharge current signals of the lithium battery pack into analog quantity voltage signals, sends the analog quantity voltage signals into the single chip microcomputer for electric quantity acquisition and calculation, periodically records and stores the charge-discharge electric quantity of the lithium battery pack by the single chip microcomputer, and uploads data information to the submersible control system in real time;
when a plurality of thrusters need to be electrified, firstly closing a solid state relay QD in a starting circuit for starting the high-power equipment; after charging is finished after a plurality of seconds of delay, the submersible control system controls the contact of the solid-state relay KM1 to be closed, and the power electricity electrifying process of a plurality of propellers is finished;
the floating body power supply conversion board converts direct current output by the power management unit into different direct current voltages through the plurality of DC/DC isolation power supply modules and supplies the different direct current voltages to each device on the floating carrier;
when the submersible works in a crawling mode, the submersible control system controls the solid-state relay KM2 to connect direct current into the chassis power supply adapter plate and then convert the direct current through the DCDC isolation power supply module to output required voltage to the chassis equipment.
The invention has the advantages and positive effects that:
1. the invention can be used in the oil-filled high-pressure environment, so that the electronic equipment can be packaged with the oil pressure component, the volume and the number of structural parts are effectively reduced, the reliability is improved, and the design difficulty of a mechanical structure can be greatly simplified particularly when the oil-filled high-pressure oil pump is used in a deep sea environment.
2. The invention can effectively control the connection condition of the power supply system of the small deep sea detection operation type submersible through the combined use of the solid-state relays, completely isolate the power supply from the carrier equipment and ensure the safety of the system.
3. The invention uses the parallel power supply scheme composed of the photoelectric composite cable and the lithium battery pack, thereby meeting the energy requirement and the maximum navigation power requirement of the normal working time of the submersible and reducing the wire diameter and the weight of the photoelectric composite cable. The flexibility of the submersible during operation is improved; when the photoelectric composite cable breaks down, the lithium battery pack can also be used as an emergency power supply of the submersible.
4. The invention can monitor the state of the battery pack and the power utilization condition of the carrier equipment in real time when the submersible works underwater, and simultaneously collects, summarizes and uploads the information to the water surface control unit through the submersible control system, thereby providing a basis for water surface operation decision and having extremely high safety.
5. The invention effectively electrically isolates the power supply 48V of the power system from the power supplies 24V, 12V and 5V of the control system, effectively reduces the electromagnetic interference of high-power electronic equipment such as a propeller, an acoustic positioning device, a chassis crawler, a swing arm, an electric manipulator and the like on the control system, and improves the anti-interference capability of the submersible control system.
6. The invention develops a micro-miniature high-power equipment starting circuit and a high-power equipment starting control method, which can effectively inhibit the simultaneous electrification of a plurality of propellers and the huge current impact on a 48V power supply instantly. Effectively preventing the front-stage circuit from being damaged due to overcurrent.
7. The invention can independently control the floating body equipment and the chassis equipment up and down through the coordination of the submersible control system, each equipment corresponds to an independent solid-state relay and an overcurrent protection fuse, and a single equipment can be cut off from a carrier power supply loop when in failure, so that the failure equipment does not influence the power supply of the whole system, and the range of single-point failure influence is greatly reduced.
Drawings
FIG. 1 is a functional diagram of a power management system according to the present invention;
FIG. 2 is a functional block diagram of the power management unit of the present invention;
FIG. 3 is a schematic block diagram of the power distribution unit of the present invention;
FIG. 4 is a schematic diagram of the power device startup circuit of the present invention;
FIG. 5 is a flowchart of a power equipment start control method of the present invention;
the system comprises a power management unit 1, a power distribution unit 2, a submersible control system 3, a voltage reduction isolation module 10, a charging module 11, a discharging module 12, a discharging module 13, an electric quantity detection sensor 14, a lithium battery protection board BMS 15, a single chip microcomputer 16, a main switch 20, a high-power equipment starting circuit 21, a first current sensor 22, a second current sensor 23, a floating body power conversion board 24 and a chassis power conversion board.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The power supply of the power supply management system is taken from the photoelectric composite cable and the lithium battery pack, the energy provided by the photoelectric composite cable is taken as the main energy when the submersible works normally, the battery pack is used as energy supplement when the submersible works at high power, and the lithium battery pack can also be used as an emergency power supply of the submersible when the photoelectric composite cable breaks down. The power management system mainly comprises a power management unit and a power distribution unit, and is arranged in the submersible. The power management unit is connected with the photoelectric composite cable and the lithium battery pack, voltage reduction and isolation of a photoelectric composite cable high-voltage direct-current power supply can be achieved, charge and discharge management and electric quantity monitoring of the lithium battery pack are achieved, and communication with a submersible control system is achieved through an RS232 interface. The power distribution unit is connected with the submersible vehicle carrier equipment and can convert and isolate the 48V direct current output by the power management unit to supply to equipment such as a control system, a power system, an operating system and a detection system of the submersible vehicle. The power distribution unit can reasonably distribute electric energy according to the detection operation task and optimally control the power-on sequence of each device of the submersible vehicle. The submersible control system may monitor the operation of the power distribution unit through the DO and AI interfaces.
The invention can be used in an oil-filled high-pressure wet cabin and can meet the pressure-resistant requirement of 45MPa underwater. The power management system is an important guarantee for reliable operation of the small deep-sea floating crawling detection operation type submersible, and plays an important role in the overall safety of the submersible. The power management system adopts a parallel power supply scheme consisting of the photoelectric composite cable and the battery pack, so that the energy requirement and the maximum navigation power requirement of the submersible in normal working time are met, the wire diameter and the weight of the photoelectric composite cable are reduced, and the flexibility of the submersible during operation is improved; the power system power supply and the control system power supply are electrically isolated, and the carrier equipment is designed with independent power-on and power-off control and overcurrent protection, so that the single-point fault influence range is effectively reduced, later-stage maintenance and debugging are facilitated, and the stability and reliability of the submarine deep-sea floating crawling dual-mode detection operation are also effectively improved.
A power management system of a small deep sea exploration operation type submersible comprises a power management unit and a power distribution unit; the power management system adopts a parallel power supply scheme consisting of a photoelectric composite cable and a lithium battery pack, the submersible mainly uses energy provided by the photoelectric composite cable when in normal operation, and the battery pack is used as energy supplement when the submersible works at high power; when the photoelectric composite cable breaks down, the lithium battery pack can be used as an emergency power supply of the submersible;
the power management unit is connected with the photoelectric composite cable and the lithium battery pack, can realize the voltage reduction and isolation of the high-voltage direct-current power supply voltage of the photoelectric composite cable, provides charge-discharge management and electric quantity monitoring for the lithium battery pack, and communicates with the submersible control system through an RS232 interface;
the voltage reduction isolation module 10, the charging module 11, the electric quantity detection sensor 13 and the lithium battery protection board BMS14 are connected in series to charge the lithium battery pack; the single chip microcomputer 15 controls the charging current of the charging module 11 to the lithium battery pack by adjusting the PWM duty ratio; an AI interface of the single chip microcomputer 15 is connected with the electric quantity detection sensor 13, the charging and discharging voltage and current information of the lithium battery pack are collected and calculated, meanwhile, the single chip microcomputer 15 periodically records and stores the electric quantity information of the lithium battery pack and uploads the electric quantity information to the submersible control system 3 in real time, and the single chip microcomputer 15 system also has the function of automatically storing the electric quantity information of the lithium battery pack when the power is off; the lithium battery protection board BMS14 can be used for performing charge protection, discharge protection, overcurrent protection and short-circuit protection on the lithium battery pack; the lithium battery pack can be connected with the output end of the photoelectric composite cable voltage reduction isolation module 10 through the discharge module 12, so that a parallel power supply scheme of the submersible power management system is formed; the parallel output end of the lithium battery pack and the photoelectric composite cable is connected with the power distribution unit 2 through a solid-state relay of a main switch 16, and the main switch 16 can realize the power-on and power-off of a subsequent power supply loop through the control of an external starting plug;
the power distribution unit 2 comprises a high-power equipment starting circuit 20, current sensors 21 and 22, a floating body power conversion plate 23, a chassis power conversion plate 24, a rail connecting terminal XT, an overcurrent protection fuse F and a plurality of solid-state relays;
the high-power equipment starting circuit 20 connects the power supply output of the power supply management unit with a plurality of high-power propellers, and the use of the high-power equipment starting circuit 20 can effectively inhibit the huge current impact on the 48V power supply at the moment when the plurality of propellers are electrified simultaneously; the power-on starting control method of the high-power equipment comprises the following steps: when a plurality of propellers are powered on, the submersible control system 3 firstly closes the small solid relay QD of the starting circuit through the digital output DO port, the starting resistor is connected into the 48V power supply loop of the propeller in series, the power is started to carry out current-limiting charging instantly so as to protect the elements of the preceding stage circuit, the charging of the filter capacitor in the propeller is finished after 5s of delay, the contact closing of the high-power solid relay KM1 is used for short-circuiting the resistor, and the power-on process of the plurality of propellers is finished;
and each thruster 48V power supply loop corresponds to the corresponding overcurrent protection fuse FU. When an overcurrent or short circuit fault occurs in one propeller, the corresponding fuse can be blown. The fault propeller is cut off from the 48V power supply loop, the normal work of other equipment of the carrier is not influenced, and the purpose of reducing the influence range of single-point faults is achieved;
the current sensors 21 and 22 collect the current of a 48V power supply loop of the propeller and a 48V power supply loop of the chassis, and analog voltage signals are output to a 3AI interface of the submersible control system for signal collection and operation after filtering and amplitude limiting by the operational amplifier;
the floating body power supply conversion board 23 converts 48V output by the power management unit 1 into 24V, 12V and 5V voltages through 4 DCDC isolated power supply modules, and supplies the voltages to each device on the floating body; each device independently corresponds to a solid-state relay switch K1-K7 and an overcurrent protection fuse F2-F8, the submersible control system 3 can control the independent power-on and power-off of each device of the carrier through a digital output interface DO, the power supply of the whole device of the carrier is not influenced by the single device fault, and the influence range of single-point faults is greatly reduced;
the power management unit 1 outputs 48V which passes through the high-power solid-state relay KM2 and then is connected to the chassis power conversion plate 24, and when the submersible works in a crawling mode, the submersible control system 3 can control the high-power solid-state relay KM2 through the digital output interface DO to electrically control the power supply loop of the chassis power supply; the high-power solid-state relay KM2 can conveniently and quickly realize the switching of the power supply loop of the floating and crawling double modes of the small deep-sea submersible;
the chassis power supply adapter plate 24 comprises a DCDC isolation power supply module, wiring terminals XT 3-4 and overcurrent protection fuses FU 4-6, wherein the DCDC isolation power supply module electrically isolates a chassis power system power supply 48V from a control system power supply 24V, electromagnetic interference of high-power electronic equipment such as a chassis crawler belt, a swing arm and an electric manipulator to the control system is effectively reduced, and the anti-interference capability of the submersible control system is improved.
As shown in fig. 1. The power supply of the power supply management system is taken from the photoelectric composite cable and the lithium battery pack, the submersible is mainly powered by the energy provided by the photoelectric composite cable during normal operation, and the lithium battery pack is used as energy supplement during high-power operation of the submersible. When the photoelectric composite cable breaks down, the lithium battery pack can be used as an emergency power supply of the submersible. The power management system mainly comprises a power management unit 1 and a power distribution unit 2.
The power management unit 1 is connected with the photoelectric composite cable and the lithium battery pack, can realize the voltage reduction and isolation of high-voltage direct-current power voltage transmitted by the photoelectric composite cable, provides charge-discharge management and electric quantity monitoring for the lithium battery pack, and communicates with the submersible control system 3 through an RS232 interface.
As shown in fig. 2, the power management unit 1 includes a voltage reduction isolation module 10, a charging module 11, a discharging module 12, a power detection sensor 13, a lithium battery protection board BMS14, a single chip microcomputer 15, and a main switch 16.
The voltage reduction and isolation module 10 converts the high-voltage direct current transmitted by the photoelectric composite cable into 48V direct current for output in a voltage reduction mode, and realizes the electrical isolation between the high-voltage direct current and a 48V power supply loop; the 48V direct current charges the lithium battery pack through the charging module 11, the electric quantity detection sensor 13 and the lithium battery protection board BMS 14; the main controller single chip microcomputer 15 of the power management unit is communicated with the submersible control system 3 through an RS232 serial port, and the single chip microcomputer 15 adjusts the charging current and time of the charging module 11 to the lithium battery pack through a received serial port communication instruction of the submersible control system 3; the electric quantity detection sensor 13 comprises a voltage detection sensor circuit and a current detection sensor circuit, the voltage detection sensor circuit outputs a low-voltage signal by adopting a resistance voltage division method, and the current detection sensor circuit converts the current signal into a voltage signal by adopting a linear hall current sensor ACS758 LCB-050B. The electric quantity detection sensor 13 circuit mainly has the functions of converting charge-discharge voltage and charge-discharge current signals of the lithium battery pack into 0-3V analog quantity voltage signals and sending the signals into an AI interface of the single chip microcomputer 15 for electric quantity acquisition and calculation, meanwhile, the single chip microcomputer 15 system periodically records and stores the charge-discharge electric quantity of the lithium battery pack and uploads data information to the submersible control system 3 in real time, and the single chip microcomputer 15 system also has the function of automatically storing the electric quantity information of the lithium battery pack when the power fails; the lithium battery protection board BMS14 can be used for performing charge protection, discharge protection, overcurrent protection and short-circuit protection on the lithium battery pack; the lithium battery pack can be in output connection with the photoelectric composite cable voltage reduction isolation module 10 through the discharge module 12, so that a parallel power supply scheme of the submersible power management system is formed; the lithium battery pack and the photoelectric composite cable are connected in parallel to output 48V direct current which is connected with the power distribution unit through the solid-state relay of the main switch 16, and the main switch 16 can be controlled by an external starting plug to realize the power-on and power-off of a subsequent power supply loop.
The power distribution unit 2 is connected with the power management unit 1 and each device of the submersible vehicle carrier, and can convert and isolate the 48V direct current output by the power management unit 1 through an isolation power module to supply to devices such as a control system, a power system, an operation system, a detection system and the like of the submersible vehicle. The power distribution unit 2 can reasonably distribute electric energy according to the detection task and optimally control the power-on and power-off sequence of each device of the submersible. The submersible control system may monitor the operation of the power distribution unit 2 through the DO and AI interfaces.
The power distribution unit 2 is shown in fig. 3 and comprises a high-power equipment starting circuit 20, current sensors 21 and 22, a floating body power conversion plate 23, a chassis power conversion plate 24, a rail connecting terminal XT, an overcurrent protection fuse F and a plurality of solid-state relays;
because a plurality of propellers are connected in parallel for supplying power, the capacity of a filter capacitor on the direct current side is very large, and a 48V power supply loop is equivalent to a short circuit at the moment of just charging, so that the current can be very large. The high-power equipment starting circuit 20 can effectively restrain the huge current impact on the 48V power supply at the moment when a plurality of propellers are electrified simultaneously. When a plurality of propellers need to be electrified, the small solid relay QD of the starting circuit is firstly closed, and the starting resistor is connected in series in a 48V power supply loop of the propeller to play a role in current-limiting charging at the moment of electrifying so as to protect preceding stage circuit components. After the charging is finished by the time delay of 5s, the submersible control system 3 controls the contact of the solid-state relay KM1 to be closed through the digital output DO port to short out the resistance, and the 48V power electricity electrifying process of a plurality of propellers is finished. A schematic diagram of a starting circuit 20 of high-power equipment is shown IN fig. 4, a small-sized solid-state relay U1 IN the starting circuit adopts a loose AQV254, starting resistors R2-R5 adopt four 10K +/-1% 1W chip resistors to be used IN parallel, R1 is a current-limiting resistor IN a control loop of the starting circuit 20, when 5V-15V voltage is applied to input ends of an IN _ Ctrl + control loop and an IN _ Ctrl control loop, pins 4, 6 and 5 of the small-sized solid-state relay U1 are conducted and closed, and at the moment, an output load end OUT + of the starting circuit is conducted with OUT-through a starting resistor 2.5K omega; when the input ends of the IN _ Ctrl + and IN _ Ctrl-control loops apply voltage of < 2V, pins 4, 6 and 5 of the U1 of the small solid-state relay are disconnected, and the output load end OUT + of the starting circuit is disconnected with the output load end OUT-at the moment; the circuit volume is only 16 × 11 × 2mm, and the high-power solid-state relay KM1 can be packaged together for use, so that the size and the installation volume of components of the power management system are effectively reduced. The flow chart of the high-power equipment starting control method is shown in fig. 5, when a plurality of thrusters are powered on, the solid-state relays K1, QD and KM1 are sequentially controlled to be closed according to the principle that electricity is firstly controlled to be 12V and then power electricity is 48V.
The power management unit 1 outputs 48V which is ultimately connected to the propeller of the buoyant carrier via rail mount terminal XT1, high power equipment starting circuit 20, rail mount terminal XT2 and force overcurrent protection fuse FU. The 48V power supply loop of each thruster corresponds to the corresponding overcurrent protection fuse FU, and when one thruster has overcurrent or short circuit fault, the corresponding fuse FU can be blown. The fault propeller is cut off from the 48V power supply loop, the normal work of other 48V equipment of the carrier is not influenced, and the purpose of reducing the influence range of single-point faults is achieved.
The current sensors 21 and 22 detect the current of the 48V power supply loop by adopting a perforated Hall current sensor WCS1800, and output 0-5V analog voltage signals to a 3AI interface of the submersible control system for signal acquisition and operation after filtering and amplitude limiting by an operational amplifier to obtain the real-time current values of the 48V power supply loop of the propeller and the 48V power supply loop of the chassis. The formula of the analog quantity voltage value output by the current sensor module is as follows:
wherein: the linearity K is 0.066V/a, Vcc is an operating voltage of 5V, Ia is a current flowing through a wire, and Aout is an analog voltage value output by the current sensor module.
The floating body power conversion board 23 can convert 48V output by the power management unit 1 into 24V, 12V and 5V voltages through 4 DCDC isolated power modules, and supply the voltages to the devices on the floating body, such as: the device comprises a propeller control power supply, a high-definition camera power supply, a depth gauge power supply, an altimeter power supply, an electronic compass power supply, an optical transceiver power supply, a main control board power supply, an IO expansion board power supply, a lighting lamp power supply, a camera pitching pan-tilt power supply and an acoustic positioning device power supply. Each device corresponds to the respective independent solid-state relay switches K1-K7 and overcurrent protection fuses F2-F8, independent power supply and power supply of each device on the carrier can be realized through the control of the digital output interface DO of the submersible control system 3, the power supply of other devices on the carrier is not influenced by the single device fault, and the influence range of single-point faults is greatly reduced.
48V output by the power management unit 1 passes through a high-power solid-state relay KM2 and then is connected to the chassis power conversion board 24. When the submersible works in a crawling mode, the submersible control system 3 can control the solid-state relay KM2 to carry out power-on and power-off control on a power supply loop of a chassis power supply through the digital output interface DO, and the high-power solid-state relay KM2 can conveniently and quickly realize the switching of the power supply loop of the floating and crawling modes of the small deep sea submersible. After being connected to a chassis power supply adapter plate, 48V direct current is converted by a DCDC isolation power supply module to output 24V direct current to a chassis control plate, a track motor and driver control electric input interface, a swing arm motor and driver control electric input interface and a manipulator joint motor and driver control electric input interface, and the other three paths of 48V direct current of a WAGO wiring terminal XT3 are respectively connected to the track motor and driver power electric input interface, the swing arm motor and driver power electric input interface, the manipulator joint motor and driver power electric input interface through 3 overcurrent protection fuses FU 4-6.
The invention can be used in an oil-filled high-pressure wet cabin and can meet the pressure-resistant requirement of 45MPa underwater. The power management system is an important guarantee for reliable operation of the small deep-sea floating crawling detection operation type submersible, and plays an important role in the overall safety of the submersible. The power management system adopts a modularized design concept, so that the size of a power system is effectively reduced, the influence range of single-point faults is reduced, later maintenance and debugging are facilitated, and the stability and reliability of detection operation of a deep-sea floating and crawling double mode of the submersible are effectively improved.
In conclusion, the power management system scheme of the small deep-sea exploration operation type submersible meets the energy requirement and the maximum navigation power requirement of the submersible in normal working time, and reduces the wire diameter and the weight of the photoelectric composite cable. The flexibility of the submersible during detection operation is improved; the reliability and the safety of the submersible under the unknown working environment in deep sea are improved.
Claims (10)
1. A power management system for a small deep-sea exploration operation type submersible, comprising: a power management unit (1) and a power distribution unit (2);
the power management unit (1) is connected with the lithium battery pack, the power distribution unit (2) and the submersible control system (3) and is also connected with an underwater base station power supply through a photoelectric composite cable;
the power distribution unit (2) is connected with the submersible control system (3), the floating body equipment and the chassis equipment.
2. The power management system of the small deep-sea exploration operation type submersible as claimed in claim 1, wherein the power management unit (1) comprises a voltage reduction isolation module (10), a charging module (11), a discharging module (12), a power detection sensor (13), a lithium battery protection board BMS (14), a single chip microcomputer (15) and a master switch (16);
the input end of the voltage reduction isolation module (10) is connected with the photoelectric composite cable, the output end of the voltage reduction isolation module is connected with a lithium battery protection board BMS (14) through a charging module (11) and a discharging module (12), and the lithium battery protection board BMS (14) is connected with a lithium battery pack; electric quantity detection sensors (13) are connected between the charging module (11) and the lithium battery protection board BMS (14) and between the discharging module (12) and the lithium battery protection board BMS (14), the electric quantity detection sensors (13) are connected with a single chip microcomputer (15), and the charging module (11) is connected with a submersible control system (3) through the single chip microcomputer (15); the output end of the voltage reduction isolation module (10) is used as the output end of the power management unit (1) after passing through the main switch (16) and is connected with the power distribution unit (2).
3. The small deep-sea exploration operational type submersible power management system according to claim 1, wherein the power distribution unit (2) comprises a high-power equipment starting circuit (20), a propeller current sensor (21), a second current sensor (22), a floating body power conversion board (23), a chassis power conversion board (24);
the output end of the power management unit (1) is connected with a high-power equipment starting circuit (20), a floating body power conversion plate (23) and a chassis power conversion plate (24); a first current sensor (21) and a second current sensor (22) are respectively arranged on a connecting circuit between the output end of the power management unit (1) and the high-power equipment starting circuit (20) and a connecting circuit between the output end of the power management unit (1) and the chassis power conversion board (24); the detection signal end of the first current sensor (21) and the detection signal output end of the second current sensor (22) are connected with a submersible control system (3).
4. The submersible power management system of claim 3, wherein the high power device activation circuit (20) comprises a solid state relay QD, resistors R1-R5;
the control input end of the solid-state relay QD is connected with a submersible control system (3) through a resistor R1, the output end of the solid-state relay QD is used as the output end OUT + of a high-power equipment starting circuit (20) and is connected with the output end of a power management unit (1), and the output end of the solid-state relay QD is used as the output end OUT-of the high-power equipment starting circuit (20) through resistors R2-R5 which are connected in parallel and is connected with the power supply input ends of a plurality of propellers of the floating body equipment.
5. The submersible power management system of claim 3, wherein the high power device activation circuit (20) is connected in parallel with a solid state relay KM 1.
6. The submersible power management system for small deep-sea exploration operation according to claim 3, wherein the floating body power conversion board (23) comprises an overcurrent protection fuse F1, a floating body power on-off branch and a plurality of floating body power conversion branches;
the output end of the power supply management unit (1) is connected with an acoustic positioning communication device of the floating body equipment through a floating body power supply on-off branch, and is also connected with the floating body equipment through a plurality of floating body power supply conversion branches respectively through a current protection fuse F1;
the on-off branch of the floating body power supply comprises a solid-state relay K7 and an overcurrent protection fuse F8 which are sequentially connected;
the floating body power supply conversion branch comprises a DC/DC isolation power supply module, a solid-state relay and an overcurrent protection fuse which are sequentially connected, and the output end of the overcurrent protection fuse is connected with at least one of a plurality of propeller control power supply input ends of the floating body equipment, a camera, a depth gauge, an altimeter, an electronic compass and a camera pitching cloud deck.
7. The submersible power management system according to claim 6, wherein the floating body power conversion branch comprises a DC/DC isolation power module, and the output end of the DC/DC isolation power module is connected to at least one of an optical transceiver, a main control board and an IO expansion board of the floating body equipment.
8. The submersible power management system for small deep-sea exploration operation according to claim 3, wherein the chassis power conversion board (24) comprises a DC isolation power module and overcurrent protection fuses FU 3-FU 6;
the output end of the power supply management unit (1) is connected with at least one of a chassis control panel, a control electric input end of a track motor driver, a control electric input end of a swing arm motor driver and a control electric input end of an electric manipulator joint motor driver of chassis equipment through a current protection fuse FU3 and a direct current isolation power supply module in sequence;
the output end of the power management unit (1) is respectively connected with at least one of the power electric input end of a track motor driver, the power electric input end of a swing arm motor driver and the power electric input end of an electric manipulator joint motor driver of chassis equipment through an overcurrent protection fuse FU4, an overcurrent protection fuse FU5 and an overcurrent protection fuse FU 6.
9. The power management system of the small deep-sea exploration working type submersible vehicle according to claim 3, wherein a solid-state relay KM2 is connected in series between the output end of the power management unit (1) and the chassis power conversion plate (24).
10. A power supply management method for a small deep sea exploration operation type submersible is characterized by comprising the following steps:
the voltage reduction isolation module (10) of the power management unit (1) converts high-voltage direct current transmitted by the photoelectric composite cable into direct current for output in a voltage reduction mode, and the direct current charges the lithium battery pack through the charging module (11) and the lithium battery protection board BMS (14); the single chip microcomputer (15) of the power management unit (1) is communicated with the submersible control system (3) through a serial port, and the single chip microcomputer (15) regulates the charging current and time of the charging module (11) to the lithium battery pack through a received serial port communication instruction of the submersible control system (3); the electric quantity detection sensor (13) converts charge-discharge voltage and charge-discharge current signals of the lithium battery pack into analog quantity voltage signals, and sends the analog quantity voltage signals to the single chip microcomputer (15) for electric quantity acquisition and calculation, meanwhile, the single chip microcomputer (15) periodically records and stores the charge-discharge electric quantity of the lithium battery pack, and uploads data information to the submersible control system (3) in real time;
when a plurality of thrusters need to be electrified, firstly closing a solid state relay QD in a starting circuit (20) for starting the high-power equipment; after charging is finished after a plurality of seconds of delay, the submersible control system (3) controls the contact of the solid-state relay KM1 to be closed, and the power electricity electrifying process of a plurality of propellers is finished;
the floating body power supply conversion board (23) converts the direct current output by the power supply management unit (1) into different direct current voltages through a plurality of DC/DC isolation power supply modules and supplies the different direct current voltages to each device on the floating carrier;
when the submersible works in a crawling mode, the submersible control system (3) controls the solid-state relay KM2 to connect direct current into the chassis power supply adapter plate, and then the direct current is converted by the DCDC isolation power supply module to output required voltage to be supplied to chassis equipment.
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