CN114744741A - Channel energy recovery system of submersible with double motor modules and operation method - Google Patents
Channel energy recovery system of submersible with double motor modules and operation method Download PDFInfo
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- CN114744741A CN114744741A CN202210539257.9A CN202210539257A CN114744741A CN 114744741 A CN114744741 A CN 114744741A CN 202210539257 A CN202210539257 A CN 202210539257A CN 114744741 A CN114744741 A CN 114744741A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
- H02J7/143—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle with multiple generators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/12—Casings or enclosures characterised by the shape, form or construction thereof specially adapted for operating in liquid or gas
- H02K5/132—Submersible electric motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
- H02K7/1807—Rotary generators
- H02K7/1823—Rotary generators structurally associated with turbines or similar engines
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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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to a channel energy recovery system of a submersible with double motor modules and an operation method thereof, wherein the channel energy recovery system comprises a channel, wherein a first motor module and a second motor module are symmetrically arranged in the channel of a cylindrical structure with two open ends; a cavity is arranged in the driver, compensation oil is filled in the cavity, and the compensation oil penetrates through the cavities of the first motor module and the second motor module; still include the integrated control box with driver electric connection. Through the dual-module structure formed by the first motor module and the second motor module arranged in the channel, the mechanical energy of water flow generated in the channel is recycled, the energy is self-sufficient, the influence of faults on the navigation of the submersible is reduced, the operation time is prolonged, and the dual-module structure has the advantages of simple structure, high reliability, energy conservation and environmental protection.
Description
Technical Field
The invention relates to the technical field of energy recovery systems, in particular to a channel energy recovery system of a submersible with double motor modules and an operation method.
Background
The deep sea submersible is an important device for carrying out navigation detection and operation in a certain range under a deep sea environment. With the accelerated implementation of the strategy of the ocean Enhance, and the strong demands on scientific research of geophysics, geochemistry, deep-sea biology and the like, higher requirements are put forward on the working reliability and the operation time of the deep-sea submersible. The existing untethered submersible provides all required energy by a battery carried by the submersible, and the energy capacity is very limited. Energy capacity is an important factor for restricting the underwater operation time of the cableless submersible at present. The development of the existing deep sea submersible carries out a lot of work on the aspects of improving energy density and the like, but is limited by the harsh requirements of deep sea on volume and weight, the total energy of the battery pack is still small, and the effect of improving the operation time of the submersible is not obvious.
According to actual data statistics, about 70% of the time of the underwater operation of the submersible is used for sailing to detect or find a work target, and the propeller is the only power source of the current submersible when sailing underwater, so the propeller is the most important energy consumption when the submersible performs a work task, and the reliability of the propeller is the premise of the submersible performing the work task.
At present, a plurality of propellers are arranged in a propeller arrangement mode of a submersible according to the requirement of navigation movement, power is supplied in a centralized mode through a battery pack, once a certain propeller breaks down, the navigation performance is greatly influenced, even the mission is ended to return, and in the navigation process, the high-power and frequent rotation of the propellers consumes a large amount of energy, so that the operation time of the submersible is greatly limited.
Disclosure of Invention
The invention provides a channel energy recovery system of a double-motor module submersible and an operation method thereof, aiming at the problems that the power supply battery pack of the propeller in the prior art has limited stored energy and short operation time and the propeller has a fault caused by the fault or insufficient energy of the battery pack, thereby realizing self-supply of energy, reducing the influence of the fault on the navigation of the submersible and prolonging the operation time.
The technical scheme adopted by the invention is as follows:
a channel energy recovery system of a submersible with double motor modules comprises a channel, wherein the channel is of a cylindrical structure with two open ends, a first motor module and a second motor module are symmetrically arranged in the channel, a first propeller is arranged at the head of the first motor module, a second propeller is arranged at the head of the second motor module, the tail parts of the first motor module and the second motor module are oppositely arranged, and the tail parts of the first motor module and the second motor module are connected through a driver;
a cavity is formed in the driver, compensation oil is filled in the cavity, and the compensation oil penetrates through the cavities of the first motor module and the second motor module;
the submersible vehicle further comprises an integrated control box arranged on the submersible vehicle, and the integrated control box is electrically connected with the driver.
As a further improvement of the above technical solution:
the first motor module is structurally characterized in that: the motor comprises a first cylindrical shell, wherein a first motor body is arranged in the first cylindrical shell, the output end of the first motor body penetrates out of one side end face of the first cylindrical shell, and the output end of the first motor body is in transmission connection with a first propeller.
The structure of the second motor module is as follows: the propeller driving mechanism comprises a second cylindrical shell, wherein a second motor body is arranged in the second cylindrical shell, the output end of the second motor body penetrates out of the end face of one side of the second cylindrical shell, and the output end of the second motor body is in transmission connection with a second propeller.
A third cylindrical shell is arranged outside the driver, through holes are formed in two end faces of the third cylindrical shell, and the through holes are used for communicating the cavities of the first motor module and the second motor module and are used for allowing compensation oil to pass through; the inside drive device that sets up of third cylindrical housing, the third cylindrical housing periphery is provided with watertight connector and oil charge mouth, the integration control box passes through watertight connector and drive device electric connection, and the afterbody of first motor module and second motor module is connected through the fastener respectively to third cylindrical housing both ends face.
The channel is connected with the submersible through a rotary driving mechanism; the integrated control box is electrically connected with the rotation driving mechanism.
The structure of the rotation driving mechanism is as follows: the submersible vehicle comprises a hydraulic oil cylinder, wherein a cylinder body of the hydraulic oil cylinder is arranged on a submersible, the head part of a piston rod of the hydraulic oil cylinder is connected with a channel through an adapter, an electromagnetic valve is arranged on an oil path of the hydraulic oil cylinder, and the electromagnetic valve is electrically connected with an integrated control box.
The integrated control box comprises a monitoring control unit and a battery pack;
the monitoring control unit includes:
the state detection module is used for detecting the module states of the first motor module and the second motor module and the navigation state of the submersible in real time and sending out corresponding state signals;
the switching control module sends a switching mode signal according to the state signal output by the state detection module, and switches the working modes of the first motor module and the second motor module, wherein the working modes comprise a motor mode and a generator mode; the switching control module outputs a module control signal to the driver according to the switching mode signal, and the driver controls the first motor module and/or the second motor module to start working; the switching control module outputs a steering control signal to the rotating driving mechanism according to the state signal output by the state detection module, and the direction of the switching channel of the rotating driving mechanism is vertical or horizontal;
the alternating current rectification module receives alternating current generated by the first motor module and/or the second motor module in the generator mode and rectifies the alternating current into direct current;
and the direct current charging module charges the battery pack with direct current obtained after alternating current rectification, monitors the information of the battery pack, and sends the information to a control system of the submersible through a CAN bus for monitoring the state of the battery pack.
An operation method of a dual-motor module submersible channel energy recovery system comprises the following steps:
s1: the state detection module detects the module states of the first motor module and the second motor module and the navigation state of the submersible in real time and sends detected state signals to the switching control module;
s2: the switching control module switches the working modes of the first motor module and the second motor module according to the state signal, switches the direction of the channel to be vertical or horizontal, and simultaneously controls the first motor module and/or the second motor module to output power or output alternating current;
s3: the alternating current rectification module rectifies alternating current generated by the first motor module and/or the second motor module in the generator mode into direct current;
s4: the direct current charges the battery pack through the direct current charging module, monitors the information of the battery pack, and sends the information to the control system through the CAN bus for monitoring the state of the battery pack;
repeating S1-S3 adjusts the state of the relevant components of the system based on the real-time status.
As a further improvement of the above technical solution:
in S2: the switching control module switches the working modes of the first motor module and the second motor module according to the state signal, wherein the first motor module or the second motor module is in a motor mode, and the first motor module and/or the second motor module is in a generator mode;
the switching control module controls the driver to be communicated with the direct current discharging module according to the working modes of the first motor module and the second motor module, and the battery pack power supply is transmitted to the first motor module or the second motor module in the motor mode through the driver to output power; the switching control module controls the driver according to the working modes of the first motor module and the second motor module to enable the first motor module or the second motor module in the generator mode to generate alternating current;
the switching control module controls the rotation driving mechanism to switch the direction of the channel to be vertical or horizontal according to the state signal, and the electromagnetic valve controls the piston end of the hydraulic oil cylinder to move to drive the connecting rod assembly to rotate so as to drive the channel to switch the direction by outputting a steering control signal to the electromagnetic valve.
In S1: the state signals comprise state signals of failure, normality and unpowered output of the first motor module or the second motor module, and state signals of unpowered diving, unpowered floating and seabed navigation of the submersible.
The invention has the following beneficial effects:
the invention has compact and reasonable structure and convenient operation, can combine various motor/generator working modes through different states of the first motor module and the second motor module by a double-module structure consisting of the first motor module and the second motor module which are arranged in the channel, realizes the recycling of mechanical energy of water flow generated in the channel, can be mutually standby or used independently, realizes energy self-supply, reduces the influence of faults on the navigation of the submersible, prolongs the operation time, and has the advantages of simple structure, high reliability, energy conservation and environmental protection.
Meanwhile, the invention also has the following advantages:
(1) the overall cylindrical shape structure of the first motor module and the second motor module reduces the influence of the overall cylindrical shape structure on water flow as much as possible, and kinetic energy of water flow in the channel is better recovered.
(2) The direction of the channel is switched to be vertical or horizontal by the rotary driving mechanism, so that the kinetic energy of water flow is recovered in the submergence and floating processes of the submersible, and the submersible is more energy-saving and environment-friendly.
(3) Through the first motor module and the second motor module in different navigation states, the multiple motor/generator working modes are combined, the mechanical energy of water flow generated in the channel is recycled, the mechanical energy can be mutually standby or used independently, the self-supply of energy is realized, the influence of faults on the navigation of the submersible is reduced, and the operation time is prolonged.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Wherein: 1. a first motor module; 2. a second motor module; 3. a driver; 4. a channel; 5. an integrated control box; 6. a rotation driving mechanism;
101. a first propeller; 102. a first motor body; 103. a first cylindrical housing;
201. a second propeller; 202. a second motor body; 203. a second cylindrical housing;
301. compensation oil; 302. a third cylindrical housing; 303. a drive device;
501. a monitoring control unit; 502. a battery pack;
601. a hydraulic cylinder; 602. an electromagnetic valve.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the channel energy recovery system of the submersible with dual motor modules of the embodiment includes a channel 4, the channel 4 is a cylindrical structure with two open ends, a first motor module 1 and a second motor module 2 are symmetrically arranged in the channel 4, a first propeller 101 is arranged at the head of the first motor module 1, a second propeller 201 is arranged at the head of the second motor module 2, the tails of the first motor module 1 and the second motor module 2 are oppositely arranged, and the tails of the first motor module 1 and the second motor module 2 are connected through a driver 3;
a cavity is formed in the driver 3, compensation oil 301 is filled in the cavity, and the compensation oil 301 penetrates through the cavities of the first motor module 1 and the second motor module 2;
the submersible vehicle further comprises an integrated control box 5 arranged on the submersible vehicle, and the integrated control box 5 is electrically connected with the driver 3.
The driver 3 is not only used as a connecting part for connecting the first motor module 1 and the second motor module 2, but also more importantly used as a pivot for electrically connecting the integrated control box 5 and the first motor module 1 and the second motor module 2, and the compensation oil 301 is used for compensating the internal pressure of the system component to balance the internal pressure with the pressure in water.
The first motor module 1 and the second motor module 2 arranged in the slot 4 form a dual-module structure, and meanwhile, the first motor module 1 and the second motor module 2 can realize two different working modes of a motor/generator. The first motor module 1 and the second motor module 2 can combine multiple motor/generator working modes according to actual conditions, so that water flow in the channel 4 drives the first propeller 101 or the second propeller 201, and the first motor module 1 or the second motor module 2 in the generator mode can recycle mechanical energy of water flow generated in the channel 4; when the submersible is sailing on the sea bottom, the other one of the first motor module 1 and the second motor module 2 is in a motor mode when the submersible is in fault, and the two motor modules can be mutually standby or used independently, so that the self-supply of energy is realized, the operation time is prolonged, and the submersible has the advantages of simple structure, high reliability, energy conservation and environmental protection.
The structure of the first motor module 1 is as follows: the propeller comprises a first cylindrical shell 103, wherein a first motor body 102 is arranged in the first cylindrical shell 103, the output end of the first motor body 102 penetrates out of one side end face of the first cylindrical shell 103, and the output end of the first motor body 102 is in transmission connection with a first propeller 101.
The structure of the second motor module 2 is as follows: the propeller comprises a second cylindrical shell 203, wherein a second motor body 202 is arranged in the second cylindrical shell 203, the output end of the second motor body 202 penetrates out of the end face of one side of the second cylindrical shell 203, and the output end of the second motor body 202 is in transmission connection with a second propeller 201.
The exterior of the driver 3 is provided with a third cylindrical shell 302, two end faces of the third cylindrical shell 302 are provided with through holes, and the through holes are used for communicating the cavities of the first motor module 1 and the second motor module 2 and are used for the passage of the compensation oil 301; the inside drive device 303 that sets up of third cylindrical housing 302, third cylindrical housing 302 periphery are provided with watertight connector and oil charge mouth, and integration control box 5 passes through watertight connector and drive device 303 electric connection, and the afterbody of first motor module 1 and second motor module 2 is connected through the fastener respectively to third cylindrical housing 302 both ends face. The oil filling port is used for filling compensation oil 301 into the cavity of the driver 3.
The outer diameter of the first cylindrical shell 103, the second cylindrical shell 203 and the third cylindrical shell 302 are the same, the first cylindrical shell 103 and the second cylindrical shell 203 are connected through the third cylindrical shell 302, the three are combined to form a cylindrical structure, the structure enables the appearance structures of the first motor module 1 and the second motor module 2 to reduce the influence on water flow as much as possible, and kinetic energy of water flow in the channel 4 is better recovered.
The channel 4 is connected with a submersible through a rotary driving mechanism 6; the integrated control box 5 is electrically connected with the rotation driving mechanism 6.
When the submersible is submerged and floated in a long distance without power between the water surface and the sea bottom, the integrated control box 5 controls the rotation driving mechanism 6 to drive the channel 4 to rotate to the vertical direction, and controls the first motor module 1 and the second motor module 2 to be in a generator mode, the water flow generated by the submerged and floated drives the first propeller 101 and the second propeller 201 to rotate to generate electricity, and the battery pack 502 in the integrated control box 5 is charged;
when the submersible is sailing on the seabed, the integrated control box 5 controls the rotation driving mechanism 6 to drive the channel 4 to rotate to the horizontal direction, controls one of the first motor module 1 and the second motor module 2 to be in a motor mode, converts electric energy stored in the battery pack 502 in the integrated control box 5 into mechanical energy for rotating the motor to drive the propeller to rotate so as to generate thrust required by sailing of the submersible, and controls the other to be in a generator mode, and drives the first propeller 101 or the second propeller 201 to rotate through channel water flow so as to generate power.
The structure of the rotation driving mechanism 6 is: the submersible vehicle comprises a hydraulic oil cylinder 601, wherein a cylinder body of the hydraulic oil cylinder 601 is arranged on a submersible vehicle, the head of a piston rod of the hydraulic oil cylinder 601 is connected with a channel 4 through an adapter, an electromagnetic valve 602 is arranged on an oil path of the hydraulic oil cylinder 601, and the electromagnetic valve 602 is electrically connected with an integrated control box 5.
The movement of the piston of the hydraulic ram 601 is translated by the adaptor into rotation of the channel 4, thereby causing the channel 4 to change direction to either a vertical or horizontal direction. The linear motion of the piston can be converted into the swinging motion of the adapter, and the swinging motion of the adapter is converted into the rotation of the channel 4.
The integrated control box 5 comprises a monitoring control unit 501 and a battery pack 502;
the monitoring control unit 501 includes:
the state detection module is used for detecting the module states of the first motor module 1 and the second motor module 2 and the navigation state of the submersible in real time and sending corresponding state signals;
the switching control module sends a switching mode signal according to the state signal output by the state detection module, and switches the working modes of the first motor module 1 and the second motor module 2, wherein the working modes comprise a motor mode and a generator mode; the switching control module outputs a module control signal to the driver 3 according to the switching mode signal, and the driver 3 controls the first motor module 1 and/or the second motor module 2 to start working; the switching control module outputs a steering control signal to the rotating driving mechanism 6 according to the state signal output by the state detection module, and the direction of the switching channel 4 is vertical or horizontal;
the alternating current rectification module receives alternating current generated by the first motor module 1 and/or the second motor module 2 in the generator mode and rectifies the alternating current into direct current;
and the direct current charging module is used for charging the battery pack 502 by direct current obtained after alternating current rectification, monitoring information of the battery pack 502, and sending the information to a control system of the submersible through a CAN (controller area network) bus for monitoring the state of the battery pack 502. The state of the battery pack 502 detected by the dc charging module includes total voltage, total current, cell voltage, cell temperature, and cell swelling state, and it is determined whether each cell is full of charge and functional state, so as to control the switching of constant current or constant voltage charging state, and whether to stop charging, thereby ensuring charging safety.
The operation method of the channel energy recovery system of the submersible with double motor modules comprises the following steps:
s1: the state detection module detects the module states of the first motor module 1 and the second motor module 2 and the navigation state of the submersible in real time and sends detected state signals to the switching control module;
s2: the switching control module switches the working modes of the first motor module 1 and the second motor module 2 according to the state signal, switches the direction of the channel 4 to be a vertical or horizontal direction, and simultaneously controls the first motor module 1 and/or the second motor module 2 to output power or output alternating current;
s3: the alternating current rectification module rectifies alternating current generated by the first motor module 1 and/or the second motor module 2 in the generator mode into direct current;
s4: the direct current charges the battery pack 502 through the direct current charging module, monitors the information of the battery pack 502, and sends the information to the control system through the CAN bus for monitoring the state of the battery pack 502;
repeating S1-S3 adjusting the state of the relevant components of the system according to the real-time state.
The operation method of the double-motor module submersible channel energy recovery system of the second embodiment comprises the following steps:
s1: the state detection module detects the module states of the first motor module 1 and the second motor module 2 and the navigation state of the submersible in real time and sends detected state signals to the switching control module;
the state signals comprise state signals of failure, normality and unpowered output of the first motor module 1 or the second motor module 2 and state signals of unpowered diving, unpowered floating and seabed navigation of the submersible;
s2: the switching control module switches the working modes of the first motor module 1 and the second motor module 2 according to the state signal, switches the direction of the channel 4 to be a vertical or horizontal direction, and simultaneously controls the first motor module 1 and/or the second motor module 2 to output power or output alternating current;
the switching control module switches the working modes of the first motor module 1 and the second motor module 2 according to the state signal, wherein the first motor module 1 or the second motor module 2 is in a motor mode, and the first motor module 1 and/or the second motor module 2 is in a generator mode;
the switching control module controls the driver 3 to be communicated with the direct current discharging module according to the working modes of the first motor module 1 and the second motor module 2, and the power supply of the battery pack 502 is transmitted to the first motor module 1 or the second motor module 2 in the motor mode through the driver 3 to output power; the switching control module controls the driver 3 according to the working modes of the first motor module 1 and the second motor module 2 to enable the first motor module 1 or the second motor module 2 in the generator mode to generate alternating current;
the switching control module controls the direction of the rotary driving mechanism 6 for switching the channel 4 to be vertical or horizontal according to the state signal, and the electromagnetic valve 602 controls the piston end of the hydraulic oil cylinder 601 to move to drive the connecting rod assembly to rotate so as to drive the channel 4 to switch the direction by outputting a steering control signal to the electromagnetic valve 602;
s3: the alternating current rectification module rectifies alternating current generated by the first motor module 1 and/or the second motor module 2 in the generator mode into direct current;
s4: the direct current charges the battery pack 502 through the direct current charging module, monitors the information of the battery pack 502, and sends the information to the control system through the CAN bus for monitoring the state of the battery pack 502;
repeating S1-S3 adjusting the state of the relevant components of the system according to the real-time state.
The operation method of the double-motor module submersible channel energy recovery system in the third embodiment comprises the following operation steps in various submersible underwater operation states:
the diving process of the submersible vehicle comprises the following steps:
s1: the submersible is submerged to charge the battery 502;
s2: in the unpowered diving process of the submersible, the state detection module detects the sailing state of the submersible in real time, the first motor module 1 and the second motor module are in normal states at the same time, and the detected state signals are sent to the switching control module;
s3: according to the navigation state signal without power submergence and the normal state signals of the first motor module 1 and the second motor module, the working modes of the switching control module for switching the first motor module 1 and the second motor module 2 are generator modes, the direction of the switching channel 4 is vertical, and the first motor module 1 and the second motor module 2 are controlled to output alternating current;
s4: the alternating current rectification module rectifies alternating currents generated by the first motor module 1 and the second motor module 2 in the generator mode into direct currents;
s5: the direct current charges the battery pack 502 through the direct current charging module, simultaneously monitors the information of the battery pack 502, sends the information to the control system through the CAN bus for monitoring the state of the battery pack 502, and stops charging when the battery pack 502 is fully charged or a predetermined fault occurs;
(II) when the submersible is underway, the first situation is as follows:
s1: when the submersible arrives at the seabed and sails on the seabed, the state detection module detects that the submersible is in the seabed sailing state in real time, if the first motor module 1 is detected to be in a power output state, the second motor module 2 is in a power-free output state and is in a normal state, and the detected state signal is sent to the switching control module;
s2: the switching control module switches the first motor module 1 into a motor mode, the second motor module 2 into a generator mode and the direction of the switching channel 4 into a horizontal direction according to the state signal, and simultaneously switches and controls the first motor module 1 to be communicated with the direct-current discharging module through the driver 3, so that the power supply of the battery pack 502 outputs power to the first motor module 1 and the second motor module 2 outputs alternating current;
s3: the alternating current rectification module rectifies alternating current generated by the second motor module 2 in the generator mode into direct current;
s4: the direct current charges the battery pack 502 through the direct current charging module, monitors the information of the battery pack 502, and sends the information to the control system through the CAN bus for monitoring the state of the battery pack 502;
(III) when the submersible is underway, the second situation:
s1: when the submersible arrives at the seabed and sails on the seabed, the state detection module detects that the submersible is in the seabed sailing state in real time, and if the first motor module 1 is detected to be in a fault state, the second motor module 2 is in a normal state, and sends a detected state signal to the switching control module;
s2: the switching control module switches the second motor module 2 into a motor mode according to the state signal, switches the direction of the channel 4 into a horizontal direction, simultaneously switches and controls the second motor module 2 to be communicated with the direct current discharging module through the driver 3, outputs power to the second motor module 2 from the power supply of the battery pack 502, and switches and controls the second motor module 2 not to work;
(IV) the floating process of the submersible:
s1: in the unpowered floating process of the submersible, the state detection module detects the sailing state of the unpowered floating of the submersible in real time, meanwhile, the first motor module 1 and the second motor module are in normal states, and the detected state signals are sent to the switching control module;
s2: according to the navigation state signal of unpowered floating and the normal state signals of the first motor module 1 and the second motor module 2, the working modes of the switching control module for switching the first motor module 1 and the second motor module 2 are generator modes, the direction of the switching channel 4 is vertical, and the first motor module 1 and the second motor module 2 are controlled to output alternating current;
s3: the alternating current rectification module rectifies alternating currents generated by the first motor module 1 and the second motor module 2 in the generator mode into direct currents;
s4: the dc power charges the battery pack 502 through the dc charging module, and also monitors the information of the battery pack 502, and sends the information to the control system through the CAN bus for monitoring the state of the battery pack 502, and stops charging when the battery pack 502 is fully charged or a predetermined fault occurs.
Through the combination of the first motor module 1 and the second motor module 2 in different sailing states with various motor/generator working modes, the mechanical energy of water flow generated in the channel 4 is recycled and can be mutually standby or used independently, the self-supply of energy is realized, the influence of faults on the sailing of the submersible is reduced, and the operation time is prolonged; the direction of the channel 4 is switched to be vertical or horizontal by controlling the rotary driving mechanism 6, and water flow energy recovery can be carried out in the submergence and floating processes, so that the dual-module driving and energy recovery system is wider in application range, more energy-saving and more environment-friendly.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (10)
1. The utility model provides a two motor module submersible channel energy recuperation systems which characterized in that: the motor comprises a channel (4), wherein the channel (4) is of a cylindrical structure with two open ends, a first motor module (1) and a second motor module (2) are symmetrically arranged in the channel (4), a first propeller (101) is arranged at the head of the first motor module (1), a second propeller (201) is arranged at the head of the second motor module (2), the tails of the first motor module (1) and the second motor module (2) are oppositely arranged, and the tails of the first motor module (1) and the second motor module (2) are connected through a driver (3);
a cavity is formed in the driver (3), compensation oil (301) is filled in the cavity, and the compensation oil (301) penetrates through the cavities of the first motor module (1) and the second motor module (2);
the submersible vehicle is characterized by further comprising an integrated control box (5) arranged on the submersible vehicle, wherein the integrated control box (5) is electrically connected with the driver (3).
2. The dual-motor modular submersible channel energy recovery system of claim 1, wherein: the structure of the first motor module (1) is as follows: including first cylinder type casing (103), set up first motor body (102) in first cylinder type casing (103), one side terminal surface of first cylinder type casing (103) is worn out to first motor body (102) output, and first screw (101) are connected in the transmission of first motor body (102) output.
3. The dual-motor modular submersible channel energy recovery system of claim 1, wherein: the structure of the second motor module (2) is as follows: including second cylinder type casing (203), set up second motor body (202) in second cylinder type casing (203), one side terminal surface of second cylinder type casing (203) is worn out to second motor body (202) output, and second screw (201) is connected in the transmission of second motor body (202) output.
4. The dual-motor modular submersible channel energy recovery system of claim 1, wherein: a third cylindrical shell (302) is arranged outside the driver (3), through holes are formed in two end faces of the third cylindrical shell (302), and the through holes are used for communicating cavities of the first motor module (1) and the second motor module (2) and are used for enabling the compensation oil (301) to pass through; the inside drive device (303) that sets up of third cylindrical casing (302), third cylindrical casing (302) periphery is provided with watertight connector and oil charge mouth, integration control box (5) are through watertight connector and drive device (303) electric connection, and the afterbody of first motor module (1) and second motor module (2) is connected through the fastener respectively to third cylindrical casing (302) both ends face.
5. The dual-motor modular submersible channel energy recovery system of claim 1, wherein: the channel (4) is connected with a submersible through a rotary driving mechanism (6); the integrated control box (5) is electrically connected with the rotation driving mechanism (6).
6. The dual-motor modular submersible channel energy recovery system of claim 5, wherein: the structure of the rotation driving mechanism (6) is as follows: the submersible vehicle comprises a hydraulic oil cylinder (601), wherein a cylinder body of the hydraulic oil cylinder (601) is arranged on a submersible, the head of a piston rod of the hydraulic oil cylinder (601) is connected with a channel (4) through an adapter, an electromagnetic valve (602) is arranged on an oil path of the hydraulic oil cylinder (601), and the electromagnetic valve (602) is electrically connected with an integrated control box (5).
7. The dual-motor modular submersible channel energy recovery system of claim 6, wherein:
the integrated control box (5) comprises a monitoring control unit (501) and a battery pack (502);
the monitoring control unit (501) includes:
the state detection module is used for detecting the module states of the first motor module (1) and the second motor module (2) and the navigation state of the submersible in real time and sending out corresponding state signals;
the switching control module sends a switching mode signal according to the state signal output by the state detection module, and switches the working modes of the first motor module (1) and the second motor module (2), wherein the working modes comprise a motor mode and a generator mode; the switching control module outputs a module control signal to the driver (3) according to the switching mode signal, and the driver (3) controls the first motor module (1) and/or the second motor module (2) to start working; the switching control module outputs a steering control signal to the rotating driving mechanism (6) according to the state signal output by the state detection module, and the direction of the switching channel (4) is vertical or horizontal;
the alternating current rectification module receives alternating current generated by the first motor module (1) and/or the second motor module (2) in the generator mode and rectifies the alternating current into direct current;
and the direct current charging module charges the battery pack (502) with direct current obtained after alternating current rectification, monitors information of the battery pack (502) and sends the information to a control system of the submersible through a CAN bus to monitor the state of the battery pack (502).
8. An operation method of a channel energy recovery system of a submersible with double motor modules is characterized in that: the method comprises the following steps:
s1, the state detection module detects the module states of the first motor module (1) and the second motor module (2) and the navigation state of the submersible in real time and sends the detected state signals to the switching control module;
s2, the switching control module switches the working modes of the first motor module (1) and the second motor module (2) according to the state signals, switches the direction of the channel (4) to be vertical or horizontal, and simultaneously controls the first motor module (1) and/or the second motor module (2) to output power or output alternating current;
s3, the alternating current rectification module rectifies alternating current generated by the first motor module (1) and/or the second motor module (2) in the generator mode into direct current;
s4, charging the battery pack (502) by the direct current through the direct current charging module, monitoring the information of the battery pack (502) and sending the information to the control system through the CAN bus for monitoring the state of the battery pack (502);
repeating S1-S3 adjusting the state of the relevant components of the system according to the real-time state.
9. The method of operating a dual-motor modular submersible channel energy recovery system of claim 8, wherein:
in S2, the working modes of the switching control module for switching the first motor module (1) and the second motor module (2) according to the state signals comprise that the first motor module (1) or the second motor module (2) is in a motor mode, and the first motor module (1) and/or the second motor module (2) is in a generator mode;
the switching control module controls the driver (3) to be communicated with the direct current discharging module according to the working modes of the first motor module (1) and the second motor module (2), and transmits the power of the battery pack (502) to the first motor module (1) or the second motor module (2) in the motor mode through the driver (3) to output power; the switching control module controls the driver (3) according to the working modes of the first motor module (1) and the second motor module (2) to enable the first motor module (1) or the second motor module (2) in the generator mode to generate alternating current;
the switching control module controls the rotation driving mechanism (6) to switch the direction of the channel (4) to be a vertical direction or a horizontal direction according to the state signal, and the electromagnetic valve (602) controls the piston end of the hydraulic oil cylinder (601) to move to drive the connecting rod assembly to rotate so as to drive the channel (4) to switch the direction by outputting a steering control signal to the electromagnetic valve (602).
10. The method of operating a dual-motor modular submersible channel energy recovery system of claim 8, wherein:
and S1, the state signals comprise the state signals of the first motor module (1) or the second motor module (2) with faults, normal and unpowered output, and the state signals of the submersible with unpowered diving, unpowered floating and seabed sailing.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210539257.9A CN114744741B (en) | 2022-05-18 | 2022-05-18 | Dual-motor module submersible channel energy recovery system and operation method |
| PCT/CN2023/075360 WO2023221571A1 (en) | 2022-05-18 | 2023-02-10 | Double-motor module submersible channel energy recovery system and operation method |
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| CN202210539257.9A CN114744741B (en) | 2022-05-18 | 2022-05-18 | Dual-motor module submersible channel energy recovery system and operation method |
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| CN114744741A true CN114744741A (en) | 2022-07-12 |
| CN114744741B CN114744741B (en) | 2023-06-02 |
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Cited By (1)
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| WO2023221571A1 (en) * | 2022-05-18 | 2023-11-23 | 中国船舶科学研究中心 | Double-motor module submersible channel energy recovery system and operation method |
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| WO2023221571A1 (en) | 2023-11-23 |
| CN114744741B (en) | 2023-06-02 |
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