CN114394217A - Long-endurance underwater vehicle and control method thereof - Google Patents
Long-endurance underwater vehicle and control method thereof Download PDFInfo
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- CN114394217A CN114394217A CN202210210714.XA CN202210210714A CN114394217A CN 114394217 A CN114394217 A CN 114394217A CN 202210210714 A CN202210210714 A CN 202210210714A CN 114394217 A CN114394217 A CN 114394217A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/18—Control of attitude or depth by hydrofoils
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N11/00—Generators or motors not provided for elsewhere; Alleged perpetua mobilia obtained by electric or magnetic means
- H02N11/002—Generators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells
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- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Fuel Cell (AREA)
Abstract
The invention belongs to the technical field of underwater vehicles, and discloses a long-endurance underwater vehicle and a control method thereof. The underwater vehicle is driven by a fuel cell-motor, the fuel cell has high energy storage efficiency and high energy density, can improve the working stroke, takes high-temperature reaction water generated by the fuel cell during working as a heat source, is matched with a front air bag device and a rear air bag device to adjust the buoyancy state of the boat body with low energy consumption, and has gliding wings with adjustable attack angles on two sides.
Description
Technical Field
The invention belongs to the technical field of underwater vehicles, and particularly relates to a long-endurance underwater vehicle based on a fuel cell and a control method thereof.
Background
At present, with the development of social and economic technologies, the activity of oceans is increasing day by day. The ocean stores abundant mineral and oil and gas resources, and the ocean development gradually receives attention of researchers, but the research on the ocean is still insufficient. In recent years, China successfully develops a 'flood dragon' manned submersible and a 'swallow' underwater glider, and the underwater glider has certain capacity of marine exploration and research, is driven by a conventional mode, has low working efficiency and cannot meet the increasing demand of China on marine exploration at present. Therefore, research on underwater vehicles with modular design and long endurance driven by new energy sources has become a hot spot of interest in the industry.
Fuel cells have been deployed abroad on large UUVs, but there is still a huge optimization space for matching of relevant equipment inside the boat. Under the drive of a novel energy form, the problem that how to solve the problem of high-efficiency utilization of the fuel cell on an underwater vehicle and achieve a long endurance function in a real sense is necessary to face.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) the existing underwater vehicle is still driven by a conventional mode, has low working efficiency and cannot meet the increasing demand of China on ocean exploration.
(2) The existing underwater vehicle is driven by a conventional mode, the range of each working period is short, and the boat body adopts an integrated design,
(3) the daily maintenance period is long, and the increasing demand of China on ocean exploration cannot be met. The existing underwater vehicle has low working efficiency, does not adopt a high-efficiency energy management system, is insufficient in ocean characteristic development and application, and is difficult to optimize a multi-stage energy utilization and distribution system, such as: tidal energy, temperature difference energy and wave energy are matched and applied.
(4) The existing underwater vehicle mostly adopts a fixed gliding wing form to provide a certain lift force form. Through the change of the attack angle, the hydrodynamic performance of the boat body can be optimized, and the dynamic matching adjustment of the posture of the boat body and the hydrodynamic performance is realized.
The difficulty in solving the above problems and defects is:
the long-endurance underwater vehicle adopts the fuel cell as a driving mode, and the range of the long-endurance underwater vehicle is improved to some extent due to the high energy density of the fuel cell. However, as a new form of driving energy, the reliability and safety of fuel cells are considered.
The hull structure adopts the modularized design, and each cabin is combined material, when optimizing hull quality unit, whether each cabin connection state and mechanical properties satisfy the complicated sea condition under water becomes the problem that needs attention urgently.
The theoretical research of the utilization form of the multi-stage energy is sufficient, equipment is still required to assist in the practical application process, and the cyclic driving force is poor under the condition of complex sea conditions.
In the research on the influence of the adjustable attack angle of the long-endurance underwater vehicle on the hydrodynamic performance, the simulation is better realized, but the requirements on the scale ratio model manufacturing and the hydrodynamic performance test are higher. The work of adjusting the power matching parameters of the adjustable attack angle transmission mechanism and the main propulsion device is complicated.
The significance of solving the problems and the defects is as follows:
1. the long-endurance underwater vehicle adopts a new energy driving mode of a fuel cell and is matched with a related auxiliary device. The endurance of the underwater vehicle can be essentially improved, and the range can be obviously improved in the same voyage.
2. The long endurance underwater vehicle hull structure adopts a modular design to optimize a quality unit. The structure is independent, the functions are matched, the cabin structures can be replaced independently, and the maintenance time is reduced.
3. The long-endurance underwater vehicle adopts an energy management system. The attitude adjustment and self-adaptive power generation functions of the underwater vehicle are realized by utilizing the characteristic that the sea water changes along with the depth temperature difference and combining the thermochemical reaction of the fuel cell and matching with the phase change material and the turbine power generation mechanism, and the heat efficiency is optimized from the angle of multi-stage energy utilization.
4. The long-endurance underwater vehicle adopts a gliding wing with an adjustable attack angle. When the submarine is in a floating state or a submerging state, a specific attack angle form is adjusted, a positive/negative lift force form is realized, and the hydrodynamic performance of the submarine body can be optimized.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a long-endurance underwater vehicle and a control method thereof.
The invention is thus achieved, a long endurance underwater vehicle comprising:
switching between submergence and floatation by utilizing the state change of hexadecane and seawater filled in the front airbag device;
acquiring the temperature difference between the outlet of the power generation heat exchanger and the inlet of the condenser by using a temperature sensor, and starting the electromagnetic valve when the temperature difference between the outlet of the power generation heat exchanger and the inlet of the condenser is larger than a set value, so that the power generation working condition starts to circulate; the heat of the high-temperature cooling water of the fuel cell enters the self-adaptive power generation unit, liquid ammonia in the liquid ammonia storage bottle is vaporized to push the turbine mechanism to generate power, and the vaporized liquid ammonia enters the liquid ammonia storage bottle after passing through the condenser and is circulated;
before adjusting the floating posture and the submerging posture, adjusting an attack angle; when in the submerging state, the attack angle of the gliding wing is kept, and the wing plate does not bear force to carry out linear cruising.
Further, the switching buoyancy adjustment for submerging and surfacing by using the state change of the hexadecane and the seawater filled in the front airbag device specifically comprises:
the characteristic that the temperature of seawater is constantly changed in the submergence process of the underwater vehicle is utilized, and the chemical reaction exothermic property of a fuel cell is combined; when the underwater vehicle is positioned at the sea surface, the front air bag device is filled with hexadecane and seawater, no substance exists in the internal of the first-level hexadecane storage device, the external pressure of the submarine body increases along with the submergence depth, liquid hexadecane in the air bag enters the first-level storage device under the action of a centrifugal pump and water pressure, the drainage volume of the front air bag device is reduced, the vehicle enters a submergence state, the internal of the front air bag device is gradually converted into seawater from n-hexadecane, in the submergence process, the external heat exchanger exchanges heat with low-temperature seawater, and the hexadecane gradually becomes solid; after the submergence stage is completed, the hexadecane first-stage storage device opens a drain valve, and sea water which is pumped in the air bag in the submergence process is discharged to the outside of the strings; when the fuel cell starts to float upwards, the front airbag device is completely seawater, solid hexadecane is arranged in the cetane primary storage device, the cetane secondary storage device exchanges heat with the high-temperature cooling water of the fuel cell, and the state of the cetane secondary storage device is liquid; pumping the seawater into the air bag device by a centrifugal pump, opening a drain valve of the air bag device, discharging the seawater in the air bag device, gradually introducing the liquid hexadecane in the secondary storage device into the front air bag device, gradually converting the seawater into the hexadecane in the front air bag device, and enabling the aircraft to be in a floating posture; in the floating process, the external heat exchanger exchanges heat with high-temperature seawater, the hexadecane gradually becomes liquid, and the hexadecane in the first-stage storage device gradually flows into the second-stage storage device to prepare for the next cycle.
Another object of the present invention is to provide a long endurance underwater vehicle comprising:
the submarine body is designed in a modular structure and comprises a bulbous bow cabin, a front ballast cabin, a front air bag cabin, a main control cabin and a rear air bag cabin which are sequentially connected from front to back, wherein two sides of the main control cabin are respectively connected with a glider, and a stern rudder is fixed on the upper side of the rear ballast cabin;
the bulbous bow cabin is used for placing sonar and navigation equipment in the boat and has rectification characteristic;
the front ballast tank and the rear ballast tank are used for adjusting the main buoyancy state of the hull and cooling the fuel cell and the self-adaptive power generation unit by using ballast water;
the main control cabin is internally provided with a fuel cell, a motor and an energy management system for managing the fuel cell,
an output shaft of the motor is connected with an impeller and an attack angle adjusting mechanism, the attack angle adjusting mechanism is connected with the gliding wing, and the attack angle adjusting mechanism optimizes the lift characteristic and the resistance characteristic of the boat body through attack angle transformation;
and a front airbag device and a rear airbag device are respectively arranged between the front airbag cabin and the rear airbag cabin.
The energy management system includes:
the self-adaptive power generation unit is used for vaporizing liquid ammonia in the liquid ammonia storage bottle by utilizing the heat of the high-temperature cooling water of the fuel cell and pushing the turbine mechanism to generate power;
the buoyancy adjusting unit is used for adjusting the states of the front airbag device and the rear airbag device by utilizing the first-level cetane storage device and the second-level cetane storage device so as to realize submergence and floatation of the underwater vehicle;
further, the self-adaptive power generation unit is provided with a temperature difference power generation heat exchanger, a condenser, a liquid ammonia storage bottle, a turbine and a generator, the temperature difference power generation heat exchanger is communicated with the condenser through a connecting pipeline, the outlet end of the temperature difference power generation heat exchanger is communicated with the liquid ammonia storage bottle, the outlet end of the condenser is connected with the turbine, the liquid ammonia storage bottle is communicated with the turbine through a connecting pipeline, the generator is connected with the turbine, and the outlet end of the temperature difference power generation heat exchanger and the inlet end of the condenser are both provided with temperature sensors;
the input end of the temperature difference power generation heat exchanger is communicated with the cooling water tank through a connecting pipeline, and the upper side of the temperature difference power generation heat exchanger is communicated with the fuel cell through a three-way valve with an adjustable opening degree;
the fuel cell is characterized in that two sides of the fuel cell are respectively connected with a closed circulation heat exchanger and an open circulation heat exchanger through connecting pipelines, and the cooling water tank is communicated with the open circulation heat exchanger through the connecting pipelines.
Further, the condenser is connected with the front ballast tank and the rear ballast tank in parallel through connecting pipelines, and the middle of the front ballast tank and the middle of the rear ballast tank are communicated with the drain valve through the connecting pipelines.
Further, the buoyancy adjusting unit is provided with two sets which are respectively communicated with the front airbag device and the rear airbag device;
the buoyancy adjusting unit is provided with a built-in heat exchanger, an external heat exchanger, a first-stage cetane storage device and a second-stage cetane storage device, the built-in heat exchanger is communicated with the second-stage cetane storage device through a connecting pipeline, and the external heat exchanger is communicated with the first-stage cetane storage device through a connecting pipeline.
Furthermore, the front ends of the first-stage cetane storage device and the second-stage cetane storage device are respectively provided with a one-way valve, and the front air bag device and the rear air bag device are respectively provided with a screwing valve.
Furthermore, the front air bag cabin and the rear air bag cabin are provided with 4 cross beams, and the 4 cross beams are 45 degrees on the basis of the circle center;
the front airbag device and the rear airbag device are respectively provided with a rubber outer sleeve, an inner lining, a metal shell and a vibration isolation baffle.
Further, angle of attack adjustment mechanism is provided with steering gear and straight-teeth gear, the output shaft outside cover of motor is equipped with middle steering gear, middle steering gear both sides meshing respectively has a steering gear, and the steering gear outside of both sides is connected with the straight-teeth gear through the connecting axle, the gliding wing inner end is connected with the driven straight-teeth gear with the straight-teeth gear meshing through the connecting axle.
By combining all the technical schemes, the invention has the advantages and positive effects that:
the hull structure of the invention adopts a modular design. The cabins are structurally independent from each other and are functionally coordinated with each other, so that the failure rate and the maintenance time can be reduced.
The energy management system realizes the solid-liquid two-phase change of hexadecane by distributing high-temperature cooling water of the fuel cell and the external heat exchanger, thereby adjusting the buoyancy of the hull in the floating and submerging states. Under the condition of sneak motion, the self-adaptive temperature difference power generation is realized through the turbine structure, and the working efficiency of the fuel cell is improved.
The front end of the air bag device is of a rubber structure, and the rear end of the air bag device is of a metal shell. As the submergence depth increases, the seawater temperature decreases and the water pressure increases. The rubber deforms, and the hexadecane is extruded into a first-stage storage device. At the moment, the phase-change material is solidified due to the fact that the temperature is lowered, the buoyancy state of the hull is changed, and the metal inner bushing and the vibration isolation baffle are arranged inside, so that the solid-liquid conversion efficiency and the reliability of hexadecane are improved.
The attack angle adjusting mechanism optimizes the resistance characteristics in the processes of floating, submerging and translating from the hydrodynamic angle of the hull by adjusting the angles of the glider and the hull in the floating and submerging states.
The invention adopts the modularized design of the hull structure, thereby reducing the failure rate and the maintenance time; optimizing a fuel cell energy management system and improving the energy utilization efficiency; an adjustable attack angle device is designed, and resistance in the floating, submerging and translating processes is reduced from the aspect of hydrodynamic performance.
Compared with the prior art, the invention has the advantages that:
the invention adopts a new energy driving form of the fuel cell and is matched with a related auxiliary device. The endurance of the underwater vehicle can be essentially improved, and the range can be obviously improved in the same voyage.
The long endurance underwater vehicle hull structure adopts a modular design to optimize a quality unit. The structure is independent, the functions are matched, the cabin structures can be replaced independently, and the maintenance time is reduced.
The present invention employs an energy management system. The attitude adjustment and self-adaptive power generation functions of the underwater vehicle are realized by utilizing the characteristic that the sea water changes along with the depth temperature difference and combining the thermochemical reaction of the fuel cell and matching with the phase change material and the turbine power generation mechanism, and the heat efficiency is optimized from the angle of multi-stage energy utilization.
The front end of the air bag device is of a rubber structure, and the rear end of the air bag device is of a metal shell. As the submergence depth increases, the seawater temperature decreases and the water pressure increases. The rubber deforms, and the hexadecane is extruded into a first-stage storage device. At the moment, the phase-change material is solidified due to the fact that the temperature is lowered, the buoyancy state of the hull is changed, and the metal inner bushing and the vibration isolation baffle are arranged inside, so that the solid-liquid conversion efficiency and the reliability of hexadecane are improved.
The invention adopts the glider with the adjustable attack angle. When the submarine is in a floating state or a submerging state, a specific attack angle form is adjusted, a positive/negative lift force form is realized, and the hydrodynamic performance of the submarine body can be optimized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a long endurance underwater vehicle provided by an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an energy management system according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an adaptive power generation unit according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a buoyancy regulating unit according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of an airbag device according to an embodiment of the present invention.
Fig. 6 is a schematic structural view of an inner liner according to an embodiment of the present invention.
Fig. 7 is a schematic structural view of a vibration isolation barrier according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of an angle of attack adjustment mechanism according to an embodiment of the present invention.
In the figure: 1. a bulbous bow; 2. a connecting flange; 3. a front ballast tank; 4. a front airbag compartment; 5. a main control cabin; 6. a glider wing; 7. a rear airbag compartment; 8. a rear ballast tank; 9. a stern compartment; 10. a stern rudder; 11. a fuel cell; 12. a closed cycle heat exchanger; 13. an open cycle heat exchanger; 14. a cooling water tank; 15. an opening-adjustable three-way valve; 16. a thermoelectric power generation heat exchanger; 17. a condenser; 18. a liquid ammonia storage bottle; 19. a turbine; 20. a generator; 21. a built-in heat exchanger; 22. a one-way valve; 23. an external heat exchanger; 24. a cetane primary storage device; 25. a cetane secondary storage device; 26. a centrifugal pump; 27. screwing the valve; 28. a drain valve; 29. a front airbag device; 30. a three-way valve; 31. an electromagnetic valve; 32. a rear airbag device; 33. a temperature sensor; 34. a rubber jacket; 35. an inner liner; 36. a metal housing; 37. a vibration isolation baffle; 38. a motor; 39. a bearing; 40. a coupling; 41. a steering gear; 42. a straight gear.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to solve the problems in the prior art, the invention provides a long-endurance underwater vehicle and a control method thereof, and the invention is described in detail below with reference to the accompanying drawings.
The embodiment of the invention provides a control method of a long-endurance underwater vehicle, which comprises a buoyancy adjusting process and an adaptive power generation process;
the control method of the long-endurance underwater vehicle comprises the following steps: buoyancy adjustment: switching between submergence and floatation by utilizing the state change of hexadecane and seawater filled in the front airbag device;
self-adaptive power generation: acquiring the temperature difference between the outlet of the power generation heat exchanger and the inlet of the condenser by using a temperature sensor, and starting the electromagnetic valve when the temperature difference between the outlet of the power generation heat exchanger and the inlet of the condenser is larger than a set value, so that the power generation working condition starts to circulate; the heat of the high-temperature cooling water of the fuel cell enters the self-adaptive power generation unit, liquid ammonia in the liquid ammonia storage bottle is vaporized to push the turbine mechanism to generate power, and the vaporized liquid ammonia enters the liquid ammonia storage bottle after passing through the condenser and is circulated.
In the present invention, the buoyancy adjustment includes 2 states: sea surface state, submergence state, 2 motion modes: a submergence mode and a floating mode;
when the underwater vehicle is positioned at the sea surface, the front air bag device is filled with hexadecane and seawater, no substance exists in the internal of the first-level hexadecane storage device, the external pressure of the submarine body increases along with the submergence depth, liquid hexadecane in the air bag enters the first-level storage device under the action of a centrifugal pump and water pressure, the drainage volume of the front air bag device is reduced, the vehicle enters a submergence state, the internal of the front air bag device is gradually converted into seawater from n-hexadecane, in the submergence process, the external heat exchanger exchanges heat with low-temperature seawater, and the hexadecane gradually becomes solid; after the submergence stage is completed, the hexadecane first-stage storage device opens a drain valve, and sea water which is pumped in the air bag in the submergence process is discharged to the outside of the strings; when the fuel cell starts to float upwards, the front airbag device is completely seawater, solid hexadecane is arranged in the cetane primary storage device, the cetane secondary storage device exchanges heat with the high-temperature cooling water of the fuel cell, and the state of the cetane secondary storage device is liquid; pumping the seawater into the air bag device by a centrifugal pump, opening a drain valve of the air bag device, discharging the seawater in the air bag device, gradually introducing the liquid hexadecane in the secondary storage device into the front air bag device, gradually converting the seawater into the hexadecane in the front air bag device, and enabling the aircraft to be in a floating posture; in the floating process, the external heat exchanger exchanges heat with high-temperature seawater, the hexadecane gradually becomes liquid, and the hexadecane in the first-stage storage device gradually flows into the second-stage storage device to prepare for the next cycle.
The technical solution of the present invention is further described below with reference to specific examples.
Examples
As shown in fig. 1, the hull of the long endurance underwater vehicle provided by the embodiment of the present invention is composed of 10 parts, which are respectively: the device comprises a bulbous bow cabin 1, a front ballast tank 3, a front air bag cabin 4, a main control cabin 5, a glider 6, a rear air bag cabin 7, a rear ballast tank 8, a stern cabin 9 and a stern rudder 10.
The bulbous bow cabin 1 is used for placing sonar and navigation equipment in a boat and has rectification characteristic at the same time;
the front ballast tank 3 and the rear ballast tank 8 are used for adjusting the main buoyancy state of the hull, and simultaneously ballast water is used for cooling the fuel cell and the self-adaptive power generation unit;
the front air bag cabin 4 and the rear air bag cabin 7 are designed by adopting a beam structure, and the 4 beams are installed in an angle of 45 degrees by taking the circle center as a reference, so that the structural strength is met, and the quality can be optimized;
the front airbag device 31 and the rear airbag device 32 are respectively arranged in the front airbag cabin 4 and the rear airbag cabin 7 and are used for assisting in adjusting the buoyancy state of the hull.
The main control cabin 5 is located in the middle of the hull and used for placing the fuel cell 11, the self-adaptive power generation unit, the buoyancy adjusting unit and the motor 40, and meanwhile, the main control cabin is matched with the attack angle adjusting mechanism to carry out attack angle conversion.
The bulbous bow cabin 1 is connected with the front ballast tank 3 by adopting a flange 2 for bolt connection, and 8 bolt holes are arranged on the flange at intervals of 45 degrees. Preferably, the inside of the flange should be notched to design an O-shaped sealing ring to ensure the connection tightness.
The rear end of the front ballast tank 3 is of a closed structure, the main control tank is of an independent closed structure, bolt holes are formed in the front and the rear of the main control tank, and the front and the rear ballast tanks 3 and 8 are respectively connected through 4 cross beams with heads and tails tapped. Through the modularized design, optimize hull quality unit, have more excellent power matching performance, each cabin structure can independently be changed, promotes operational reliability.
As shown in fig. 2 to 4, the long-endurance underwater vehicle in the embodiment of the present invention is implemented based on a fuel cell energy management system, and the energy management system is composed of a buoyancy adjusting unit and an adaptive power generation unit, and includes: the system comprises a front ballast tank 3, a rear ballast tank 8, a fuel cell 11, a closed circulation heat exchanger 12, an open circulation heat exchanger 13, a cooling water tank 14, an opening-adjustable three-way valve 15, a thermoelectric generation heat exchanger 16, a condenser 17, a liquid ammonia storage bottle 18, a turbine 19, a generator 20, a built-in heat exchanger 21, a one-way valve 22, an external heat exchanger 23, a first-stage hexadecane storage device 24, a second-stage hexadecane storage device 25, a centrifugal pump 26, a screw valve 27, a drain valve 28, a front airbag device 29, a three-way valve 30, an electromagnetic valve 31, a rear airbag device 32 and a temperature sensor 33.
Wherein, the pipelines I, IX and X are system basic pipelines, the pipeline I is a main reaction water outlet pipeline, the IX is a low-temperature cooling water pipeline, the medium is low-temperature reaction water after heat exchange, and the cooling method is mainly used for cooling the fuel cell, and the cooling form is open cooling circulation. As the reaction occurs, excess low temperature reaction water is drained through drain valve 28. And X is a seawater cooling pipeline, the cooling circulation is closed circulation and is mainly used for cooling the auxiliary fuel cell, and when the heat exchange efficiency of the open circulation is low and the internal temperature of the fuel cell is overhigh, auxiliary heat exchange is carried out in such a way. II, IV and V are power generation unit pipelines, wherein a medium II is high-temperature reaction water of the fuel cell, a medium IV is a liquid ammonia circulation pipeline, and a medium V is seawater; III, VI, VII and VIII are buoyancy regulating unit pipelines, wherein the medium III is low-temperature reaction water, and the medium VI is hexadecane, VII and VIII are seawater.
As shown in fig. 3, the adaptive power generation unit in the embodiment of the present invention includes: the system comprises a front ballast tank 3, a rear ballast tank 8, a fuel cell 11, a closed cycle heat exchanger 12, an open cycle heat exchanger 13, a cooling water tank 14, an opening-adjustable three-way valve 15, a thermoelectric generation heat exchanger 16, a condenser 17, a liquid ammonia storage bottle 18, a turbine 19, a generator 20, a drain valve 28, an electromagnetic valve 31, a rear airbag device 32 and a temperature sensor 33. In order to ensure the generating efficiency of the self-adaptive generating unit, the temperature difference of the self-adaptive generating unit is improved as much as possible. Temperature sensors 33 are arranged at the outlet of the thermoelectric power generation heat exchanger 16 and the inlet of the condenser 17, when the difference value between the two is larger than a set value, the electromagnetic valve 31 is opened, and the power generation working condition starts to circulate. At the moment, the heat of the high-temperature cooling water of the fuel cell enters the self-adaptive power generation unit, liquid ammonia in the liquid ammonia storage bottle 18 is vaporized to push the turbine mechanism to generate power, and the vaporized liquid ammonia enters the liquid ammonia storage bottle after passing through the condenser 17 to be prepared for the next cycle. The condenser 17 is cooled in parallel with the front ballast tank 3 and the rear ballast tank 8.
As shown in fig. 4, the buoyancy adjusting unit in the embodiment of the present invention includes: the system comprises a front ballast tank 3, a rear ballast tank 8, a fuel cell 11, a closed cycle heat exchanger 12, an open cycle heat exchanger 13, a cooling water tank 14, an opening-adjustable three-way valve 15, a built-in heat exchanger 21, a one-way valve 22, an external heat exchanger 23, a first-stage cetane storage device 24, a second-stage cetane storage device 25, a centrifugal pump 26, a screwed valve 27, a drain valve 28, a front airbag device 29, a three-way valve 30, an electromagnetic valve 31 and a rear airbag device 32.
The buoyancy adjusting unit is divided into 2 states: sea surface state, submergence state, 2 motion modes: a dive mode and a float mode.
The underwater vehicle is located at sea level with the front airbag device 29 filled with hexadecane and seawater, and the interior of the primary hexadecane storage device 24 is empty of material. The submarine body increases with the external pressure of the submergence depth, liquid hexadecane in the air bag enters the primary storage device 24 under the action of the centrifugal pump 26 and the water pressure, the water discharge volume of the air bag is reduced, and the aircraft enters a submergence state. At this time, the inside of the front airbag device 29 is gradually converted into seawater from n-hexadecane. In the submergence process, the external heat exchanger 23 exchanges heat with low-temperature seawater, the melting point of hexadecane is 18.2 ℃, and the hexadecane gradually becomes solid. After the submergence stage is completed, the hexadecane first-stage storage device 24 opens the drain valve 28, and discharges the seawater pumped in the air bag during submergence.
When the floating starts, the air bag device 29 is completely seawater, the solid hexadecane is arranged in the hexadecane primary storage device 24, the hexadecane secondary storage device 25 exchanges heat with the high-temperature cooling water of the fuel cell, and the state of the hexadecane secondary storage device 25 is liquid. The seawater is pumped into an air bag device 29 by a centrifugal pump 26, a drain valve 28 of the air bag device is opened, the seawater in the air bag device is discharged, at the moment, the liquid hexadecane in the secondary storage device 25 gradually enters the air bag device 29, the seawater in the air bag device 29 is gradually converted into hexadecane, and the aircraft is in a floating posture. During the floating process, the external heat exchanger 22 exchanges heat with high-temperature seawater, and the hexadecane gradually changes into liquid. The hexadecane in the primary storage means 24 was gradually flowed into the secondary storage means 25 in preparation for the next cycle.
The buoyancy adjusting unit is provided with a one-way valve 22 which is respectively arranged at the front ends of the first-stage cetane storage device 24 and the second-stage cetane storage device 25 to ensure that the first-stage cetane storage device 24 cannot flow back to the air bag device 29 and the second-stage cetane storage device 25 cannot flow back to the first-stage storage device. At the same time, a screw valve 27 is provided at the front end of the airbag device, and the screw valve 27 should be in a closed state after the completion of each stage of the moving state.
As shown in fig. 5 to 7, an airbag device in an embodiment of the present invention includes: rubber outer jacket 34, inner liner 35, metal shell 36, vibration isolation baffle 37. Because the density of the hexadecane is less than that of the seawater, in the device, the hexadecane is positioned at the upper rubber outer sleeve, the underwater vehicle dives along with long endurance, the pressure applied to the underwater vehicle is increased, the rubber outer sleeve 34 is deformed, and the conical inner bushing 35 is arranged in the device, so that the liquid hexadecane can flow more efficiently. The vibration isolation baffle can reduce the oscillation of liquid in the vibration isolation baffle, and the reliability of the device is improved.
As shown in fig. 8, the angle of attack adjustment mechanism in the embodiment of the present invention includes: motor 38, bearing 39, shaft coupling 40, steering gear 41, spur gear 42. The motor 38 is used for main propulsion and attack angle adjustment, space in the underwater vehicle can be optimized, the motor 38 mainly outputs the mode of rotating axially along the linear direction of the boat body, and the output mode can be changed into the mode of rotating in the direction perpendicular to the boat body by matching with a steering gear. In order to ensure the output stability of the transmission mechanism, the adjustment of the attack angle of the gliding wing and the propulsion process of the underwater vehicle should work independently. The motor 38 is connected to a coupling 40 via a bearing 39. When a change in angle of attack is performed, the coupling 39 disengages. The steering gear 41 is connected to a power device, and the angle of attack is adjusted through the steering gear.
The attack angle adjusting mechanism realizes the optimization of the hull resistance characteristic and the lifting force characteristic. In the submergence state, the navigational speed should be set to 0.5m/s to 1m/s, which can better match the maneuverability and the resistance characteristics. When the long-endurance underwater vehicle floats upwards, the attack angle of the gliding wing is between minus 4 degrees and 8 degrees, and the wing plate can be subjected to upward lift force to accelerate the floating; when the wing board is in a submerging state, the attack angle of the glider wing is kept between-8 degrees and-5 degrees, and the wing board is subjected to negative lift force to accelerate submerging; in the submerging state, the attack angle of the gliding wing should be kept between-5 degrees and-4 degrees, and the wing plate is basically not stressed, so that the straight cruising can be ensured.
Preferably, in the cycle process of the first-stage cetane storage device, the density difference between the cetane and the seawater is small, a certain amount of seawater may exist in the first-stage storage device, the first-stage storage device is provided with a drain valve, and a filter screen is arranged in the first-stage storage device to prevent the solid cetane from being discharged along with the seawater.
Preferably, the liquid ammonia storage bottle is matched with the temperature of reaction water of the fuel cell, and the pressure in the liquid ammonia storage bottle is kept between 1.0MPa and 1.5 MPa.
The technical solution of the present invention is further described below with reference to experiments.
In order to verify the feasibility of the method, thermodynamic numerical calculation is carried out on a fuel cell energy management system, and the lifting force and resistance characteristics of the hull of the long-endurance underwater vehicle are calculated.
And (4) calculating the cooling water quantity and the outlet temperature of the selected fuel cell, and verifying whether the cetane solid-liquid two-phase change and the submerging self-adaptive power generation function are met. The fuel cell type is for explanation only and is not intended to limit the present invention.
Taking a 25kW power fuel cell as an example, the chemical energy input per second is 69kJ, and about 28kJ of energy is dissipated as heat. Fuel cell cooling water inlet temperature Tin68 ℃ outlet temperature ToutAt 75 ℃. Specific heat capacity at constant pressure c in this statep1.862kJ/(kg · K), the specific parameters are shown in the following table:
TABLE 1 Fuel cell parameters
The mass flow calculation equation of the cooling water is as follows:
where P is the amount of heat absorbed by the cooling water per second, cpAt constant pressure specific heat capacity, Δ T ═ Tout-Tin。
Calculated qmAbout 6.88 tons of cooling water can be produced per hour, and the produced cooling water amount meets the design use requirement.
The method is characterized in that a cast iron water pipe with the inner diameter D equal to 20mm and the outer diameter D equal to 30mm is selected, the distance L along the path of the built-in pipeline equal to 15m, the heat insulation material outside the pipe is selected from superfine glass wool, the thickness delta equal to 5mm, and the heat conductivity coefficient lambda is defined according to an empirical formula:
λ＝α1+α2Tout
wherein alpha is1、α2Is an empirical coefficient, α1＝0.033；α2When λ is 0.0023, λ is 0.05W/(m · K). In this state, there are two heat exchange forms: convection currentHeat exchange and contact heat exchange. Taking the convection heat release coefficient alpha of the outer surface of the heat preservation layer as 10.3W/DEG C, and the heat convection heat transfer resistance:
wherein alpha is the convective heat transfer coefficient, D is the outer diameter, and delta is the thickness of the heat preservation layer. Calculated RA＝0.773℃/(W·m)
Thermal resistance of contact heat exchange:
wherein lambda is the thermal conductivity coefficient, D is the outer diameter, and delta is the thickness of the thermal insulation layer. Calculated RLAt 0.916 ℃/(W · m), various temperature load conditions are now calculated, taking a certain sea area in south sea as an example:
the average sea level temperature in spring and autumn is 15 ℃, and the average submergence temperature is 7 ℃; the average temperature of sea level in winter is 2 ℃, and the average temperature of submergence is-1 ℃; the average temperature of sea level in summer is 30 ℃, and the average temperature of submergence is 15 ℃. And (3) calculating the temperature difference of the inlet and the outlet of the cooling water transportation pipeline under each working condition, wherein the additional coefficient beta of the pipeline loss is 0.15:
the following results were obtained by numerical calculation:
TABLE 2 calculation of inlet and outlet temperatures under various operating conditions
Due to heat loss along the way, the temperature of cooling water of the fuel cell entering each unit is not lower than 74.58 ℃ in the floating state, and the temperature of the cooling water of the fuel cell entering each unit is not lower than 74.56 ℃ in the submerging state, so that the lowest requirement of normal operation of each unit is met.
And (4) carrying out numerical calculation and scale reduction ratio model test on the selected long-endurance underwater vehicle, and verifying whether the adjustable attack angle mechanism optimizes the hydrodynamic performance of the hull. The structural parameters of the long-endurance underwater vehicle are only used for verifying the reliability of the long-endurance underwater vehicle and are not used for limiting the invention.
Taking the hull structure of the model-selection long-endurance underwater vehicle as an example, finite element analysis software is utilized to calculate an attack angle of-8 degrees to 8 degrees, 17 attack angle working conditions and 0.5m/s, 1m/s, 1.2m/s and 3 navigational speed working conditions are calculated, 51 working condition types are counted, and specific parameters are shown in the following table:
TABLE 3 Long endurance Underwater vehicle test Structure parameters
| Name of structure | Structural parameters (mm) | Processing material |
| Bulbous bow cabin | 100 | Composite material |
| Front ballast tank | 280 | Composite material |
| Front airbag cabin | 140 | Stainless steel |
| Main control bin | 320 | Composite material |
| Back ballast tank | 140 | Composite material |
| Rear airbag cabin | 280 | Stainless steel |
| Stern cabin | 220 | Stainless steel |
TABLE 4 comparison of Lift values with Experimental results
From the comparison of the lift value calculation and the experiment, it can be seen that: (1) a positive angle of attack may provide lift, with greater lift at greater speed. (2) When the hull attack angle is-5 degrees to-8 degrees, the hull is in a negative lift state, which means that the gliding wing does not provide upward lift, and the whole aircraft is in a sinking state. (3) When the hull attack angle is between-4 degrees and-5 degrees, the level of the borne lifting force value is basically zero, which indicates that the boat is in a no-motion state at the moment.
TABLE 5 resistance value calculation vs. experiment
From the resistance value calculation and the experimental comparison, it can be seen that: (1) the correlation between the numerical value of the resistance borne by the boat body and the change of the attack angle is not large. (2) The magnitude of the resistance value borne by the boat body is in positive correlation with the speed of the boat body.
And (4) integrating the data results: (1) under the submerging state, the cruising speed of the long-endurance underwater vehicle is set to be 0.5m/s to 1m/s, and the state can better match the maneuverability and the resistance characteristic. (2) When the long-endurance underwater vehicle floats upwards, the attack angle of the gliding wing is kept between minus 4 degrees and 8 degrees, and the wing plate can be lifted upwards to accelerate the floating; when the wing board is in a submerging state, the attack angle of the glider wing is kept between-8 degrees and-5 degrees, and the wing board is subjected to negative lift force to accelerate submerging; in the submergence state, the angle of attack of the glider should be kept at-5 deg. -4 deg., and the wing plate is basically not stressed.
By combining the operating characteristics of the fuel cell and various operating conditions, the following conclusions can be drawn: the temperature of cooling water entering each unit of the fuel cell is not lower than 74.58 ℃ in the floating state, and the temperature of cooling water entering each unit of the fuel cell is not lower than 74.56 ℃ in the submerging state, so that the requirement of the lowest normal working temperature of each unit is met. From the perspective of heat flow management, the system is verified to be realizable by combining theoretical numerical calculation.
By combining numerical calculation and experimental analysis of the underwater vehicle, the following conclusion can be obtained: when the underwater vehicle floats upwards, the attack angle of the gliding wing is between minus 4 degrees and 8 degrees, and the wing plate can be subjected to upward lifting force to accelerate the floating; when the wing board is in a submerging state, the attack angle of the glider wing is kept between-8 degrees and-5 degrees, and the wing board is subjected to negative lift force to accelerate submerging; in the submerging state, the attack angle of the gliding wing should be kept between-5 degrees and-4 degrees, and the wing plate is basically not stressed, so that the straight cruising can be ensured. In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A control method of a long endurance underwater vehicle, characterized in that the control method of the long endurance underwater vehicle comprises: switching between submergence and floatation by utilizing the state change of hexadecane and seawater filled in the front airbag device;
acquiring the temperature difference between the outlet of the power generation heat exchanger and the inlet of the condenser by using a temperature sensor, and starting the electromagnetic valve when the temperature difference between the outlet of the power generation heat exchanger and the inlet of the condenser is larger than a set value, so that the power generation working condition starts to circulate; the heat of the high-temperature cooling water of the fuel cell enters the self-adaptive power generation unit, liquid ammonia in the liquid ammonia storage bottle is vaporized to push the turbine mechanism to generate power, and the vaporized liquid ammonia enters the liquid ammonia storage bottle after passing through the condenser and is circulated;
before adjusting the floating posture and the submerging posture, adjusting an attack angle; when in the submerging state, the attack angle of the gliding wing is kept, and the wing plate does not bear force to carry out linear cruising.
2. The method of claim 1, wherein in said adjustment of the angle of attack of the glider, the angle of attack of the glider is [ -4 °,8 ° ] in the floating state, and the flaps are subjected to an upward lifting force to accelerate the floating; when the submarine is submerged, the attack angle of the glider is between-8 degrees and-5 degrees, and the wing plates receive negative lift force to accelerate the submergence; the attack angle of the glide wing is-5 degree and-4 degree in the submerging state.
3. The method for controlling a long-endurance underwater vehicle as claimed in claim 1, wherein the switching buoyancy adjustment of submergence and surfacing using the state change of the hexadecane and seawater filled in the front airbag device specifically comprises: when the underwater vehicle is positioned at the sea surface, the front air bag device is filled with hexadecane and seawater, no substance exists in the internal of the first-level hexadecane storage device, the external pressure of the submarine body increases along with the submergence depth, liquid hexadecane in the air bag enters the first-level storage device under the action of a centrifugal pump and water pressure, the drainage volume of the front air bag device is reduced, the vehicle enters a submergence state, the internal of the front air bag device is gradually converted into seawater from n-hexadecane, in the submergence process, the external heat exchanger exchanges heat with low-temperature seawater, and the hexadecane gradually becomes solid; after the submergence stage is completed, the hexadecane first-stage storage device opens a drain valve, and sea water which is pumped in the air bag in the submergence process is discharged to the outside of the strings; when the fuel cell starts to float upwards, the front airbag device is completely seawater, solid hexadecane is arranged in the cetane primary storage device, the cetane secondary storage device exchanges heat with the high-temperature cooling water of the fuel cell, and the state of the cetane secondary storage device is liquid; pumping the seawater into the air bag device by a centrifugal pump, opening a drain valve of the air bag device, discharging the seawater in the air bag device, gradually introducing the liquid hexadecane in the secondary storage device into the front air bag device, gradually converting the seawater into the hexadecane in the front air bag device, and enabling the aircraft to be in a floating posture; in the floating process, the external heat exchanger exchanges heat with high-temperature seawater, the hexadecane gradually becomes liquid, and the hexadecane in the first-stage storage device gradually flows into the second-stage storage device to prepare for the next cycle.
4. A long-endurance underwater vehicle implementing the control method of any one of claims 1 to 3, comprising:
the submarine body is designed in a modular structure and comprises a bulbous bow cabin, a front ballast cabin, a front air bag cabin, a main control cabin and a rear air bag cabin which are sequentially connected from front to back, wherein two sides of the main control cabin are respectively connected with a glider, and a stern rudder is fixed on the upper side of the rear ballast cabin;
the bulbous bow cabin is used for placing sonar and navigation equipment in the boat and has rectification characteristic;
the front ballast tank and the rear ballast tank are used for adjusting the main buoyancy state of the hull and cooling the fuel cell and the self-adaptive power generation unit by using ballast water;
the main control cabin is internally provided with a fuel cell, a motor and an energy management system for managing the fuel cell,
an output shaft of the motor is connected with an impeller and an attack angle adjusting mechanism, the attack angle adjusting mechanism is connected with the gliding wing, and the attack angle adjusting mechanism optimizes the lift characteristic and the resistance characteristic of the boat body through attack angle transformation;
and a front airbag device and a rear airbag device are respectively arranged between the front airbag cabin and the rear airbag cabin.
The energy management system includes:
the self-adaptive power generation unit is used for vaporizing liquid ammonia in the liquid ammonia storage bottle by utilizing the heat of the high-temperature cooling water of the fuel cell and pushing the turbine mechanism to generate power;
and the buoyancy adjusting unit is used for adjusting the states of the front airbag device and the rear airbag device by utilizing the first-level cetane storage device and the second-level cetane storage device so as to realize submergence and floatation of the underwater vehicle.
5. The long-endurance underwater vehicle as claimed in claim 4, wherein the adaptive power generation unit is provided with a thermoelectric power generation heat exchanger, a condenser, a liquid ammonia storage bottle, a turbine and a generator, the thermoelectric power generation heat exchanger and the condenser are communicated through a connecting pipeline, an outlet end of the thermoelectric power generation heat exchanger is communicated with the liquid ammonia storage bottle, an outlet end of the condenser is connected with the turbine, the liquid ammonia storage bottle and the turbine are communicated through a connecting pipeline, the generator is connected with the turbine, and both the outlet end of the thermoelectric power generation heat exchanger and an inlet end of the condenser are provided with temperature sensors;
the input end of the temperature difference power generation heat exchanger is communicated with the cooling water tank through a connecting pipeline, and the upper side of the temperature difference power generation heat exchanger is communicated with the fuel cell through a three-way valve with an adjustable opening degree;
the fuel cell is characterized in that two sides of the fuel cell are respectively connected with a closed circulation heat exchanger and an open circulation heat exchanger through connecting pipelines, and the cooling water tank is communicated with the open circulation heat exchanger through the connecting pipelines.
6. The long endurance underwater vehicle of claim 4, wherein the condenser is connected in parallel with the forward and aft ballast tanks by connecting lines, the forward and aft ballast tanks being in communication with a drain valve therebetween by connecting lines.
7. The long endurance underwater vehicle as claimed in claim 4, wherein the buoyancy adjusting unit is provided with two sets communicating with the front airbag device and the rear airbag device, respectively;
the buoyancy adjusting unit is provided with a built-in heat exchanger, an external heat exchanger, a first-stage cetane storage device and a second-stage cetane storage device, the built-in heat exchanger is communicated with the second-stage cetane storage device through a connecting pipeline, and the external heat exchanger is communicated with the first-stage cetane storage device through a connecting pipeline.
8. The long endurance underwater vehicle of claim 7, wherein the front ends of the first and second cetane storage devices are each provided with a check valve, and the front and rear airbag devices are each provided with a screw valve.
9. The long endurance underwater vehicle as claimed in claim 4, wherein the front and rear airbag compartments are provided with 4 beams, and the 4 beams are each at 45 ° with respect to the center of the circle;
the front airbag device and the rear airbag device are respectively provided with a rubber outer sleeve, an inner lining, a metal shell and a vibration isolation baffle.
10. The long-endurance underwater vehicle as claimed in claim 4, wherein the attack angle adjusting mechanism is provided with a steering gear and a spur gear, a middle steering gear is sleeved outside an output shaft of the motor, two sides of the middle steering gear are respectively engaged with one steering gear, the outer sides of the steering gears on two sides are connected with the spur gear through a connecting shaft, and the inner end of the gliding wing is connected with a driven spur gear engaged with the spur gear through a connecting shaft.
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