CN112660349A - Magnetic coupling underwater propeller based on magnetic moment angle control and control method - Google Patents
Magnetic coupling underwater propeller based on magnetic moment angle control and control method Download PDFInfo
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- CN112660349A CN112660349A CN202011613609.8A CN202011613609A CN112660349A CN 112660349 A CN112660349 A CN 112660349A CN 202011613609 A CN202011613609 A CN 202011613609A CN 112660349 A CN112660349 A CN 112660349A
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Abstract
The invention provides a magnetic coupling underwater propeller based on magnetic moment angle control and a control method, and solves the problem that the existing underwater propeller is low in transmission efficiency. The control method comprises the following steps: 1) measuring a magnetic density value of a current control period magnetic coupling transmission unit, and obtaining a current magnetic moment angle of the magnetic coupling transmission unit according to a corresponding relation between the magnetic density value of the magnetic coupling transmission unit and a magnetic moment angle; 2) comparing the current magnetic moment angle obtained in the step 1) with the optimal magnetic moment angle, and adjusting the PWM duty ratio change rate of the propulsion motor to enable the rotating speed of the propulsion motor to reach the target rotating speed, so as to ensure that the magnetic coupling transmission unit keeps the maximum torque output state.
Description
Technical Field
The invention belongs to the technical field of underwater propeller control, and particularly relates to a magnetic coupling underwater propeller based on magnetic moment angle control and a control method.
Background
The magnetic coupling transmission principle is that torque is transmitted through the interaction of an inner magnetic field and an outer magnetic field established by a permanent magnet, the two magnetic fields are separated by a shielding cover, and the shielding cover plays a role in sealing. Compared with the traditional contact type dynamic seal transmission, the rotating part and the static part are in a non-contact mode, the requirement of large submerged depth transmission operation is met, the service life is long, and the equipment is maintenance-free.
However, the current underwater propellers which adopt magnetic coupling for transmission cannot rapidly increase the torque to the maximum and keep the maximum torque output, and the transmission efficiency is low.
Disclosure of Invention
The invention aims to solve the problem of low transmission efficiency of the existing underwater propeller, and provides a magnetic coupling underwater propeller based on magnetic moment angle control and a control method.
In order to achieve the purpose, the technical solution provided by the invention is as follows:
a magnetic coupling underwater propeller based on magnetic moment angle control is characterized in that: the device comprises a cabin, a power supply unit, a control unit, a signal conditioning and sampling unit, a driving unit, a propulsion motor, a magnetic coupling transmission unit and an impeller; the output of the propulsion motor is connected with a driving rotor (namely an inner magnetic rotor) of the magnetic coupling transmission unit; the passive rotor (namely the outer magnetic rotor) of the magnetic coupling transmission unit is connected with the input of the impeller; a linear Hall sensor for measuring a magnetic density value is arranged between the end faces of the driving rotor and the driven rotor; the magnetic density value measured by the linear Hall sensor is processed by the signal conditioning and sampling unit and then is sent to the control unit, the control unit calculates the current magnetic moment angle according to the corresponding relation between the magnetic density value and the magnetic moment angle of the magnetic coupling transmission unit, compares the current magnetic moment angle with the optimal magnetic moment angle, and adjusts the PWM duty ratio change rate of the propulsion motor (namely, limits the amplitude of the PWM pulse width increment) through the driving unit according to the comparison result, so that the rotation speed of the propulsion motor is changed, and the magnetic coupling transmission unit is ensured to keep the maximum torque output state; the power supply unit provides power for the propeller to work.
Further, the corresponding relation between the magnetic density value and the magnetic moment angle of the magnetic coupling transmission unit is obtained in advance through measurement fitting; the corresponding relations of different magnetic coupling transmission units are different and are influenced by the diameters of the inner and outer magnetic rotors, the size of a magnetic field, the size of an air gap, materials and the like; the optimal magnetic moment angle is 30-50 degrees, and preferably 30 degrees; different magnetic coupling transmission units are slightly different and obtained through calibration test.
Further, the control unit adopts an MCU; the driving unit comprises a digital isolation module, an MOS driving module and an MOSFET; the signal conditioning and sampling unit comprises a signal conditioning module and an AD sampling module; the signal conditioning module converts the magnetic flux density value measured by the linear Hall sensor into a voltage signal, and the AD sampling module processes the voltage signal into a digital signal.
Further, the model of the linear Hall sensor is SS39 ET.
Further, the propulsion motor adopts a brushless motor, and a built-in Hall sensor of the brushless motor can feed back the self condition of the brushless motor to the control unit.
Meanwhile, the invention also provides a method for controlling the propeller by using the magnetic coupling underwater propeller based on the magnetic moment angle control, which is characterized by comprising the following steps of:
1) measuring a magnetic density value of a current control period magnetic coupling transmission unit, and obtaining a current magnetic moment angle of the magnetic coupling transmission unit according to a corresponding relation between the magnetic density value of the magnetic coupling transmission unit and a magnetic moment angle;
2) comparing the current magnetic moment angle obtained in the step 1) with the optimal magnetic moment angle, and adjusting the PWM duty ratio change rate of the propulsion motor to enable the rotating speed of the propulsion motor to reach the target rotating speed, so as to ensure that the magnetic coupling transmission unit keeps the maximum torque output state.
Further, in step 1), the correspondence between the magnetic density value and the magnetic moment angle of the magnetic coupling transmission unit is obtained by measuring and fitting the linear hall sensor and the indexer, and the specific method is as follows:
installing an active rotor of a magnetic coupling transmission unit on a dividing head, fixing a passive rotor, and arranging a linear Hall sensor between the active rotor and the passive end face; a linear Hall sensor measures a magnetic density value, and a dividing head measures a magnetic moment angle; and gradually pulling the dividing head (namely gradually increasing the load) to obtain the corresponding relation between the magnetic density value and the magnetic moment angle.
Further, in the step 1), while the corresponding relationship between the magnetic density value and the magnetic moment angle is obtained through measurement, a peak magnetic moment angle corresponding to peak dragging force rejection is measured through a torque sensor, and then an optimal magnetic moment angle is calibrated, so that in order to avoid the step loss condition of the magnetic coupling transmission unit, the optimal magnetic moment angle is smaller than the peak magnetic moment angle, and a margin is left between the optimal magnetic moment angle and the peak magnetic moment angle. In the starting and speed changing processes of the propulsion motor, the propulsion motor is always kept near the optimal magnetic moment angle through control, and the optimal dynamic response characteristic of the propulsion motor under the condition that the magnetic coupling transmission unit is not out of step can be realized.
Further, in the step 2), if the current magnetic moment angle does not reach the optimal magnetic moment angle, the PWM duty ratio of the propulsion motor is increased through the control unit, the rotating speed of the propulsion motor is increased, and the magnetic coupling transmission unit is ensured to keep the maximum torque output state; on the contrary, the PWM duty ratio of the propulsion motor is reduced, the rotating speed of the propulsion motor is reduced, and the magnetic coupling transmission unit is ensured to keep the maximum torque output state.
The invention has the advantages that:
1. the invention is a research result of the inventor based on the influence of a magnetic moment angle between an inner magnetic field and an outer magnetic field on a torque transmission effect, realizes the optimal magnetic moment angle closed-loop control of magnetic coupling transmission through a modern motor torque control technology, realizes that the magnetic coupling transmission always keeps the maximum torque output state in the process from starting to speed stabilization, achieves the aim of improving the transmission efficiency, and improves the rapidity of rotating speed response of a propeller.
2. Compared with the traditional magnetic coupling underwater propeller control method, the transmission efficiency and the rapidity are greatly improved, and the method has obvious technical advantages. Through reasonable design, a high-precision linear Hall sensor is embedded between an inner magnetic field and an outer magnetic field of a magnetic coupling transmission unit and used for measuring the change of relative spatial positions of an inner magnetic pole and an outer magnetic pole, the PWM duty ratio change rate of a propulsion motor is adjusted through comparison of a current magnetic moment angle and an optimal magnetic moment angle, the rotating speed of the propulsion motor is adjusted in time (namely, the rotating speed control of the propulsion motor is corrected through measurement of a magnetic density value), the current magnetic moment angle is close to the optimal magnetic moment angle, the rapid starting of the propulsion motor and the closed-loop stable control of the magnetic moment angle in a speed stabilizing process are realized, and the magnetic coupling transmission always keeps the maximum torque output.
3. The invention adopts the high-precision linear Hall sensor embedded between the inner magnetic field and the outer magnetic field to indirectly acquire the magnetic moment angle of the magnetic coupling transmission unit, and realizes the closed-loop stable control with the magnetic moment angle in the processes of quick start and speed stabilization of the propeller motor by a method of measuring the magnetic moment angle to participate in the closed-loop speed regulation control of the motor, so that the magnetic coupling transmission always keeps the maximum torque output.
4. According to the invention, a high-precision linear Hall sensor is arranged between the end faces of the driving rotor and the driven rotor (namely the inner magnetic rotor and the outer magnetic rotor) of the magnetic coupling transmission unit, and the sensor can accurately measure the magnetic fields of the inner magnetic rotor and the outer magnetic rotor; under the static conditions of no load moment and no angular acceleration, the N/S positions of the inner magnetic field and the outer magnetic field are aligned, as shown in figure 1, and the magnetic density value between the inner magnetic field and the outer magnetic field reaches the maximum; after the propeller works and rotates, the position of the magnetic field changes, and the N/S position of the internal and external magnetic fields changes under different load moments, as shown in figure 2, the magnetic density value also changes, and the current magnetic density value can be obtained through the measurement of the high-precision linear Hall sensor. And the relation between the magnetic density value and the magnetic moment angle can be simulated through a pre-measurement test, the optimal magnetic moment angle of the magnetic coupling transmission unit is calibrated (the optimal magnetic moment angle is the optimal dynamic of the magnetic coupling transmission unit under the condition of no desynchronizing), and the rotating speed of the propulsion motor is adjusted by adjusting the PWM duty ratio of the propulsion motor according to the relation between the magnetic density value, the angular acceleration and the magnetic moment angle under the same load, so that the magnetic coupling transmission always keeps the maximum torque output state.
Drawings
FIG. 1 is a schematic diagram of the positions of internal and external magnetic fields under static conditions;
FIG. 2 is a schematic diagram of the positions of the internal and external magnetic fields under dynamic conditions;
FIG. 3 is a schematic structural view of the magnetic coupling underwater propeller of the present invention:
FIG. 4 is a magnetic coupling underwater propulsion system based on magnetic moment angle control according to the present invention;
reference numerals:
the device comprises a propulsion motor 1, a magnetic coupling transmission unit 2, an input shaft 3, a cabin 4 and a linear Hall sensor 5.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
as shown in fig. 3-4, a magnetic coupling underwater thruster based on magnetic moment angle control includes a cabin, a power supply, a micro-processing controller (MCU), a signal conditioning module, an AD sampling module, a digital isolation module, an MOS drive module, a MOSFET, a brushless motor, a magnetic coupling transmission unit, and an impeller.
Since the input control voltage is 28V, in order to obtain the low-voltage required by the control unit, a standardized DC/DC module power supply is used, DL-JDC28S15/1000M is 28V input, a 15V/1A output module can provide the control voltage for the MOS drive module, DL-JDC28S05/500M is 28V input, and a 5V/0.5A output module can provide the power supply voltage for the MCU.
The Microprocessing Controller (MCU) adopts an ARM core microprocessing controller STM32F103 (enhanced type) proposed by Italian semiconductor company, is a high-performance, low-cost and low-power consumption 32-bit microprocessing controller based on a cottex-m 3 core, has high operation speed and dominant frequency reaching 72MHz, and has abundant communication interfaces.
The MOS drive module adopts an FSBB30CH60DF intelligent IPM module of the fairy child company, the module resists voltage of 600V, outputs 30A power maximally, is internally integrated with a bootstrap circuit, and is also provided with an overvoltage/undervoltage, overcurrent and overtemperature protection circuit.
The brushless motor has the main technical indexes that: rated voltage 150VDC, rated power 4KW, rated rotating speed 1200rpm and rated torque 32 Nm.
The main parameters of the magnetic coupling transmission unit are as follows: the magnetic steel pole number m is 18, the magnetic steel is N48SH, the inner magnetic steel magnet diameter R1 is 73mm, the outer magnetic steel magnet diameter is 94mm, the inner and outer magnetic steel yokes are 4mm in thickness, the inner magnetic steel magnet thickness is 4.5mm, the outer magnetic steel magnet thickness is 3.75mm, and the air gap thickness is 1.5 mm.
The output of the propulsion motor is connected with a driving rotor (namely an inner magnetic rotor) of the magnetic coupling transmission unit; the passive rotor (namely the outer magnetic rotor) of the magnetic coupling transmission unit is connected with the input of the impeller; a high-precision linear Hall sensor (model SS39ET) for measuring a magnetic density value is arranged between the end surfaces of the driving rotor and the driven rotor;
the magnetic density value measured by the linear Hall sensor is converted into a voltage signal by the signal conditioning module, then processed into a digital signal by the AD sampling module, and sent to the MCU; the MCU calculates a current magnetic moment angle according to the corresponding relation between the magnetic density value and the magnetic moment angle of the magnetic coupling transmission unit, compares the current magnetic moment angle with the optimal magnetic moment angle, adjusts the PWM duty ratio change rate of the propulsion motor (namely, limits the PWM pulse width increment) through the driving unit according to the comparison result, changes the rotation speed of the propulsion motor, and ensures that the magnetic coupling transmission unit keeps the maximum torque output state.
The corresponding relation between the magnetic density value and the magnetic moment angle of the magnetic coupling transmission unit is obtained in advance through measurement fitting; (ii) a Calibrating the optimal magnetic moment angle to be 30-50 degrees by adopting a moment sensor while fitting the corresponding relation; the corresponding relation and the optimal magnetic moment angle of different magnetic coupling transmission units are different and slightly different under the influence of the diameters of the inner and outer magnetic rotors, the size of a magnetic field, the size of an air gap, materials and the like.
The built-in Hall sensor of the brushless motor can feed back the self condition of the brushless motor to the control unit.
In order to quickly increase the torque of a propeller to the maximum in a large submerged deep water area, the magnetic moment angle under different loads and angular acceleration conditions needs to be measured, and the magnetic coupling transmission is realized to always keep the optimal magnetic moment angle through a modern motor torque control technology. The method for controlling the propeller by using the magnetic coupling underwater propeller based on the magnetic moment angle control comprises the following steps:
1) the method comprises the following steps of measuring and fitting by adopting a linear Hall sensor, a dividing head and a torque sensor to obtain a corresponding relation between a magnetic density value and a magnetic moment angle of a magnetic coupling transmission unit, and calibrating and testing to obtain an optimal magnetic moment angle, wherein the method specifically comprises the following steps:
installing an active rotor of a magnetic coupling transmission unit on a dividing head, fixing a passive rotor, and arranging a linear Hall sensor between the active rotor and the passive end face; a linear Hall sensor measures a magnetic density value, and a dividing head measures a magnetic moment angle; gradually pulling the dividing head (i.e. gradually increasing the load) to obtain the corresponding relation between the magnetic density value and the magnetic moment angle;
when the corresponding relation between the magnetic density value and the magnetic moment angle is obtained through measurement, the peak magnetic moment angle corresponding to the peak dragging force rejection is measured through the torque sensor, then the optimal magnetic moment angle is calibrated, in order to avoid the step loss situation of the magnetic coupling transmission unit, the optimal magnetic moment angle is smaller than the peak magnetic moment angle, and a margin is left between the optimal magnetic moment angle and the peak magnetic moment angle.
2) Measuring a magnetic density value of the current control period magnetic coupling transmission unit by using a linear Hall sensor, and calculating a current magnetic moment angle of the magnetic coupling transmission unit according to the corresponding relation between the magnetic density value of the magnetic coupling transmission unit obtained in the step 1) and the magnetic moment angle;
3) comparing the current magnetic moment angle obtained in the step 2) with the optimal magnetic moment angle, and adjusting the PWM duty ratio change rate of the propulsion motor to enable the rotation speed of the propulsion motor to reach a target rotation speed, so as to ensure that the magnetic coupling transmission unit keeps a maximum moment output state;
if the current magnetic moment angle does not reach the optimal magnetic moment angle, the PWM duty ratio of the propulsion motor is increased through the control unit, the rotating speed of the propulsion motor is increased, and the magnetic coupling transmission unit is ensured to keep the maximum torque output state; on the contrary, the PWM duty ratio of the propulsion motor is reduced, the rotating speed of the propulsion motor is reduced, and the magnetic coupling transmission unit is ensured to keep the maximum torque output state.
By adopting the device and the method, the propulsion motor is always kept near the optimal magnetic moment angle through control in the starting and speed changing processes, and the optimal dynamic response characteristic of the propulsion motor under the condition that the magnetic coupling transmission unit is not out of step can be realized.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present disclosure.
Claims (9)
1. The utility model provides a magnetic coupling underwater propulsor based on magnetic moment angle control which characterized in that: the device comprises a cabin, a power supply unit, a control unit, a signal conditioning and sampling unit, a driving unit, a propulsion motor, a magnetic coupling transmission unit and an impeller;
the output of the propulsion motor is connected with a driving rotor of the magnetic coupling transmission unit;
the driven rotor of the magnetic coupling transmission unit is connected with the input of the impeller;
a linear Hall sensor for measuring a magnetic density value is arranged between the end faces of the driving rotor and the driven rotor;
the magnetic density value measured by the linear Hall sensor is processed by the signal conditioning and sampling unit and then is sent to the control unit, the control unit calculates the current magnetic moment angle according to the corresponding relation between the magnetic density value and the magnetic moment angle of the magnetic coupling transmission unit, compares the current magnetic moment angle with the optimal magnetic moment angle, and adjusts the PWM duty ratio change rate of the propulsion motor through the driving unit according to the comparison result to ensure that the magnetic coupling transmission unit keeps the maximum torque output state;
the power supply unit provides power for the propeller to work.
2. A magnetically coupled underwater vehicle based on angular control of magnetic moment according to claim 1, characterized in that: the corresponding relation between the magnetic density value and the magnetic moment angle of the magnetic coupling transmission unit is obtained in advance through measurement fitting;
the optimal magnetic moment angle is 30-50 degrees.
3. A magnetically coupled underwater vehicle based on angular control of magnetic moment according to claim 1 or 2, characterized in that:
the control unit adopts an MCU;
the driving unit comprises a digital isolation module, an MOS driving module and an MOSFET;
the signal conditioning and sampling unit comprises a signal conditioning module and an AD sampling module; the signal conditioning module converts the magnetic flux density value measured by the linear Hall sensor into a voltage signal, and the AD sampling module processes the voltage signal into a digital signal.
4. A magnetically-coupled underwater thruster based on magnetic moment angle control as claimed in claim 3, wherein:
the model of the linear Hall sensor is SS39 ET.
5. Magnetic coupling underwater propulsion based on angular control of the magnetic moments according to claim 4, characterized in that: the propulsion motor adopts a brushless motor.
6. A method for controlling a propeller by using a magnetically coupled underwater propeller based on magnetic moment angle control according to any of claims 1 to 5, comprising the steps of:
1) measuring a magnetic density value of a current control period magnetic coupling transmission unit, and obtaining a current magnetic moment angle of the magnetic coupling transmission unit according to a corresponding relation between the magnetic density value of the magnetic coupling transmission unit and a magnetic moment angle;
2) comparing the current magnetic moment angle obtained in the step 1) with the optimal magnetic moment angle, and adjusting the PWM duty ratio change rate of the propulsion motor to enable the rotating speed of the propulsion motor to reach the target rotating speed, so as to ensure that the magnetic coupling transmission unit keeps the maximum torque output state.
7. The method of controlling a thruster of a magnetically coupled underwater thruster based on angular control of magnetic moment as claimed in claim 6, wherein:
in the step 1), the corresponding relation between the magnetic density value and the magnetic moment angle of the magnetic coupling transmission unit is obtained by measuring and fitting the linear hall sensor and the graduator, and the specific method is as follows:
installing an active rotor of a magnetic coupling transmission unit on a dividing head, fixing a passive rotor, and arranging a linear Hall sensor between the active rotor and the passive end face; a linear Hall sensor measures a magnetic density value, and a dividing head measures a magnetic moment angle; and gradually pulling the dividing head to obtain the corresponding relation between the magnetic density value and the magnetic moment angle.
8. The method of controlling a thruster of a magnetically coupled underwater thruster based on angular control of magnetic moment as claimed in claim 7, wherein:
in the step 1), while the corresponding relation between the magnetic density value and the magnetic moment angle is obtained through measurement, a peak magnetic moment angle corresponding to the peak dragging moment is measured through a moment sensor, and then an optimal magnetic moment angle is calibrated, wherein the optimal magnetic moment angle is smaller than the peak magnetic moment angle.
9. The method of controlling a thruster of a magnetically coupled underwater thruster based on angular control of magnetic moment of claim 8, wherein:
in the step 2), if the current magnetic moment angle does not reach the optimal magnetic moment angle, the PWM duty ratio of the propulsion motor is increased through the control unit, the rotating speed of the propulsion motor is increased, and the magnetic coupling transmission unit is ensured to keep the maximum torque output state; on the contrary, the PWM duty ratio of the propulsion motor is reduced, the rotating speed of the propulsion motor is reduced, and the magnetic coupling transmission unit is ensured to keep the maximum torque output state.
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