CN114684335A - Pressure experiment device and pressure tracking method for underwater mobile platform - Google Patents
Pressure experiment device and pressure tracking method for underwater mobile platform Download PDFInfo
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- CN114684335A CN114684335A CN202210297031.2A CN202210297031A CN114684335A CN 114684335 A CN114684335 A CN 114684335A CN 202210297031 A CN202210297031 A CN 202210297031A CN 114684335 A CN114684335 A CN 114684335A
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- 238000002474 experimental method Methods 0.000 title claims abstract description 60
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- 238000004422 calculation algorithm Methods 0.000 claims abstract description 13
- 238000012821 model calculation Methods 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 238000012360 testing method Methods 0.000 claims abstract description 8
- 239000003921 oil Substances 0.000 claims description 78
- 239000010720 hydraulic oil Substances 0.000 claims description 9
- 238000007667 floating Methods 0.000 claims description 6
- 230000003749 cleanliness Effects 0.000 claims description 3
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- 238000013461 design Methods 0.000 claims description 3
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- 239000000725 suspension Substances 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
- B63B71/10—Designing vessels; Predicting their performance using computer simulation, e.g. finite element method [FEM] or computational fluid dynamics [CFD]
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Abstract
The invention discloses a pressure experiment device and a pressure tracking method for an underwater mobile platform, which belong to the technical field of marine equipment detection and are used for a pressure detection test of underwater equipment, wherein the device comprises a pressure control end, a pressure supply end, a pressure experiment cabin and a monitoring terminal; during operation, the oil mass value of the equipment to be tested is transmitted to the model calculation terminal through the serial port communication unit, the model calculation terminal obtains the depth value through the calculation of the dynamic model of the equipment to be tested, the pressure sensor collects the pressure value in the pressure experiment cabin and sends the pressure value to the pressure collection unit, the PID control algorithm compares the input depth value and the input pressure value in real time, and if the pressure value in the pressure experiment cabin is not matched with the depth value of the equipment to be tested, the current collection control unit and the switch control unit regulate the pressure supply end. According to the invention, the depth value calculated by the pressure experiment chamber tracking model is completely simulated by the PID control algorithm, so that the pressure change of the device to be tested in underwater autonomous operation is completely simulated.
Description
Technical Field
The invention discloses a pressure experiment device and a pressure tracking method for an underwater mobile platform, and belongs to the technical field of marine equipment detection.
Background
The operation condition of the marine equipment cannot be monitored in real time after the marine equipment is laid, and the underwater environment such as an underwater glider, a self-supporting profile buoy and the like needs to be detected through the autonomous control of the marine equipment, so that the reliability of the marine equipment is the key for long-term stable operation of the marine equipment on the sea. Before development and delivery, the test of pressure bearing capacity and motion reliability needs to be carried out on the test piece. In the prior art, a pressure experiment cabin is mainly tested for a sealed cabin body of marine equipment by gradually increasing pressure and gradually reducing pressure, for example, a double-push oil source pressurization experiment device disclosed in CN212159140U, a high-pressure environment simulation experiment table and a simulation method for detecting a buoy buoyancy adjusting system disclosed in CN112305954A, and a depth profile simulation device disclosed in CN 207132905. The technologies cannot be linked with a test marine device, cannot calculate the underwater motion parameters of the marine device in real time, and lack a scheme for completely simulating the pressure change of the marine device during underwater motion.
Disclosure of Invention
The invention discloses a pressure experiment device and a pressure tracking method for an underwater mobile platform, and aims to solve the problem that an integral pressure test device for completely simulating underwater motion of ocean equipment for the underwater mobile platform is lacked in the prior art.
A pressure experiment device for an underwater mobile platform, comprising: the pressure control end, the pressure supply end, the pressure experiment cabin and the monitoring terminal are arranged on the pressure control end;
the pressure control end comprises an acquisition control terminal and a model calculation terminal, the acquisition control terminal comprises a pressure acquisition unit, a serial port communication unit, a current acquisition control unit and a switch control unit, and the model calculation terminal comprises a switch protocol;
the pressure supply end comprises an oil cylinder, a servo valve, a safety overflow valve, an oil tank, an energy accumulator, a one-way valve, a filter, an electromagnetic overflow valve, a plunger pump and a high-pressure pipe fitting;
the pressure experiment cabin comprises a sensor joint, a joint of equipment to be tested, a camera joint, a cable of the equipment to be tested, an oil bag, a sensor cable, the equipment to be tested, a camera cable, a pressure sensor and a high-pressure camera;
the monitoring terminal comprises a real-time video module, a video recording module and a video storing module.
Preferably, the model calculation terminal controls the plunger pump to work through a switching protocol, calculates a dynamic model of the device to be measured according to the pressure value acquired by the pressure acquisition unit and the oil quantity and state data acquired by the serial port communication unit to obtain a depth value, and inputs the depth value into a PID control algorithm for processing;
the current acquisition control unit controls the servo valve, and the switch control unit controls the plunger pump, the electromagnetic overflow valve and the filter.
Preferably, the high-pressure pipe fitting is used for connection between various devices inside the pressure supply end;
the inlet of the plunger pump is connected with the oil tank, the outlet of the plunger pump is connected with the inlet of the filter, the outlet of the filter is connected with the inlet of the electromagnetic overflow valve and the inlet of the check valve through two lines, the outlet of the electromagnetic overflow valve is connected with the oil tank, the outlet of the check valve is connected with the P port of the servo valve and the energy accumulator through two lines, the T port of the servo valve is connected with the oil tank, the A port is connected with the input port of the oil cylinder, the B port is closed, and the output port of the oil cylinder is connected with the safety overflow valve and the oil bag inside the pressure experiment cabin through two lines.
Preferably, the electromagnetic overflow valve and the safety overflow valve are used for protecting a pipeline, the pressure is ensured not to exceed the design limit, and the filter is used for ensuring that the cleanliness of the hydraulic oil of the oil way meets the working standard of the servo valve.
Preferably, the high-voltage camera is connected with a camera connector through a camera cable, and the camera connector is connected with the monitoring terminal through an external connecting cable;
the pressure sensor is connected with a sensor joint through a sensor cable, and the sensor joint is connected with the pressure acquisition unit through an external connecting cable;
the device to be tested is connected with the device to be tested connector through a device to be tested cable, and the device to be tested connector is connected with the serial port communication unit through an external connecting cable.
Preferably, when the high-pressure camera is used for carrying out an experiment, the internal condition of the pressure experiment chamber is observed and recorded, the camera cable and the sensor cable are eight-core watertight cables, and the equipment to be tested reaches a suspension state in the pressure experiment chamber through balancing.
A pressure tracking method for an underwater mobile platform, which is used for a pressure experiment device for the underwater mobile platform, comprises the following steps:
s1, setting a target depth value in a model computing terminal;
s2, the model computing terminal sends a starting instruction to the equipment to be tested through the serial port communication unit, the equipment to be tested enters a submergence state, oil return is started, the volume is reduced, and the depth value is increased;
s3, transmitting the oil quantity value of the equipment to be tested to a model computing terminal through a serial port communication unit, calculating by the model computing terminal through a dynamic model of the equipment to be tested to obtain a depth value, acquiring a pressure value in a pressure experiment chamber by a pressure sensor and transmitting the pressure value to a pressure acquisition unit, and simultaneously inputting the depth value and the pressure value into a PID control algorithm;
s4, comparing the input depth value with the input pressure value in real time by using a PID control algorithm, and if the pressure value in the pressure experiment chamber is not matched with the depth value of the equipment to be tested, adjusting the pressure supply end by using the current acquisition control unit and the switch control unit;
and S5, when the depth value of the equipment to be tested is larger than the target depth value, the equipment to be tested enters a floating state.
Preferably, step S4 includes:
if the pressure value needs to be increased, the switch control unit controls the plunger pump to work to charge the energy accumulator, the current acquisition control unit controls the servo valve to adjust the opening degree, the pressure of the input port of the oil cylinder is adjusted in real time, the pressure of the input port of the oil cylinder is increased, the output port of the oil cylinder outputs hydraulic oil to the oil bag at the moment, the volume of the oil bag is increased, and the pressure of the pressure experiment chamber is increased.
Preferably, step S4 includes:
if the pressure value needs to be reduced, the switch control unit controls the plunger pump to work to charge the energy accumulator, the current acquisition control unit controls the servo valve to adjust the opening degree, the pressure of the input port of the oil cylinder is adjusted in real time, the pressure of the input port of the oil cylinder is reduced, at the moment, the hydraulic oil of the oil bag flows back to the output port of the oil cylinder, the volume of the oil bag is reduced, and the pressure of the pressure experiment chamber is reduced.
Preferably, step S5 includes: the serial port communication unit sends the information that the floating state is achieved to the model computing terminal, the equipment to be tested starts to discharge oil, the size is increased, and the depth value is increased and decreased.
Compared with the prior art, the invention realizes the accurate regulation of the internal pressure of the pressure experiment chamber through the PID control algorithm, the internal pressure of the pressure experiment chamber tracks the depth value of the dynamic model in real time, the internal pressure of the pressure experiment chamber completely simulates the pressure change of the equipment to be tested in the sea operation, and the internal condition of the pressure experiment chamber can be observed in real time; the pressure of the pressure experiment chamber is accurately adjusted by converting the oil pressure of the oil bag into the water pressure of the pressure experiment chamber; the depth value calculated by the pressure experiment chamber tracking model is completely simulated by the PID control algorithm to simulate the pressure change of the device to be tested in autonomous operation under water.
Drawings
FIG. 1 is a block diagram of a pressure testing apparatus for an underwater mobile platform according to the present invention;
FIG. 2 is a block diagram of the pressure supply and pressure test chamber of FIG. 1;
the reference numerals include: 1-oil cylinder, 2-servo valve, 3-safety overflow valve, 4-oil tank, 5-energy accumulator, 6-one-way valve, 7-filter, 8-electromagnetic overflow valve, 9-plunger pump, 10-high pressure pipe fitting, 11-sensor joint, 12-equipment joint to be tested, 13-camera joint, 14-equipment cable to be tested, 15-oil bag, 16-sensor cable, 17-equipment to be tested, 18-camera cable, 19-pressure sensor, 20-high pressure camera, 21-pressure supply end, 22-pressure experiment chamber, 23-monitoring terminal, 24-real-time video module, 25-video recording module, 26-video storage module, 27-pressure control end, 28-acquisition control terminal, 29-model calculation terminal, 30-pressure acquisition unit, 31-serial port communication unit, 32-current acquisition control unit, 33-switch control unit and 34-switch protocol.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments below:
a pressure experiment device for an underwater mobile platform, comprising: the pressure control end 27, the pressure supply end 21, the pressure experiment chamber 22 and the monitoring terminal 23;
the pressure control terminal 27 comprises an acquisition control terminal 28 and a model calculation terminal 29, the acquisition control terminal 28 comprises a pressure acquisition unit 30, a serial communication unit 31, a current acquisition control unit 32 and a switch control unit 33, and the model calculation terminal 29 comprises a switch protocol 34;
the pressure supply end 21 comprises an oil cylinder 1, a servo valve 2, a safety overflow valve 3, an oil tank 4, an energy accumulator 5, a one-way valve 6, a filter 7, an electromagnetic overflow valve 8, a plunger pump 9 and a high-pressure pipe fitting 10;
the pressure experiment chamber 22 comprises a sensor connector 11, a device connector 12 to be tested, a camera connector 13, a device cable 14 to be tested, an oil bag 15, a sensor cable 16, a device 17 to be tested, a camera cable 18, a pressure sensor 19 and a high-pressure camera 20;
the monitoring terminal 23 includes a real-time video module 24, a recorded video module 25 and a saved video module 26.
The model calculation terminal 29 controls the plunger pump 9 to work through a switching protocol 34, calculates a dynamic model of the device to be tested according to the pressure value obtained by the pressure acquisition unit 30 and the oil quantity and state data obtained by the serial port communication unit 31 to obtain a depth value, and inputs the depth value into a PID control algorithm for processing;
the current collection control unit 32 controls the servo valve 2, and the switch control unit 33 controls the plunger pump 9, the electromagnetic spill valve 8, and the filter 7.
The high-pressure pipe fitting 10 is used for connecting various devices inside the pressure supply end 21;
the inlet of the plunger pump 9 is connected with the oil tank 4, the outlet is connected with the inlet of the filter 7, the outlet of the filter 7 is respectively connected with the inlet of the electromagnetic overflow valve 8 and the inlet of the check valve 6 through two lines, the outlet of the electromagnetic overflow valve 8 is connected with the oil tank 4, the outlet of the check valve 6 is respectively connected with the P port of the servo valve 2 and the energy accumulator 5 through two lines, the T port of the servo valve 2 is connected with the oil tank 4, the A port is connected with the input port of the oil cylinder 1, the B port is cut off, and the output port of the oil cylinder 1 is respectively connected with the safety overflow valve 3 and the oil sac 15 inside the pressure experiment chamber 22 through two lines.
The electromagnetic overflow valve 8 and the safety overflow valve 3 are used for protecting pipelines, ensuring that the pressure does not exceed the design limit, and ensuring that the cleanliness of hydraulic oil of an oil way meets the working standard of the servo valve 2 by the filter 7.
The high-voltage camera 20 is connected with the camera connector 13 through the camera cable 18, and the camera connector 13 is connected with the monitoring terminal 23 through an external connecting cable;
the pressure sensor 19 is connected with the sensor joint 11 through a sensor cable 16, and the sensor joint 11 is connected with the pressure acquisition unit 30 through an external connecting cable;
the device to be tested 17 is connected with the device to be tested connector 12 through the device to be tested cable 14, and the device to be tested connector 12 is connected with the serial port communication unit 31 through an external connecting cable.
When the high-pressure camera 20 is used for carrying out an experiment, the internal condition of the pressure experiment chamber 22 is observed and recorded, the camera cable 18 and the sensor cable 16 are eight-core watertight cables, and the equipment to be tested 17 reaches a suspension state in the pressure experiment chamber 22 through balancing.
A pressure tracking method for an underwater mobile platform is used for a pressure experiment device for the underwater mobile platform, and comprises the following steps:
s1, setting a target depth value in a model calculation terminal 29;
s2, the model computing terminal 29 sends a starting instruction to the equipment to be tested 17 through the serial port communication unit 31, the equipment to be tested 17 enters a submergence state, oil return is started, the volume is reduced, and the depth value is increased;
s3, transmitting the oil quantity value of the equipment to be tested 17 to a model computing terminal 29 through a serial port communication unit 31, computing by the model computing terminal 29 through a dynamic model of the equipment to be tested to obtain a depth value, collecting the pressure value in the pressure experiment chamber 22 by a pressure sensor 19 and transmitting the pressure value to a pressure collecting unit 30, and inputting the depth value and the pressure value into a PID control algorithm at the same time;
s4, comparing the input depth value and the input pressure value in real time by using a PID control algorithm, and if the pressure value in the pressure experiment chamber 22 is not matched with the depth value of the equipment to be tested 17, adjusting the pressure supply end 21 by using the current acquisition control unit 32 and the switch control unit 33;
and S5, when the depth value of the equipment to be tested 17 is larger than the target depth value, the equipment to be tested 17 enters a floating state.
Step S4 includes:
if the pressure value needs to be increased, the switch control unit 33 controls the plunger pump 9 to work to charge the energy accumulator 5, the current acquisition control unit 32 controls the servo valve 2 to adjust the opening degree, the pressure of the input port of the oil cylinder 1 is adjusted in real time, the pressure of the input port of the oil cylinder 1 is increased, at the moment, the output port of the oil cylinder 1 outputs hydraulic oil to the oil bag 15, the volume of the oil bag 15 is increased, and the pressure of the pressure experiment chamber 22 is increased.
Step S4 includes:
if the pressure value needs to be reduced, the switch control unit 33 controls the plunger pump 9 to work to charge the energy accumulator 5, the current acquisition control unit 32 controls the servo valve 2 to adjust the opening degree, the pressure of the input port of the oil cylinder 1 is adjusted in real time, the pressure of the input port of the oil cylinder 1 is reduced, at the moment, the hydraulic oil of the oil bag 15 flows back to the output port of the oil cylinder 1, the volume of the oil bag 15 is reduced, and the pressure of the pressure experiment chamber 22 is reduced.
Step S5 includes: the serial port communication unit 31 sends the information that the floating state is entered to the model computing terminal 29, the equipment to be tested 17 starts to discharge oil, the volume is increased, and the depth value is increased or decreased.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (10)
1. A pressure experiment device for an underwater mobile platform, comprising: the pressure testing device comprises a pressure control end, a pressure supply end, a pressure experiment cabin and a monitoring terminal;
the pressure control end comprises an acquisition control terminal and a model calculation terminal, the acquisition control terminal comprises a pressure acquisition unit, a serial port communication unit, a current acquisition control unit and a switch control unit, and the model calculation terminal comprises a switch protocol;
the pressure supply end comprises an oil cylinder, a servo valve, a safety overflow valve, an oil tank, an energy accumulator, a one-way valve, a filter, an electromagnetic overflow valve, a plunger pump and a high-pressure pipe fitting;
the pressure experiment cabin comprises a sensor joint, a joint of equipment to be tested, a camera joint, a cable of the equipment to be tested, an oil bag, a sensor cable, the equipment to be tested, a camera cable, a pressure sensor and a high-pressure camera;
the monitoring terminal comprises a real-time video module, a video recording module and a video storing module.
2. The pressure experiment device for the underwater mobile platform according to claim 1, wherein the model calculation terminal controls the operation of the plunger pump through a switching protocol, calculates a dynamic model of the device to be tested according to the pressure value obtained by the pressure acquisition unit and the oil quantity and state data obtained by the serial communication unit to obtain a depth value, and inputs the depth value into a PID control algorithm for processing;
the current acquisition control unit controls the servo valve, and the switch control unit controls the plunger pump, the electromagnetic overflow valve and the filter.
3. A pressure experiment device for an underwater mobile platform according to claim 1, wherein the high-pressure pipe fitting is used for connection between devices inside the pressure supply end;
the inlet of the plunger pump is connected with the oil tank, the outlet of the plunger pump is connected with the inlet of the filter, the outlet of the filter is connected with the inlet of the electromagnetic overflow valve and the inlet of the check valve through two lines, the outlet of the electromagnetic overflow valve is connected with the oil tank, the outlet of the check valve is connected with the P port of the servo valve and the energy accumulator through two lines, the T port of the servo valve is connected with the oil tank, the A port is connected with the input port of the oil cylinder, the B port is closed, and the output port of the oil cylinder is connected with the safety overflow valve and the oil bag inside the pressure experiment cabin through two lines.
4. The pressure experiment device for the underwater mobile platform as claimed in claim 3, wherein the electromagnetic overflow valve and the safety overflow valve are used for protecting a pipeline, so that the pressure is not beyond a design limit, and the filter ensures that the cleanliness of hydraulic oil of an oil way meets the working standard of a servo valve.
5. The pressure experiment device for the underwater mobile platform as claimed in claim 1, wherein the high-pressure camera is connected with a camera connector through a camera cable, and the camera connector is connected with a monitoring terminal through an external connecting cable;
the pressure sensor is connected with a sensor joint through a sensor cable, and the sensor joint is connected with the pressure acquisition unit through an external connecting cable;
the device to be tested is connected with the device to be tested connector through a device to be tested cable, and the device to be tested connector is connected with the serial port communication unit through an external connecting cable.
6. The pressure experiment device for the underwater mobile platform as claimed in claim 5, wherein the high pressure camera is used for observing and recording the internal conditions of the pressure experiment chamber during the experiment, the camera cable and the sensor cable are eight-core watertight cables, and the device to be tested is in a suspension state in the pressure experiment chamber through balancing.
7. A pressure tracking method for an underwater mobile platform, characterized in that a pressure experiment device for the underwater mobile platform according to any one of claims 1 to 6 is used, and comprises the following steps:
s1, setting a target depth value in a model computing terminal;
s2, the model computing terminal sends a starting instruction to the equipment to be tested through the serial port communication unit, the equipment to be tested enters a submergence state, oil return is started, the volume is reduced, and the depth value is increased;
s3, transmitting the oil quantity value of the equipment to be tested to a model computing terminal through a serial port communication unit, calculating by the model computing terminal through a dynamic model of the equipment to be tested to obtain a depth value, acquiring a pressure value in a pressure experiment chamber by a pressure sensor and transmitting the pressure value to a pressure acquisition unit, and simultaneously inputting the depth value and the pressure value into a PID control algorithm;
s4, comparing the input depth value with the input pressure value in real time by using a PID control algorithm, and if the pressure value in the pressure experiment chamber is not matched with the depth value of the equipment to be tested, adjusting the pressure supply end by using the current acquisition control unit and the switch control unit;
and S5, when the depth value of the equipment to be tested is larger than the target depth value, the equipment to be tested enters a floating state.
8. The pressure tracking method for the underwater mobile platform as claimed in claim 7, wherein the step S4 comprises:
if the pressure value needs to be increased, the switch control unit controls the plunger pump to work to charge the energy accumulator, the current acquisition control unit controls the servo valve to adjust the opening degree, the pressure of the input port of the oil cylinder is adjusted in real time, the pressure of the input port of the oil cylinder is increased, the output port of the oil cylinder outputs hydraulic oil to the oil bag at the moment, the volume of the oil bag is increased, and the pressure of the pressure experiment chamber is increased.
9. The pressure tracking method for the underwater mobile platform of claim 8, wherein the step S4 comprises:
if the pressure value needs to be reduced, the switch control unit controls the plunger pump to work to charge the energy accumulator, the current acquisition control unit controls the servo valve to adjust the opening degree, the pressure of the input port of the oil cylinder is adjusted in real time, the pressure of the input port of the oil cylinder is reduced, at the moment, the hydraulic oil of the oil bag flows back to the output port of the oil cylinder, the volume of the oil bag is reduced, and the pressure of the pressure experiment chamber is reduced.
10. The pressure tracking method for the underwater mobile platform of claim 9, wherein the step S5 comprises: the serial port communication unit sends the floating state to the model computing terminal, the equipment to be tested begins to discharge oil, the volume is increased, and the depth value is increased and decreased.
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| CN202210297031.2A CN114684335A (en) | 2022-03-24 | 2022-03-24 | Pressure experiment device and pressure tracking method for underwater mobile platform |
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| CN202210297031.2A CN114684335A (en) | 2022-03-24 | 2022-03-24 | Pressure experiment device and pressure tracking method for underwater mobile platform |
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Cited By (1)
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Application publication date: 20220701 |