CN112104059B - Power management system and management method for small-sized deep sea exploration operation type submersible - Google Patents
Power management system and management method for small-sized deep sea exploration operation type submersible Download PDFInfo
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- CN112104059B CN112104059B CN202010882324.8A CN202010882324A CN112104059B CN 112104059 B CN112104059 B CN 112104059B CN 202010882324 A CN202010882324 A CN 202010882324A CN 112104059 B CN112104059 B CN 112104059B
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- power supply
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- 238000007726 management method Methods 0.000 title claims abstract description 97
- 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
- 239000002131 composite material Substances 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 230000009193 crawling Effects 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 11
- 238000002955 isolation Methods 0.000 claims description 38
- 238000006243 chemical reaction Methods 0.000 claims description 37
- 239000007787 solid Substances 0.000 claims description 27
- 238000007599 discharging Methods 0.000 claims description 10
- 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
- 230000005611 electricity Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 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
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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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
-
- 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
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-sized deep sea exploration operation type submersible vehicle, wherein the power management system comprises a power management unit and a power distribution unit, and the power management unit is connected with a lithium battery pack, the power distribution unit and a submersible vehicle 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 composed of the photoelectric composite cable and the battery pack, thereby meeting the energy requirement and the maximum sailing 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 in operation; the method effectively reduces the single-point fault influence range, is convenient for later maintenance and debugging, and simultaneously effectively improves the stability and reliability of the deep sea floating crawling dual-mode detection operation of the submersible.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a power management system and a management method for a small-sized deepwater exploration operation type submersible.
Background
Although the traditional underwater robot has stronger operation capability, the traditional underwater robot has the problems of large volume, weighing several tons, long development period, high cost, low operation efficiency and high risk. The small-sized seabed floating crawling robot is a seabed mobile robot with small volume and strong operation capability, can carry out floating and sitting detection operation, can be carried on other equipment to submerge to the seabed together, has the characteristics of long working time, flexible motion control, high efficiency, low cost and the like, and can be suitable for the actual requirements 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 the requirements on reliability and safety are higher. The power management system is used as a bridge between each device of the submersible and a power supply, and the energy management and distribution conditions of the power management system directly influence whether the submersible can complete detection operation tasks and safe return. Under the condition, the small-sized deep sea floating crawling detection operation type submersible must be provided with a set of mature and reliable power management system, so that a double-power parallel power supply system consisting of a mooring rope and a lithium battery pack can be managed, energy sources can be reasonably distributed to each device of the submersible carrier, and floating and crawling operation modes can be conveniently, quickly and safely switched.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a power management system for a small-sized submersible vehicle for deep sea exploration.
The aim of the invention is realized by the following technical scheme: a power management system for a small deep sea exploration operation type submersible vehicle, 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 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 power management unit comprises a step-down isolation module, a charging module, a discharging module, an electric quantity detection sensor, a lithium battery protection board BMS, a singlechip and a main switch;
the input end of the step-down isolation module is connected with the photoelectric composite cable, the output end of the step-down 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 a singlechip, and the charging module is connected with a submersible control system through the singlechip; the output end of the step-down 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 supply conversion plate and a chassis power supply conversion plate;
the output end of the power management unit is connected with the high-power equipment starting circuit, the floating body power supply conversion board and the chassis power supply conversion board; a first current sensor and a second current sensor are respectively arranged on a connecting line of the output end of the power management unit and the high-power equipment starting circuit and a connecting line of the output end of the power management unit and the chassis power conversion board; the first current sensor detection signal end and the second current sensor detection signal output end are connected with the submersible control system.
The high-power equipment starting circuit comprises a solid state relay QD and resistors R1-R5;
the control input end of the solid state relay QD is connected with the submersible control system through a resistor R1, the output end of the solid state relay QD is used as the output end OUT+ of the high-power equipment starting circuit to be connected with the output end of the 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 to be connected with the power supply input ends of a plurality of thrusters of the floating body equipment through resistors R2-R5 connected in parallel.
The high-power equipment starting circuit is connected with a solid-state relay KM1 in parallel.
The floating body power supply conversion plate 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 an acoustic positioning communication device of the floating body equipment through a floating body power supply on-off branch circuit, and is also connected with the floating body equipment through a plurality of floating body power supply conversion branch circuits through a flow protection fuse F1;
the floating body power supply on-off branch circuit comprises a solid-state relay K7 and an overcurrent protection fuse F8 which are sequentially connected;
the floating body power supply conversion branch circuit comprises a DC/DC isolation power supply module, a solid-state relay and an overcurrent protection fuse which are sequentially connected, wherein 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 floating body equipment, a camera, a depth gauge, an altimeter, an electronic compass and a camera pitching cradle head.
The floating body power supply conversion branch circuit 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 plate comprises a direct current isolation power supply module and overcurrent protection fuses FU 3-FU 6;
the output end of the power management unit is connected with at least one of a chassis control board, a crawler motor driver control electric input end, a swing arm motor driver control electric input end and an electric manipulator joint motor driver control electric input end of the chassis equipment sequentially through a current protection fuse FU3 and a direct current isolation power module;
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.
A solid-state relay KM2 is connected in series between the output end of the power management unit and the chassis power conversion plate.
A power management method for a small-sized deep sea exploration operation type submersible comprises the following steps:
the step-down isolation module of the power management unit is used for step-down converting high-voltage direct current transmitted by the photoelectric composite cable into direct current and outputting the direct current, and the direct current charges the lithium battery pack through the charging module and the lithium battery protection board BMS; the singlechip of the power management unit is communicated with the submersible control system through a serial port, and the singlechip 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 voltage signals, the analog voltage signals are sent to the singlechip for electric quantity collection and calculation, meanwhile, the singlechip periodically records and stores the charge-discharge electric quantity of the lithium battery pack, and data information is uploaded to the submersible vehicle control system in real time;
when a plurality of propellers need to be electrified, a solid state relay QD in a starting circuit for starting high-power equipment is closed; after the charging is completed after a plurality of seconds, the submersible control system controls the contact of the solid relay KM1 to be closed, so that the power electricity charging process of a plurality of propellers is completed;
the floating body power supply conversion board converts direct current output by the power supply 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 the crawling mode, the submersible control system controls the solid state relay KM2 to switch direct current into the chassis power adapter plate and then convert the direct current into output required voltage through the DCDC isolation power module, and the output voltage is supplied to chassis equipment.
The invention has the advantages and positive effects that:
1. the invention can be used in an oil-filled high-pressure environment, so that the electronic equipment and the oil pressure component can be packaged together, the volume and the number of structural members are effectively reduced, the reliability is improved, and the design difficulty of a mechanical structure can be greatly simplified especially when the oil-filled high-pressure environment is used in a deep sea environment.
2. The invention can effectively control the connection condition of the power supply system of the small-sized deepwater exploration operation type submersible by using the solid-state relay in combination, completely isolate the power supply from carrier equipment and ensure the safety of the system.
3. The invention uses a parallel power supply scheme composed of the photoelectric composite cable and the lithium battery pack, thereby meeting the energy requirement and the maximum sailing power requirement of the submersible in normal working time 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 fails, 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 electricity consumption condition of the carrier equipment in real time when the submersible works underwater, and meanwhile, the power consumption condition is collected and summarized through the submersible control system information and uploaded to the water surface control unit, thereby providing basis for water surface operation decision and having extremely high safety.
5. The invention effectively electrically isolates the power system power supply 48V from the control system power supplies 24V, 12V and 5V, effectively reduces 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 microminiature high-power equipment starting circuit and a high-power equipment starting control method, which can effectively inhibit a plurality of propellers from being electrified simultaneously and instantaneously impact a huge current of a 48V power supply. Effectively protects the front-stage circuit from being damaged due to overcurrent.
7. According to the invention, the floating body equipment and the chassis equipment can be independently powered on and powered off through coordination of the submersible control system, each equipment corresponds to the independent solid state relay and the overcurrent protection fuse, when a single equipment fails, the single equipment can be cut off from the carrier power supply loop, the power supply of the whole system is not influenced by the failed equipment, and the range of single-point failure influence is greatly reduced.
Drawings
FIG. 1 is a functional schematic of a power management system according to the present invention;
FIG. 2 is a schematic block diagram of a power management unit of the present invention;
FIG. 3 is a schematic block diagram of a power distribution unit of the present invention;
FIG. 4 is a schematic diagram of a high power device start-up circuit of the present invention;
FIG. 5 is a flow chart of a method for controlling the start-up of a high-power device according to the present invention;
the power management system comprises a power management unit (1), a power distribution unit (2), a submersible control system (3), a step-down isolation module (10), a charging module (11), a discharging module (12), a power detection sensor (13), a power detection sensor (14), a lithium battery protection Board (BMS), a battery management system (15), a single chip microcomputer (singlechip), a main switch (16), a high-power equipment starting circuit (20), a first current sensor (21), a first current sensor (22), a second current sensor (23), a floating body power conversion plate (24) and a chassis power conversion plate.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
The power supply of the power 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 source when the submersible normally works, the battery pack is used as the energy source supplement when the submersible works in 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, so that the voltage reduction and isolation of the photoelectric composite cable high-voltage direct current power supply can be realized, and the lithium battery pack is used for charge and discharge management and electric quantity monitoring and is communicated with the submersible control system through an RS232 interface. The power distribution unit is connected with the carrier equipment of the submersible, and can convert and isolate 48V direct current output by the power management unit to be supplied to equipment such as a control system, a power system, an operating system, a detection system and the like of the submersible. The power distribution unit can reasonably distribute electric energy according to the detection operation task, and the power-on sequence of each device of the submersible vehicle is optimally controlled. 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 requirement of 45MPa pressure resistance under water. The power management system is an important guarantee for reliable operation of the small-sized deep sea floating crawling operation type submersible, and has an important effect on the overall safety of the submersible. The power management system adopts a parallel power supply scheme composed of the photoelectric composite cable and the battery pack, so that the energy requirement and the maximum sailing 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 in operation is improved; the power system power supply and the control system power supply are electrically isolated, and the carrier equipment is independently controlled by power-on and power-off and overcurrent protection, so that the single-point fault influence range is effectively reduced, the later maintenance and debugging are convenient, and the stability and the reliability of the deep sea floating crawling dual-mode detection operation of the submersible are effectively improved.
A power management system of a small-sized 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 composed of a photoelectric composite cable and a lithium battery pack, the energy provided by the photoelectric composite cable is taken as the main part when the submersible works normally, and the battery pack is used as the energy supplement when the submersible works at high power; when the photoelectric composite cable fails, 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 and discharge management and electric quantity monitoring for the lithium battery pack, and communicates with the submersible control system through an RS232 interface;
the step-down isolation module 10 is connected in series with the charging module 11, the electric quantity detection sensor 13 and the lithium battery protection board BMS14 to charge the lithium battery pack; the singlechip 15 control system controls the charging current of the charging module 11 to the lithium battery pack by adjusting the PWM duty ratio; the AI interface of the single-chip microcomputer 15 is connected with the electric quantity detection sensor 13, charge-discharge 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 power is lost; the lithium battery protection board BMS14 may perform charge protection, discharge protection, overcurrent protection, and short-circuit protection for the lithium battery pack; the lithium battery pack can be connected with the output end of the photoelectric composite cable step-down isolation module 10 through the discharging module 12 to form a parallel power supply scheme of the power management system of the submersible; 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 relay of the 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 supply conversion plate 23, a chassis power supply conversion plate 24, a rail mounting connection terminal XT, an overcurrent protection fuse F and a plurality of solid state relays;
the high-power equipment starting circuit 20 connects the power output of the power 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 of the 48V power supply at the moment of simultaneous power-on of the plurality of propellers; the power-on starting control method for the high-power equipment comprises the following steps: when a plurality of propellers are electrified, the submersible control system 3 firstly closes a starting circuit small solid state relay QD through a digital output DO port, a starting resistor string is connected into a 48V power supply loop of the propellers, current limiting and charging are carried out at the moment of electrification, so that a front-stage circuit component is protected, the charging of a filter capacitor in the propeller is completed after time delay for 5 seconds, and a resistor is short-circuited by closing a contact of a high-power solid state relay KM1, so that the electrifying process of the plurality of propellers is completed;
each propeller 48V power supply loop corresponds to a corresponding overcurrent protection fuse FU. When one propeller has overcurrent or short-circuit fault, the corresponding fuse is blown. The fault propeller is cut off from the 48V power supply loop, normal operation of other carrier equipment is not affected, and the purpose of reducing the single-point fault influence range is achieved;
the current sensors 21 and 22 collect currents of a propeller 48V power supply loop and a chassis 48V power supply loop, and output analog voltage signals to a 3AI interface of the submersible control system for signal collection and operation after filtering and limiting through an operational amplifier;
the floating body power supply conversion board 23 converts 48V output by the power supply management unit 1 into 24V, 12V and 5V voltages through 4 DCDC isolation power supply modules and supplies the voltages to each device on the floating body; each device independently corresponds to the corresponding solid-state relay switches K1-K7 and the overcurrent protection fuses F2-F8, the submersible control system 3 can control the independent power-on and power-off of each device of the carrier through the digital output interface DO, the power supply of the whole device of the carrier is not affected by the fault of the single device, and the range of the influence of single-point faults is greatly reduced;
the power management unit 1 outputs 48V, and is connected to the chassis power supply conversion board 24 after passing through the high-power solid-state relay KM2, when the submersible works in a crawling mode, the submersible control system 3 can control the high-power solid-state relay KM2 to perform power-on and power-off control on a chassis power supply loop through the digital output interface DO; the high-power solid-state relay KM2 can conveniently and rapidly realize the switching of the power supply loop of the floating and crawling double modes of the small deep sea submersible;
the chassis power adapter plate 24 comprises a DCDC isolation power supply module, connection 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 and a control system 24V power supply, so that electromagnetic interference of high-power electronic equipment such as chassis tracks, swing arms and electric manipulators on 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 management system is taken from a photoelectric composite cable and a lithium battery pack, the power supplied by the photoelectric composite cable is mainly used when the submersible normally works, and the lithium battery pack is used as the energy supplement when the submersible works in high power. When the photoelectric composite cable fails, 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 the high-voltage direct-current power supply voltage transmitted by the photoelectric composite cable, provides charge and 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 buck isolation module 10, a charging module 11, a discharging module 12, an electric quantity detection sensor 13, a lithium battery protection board BMS14, a single chip microcomputer 15, and a main switch 16.
The step-down isolation module 10 step-down converts high-voltage direct current transmitted by the photoelectric composite cable into 48V direct current for output, and realizes 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 singlechip 15 of the power management unit communicates with the submersible control system 3 through an RS232 serial port, and the singlechip 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 comprises a voltage detection sensor circuit and a current detection sensor circuit, wherein the voltage detection sensor circuit outputs a low-voltage signal by adopting a resistance voltage division method, and the current detection sensor circuit converts a current signal into a voltage signal by adopting a linear hall current sensor ACS758 LCB-050B. The main function of the electric quantity detection sensor 13 circuit is that the charge-discharge voltage and charge-discharge current signals of the lithium battery pack are converted into 0-3V analog voltage signals, the 0-3V analog voltage signals are sent to an AI interface of the single chip microcomputer 15 for electric quantity collection 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 power is lost; the lithium battery protection board BMS14 may perform charge protection, discharge protection, overcurrent protection, and short-circuit protection for the lithium battery pack; the lithium battery pack can be output-connected with the photoelectric composite cable step-down isolation module 10 through the discharging 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, the 48V direct current is connected with the power distribution unit through the solid relay of the 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 is connected with the power management unit 1 and each device of the submersible carrier, and can convert and isolate 48V direct current output by the power management unit 1 through an isolating power module to be supplied to the control system, the power system, the operating system, the detection system and other devices of the submersible. The power distribution unit 2 can reasonably distribute electric energy according to the detection operation 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, as shown in fig. 3, includes a high-power device starting circuit 20, current sensors 21, 22, a floating body power conversion board 23, a chassis power conversion board 24, a rail-mounted wiring terminal XT, an overcurrent protection fuse F, and a plurality of solid-state relays;
since the plurality of propellers are powered in parallel, the capacity of the filter capacitor at the direct current side is very large, and the 48V power supply loop is equivalent to short circuit at the moment of just charging, and the current can be very large. The high-power equipment starting circuit 20 can effectively restrain huge current impact on a 48V power supply at the moment of simultaneous power-on of a plurality of propellers. When a plurality of propellers need to be electrified, the starting circuit miniature solid state relay QD is firstly closed, and the starting resistor is connected in series in a 48V power supply loop of the propellers, so that the effect of current limiting and charging at the moment of electrifying is achieved, and the effect of protecting front-stage circuit components is achieved. After the delay 5s is charged, the submersible control system 3 controls the contact closure of the solid state relay KM1 to short-circuit the resistor through the digital output DO port, and the 48V power electricity charging process of a plurality of propellers is completed. The schematic diagram of the high-power equipment starting circuit 20 is shown IN fig. 4, a small solid-state relay U1 IN the starting circuit adopts a loose AQV254, starting resistors R2-R5 are used IN parallel by adopting four 10 K+/-1% 1W chip resistors, R1 is a current limiting resistor IN a control loop of the starting circuit 20, when 5V-15V voltage is applied to the input ends of an IN_Ctrl+ control loop and an IN_Ctrl-control loop, pins 4, 6 and 5 of the small 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 of 2.5KΩ; when the input ends of the IN_Ctrl+ and IN_Ctrl-control loop apply a voltage less than 2V, the pins 4, 6 and 5 of the U1 of the miniature solid-state relay are disconnected, and the output load ends OUT+ and OUT-of the starting circuit are disconnected at the moment; the circuit volume is only 16 x 11 x 2mm, and the circuit can be packaged with the high-power solid state relay KM1 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, and when a plurality of propellers are electrified, the solid state relays K1, QD and KM1 are controlled to be closed in sequence according to the principle that 12V of electricity is firstly electrified and 48V of power electricity is electrified.
The power management unit 1 output 48V is ultimately connected to the propeller of the buoyant carrier via the rail mount terminal XT1, the high power device start-up circuit 20, the rail mount terminal XT2, and the force-specific over-current protection fuse FU. Each propeller 48V power supply loop corresponds to a corresponding overcurrent protection fuse FU, and when one propeller has an overcurrent or short-circuit fault, the corresponding fuse FU is blown. The fault propeller is cut off from the 48V power supply loop, normal operation of other 48V devices of the carrier is not affected, and the purpose of reducing the single-point fault influence range is achieved.
The current sensor 21 and the current sensor 22 adopt a perforating type Hall current sensor WCS1800 to detect the current of a 48V power supply loop, and output 0-5V analog voltage signals to a 3AI interface of a submersible control system for signal acquisition operation after filtering and limiting by an operational amplifier to obtain real-time current values of the propeller 48V power supply loop and the chassis 48V power supply loop. The formula of the voltage value of the output analog quantity of the current sensor module is as follows:wherein: linearity k=0.066v/a, vcc is the operating voltage 5V, ia is the current flowing in the wire, aout is the analog voltage value output by the current sensor module.
The floating body power conversion board 23 can convert the output 48V of the power management unit 1 into voltages of 24V, 12V and 5V through 4 DCDC isolated power modules to supply to each device on the floating carrier, for example: 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, an illuminating lamp power supply, a camera pitching cradle head power supply and an acoustic positioning device power supply. Each device corresponds to independent solid state relay switches K1-K7 and overcurrent protection fuses F2-F8, independent power on and power off of each device on a carrier can be realized through DO control of a digital quantity output interface of a submersible control system 3, power supply of other devices of the carrier is not affected by single device faults, and the range of single-point fault influence is greatly reduced.
The output 48V of the power management unit 1 is connected to the chassis power conversion board 24 after passing through the high-power solid-state relay KM2. When the submersible works in the crawling mode, the submersible control system 3 can control the solid state relay KM2 to power on and power off the chassis power supply loop through the digital output interface DO, and the high-power solid state relay KM2 can conveniently and rapidly realize the switching of the power supply loops in the floating and crawling modes of the small deep sea submersible. The 48V direct current is connected to the chassis power adapter plate and then is supplied to the chassis control board, the track motor and driver control electric input interface, the swing arm motor and driver control electric input interface, the electric manipulator joint motor and driver control electric input interface through the DCDC isolation power module conversion output 24V, and the other three paths of 48V direct current of the WAGO wiring terminal XT3 are connected to the track motor and driver power electric input interface, the swing arm motor and driver power electric input interface, the electric manipulator joint motor and driver power electric input interface through the 3 overcurrent protection fuses FU 4-6 respectively.
The invention can be used in an oil-filled high-pressure wet cabin and can meet the requirement of 45MPa pressure resistance under water. The power management system is an important guarantee for reliable operation of the small-sized deep sea floating crawling operation type submersible, and has an important effect on the overall safety of the submersible. The power management system adopts the modularized design concept, so that the volume of the power system is effectively reduced, the single-point fault influence range is reduced, the later maintenance and debugging are convenient, and the stability and the reliability of the deep sea floating and crawling dual-mode detection operation of the submersible are effectively improved.
In summary, the power management system scheme of the small-sized deep sea exploration operation type submersible meets the energy requirement and the maximum sailing 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 the deep sea are improved.
Claims (9)
1. A power management system for a small deep sea exploration operation type submersible vehicle, 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;
the power management unit (1) comprises a buck isolation module (10), a charging module (11), a discharging module (12), an electric quantity detection sensor (13), a lithium battery protection board BMS (14), a singlechip (15) and a main switch (16);
the input end of the step-down isolation module (10) is connected with the photoelectric composite cable, the output end of the step-down isolation module is connected with the lithium battery protection board BMS (14) through the charging module (11) and the discharging module (12), and the lithium battery protection board BMS (14) is connected with the lithium battery pack; an electric quantity detection sensor (13) is 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 sensor (13) is connected with a singlechip (15), and the charging module (11) is connected with a submersible control system (3) through the singlechip (15); the output end of the step-down 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).
2. The power management system of the small-sized deep sea exploration operation type submersible vehicle 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 supply conversion plate (23) and a chassis power supply conversion plate (24);
the output end of the power management unit (1) is connected with the high-power equipment starting circuit (20), the floating body power supply conversion plate (23) and the chassis power supply conversion plate (24); a first current sensor (21) and a second current sensor (22) are respectively arranged on a connecting line of the output end of the power management unit (1) and the high-power equipment starting circuit (20) and a connecting line of the output end of the power management unit (1) and the chassis power conversion board (24); the first current sensor (21) detects the signal end, the second current sensor (22) detects the signal output end and is connected with the submersible control system (3).
3. The power management system of a small-sized deep sea exploration operation type submersible vehicle according to claim 2, wherein the high-power equipment starting circuit (20) comprises a solid state relay QD and resistors R1-R5;
the control input end of the solid state relay QD is connected with the 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 the high-power equipment starting circuit (20) to be connected with the output end of the 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) to be connected with the power supply input ends of a plurality of thrusters of the floating body equipment through resistors R2-R5 connected in parallel.
4. The power management system of a small-sized deepwater exploration operation type submersible vehicle according to claim 2, wherein the high-power equipment starting circuit (20) is connected with a solid-state relay KM1 in parallel.
5. A power management system for a small-sized deepwater exploration work type submersible vehicle according to claim 2, 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 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 flow protection fuse F1;
the floating body power supply on-off branch circuit comprises a solid-state relay K7 and an overcurrent protection fuse F8 which are sequentially connected;
the floating body power supply conversion branch circuit comprises a DC/DC isolation power supply module, a solid-state relay and an overcurrent protection fuse which are sequentially connected, wherein 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 floating body equipment, a camera, a depth gauge, an altimeter, an electronic compass and a camera pitching cradle head.
6. The power management system of a small-sized deep sea exploration operation type submersible vehicle according to claim 5, wherein the floating body power conversion branch circuit comprises a DC/DC isolation power module, and the output end of the DC/DC isolation power 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.
7. The power management system of a small-sized deepwater exploration operation type submersible vehicle according to claim 2, wherein the chassis power conversion board (24) comprises a direct current isolation power module and overcurrent protection fuses FU 3-FU 6;
the output end of the power management unit (1) is connected with at least one of a chassis control board, a crawler motor driver control electric input end, a swing arm motor driver control electric input end and an electric manipulator joint motor driver control electric input end of the chassis equipment sequentially through a current protection fuse FU3 and a direct current isolation power module;
the output end of the power management unit (1) 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.
8. The power management system of the small-sized deepwater exploration operation type submersible vehicle according to claim 2, wherein a solid-state relay KM2 is connected in series between the output end of the power management unit (1) and a chassis power conversion plate (24).
9. A power management method for a small-sized deepwater exploration operation type submersible vehicle, which is applied to the power management system for the small-sized deepwater exploration operation type submersible vehicle according to claim 1, and is characterized by comprising the following steps:
the step-down isolation module (10) of the power management unit (1) is used for step-down converting high-voltage direct current transmitted by the photoelectric composite cable into direct current and outputting the direct current, and the direct current charges the lithium battery pack through the charging module (11) and the lithium battery protection board BMS (14); the singlechip (15) of the power management unit (1) communicates with the submersible control system (3) through a serial port, and the singlechip (15) regulates the charging current and time of the charging module (11) on 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 voltage signals, the analog voltage signals are sent to the single chip microcomputer (15) for electric quantity collection and calculation, meanwhile, the single chip microcomputer (15) periodically records and stores the charge-discharge electric quantity of the lithium battery pack, and data information is uploaded to the submersible control system (3) in real time;
when a plurality of propellers need to be electrified, a solid state relay QD in a starting circuit (20) for starting high-power equipment is closed; after the charging is completed after a delay of a plurality of seconds, the submersible control system (3) controls the contact of the solid relay KM1 to be closed, and the power electricity charging process of a plurality of propellers is completed;
the floating body power supply conversion board (23) converts 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 the crawling mode, the submersible control system (3) controls the solid relay KM2 to switch direct current into the chassis power adapter plate and then outputs required voltage through the DCDC isolation power module, and the required voltage is supplied to chassis equipment.
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| CN114744741B (en) * | 2022-05-18 | 2023-06-02 | 中国船舶科学研究中心 | Dual-motor module submersible channel energy recovery system and operation method |
| CN115042149A (en) * | 2022-07-21 | 2022-09-13 | 上海中车艾森迪海洋装备有限公司 | Submarine crawler operation robot power and control system based on full electric drive |
| CN116054318B (en) * | 2022-12-05 | 2023-10-13 | 中国科学院声学研究所 | Deep sea high-power supply system |
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