CN114560065B - Hydraulic balance type electromagnetic transmitting device in submarine cabin - Google Patents
Hydraulic balance type electromagnetic transmitting device in submarine cabin Download PDFInfo
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- CN114560065B CN114560065B CN202210234541.5A CN202210234541A CN114560065B CN 114560065 B CN114560065 B CN 114560065B CN 202210234541 A CN202210234541 A CN 202210234541A CN 114560065 B CN114560065 B CN 114560065B
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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
- B63G8/28—Arrangement of offensive or defensive equipment
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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
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Abstract
The invention discloses a hydraulic balanced electromagnetic launching device in a submarine cabin, which comprises a three-way switching valve, launching pipe assemblies arranged at two outlets of the three-way switching valve and a water conduit assembly arranged at an inlet of the three-way switching valve through an electromagnetic integrated pump; the electromagnetic integrated pump comprises a transmitting motor stator, a transmitting motor rotor concentrically assembled in the transmitting motor stator, an outlet flange arranged on the outlet end face of the transmitting motor stator, an inlet flange arranged on the inlet end face of the transmitting motor stator, an impeller arranged in the transmitting motor rotor, a guide vane arranged in the outlet flange and a rotating shaft penetrating through a hub of the impeller. The electromagnetic integrated pump adopts the integrated design of a motor and a pump, the axial length is highly integrated, and the installation and the arrangement in a narrow space in a submarine cabin can be realized; and the transmission shaft is not required to be in dynamic seal, the whole electromagnetic integrated pump adopts static seal, and the pressure resistance and the sealing performance of the electromagnetic integrated pump are good.
Description
Technical Field
The invention belongs to the technical field of electromagnetic emission, and particularly relates to a hydraulic balanced electromagnetic emission device in a submarine cabin.
Background
The traditional small-caliber launching device carried on the submarine adopts compressed air as launching energy, adopts an unbalanced launching mode, converts high-pressure air into piston power, further pushes seawater, and indirectly pushes loads in the pipe to accelerate the movement of the pipe to exit through the seawater. The launching mode has the problems of low launching control precision, violent piston impact vibration in the launching process, large exhaust noise and the like, and particularly, the launching energy requirement is increased along with the deepening of the launching depth, and the storage and control equipment of compressed air cannot meet the use requirement of large submergence depth.
The hydraulic balanced type launching is the mainstream direction of the development of the current domestic and foreign underwater launching device, the front and back pressure of the launching power mechanism is balanced, the static pressure corresponding to the launching depth does not need to be overcome, the launching energy requirement is unrelated to the launching depth, and the energy requirement of large submerged launching can be greatly reduced. The electromagnetic emission technology is a novel emission technology for converting electromagnetic energy into instantaneous kinetic energy required by load emission, and has the main advantages of high energy density, high control precision, low emission noise, no cabin pressurization and large emission depth, and becomes a necessary trend for future development of underwater emission.
Disclosure of Invention
Aiming at the defects, the invention provides the hydraulic balanced type electromagnetic transmitting device which is used for transmitting accurately, at low speed and low noise in the submarine cabin.
In order to achieve the purpose, the hydraulic balanced electromagnetic launching device in the submarine cabin comprises a three-way switching valve, launching pipe assemblies arranged at two outlets of the three-way switching valve and a water conduit assembly arranged at an inlet of the three-way switching valve through an electromagnetic integrated pump; the electromagnetic integrated pump comprises a transmitting motor stator, a transmitting motor rotor concentrically assembled inside the transmitting motor stator, an outlet flange installed on the outlet end face of the transmitting motor stator, an inlet flange installed on the inlet end face of the transmitting motor stator, an impeller installed in the transmitting motor rotor, a guide vane installed inside the outlet flange and a rotating shaft penetrating through a hub of the impeller.
Furthermore, a rotor support bearing is lined between the outer circular surface of the outlet flange and the inner circular surface of the rotor of the transmitting motor; a rotating shaft supporting bearing is arranged in the inlet flange hub, and the rotating shaft supporting bearing is matched with the outer circular surface of the rotating shaft; a rotating shaft composite bearing is arranged in the guide vane wheel hub, and the rotating shaft composite bearing is matched and ground with the outer circular surface of the rotating shaft; and a thrust bearing is arranged on the end face of the inlet flange, and the thrust bearing is matched and ground with the end face of the impeller.
Furthermore, the stator of the transmitting motor is of a cylindrical structure, is packaged by all metals, and is filled with resin to form a solid structure, wherein the iron core and the winding are packaged inside the stator.
Further, a rotary encoder is installed at the tail end of the guide vane wheel hub.
Furthermore, the water diversion pipe assembly comprises a water diversion pipe body penetrating through and welded on the submarine pressure shell, a water diversion front cover support arranged at the top of the pipe orifice of the water diversion pipe body, a water diversion front cover body arranged on the water diversion front cover support, a water diversion transmission mechanism connected with the water diversion front cover body and a water diversion front cover driving device for driving the water diversion transmission mechanism, and a flexible connecting pipe is arranged between the end surface in the water diversion pipe body cabin and the inlet of the electromagnetic integrated pump; the diversion transmission mechanism comprises a transmission rod connected with an output rod of the diversion front cover driving device, a cabin penetrating piece penetrating and welded on the pressure shell, and a rocker and a rotating arm coaxially hinged on a diversion front cover bracket, wherein the transmission rod penetrates through the cabin penetrating piece and is hinged with the rocker through a connecting rod, and dynamic sealing between the transmission rod and the cabin penetrating piece is realized through a packing sealing piece; and a sealing ring which is matched with the end face of the pipe orifice of the water diversion pipe body to realize sealing is arranged on the water diversion front cover body.
Furthermore, each launching tube assembly comprises a cabin penetrating rail penetrating and welded on the pressure-resistant shell, a launching tube body penetrating and welded on the cabin penetrating rail, a launching front cover bracket arranged at the top of the tube orifice of the launching tube body, a launching front cover body arranged on the launching front cover bracket, a launching transmission mechanism connected with the launching front cover body and a launching front cover driving device for driving the launching transmission mechanism; the launching transmission mechanism and the water diversion transmission mechanism have the same structure, and a sealing ring matched with the end face of the pipe orifice of the launching pipe body to realize sealing is arranged on the launching front cover body.
Furthermore, a rear cover is arranged at the rear end of the body of the launching tube, a water inlet flange is arranged on the side of the rear tube of the body of the launching tube and is connected with an outlet of the three-way switching valve through a flexible connecting tube; the launching tube is characterized in that a supporting guide rail and a guiding guide rail are arranged in the launching tube body, a brake is arranged in the middle of the launching tube body, and a plug pin of the brake can be inserted into a jack of the load guide to brake a load.
Furthermore, vibration isolators are arranged at the bottom of the electromagnetic integrated pump and the bottom of the three-way switching valve; the three-way switching valve comprises a valve body, wherein the valve body is provided with an inlet and two outlets, and a valve core and a driving device for driving the valve core to block/open the outlets are arranged in each outlet.
Furthermore, each transmitting pipe body is connected with a pressure sensor and a water sensor, one path of the transmitting pipe body is communicated with a water injection pump on a water injection and drainage pipeline through a water injection and drainage valve, the other path of the transmitting pipe body is communicated with a pressure equalizing pipeline through a pressure equalizing valve, and the transmitting pipe body is communicated with a high-pressure air pipeline through an air inlet and outlet valve; the brake, the front cover driving device, the pressure sensor, the water injection and drainage valve, the pressure equalizing valve and the air inlet and outlet valve on each transmitting tube body are electrically connected with the corresponding first controllers;
the water diversion pipe body is connected with a pressure sensor and a water sensor, one path of the water diversion pipe body is communicated with a water injection pump on a water injection and drainage pipeline through a water injection and drainage valve, the other path of the water diversion pipe body is communicated with a pressure equalizing pipeline through a pressure equalizing valve, and the water diversion pipe body is communicated with a high-pressure air pipeline through an air inlet and outlet valve; the front cover driving device, the pressure sensor, the water injection and drainage valve, the pressure equalizing valve and the air inlet and exhaust valve on the water conduit body are electrically connected with the second controller. And the driving devices of the two outlets of the three-way switching valve are electrically connected with the second controller.
Further, the electromagnetic integrated pump adopts a torque open-loop control strategy, and the open-loop torque control in the transmitting process comprises the following steps:
1) In a torque rising stage S1, according to a set torque rising time constant, a given torque rises from 0 to a maximum torque, then continuously works according to the maximum torque, and enters a constant torque stage S2;
2) In a constant torque stage S2, the maximum torque is kept unchanged, the rotating speed of the rotor is gradually increased, the power is gradually increased, and the power enters a constant power stage S3 after the power reaches a set maximum power value, wherein the power = the torque multiplied by the rotating speed;
3) In a constant power stage S3, the maximum power is maintained unchanged, the given torque is gradually reduced along with the continuous increase of the rotating speed, and after the rotating speed of the rotor is increased to the set maximum rotating speed, a constant speed stage S4 is entered, wherein the torque = maximum power/current rotating speed;
4) In the uniform speed stage S4, the given torque is equal to the load torque, the rotating speed of the rotor is kept unchanged, braking is started after the rotor continues to a load emission pipe, and the braking stage S5 is started;
5) In the braking phase S5, given a constant braking torque, the rotational speed is gradually reduced until it stops.
Compared with the prior art, the invention has the following advantages:
1) The electromagnetic integrated pump adopts the integrated design of a motor and a pump, the axial length is highly integrated, and the installation and the arrangement in a narrow space in a submarine cabin can be realized; the transmission shaft is not required to be in dynamic seal, the whole electromagnetic integrated pump adopts static seal, and the pressure resistance and the sealing performance of the electromagnetic integrated pump are good; seawater is introduced into the cabin through the water conduit, and the electromagnetic integrated pump is arranged in the cabin and is suitable for installation and arrangement at a non-bow position of the submarine;
2) The hydraulic balanced type launching mode is adopted, the launching energy is irrelevant to the launching depth, and the large-submergence-depth launching can be realized; by adopting an electromagnetic launching technology, the precise control of a launching trajectory can be realized, and optimal launching, low-speed launching and low-noise launching can be realized; the pneumatic unbalanced transmitting device replaces the traditional pneumatic unbalanced transmitting device, and solves the technical problems of large transmitting noise and limited transmitting depth.
Drawings
FIG. 1 is a block diagram of a hydraulic balanced electromagnetic transmitter in a submarine cabin according to the present invention
FIG. 2 is a schematic structural view of the penstock assembly of FIG. 1;
FIG. 3 is a schematic diagram of the structure of the electromagnetic integrated pump in FIG. 1;
FIG. 4 is a schematic structural view of the three-way switching valve in FIG. 1;
FIG. 5 is a schematic top view of the launch tube assembly of FIG. 1;
FIG. 6 is a schematic front view of FIG. 5;
FIG. 7 isbase:Sub>A schematic view A-A of FIG. 6;
FIG. 8 is a control schematic diagram of FIG. 1
Fig. 9 is a graph of the electromagnetic launch torque of fig. 3.
The numbers in the figures are as follows: the device comprises a water conduit assembly 1, an electromagnetic integrated pump 2, a three-way switching valve 3, a launching conduit assembly 4, a launching front cover body 5, a pressure-resistant shell 6, a load 7, a water conduit pipe body 8, a water diversion front cover driving device 9, a transmission rod 10, a packing seal 11, a cabin penetrating member 12, a connecting rod 13, a rocker 14, a water diversion front cover bracket 15, a rotating arm 16, a water diversion front cover body 17, a rotary encoder 18, a rotor supporting bearing 19, a launching motor stator 20, a launching motor rotor 21, an outlet flange 22, a guide vane 23, a rotating shaft composite bearing 24, an impeller 25, a thrust bearing 26, an inlet flange 27, a rotating shaft 28, a rotating shaft supporting bearing 29, a driving device 30, a valve body 31, a valve core 32, a rear cover 33, a launching conduit pipe body 34, a brake 35, a cabin penetrating fence 36, a bolt 37, a guide rail 38, a support guide rail 39, a flexible connecting pipe 40, a vibration isolator 41, a launching front cover bracket 42 and a launching front cover driving device 43.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
The hydraulic balanced electromagnetic launching device in the submarine cabin shown in fig. 1 comprises a three-way switching valve 3, a launching pipe assembly 4 arranged at two outlets of the three-way switching valve 3 and a water conduit assembly 1 arranged at an inlet of the three-way switching valve 3 through an electromagnetic integrated pump 2. The electromagnetic integrated pump 2 converts electric energy into kinetic energy of the impeller, applies work to the seawater, and further converts the kinetic energy and the pressure energy of the seawater to provide launching power for the load. The three-way switching valve realizes the gating switching and shunting of the pressurized seawater, so that the high-pressure seawater enters the tail part of one launching tube assembly. The launching tube assembly is used as a storage position of the load and a boosting channel during launching, and high-pressure seawater at the rear end of the launching tube assembly acts on the tail of the load to push the load to move out of the tube. The vibration isolation device realizes the elastic installation of the electromagnetic integrated pump and the three-way switching valve, can compensate the installation deviation of the water conduit and the launching tube, and can also perform effective vibration isolation.
As shown in fig. 2, the water conduit assembly 1 includes a water conduit pipe body 8 penetrating through and welded on the submarine pressure shell 6, a water diversion front cover bracket 15 installed at the top of the pipe orifice of the water conduit pipe body 8, a water diversion front cover body 17 installed on the water diversion front cover bracket 15, a water diversion transmission mechanism connected with the water diversion front cover body 17, and a water diversion front cover driving device 9 for driving the water diversion transmission mechanism, and a flexible connecting pipe 40 is arranged between the inboard end face of the water conduit pipe body 8 and the inlet of the electromagnetic integrated pump 2. The diversion transmission mechanism comprises a transmission rod 10 connected with an output rod of the diversion front cover driving device 9, a cabin penetrating piece 12 penetrating through and welded on the pressure shell 6, a rocker 14 and a rotating arm 16 coaxially hinged on a diversion front cover support 15 (synchronous rotation is realized), the transmission rod 10 penetrates through the cabin penetrating piece 12 and then is hinged with the rocker 14 through a connecting rod 13, and dynamic sealing between the transmission rod 10 and the cabin penetrating piece 12 is realized through a packing sealing piece 11. An output rod of the water diversion front cover driving device 9 is connected with the transmission rod 10 through a flange, the back and forth movement of the output rod is converted into the rotation of the rotating arm 16 through the transmission rod 10, the connecting rod 13 and the rocker 14, so that the opening and the closing of the water diversion front cover body 17 are controlled, and meanwhile, a sealing ring matched with the end face of the pipe orifice of the water diversion pipe body 8 to realize sealing is arranged on the water diversion front cover body 17.
As shown in fig. 3, the electromagnetic integrated pump 2 adopts a hollow cylinder rotary transmitting motor and pump assembly integrated design, and comprises a transmitting motor stator 20, a transmitting motor rotor 21 concentrically assembled inside the transmitting motor stator 20, an outlet flange 22 installed on the outlet end surface of the transmitting motor stator 20, an inlet flange 27 installed on the inlet end surface of the transmitting motor stator 20, an impeller 25 installed inside the transmitting motor rotor 21, a guide vane 23 installed inside the outlet flange 22 and a rotating shaft 28 penetrating through the hub of the impeller 25, and a rotary encoder 18, wherein the rotary encoder 18 is installed at the tail end of the hub of the guide vane 25, and the rotating angle of the rotating shaft 28 is measured. A rotor supporting bearing 19 is lined between the outer circular surface of the outlet flange 22 and the inner circular surface of the transmitting motor rotor 21 to radially support the open end of the transmitting motor rotor 21; a rotating shaft supporting bearing 29 is arranged in the hub of the inlet flange 27, the rotating shaft supporting bearing 29 is matched and ground with the outer circular surface of the rotating shaft 28, and the rotating shaft 28 is radially supported; a rotating shaft composite bearing 24 is arranged in the hub of the guide vane 23, the rotating shaft composite bearing 24 is matched and ground with the outer circular surface of the rotating shaft 28 to radially support the rotating shaft 28, and the rotating shaft composite bearing 24 is also matched and ground with the end surface of the hub of the impeller 25 to support the reverse thrust of the impeller 25; a thrust bearing 26 is mounted on an end surface of the inlet flange 27, and the thrust bearing 26 is fitted and ground with an end surface of the impeller 25 to support an axial thrust when the impeller 25 rotates.
The stator 20 of the transmitting motor is a cylinder structure, and is packaged by all metal, the iron core and the winding are packaged inside, and resin is used for filling, so that a solid structure is formed, the stator can bear the pressure of internal seawater, and has reliable sealing and corrosion resistance. The rotor 21 of the launching motor is a cylinder structure, and when the stator 20 of the launching motor is electrified, an electromagnetic torque is generated on the rotor 21 of the launching motor based on the electromagnetic induction principle, so that the rotor 21 of the launching motor is driven to rotate around the shaft rotating shaft 28. The impeller 25 is connected to one end of the launching motor rotor 21 through a flange and rotates together with the launching motor rotor 21; the guide vane 23 is fixed inside the outlet flange 22 and is mounted on the outlet end face of the transmitting motor stator 20 together with the outlet flange 22, the impeller 25 rotates under the drive of the transmitting motor rotor 21 to do work on the seawater inside the pump, and the seawater flows out of the outlet flange 22 after being rectified by the guide vane 23. The electromagnetic integrated pump converts electric energy into kinetic energy and pressure energy of seawater, and the axial length of the pump is shortened to the maximum extent through concentric internal and external integration of the transmitting motor and the pump assembly.
As shown in fig. 4, the three-way switching valve includes a valve body 31, the valve body 31 has an inlet and two outlets, and each outlet has a valve core 32 and a driving device 30 disposed therein for driving the valve core 32 to block/open the outlet.
As shown in fig. 5, 6 and 7, each launching tube assembly 4 comprises a cabin penetrating rail 36 penetrating and welded on the pressure casing, a launching tube body 34 penetrating and welded on the cabin penetrating rail 36, a launching front cover bracket 42 mounted on the top of the nozzle of the launching tube body 34, a launching front cover body 5 mounted on the launching front cover bracket 42, a launching transmission mechanism connected with the launching front cover body 42, and a launching front cover driving device 43 for driving the launching transmission mechanism. The launching transmission mechanism is the same as the structure of the water diversion transmission mechanism, the launching transmission mechanism comprises a transmission rod 10 connected with an output rod of a launching front cover driving device 43, a cabin penetrating piece 12 penetrating and welded on a pressure shell, and a rocker 14 and a rotating arm 16 coaxially hinged on a front cover bracket 15 (realizing synchronous rotation), the transmission rod 10 penetrates through the cabin penetrating piece 12 and then is hinged with the rocker through a connecting rod 13, and dynamic sealing between the transmission rod 10 and the cabin penetrating piece 12 is realized through a packing sealing piece 11. An output rod of the driving device of the launching front cover is connected with the transmission rod 10 through a flange, the back and forth movement of the output rod is converted into the rotation of the rotating arm 16 through the transmission rod 10, the connecting rod 13 and the rocker 14, so that the opening and the closing of the launching front cover are controlled, and meanwhile, a sealing ring which is matched with the end face of the pipe orifice of the launching pipe body 34 to realize sealing is arranged on the launching front cover.
Meanwhile, the rear end of the transmitting tube body 34 is provided with a rear cover 33 which can seal the rear end of the transmitting tube body 34. A water inlet flange is arranged at the rear pipe side of the launching pipe body 34 and is connected with the outlet of the three-way switching valve 3 through a flexible connecting pipe 40, and pressure seawater is introduced to push the equipment in the pipe to move. The launching tube body 34 is internally provided with a support guide rail 39 and a guide rail 38 for supporting and guiding the motion of the equipment stored in the launching tube body 34, and the guide rail 38 is provided with a channel for the motion of the conductor of the load 7. The middle part of the transmitting tube body 34 is provided with a brake 35, a plug 37 of the brake 35 can be inserted into a jack of the load guide to brake the load, and the plug 37 of the brake 35 is lifted before the load 7 is transmitted to unlock the load 7.
As shown in fig. 8, each of the emitter tube bodies is connected with a pressure sensor and a water sensor, one path of each emitter tube body is communicated with a water injection pump on a water injection and drainage pipeline through a water injection and drainage valve, the other path of each emitter tube body is communicated with a pressure equalizing pipeline through a pressure equalizing valve, and each emitter tube body is communicated with a high-pressure air pipeline through an air inlet and outlet valve; the brake 35, the front cover driving device, the pressure sensor, the water injection and drainage valve, the pressure equalizing valve and the air inlet and exhaust valve on each transmitting pipe body 34 are electrically connected with the corresponding first controllers.
The water diversion pipe body is connected with a pressure sensor and a water sensor, one path of the water diversion pipe body is communicated with a water injection pump on a water injection and drainage pipeline through a water injection and drainage valve, the other path of the water diversion pipe body is communicated with a pressure equalizing pipeline through a pressure equalizing valve, and the water diversion pipe body is communicated with a high-pressure air pipeline through an air inlet and outlet valve; the front cover driving device, the pressure sensor, the water injection and drainage valve, the pressure equalizing valve and the air inlet and outlet valves on the water conduit body are all electrically connected with the second controller. And the driving devices of the two outlets of the three-way switching valve 3 are electrically connected with the second controller.
The working principle of the embodiment is as follows: before launching, water is injected into a sealed cavity formed by the water conduit assembly 1, the electromagnetic integrated pump 2 and the three-way switching valve 3 and pressure is equalized, water is injected into the launching tube assembly 4 and pressure is equalized, after pressure equalization is completed, a water conduit assembly front cover body is opened, a launching tube assembly 4 front cover body is opened, one valve core in the three-way switching valve 3 is opened, and launching conditions are met. When in launching, the bolt 38 of the brake 35 on the launching tube assembly 4 is lifted upwards to be separated from the conductor jack of the load 7, and the load is unlocked; meanwhile, external electromagnetic emission energy equipment supplies power to the electromagnetic integrated pump 2, so that the impeller 25 works according to preset pulse rotation, outboard seawater is sucked from the water conduit assembly 1, the seawater in the electromagnetic integrated pump does work to enable the seawater to have certain pressure and flow velocity, the seawater enters the rear part of the emission pipe assembly 4 through the three-way switching valve 3, the load 7 in the emission pipe assembly is pushed to move in an accelerated mode, the pipe is moved out at a certain speed, emission of the load is achieved, and the electromagnetic integrated pump stops after the pipe is discharged from the load. If continuous launching is needed, the opened valve core of the three-way switching valve 3 is closed, the other valve core is opened to realize flow channel switching, and launching conditions are met, so that launching of the next load can be carried out. After the launching is finished, the three-way switching valve 3 is closed, and the front cover bodies of the water conduit assembly 1 and the launching tube assembly 4 are closed and return to the initial state.
In the launching process, the water conduit assembly, the electromagnetic integrated pump, the three-way switching valve, the launching conduit assembly and the sea form a communicated pressure equalizing channel, hydraulic balanced type launching is achieved, launching power of the electromagnetic integrated pump does not need to overcome static pressure of seawater, and the launching process is independent of submarine depth.
The components and the working principle of each device in the embodiment are described as follows:
as shown in fig. 8, during water injection: the first controller and the second controller control the start of the water injection pump, the opening of the water injection comb water valve and the opening and exhaust of the air inlet and exhaust valve to inject water into the launching tube body and the water conduit body, and the water level is fed back by the water sensor to realize the automatic water injection function; during drainage: the first controller and the second controller control the comb water injection valve to be opened, the air inlet and outlet valve to be opened to allow air to enter, high-pressure air is injected into the launching pipe body and the water conduit pipe body to drain, and the water level is fed back through the water sensor to realize the automatic drainage function; the pressure equalizing valve is controlled to be opened, and the pressure of the transmitting pipe body and the water conduit pipe body is fed back through the pressure sensor, so that the automatic pressure equalizing function is realized.
The first controller and the second controller respectively control the front cover driving device of the transmitting pipe body and the front cover driving device of the water conduit pipe body to move, and the opening and closing of the transmitting pipe body and the front cover body of the water conduit pipe body are achieved through position feedback. The first controller controls the action of a bolt of the brake, and the locking and unlocking of the brake are realized through position feedback. The second controller controls the driving device of the three-way switching valve to move, and the valve core of the three-way switching valve is opened and closed through position feedback.
As shown in fig. 9, in consideration of the complex nonlinear time-varying characteristic of the system flow channel load, the electromagnetic integrated pump adopts a torque open-loop control strategy, and the open-loop torque control in the transmitting process is divided into six stages, namely a torque rising stage S1, a constant torque stage S2, a constant power stage S3, a constant speed stage S4 and a braking stage S5.
1) In a torque rising stage S1, according to a set torque rising time constant, a given torque rises from 0 to a maximum torque, then continuously works according to the maximum torque, and enters a constant torque stage S2;
2) In the constant torque stage S2, the maximum torque is maintained, the rotor speed is gradually increased, the power (power = torque × speed) is also gradually increased, and the process enters the constant power stage S3 until the power reaches the set maximum power value;
3) In a constant power stage S3, the maximum power is kept unchanged, a given torque (torque = maximum power/current rotating speed) is gradually reduced along with the continuous rising of the rotating speed, and after the rotating speed of a rotor is raised to a set maximum rotating speed, a constant speed stage S4 is carried out;
4) In the uniform speed stage S4, the given torque is equal to the load torque, the rotating speed of the rotor is kept unchanged, braking is started after the rotor continues to a load emission pipe, and the braking stage S5 is started;
5) In the braking phase S5, given a constant braking torque, the rotational speed is gradually reduced until it stops.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (9)
1. A hydraulic balance type electromagnetic transmitting device in a submarine cabin is characterized in that: comprises a three-way switching valve (3), a launching pipe assembly (4) arranged at two outlets of the three-way switching valve (3) and a water conduit assembly (1) arranged at an inlet of the three-way switching valve (3) through an electromagnetic integrated pump (2); the electromagnetic integrated pump (2) comprises a transmitting motor stator (20), a transmitting motor rotor (21) concentrically assembled in the transmitting motor stator (20), an outlet flange (22) installed on the outlet end face of the transmitting motor stator (20), an inlet flange (27) installed on the inlet end face of the transmitting motor stator (20), an impeller (25) installed in the transmitting motor rotor (21), a guide vane (23) installed in the outlet flange (22) and a rotating shaft (28) penetrating through the hub of the impeller (25);
a rotor supporting bearing (19) is lined between the outer circular surface of the outlet flange (22) and the inner circular surface of the transmitting motor rotor (21); a rotating shaft supporting bearing (29) is arranged in the hub of the inlet flange (27), and the rotating shaft supporting bearing (29) is matched and ground with the outer circular surface of the rotating shaft (28); a rotating shaft composite bearing (24) is arranged in the hub of the guide vane (23), and the rotating shaft composite bearing (24) is matched and ground with the outer circular surface of the rotating shaft (28); the end face of the inlet flange (27) is provided with a thrust bearing (26), and the thrust bearing (26) is matched and ground with the end face of the impeller (25).
2. The submarine bay hydraulic pressure balanced electromagnetic launcher according to claim 1, wherein: the transmitting motor stator (20) is of a cylindrical structure, is packaged by all metals, and is filled with resin to form a solid structure, wherein an iron core and a winding are packaged inside the transmitting motor stator.
3. The submarine bay hydraulic pressure balanced electromagnetic launcher according to claim 1, wherein: and the tail end of the hub of the guide vane (25) is provided with a rotary encoder (18).
4. The submarine cabin hydraulic balance type electromagnetic launching device according to claim 1, wherein: the water diversion pipe assembly (1) comprises a water diversion pipe body (8) penetrating through and welded on the submarine pressure shell (6), a water diversion front cover support (15) arranged at the top of the pipe orifice of the water diversion pipe body (8), a water diversion front cover body (17) arranged on the water diversion front cover support (15), a water diversion transmission mechanism connected with the water diversion front cover body (17) and a water diversion front cover driving device (9) for driving the water diversion transmission mechanism, and a flexible connecting pipe (40) is arranged between the end surface in the cabin of the water diversion pipe body (8) and the inlet of the electromagnetic integrated pump (2); the diversion transmission mechanism comprises a transmission rod (10) connected with an output rod of a diversion front cover driving device (9), a cabin penetrating piece (12) penetrating through and welded on the pressure shell (6) and a rocker (14) and a rotating arm (16) coaxially hinged on a diversion front cover bracket (15), the transmission rod (10) penetrates through the cabin penetrating piece (12) and then is hinged with the rocker (14) through a connecting rod (13), and dynamic sealing between the transmission rod (10) and the cabin penetrating piece (12) is realized through a packing sealing piece (11); the diversion front cover body (17) is provided with a sealing ring which is matched with the end surface of the pipe orifice of the diversion pipe body (8) to realize sealing.
5. The submarine bay hydraulic pressure balanced electromagnetic launcher according to claim 4, wherein: each launching tube assembly (4) comprises a cabin penetrating rail (36) penetrating through and welded on the pressure-resistant shell, a launching tube body (34) penetrating through and welded on the cabin penetrating rail (36), a launching front cover bracket (42) installed at the top of the tube opening of the launching tube body (34), a launching front cover body (5) installed on the launching front cover bracket (42), a launching transmission mechanism connected with the launching front cover body (42) and a launching front cover driving device (43) for driving the launching transmission mechanism; the structure of the launching transmission mechanism is the same as that of the water diversion transmission mechanism, and a sealing ring which is matched with the end face of the pipe orifice of the launching pipe body (34) to realize sealing is arranged on the launching front cover body.
6. The submarine bay hydraulic pressure balanced electromagnetic emission device according to claim 5, wherein: a rear cover (3) is arranged at the rear end of the transmitting pipe body (34), a water inlet flange is arranged on the side of the rear pipe of the transmitting pipe body (34), and the transmitting pipe body is connected with an outlet of the three-way switching valve (3) through a flexible connecting pipe (40); the launching tube is characterized in that a supporting guide rail (39) and a guide rail (38) are arranged inside the launching tube body (34), a brake (35) is installed in the middle of the launching tube body (34), and a plug pin (37) of the brake (35) can be inserted into a jack of the load guide to brake a load.
7. The submarine bay hydraulic pressure balanced electromagnetic launcher according to claim 1, wherein: vibration isolators (41) are arranged at the bottom of the electromagnetic integrated pump (2) and the bottom of the three-way switching valve (3); the three-way switching valve comprises a valve body (31), wherein the valve body (31) is provided with an inlet and two outlets, and a valve core (32) and a driving device (30) for driving the valve core (32) to close/open the outlets are arranged in each outlet.
8. The submarine bay hydraulic pressure balanced electromagnetic launcher according to claim 1, wherein: each transmitting pipe body is connected with a pressure sensor and a water sensor, one path of the transmitting pipe body is communicated with a water injection pump on a water injection and drainage pipeline through a water injection and drainage valve, the other path of the transmitting pipe body is communicated with a pressure equalizing pipeline through a pressure equalizing valve, and the transmitting pipe body is communicated with a high-pressure air pipeline through an air inlet and outlet valve; a brake (35), a front cover driving device, a pressure sensor, a water injection and drainage valve, a pressure equalizing valve and an air inlet and exhaust valve on each transmitting tube body (34) are electrically connected with corresponding first controllers;
the water diversion pipe body is connected with a pressure sensor and a water sensor, one path of the water diversion pipe body is communicated with a water injection pump on a water injection and drainage pipeline through a water injection and drainage valve, the other path of the water diversion pipe body is communicated with a pressure equalizing pipeline through a pressure equalizing valve, and the water diversion pipe body is communicated with a high-pressure air pipeline through an air inlet and outlet valve; the front cover driving device, the pressure sensor, the water injection and drainage valve, the pressure equalizing valve and the air inlet and outlet valves on the water conduit body are electrically connected with the second controller; and driving devices of two outlets of the three-way switching valve (3) are electrically connected with the second controller.
9. The submarine cabin hydraulic balance type electromagnetic launching device according to claim 1, wherein: the electromagnetic integrated pump (2) adopts a torque open-loop control strategy, and the open-loop torque control in the transmitting process comprises the following steps:
1) In a torque rising stage S1, according to a set torque rising time constant, a given torque rises from 0 to a maximum torque, then continuously works according to the maximum torque, and enters a constant torque stage S2;
2) In a constant torque stage S2, the maximum torque is kept unchanged, the rotating speed of the rotor is gradually increased, the power is gradually increased, and the power enters a constant power stage S3 after the power reaches a set maximum power value, wherein the power = the torque multiplied by the rotating speed;
3) In a constant power stage S3, the maximum power is kept unchanged, the given torque is gradually reduced along with the continuous rise of the rotating speed, when the rotating speed of the rotor rises to the set maximum rotating speed, a constant speed stage S4 is entered, and the torque = the maximum power/the current rotating speed;
4) In the uniform speed stage S4, the given torque is equal to the load torque, the rotating speed of the rotor is kept unchanged, braking is started after the rotor continues to a load emission pipe, and the braking stage S5 is started;
5) In the braking phase S5, given a constant braking torque, the rotational speed is gradually reduced until it stops.
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| CN202210234541.5A CN114560065B (en) | 2022-03-10 | 2022-03-10 | Hydraulic balance type electromagnetic transmitting device in submarine cabin |
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| CN202210234541.5A CN114560065B (en) | 2022-03-10 | 2022-03-10 | Hydraulic balance type electromagnetic transmitting device in submarine cabin |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6854409B1 (en) * | 2003-06-06 | 2005-02-15 | The United States Of America As Represented By The Secretary Of The Navy | Rotary electromagnetic launch tube |
| DE102011013020B3 (en) * | 2011-03-04 | 2012-07-26 | Howaldtswerke-Deutsche Werft Gmbh | Storage and guiding device for weapons and containers in a military ship and in particular in a submarine |
| KR102480677B1 (en) * | 2016-06-30 | 2022-12-22 | 대우조선해양 주식회사 | Opening and shutting valve of submarine weapon launch and it using method of weapon launch |
| CN209396017U (en) * | 2019-01-09 | 2019-09-17 | 兰州理工大学 | A kind of submarine hydraulic jet propulsion system |
| CN110775232B (en) * | 2019-10-08 | 2020-08-11 | 中国矿业大学 | Underwater missile launching shaft cover opening and closing device system |
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