CN115367083A - Hybrid power multi-working-condition underwater vehicle - Google Patents
Hybrid power multi-working-condition underwater vehicle Download PDFInfo
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- CN115367083A CN115367083A CN202211160256.XA CN202211160256A CN115367083A CN 115367083 A CN115367083 A CN 115367083A CN 202211160256 A CN202211160256 A CN 202211160256A CN 115367083 A CN115367083 A CN 115367083A
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- 229910052744 lithium Inorganic materials 0.000 claims abstract description 100
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 97
- 239000000446 fuel Substances 0.000 claims abstract description 63
- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000005611 electricity Effects 0.000 claims description 18
- 238000007599 discharging Methods 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 230000002457 bidirectional effect Effects 0.000 description 7
- 108010066057 cabin-1 Proteins 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000010248 power generation Methods 0.000 description 3
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 239000001257 hydrogen Substances 0.000 description 2
- 229910052739 hydrogen Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- MYMOFIZGZYHOMD-UHFFFAOYSA-N Dioxygen Chemical compound O=O MYMOFIZGZYHOMD-UHFFFAOYSA-N 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 241000209504 Poaceae Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 208000012839 conversion disease Diseases 0.000 description 1
- 238000003487 electrochemical reaction Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007800 oxidant agent Substances 0.000 description 1
- 230000001590 oxidative effect Effects 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- BSWGGJHLVUUXTL-UHFFFAOYSA-N silver zinc Chemical compound [Zn].[Ag] BSWGGJHLVUUXTL-UHFFFAOYSA-N 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/20—Steering equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Cells (AREA)
Abstract
The invention aims to provide a hybrid power multi-working-condition underwater vehicle which comprises a streamline bow part, a rotatable cabin, a left device bag, a right device bag, a front end motor cabin, a buoyancy adjusting and fuel cell cabin and a lithium battery cabin. The rotatable cabin is connected with the bow part and the front end electric cabin, the left and right side device bags are connected with the aircraft main body and comprise a worm gear transmission mechanism and a gliding wing, the front end electric cabin comprises a planetary gear transmission mechanism and a motor which drive the rotatable cabin to rotate, the planetary gear transmission mechanism and the motor comprise a left motor and a right motor, and the left motor and the right motor are connected with the worms on each side; the buoyancy regulating and fuel cell compartment comprises a buoyancy regulating system and a fuel cell system lithium battery compartment comprising a honeycomb-shaped arrangement lithium battery pack. The fuel cell system is combined with the lithium battery pack, the gliding wings and the ducted propellers are fused on the aircraft body, and the side-push propellers are arranged in the rotatable cabin, so that the multi-working-condition operation of the underwater aircraft can be adapted, and the requirement of multiple task execution is met.
Description
Technical Field
The invention relates to an underwater vehicle, in particular to a hybrid underwater vehicle.
Background
Vast oceans contain various resources, exploration of oceans and expansion to farther and deeper oceans are inevitable choices. With the technical progress, the ocean industry is developed rapidly, and the underwater unmanned vehicle becomes an irreplaceable high-tech device for human beings to explore and know the ocean, protect the ocean ecological environment and develop and utilize ocean resources. There are many categories of unmanned underwater vehicles, such as Autonomous Underwater Vehicles (AUV), autonomous Underwater Gliders (AUG), and so on. The autonomous underwater vehicle is an underwater unmanned vehicle which does not need manual intervention, carries out autonomous navigation control and autonomously executes operation tasks through an energy source and a propulsion system carried by the autonomous underwater vehicle, has a streamlined torpedo shape and is usually provided with a propeller propulsion device; the autonomous underwater glider depends on a buoyancy adjusting device, a pitching adjusting device and a course adjusting device to respectively realize effective control on net buoyancy, a pitching angle and a course angle, so that the underwater glider in water sails forwards in a gliding motion mode without an externally-hung propelling device by utilizing wings on two sides. The autonomous underwater vehicle and the autonomous underwater glider are taken as two different marine devices, and the purpose of realizing the multi-working-condition operation of the underwater vehicle by integrating the advantages of the autonomous underwater vehicle and the autonomous underwater glider and the propulsion mode is rarely achieved at present.
An autonomous underwater vehicle usually adopts an electric energy source as a main energy source for underwater work of the vehicle, and a primary battery and a secondary battery such as a lead-acid storage battery, a silver-zinc battery, a lithium battery and the like are mostly used at present, however, the improvement potential of the batteries in the aspect of energy density is small, the autonomous underwater vehicle usually needs to return to a ship and be recovered by a mother ship for charging after a task is executed, and the number of times of tasks which can be autonomously completed is small. The fuel cell is one of the most potential energy sources of the underwater unmanned aircraft, and has been paid attention by researchers at home and abroad, and the fuel cell is a device for directly generating electricity by using fuel (such as hydrogen or hydrogen-containing fuel) and oxidant (such as pure oxygen or oxygen in the air), and has the advantages of high energy density, high electrochemical reaction conversion efficiency, no pollution gas emission and the like. However, the dynamic response speed of the fuel cell power generation system is slow, which easily causes that when the load of the underwater vehicle becomes large, the power requirement is difficult to meet, and simultaneously, the discharge of the fuel cell under stable power is difficult to meet, the frequent start and stop of the fuel cell and the change of working conditions can cause the service life of the fuel cell to be reduced, the reliability of the system is reduced, and the low-efficiency use of fuel can also be caused, so that the output power of the fuel cell power generation system needs to be kept within an optimal power interval when in work, the fluctuation of the output power needs to be minimized, and in order to prevent the frequent change of the operating conditions, the fuel cell is often required to be provided with a lithium battery with a certain electric capacity. The lithium battery is used as an auxiliary device and can play a role in energy storage and auxiliary power generation, on one hand, because the fuel battery does not have an automatic starting function, the lithium battery can provide a short pulse in the starting process of the fuel battery to help to complete the starting process of the fuel battery, on the other hand, in consideration of the special dynamic characteristics of the fuel battery, the lithium battery is equipped to realize the function of peak clipping and valley filling, so that the power balance of a propulsion system and the stable voltage of the hybrid power system combining the fuel battery and the lithium battery are maintained, and the underwater vehicle can be helped to execute multiple tasks and multiple working conditions.
Disclosure of Invention
The invention aims to provide a hybrid multi-condition underwater vehicle which has multiple propulsion modes and is suitable for multi-condition operation.
The purpose of the invention is realized as follows:
the invention discloses a hybrid power multi-working-condition underwater vehicle which is characterized in that: the submarine comprises a submarine body, the submarine body comprises a streamlined bow part, a rotatable cabin, a front end motor cabin, a task equipment cabin, a buoyancy adjusting and fuel cell cabin, a lithium battery cabin, an asymmetric stern part, a guide pipe propeller, a side push propeller is installed in the rotatable cabin, a planetary gear transmission mechanism is arranged in the front end motor cabin, a right side motor, a left side motor, the planetary gear transmission mechanism is connected with the planetary gear transmission motor, a submarine body left side device bag is installed on the left and right sides of the outer portion of the submarine body respectively, a submarine body right side device bag is installed on the left side device bag and comprises a left worm wheel, a left side gliding wing, the left side worm wheel and the left side worm form a transmission mechanism, a left side worm, the left side wing is glidingly connected with the left side motor, the right side worm wheel and the left side worm form a transmission mechanism, the right side worm wheel and the right side worm form a transmission mechanism, the right side worm, the right side gliding wing is connected with the right side motor, the asymmetric stern part is installed, and the rudder is transmitted through a rudder lever.
The present invention may further comprise:
1. the rear part of the asymmetric stern part comprises an upper curve section and a lower curve section which are asymmetric, wherein the upper curve section keeps an upward state, and the lower curve section keeps a downward state.
2. A honeycombed lithium battery pack is arranged in the lithium battery cabin, and the honeycombed lithium battery pack comprises a No. 1 lithium battery pack and a No. 2 lithium battery pack; a fuel cell pile and an aircraft power grid are arranged in a buoyancy adjusting and fuel cell cabin, the fuel cell pile is respectively connected with a first switch, a second switch and a third switch, the first switch is connected with the aircraft power grid, the second switch is connected with a No. 2 lithium battery pack, the third switch is connected with a No. 1 lithium battery pack, a fifth switch is arranged behind the second switch, a fourth switch is arranged behind the third switch, the fourth switch and the fifth switch are both connected with the aircraft power grid, the aircraft power grid is respectively connected with a side thruster motor, a planetary gear transmission motor, a left side motor, a right side motor, a steering engine system and a stern propulsion motor, and the side thruster motor is connected with a side thruster propeller.
3. When the aircraft body is in an unstable operation condition, the No. 1 lithium battery pack and the No. 2 lithium battery pack are alternately used as power supply sources; when the No. 1 lithium battery pack and the No. 2 lithium battery pack are in a full-electric-quantity state, the fuel cell pile does not work, the first switch, the second switch, the third switch and the fifth switch are opened at the moment, the fourth switch is closed, and the No. 1 lithium battery pack is powered by a power grid of an aircraft.
4. The aircraft body is under an unstable operation condition, when the No. 1 lithium battery pack is in a low-power state, the fuel cell stack operates under a rated condition, the No. 2 lithium battery pack is in a discharging state, at the moment, the first switch, the second switch and the fourth switch are opened, the third switch and the fifth switch are closed, electricity generated by the fuel cell stack supplies power to the No. 1 lithium battery pack, and the No. 1 lithium battery pack is in a charging state; and the current generated by the No. 2 lithium battery pack enters an aircraft power grid and is supplied with power by the aircraft power grid.
5. When the aircraft body sails under a stable working condition, the fuel cell stack is used as a power supply source, the No. 1 lithium battery pack and the No. 2 lithium battery pack are used as auxiliary power, the second switch and the third switch are opened at the moment, the first switch, the fourth switch and the fifth switch are closed, current generated by the fuel cell stack enters an aircraft power grid, and the current in the aircraft power grid enters a stern portion propulsion motor.
The invention has the advantages that: a multi-working-condition underwater vehicle with hybrid power is characterized in that the shape of a stern part is designed into an asymmetric propeller hub, the central line of the asymmetric propeller hub is offset downwards and parallel to the central line of a middle body, so that a ducted propeller has a certain underneath type, the arrangement of the underneath type is favorable for the propeller to be immersed in water when the propeller is sailed near the water surface, the risk of the propeller to be exposed in the air is reduced, the propeller can move near the water surface if a complex environment near the sea bottom is met, such as a plurality of grasses, a plurality of fish schools and complex submarine topography, and the propeller can be automatically driven to a mother ship through near-water sailing when storms are small or the water surface is calm, and the recycling is convenient. Secondly, the hull includes rotatable cabin, and rotatable cabin mainly includes the side and pushes away the screw, and this cabin has a spout, through linking to each other with outside casing, drives planetary gear drive mechanism in order to realize the rotation to the cabin through the motor to change the position that the side pushed away the screw, and then realize the side in different position and push away. The purpose of using a side thrust propeller is to provide additional side thrust in addition to the cruciform arrangement of the rudder system. Secondly, the hull includes gliding mechanism, and when being in the operating mode of gliding, like dive or come-up, gliding mechanism passes through the motor and drives the worm, thereby extends the wing through the worm gear transmission, and the wing can change the effect direction of hydrodynamic force, utilizes lift to carry out the gliding motion under the effect of wing. Meanwhile, the boat body comprises a honeycombed lithium battery pack, lithium batteries in the honeycombed lithium battery pack are not charged or discharged simultaneously, but are divided into a No. 1 lithium battery pack and a No. 2 lithium battery pack, and charging and discharging are carried out according to different working condition requirements. Finally, the fuel cell-lithium battery hybrid power system provided by the invention can realize the running of the aircraft under different working conditions by matching the discharge of the fuel cell with the charge and discharge of the lithium battery according to the power required by different aircraft working conditions, and is beneficial to the multi-working-condition running of the aircraft and the completion of multiple tasks.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic view of an asymmetric stern;
FIG. 3 is a schematic view of a rotatable chamber;
FIG. 4 is a schematic view of the right gliding mechanism;
FIG. 5 is a schematic diagram of a honeycomb arrangement lithium battery pack;
FIG. 6 is an isometric view of the underwater vehicle with the glider wings deployed;
FIG. 7 is a top view of the underwater vehicle with the glider wings deployed;
FIG. 8 is a top plan view of the aircraft in straight flight;
FIG. 9 is a straight ahead view of the aircraft;
fig. 10 is a diagram of an aircraft in a fuel cell-lithium battery hybrid power system operating mode.
Detailed Description
The invention is described in more detail below by way of example with reference to the accompanying drawings:
with reference to fig. 1-10, the hybrid underwater vehicle of the present invention comprises a streamlined bow 24 whose front end is constructed by a quadratic parabola; the streamline bow part 24 is connected with a rotatable cabin 1 in back, a side thrust propeller 2 is arranged in the cabin, the rotatable cabin comprises a chute 103, and the chute 103 and the hull of the aircraft body rotate relatively;
the rotatable cabin 1 is connected with a planetary gear transmission mechanism 3, the planetary gear transmission mechanism 3 comprises an inner gear 105 and an outer gear 104, and is connected with a planetary gear transmission motor 4; a front end motor cabin 25 is arranged behind the rotatable cabin 1, and the front end motor cabin 25 comprises a planetary gear transmission mechanism 3, a right side motor 5 and a left side motor 8;
the right side of an aircraft is connected with a hull right side device package 13, the left side of the aircraft is connected with a hull left side device package 14, the hull left side device package 14 comprises a left worm wheel 10 and a left gliding wing 12, the left worm wheel 10 and a left worm 9 form a transmission mechanism, and the left worm 9 is connected with a left motor 8 of the front end motor cabin 25; the submarine body right device bag 13 comprises a right worm wheel 7 and a right gliding wing 11, the right worm wheel 7 and a right worm 6 form a transmission mechanism, and the right worm 6 is connected with a right motor 5 of the front-end motor cabin 25;
the front end motor cabin 25 is connected with the task equipment cabin 15; the rear part of the task equipment cabin 15 is connected with a buoyancy adjusting and fuel cell cabin 16; the buoyancy adjusting device is connected with the lithium battery cabin 17 after being connected with the fuel battery cabin 16, the lithium battery cabin 17 comprises a honeycomb-shaped arranged lithium battery pack 18, and the honeycomb-shaped arranged lithium battery pack 18 is divided into a No. 1 lithium battery pack 173 and a No. 2 lithium battery pack 174; the rear part of the lithium battery cabin 17 is provided with a rudder 20 which is arranged in a cross shape, and the rudder 20 is driven by a rudder stock 19;
the stern of the craft body is an asymmetric stern 22, and when the craft runs, an upper curve section 221 of the asymmetric stern 22 keeps an upward state, and a lower curve section 222 keeps a downward state.
The hybrid multi-working-condition underwater vehicle can be suitable for scenes that the vehicle needs to execute round-trip tasks for multiple times, and the following description is given by a specific implementation mode:
referring to fig. 1 and 10, the basic principle of the fuel cell-lithium battery power system of the present invention is described as follows:
the hybrid multi-operating-condition aircraft comprises a buoyancy regulating and fuel cell cabin 16, wherein the buoyancy regulating and fuel cell cabin 16 comprises a fuel cell stack 161, and the fuel cell stack 161 only has a discharging action when in operation;
the No. 1 lithium battery pack 173 and the No. 2 lithium battery pack 174 respectively have the capacity of maintaining the work of the stern propulsion motor 21, the steering engine system 26, the left motor 8, the right motor 19, the planetary gear transmission motor 4, the side thruster motor 204 and other electric equipment; the number 1 lithium battery pack 173 and the number 2 lithium battery pack 174 are charged by discharging or supplying power from the fuel cell stack 161 according to different working conditions and respective power conditions.
The No. 1 lithium battery pack 173 and the No. 2 lithium battery pack 174 are alternately used as main power supply sources when the hybrid multi-operating-condition aircraft runs in an unstable operating condition. When the number 1 lithium battery pack 173 and the number 2 lithium battery pack 174 are in a full-charge state, the fuel cell pile 161 does not work, at the moment, the switch 1, the switch 2, the switch 3 and the switch 5 are opened, the switch 4 is closed, and the number 1 lithium battery pack 173 is boosted and stabilized through the bidirectional DC/DC converter 171 and is connected to the aircraft power grid 175 to supply power to all parts of electric equipment;
the hybrid power multi-operating-condition aircraft is under an unstable operating condition, when the No. 1 lithium battery pack 173 is in a low-electricity state, the fuel cell pile 161 operates under the rated operating condition, the No. 2 lithium battery pack 174 is in a discharge state, at the moment, the switch 1, the switch 2 and the switch 4 are opened, the switch 3 and the switch 5 are closed, electricity generated by the fuel cell pile 161 supplies power to the No. 1 lithium battery pack 173 through the unidirectional DC/DC converter 162 and the bidirectional DC/DC converter 171, and the No. 1 lithium battery pack 173 is in a charging state; the electricity generated by the lithium battery pack No. 2 174 is boosted and stabilized by the bidirectional DC/DC converter, and flows into the aircraft power grid 175, and the aircraft power grid 175 supplies power to the electric devices. Therefore, the No. 1 lithium battery pack 173 and the No. 2 lithium battery pack 174 are charged and discharged alternately, the aircraft is kept running, the fuel cell stack is always in rated working condition running, and frequent starting and stopping are avoided.
When the hybrid power multi-working-condition aircraft navigates under stable working conditions, such as underwater straight navigation or water-surface straight navigation, the fuel cell stack 161 is used as a main power supply source, the lithium battery pack 173 and the lithium battery pack 174 of number 1 are used as auxiliary power, at this time, the switch 2 and the switch 3 are opened, the switch 1, the switch 4 and the switch 5 are closed, the electricity generated by the fuel cell stack 161 is boosted and stabilized by the unidirectional DC/DC converter 162 and then flows into the aircraft power grid 175, and the electricity in the aircraft power grid 175 flows into the stern propulsion motor 21 by the unidirectional DC/DC converter 210, so that the hybrid power multi-working-condition aircraft navigates stably under water or water-surface straight navigation; the No. 1 lithium battery pack 173 and the No. 2 lithium battery pack 174 are charged and discharged according to specific working conditions.
Referring to fig. 1 and 10, a first embodiment of the present invention is:
under the parking condition, the hybrid multi-condition aircraft has the switches 1, 2, 3, 4 and 5 fully opened, the fuel cell stack 161 and the lithium battery packs 173 and 174 in the buoyancy adjusting and fuel cell cabin 16 are not powered, and the system is in a non-running state.
Referring to fig. 1 and 10, a second embodiment of the present invention is:
when the hybrid power multi-operating-condition aircraft is in a gliding operating condition and the battery pack No. 1 is not full of electricity, the lithium battery pack No. 1 173 is in a charging state, the lithium battery pack No. 2 174 is in a discharging state, the fuel cell pile 161 is in a discharging state, the switch 1, the switch 2 and the switch 4 are opened, and the switch 3 and the switch 5 are closed;
the electricity generated by the fuel cell stack 161 flows through the circuit at the switch 3 after the voltage is regulated by the unidirectional DC/DC converter 162, and then supplies power to the No. 1 lithium battery pack 173 after the voltage is regulated by the bidirectional DC/DC converter 171; electricity generated by the No. 2 lithium battery pack 174 is boosted and stabilized by the bidirectional DC/DC converter 172 and then is collected into an electric network 175 of the aircraft;
hybrid underwater vehicles, under which conditions a gliding mechanism is required. The electricity of the aircraft power grid 175 is fed into the right motor 5 after being regulated by the unidirectional DC/DC converter 121, the right motor 5 drives the right transmission mechanism to rotate the right gliding wing 11, and the electricity is fed into the left motor 8 after being regulated by the unidirectional DC/DC converter 122, the left motor 8 drives the left transmission mechanism to rotate the left gliding wing 12, and the gliding wing is in the unfolding state under the working condition.
Referring to fig. 1 and 10, a third embodiment of the present invention is:
when the hybrid power underwater vehicle is under underwater direct navigation, near-water direct navigation and other stable navigation working conditions, the fuel cell pile 161 is in a discharge state, and the No. 1 lithium battery pack 173 and the No. 2 lithium battery 174 perform charge and discharge behaviors according to the self electric quantity condition and the vehicle power utilization condition; at this time, the switch 2 and the switch 3 are opened, and the switch 1, the switch 4 and the switch 5 are closed;
under the working conditions, after the power generated by the fuel cell stack 161 is boosted and stabilized through the unidirectional DC/DC converter 162, the boosted and stabilized power is collected into an aircraft power grid 175 through a circuit at the switch 1, the power in the aircraft power grid 175 is adjusted in voltage through the unidirectional DC/DC converter 210 and then is supplied to the stern propelling motor 21, and the stern propelling motor 21 operates to drive the ducted propeller 23 to rotate, so that the aircraft obtains continuous and stable thrust.
Referring to fig. 1 and 10, a fourth embodiment of the present invention is:
hybrid's multiplex condition underwater vehicle, when working conditions such as turn to, acceleration and deceleration, fuel cell pile 161 supplies power to No. 1 lithium cell group 173 (or No. 2 lithium cell group) according to the electric quantity of lithium cell group, and when No. 1 lithium cell group was in the discharge state, when No. 2 lithium cell group was in the state of charge, switch 1, switch 2 and switch 4 opened, and switch 3 and switch 5 closed.
Under the working conditions, after the voltage of the electricity generated by the fuel cell stack 161 is regulated by the unidirectional DC/DC converter 162, the electricity is regulated by the bidirectional DC/DC converter 171 and then is supplied to the No. 1 lithium battery pack 173; the electricity generated by the No. 2 lithium battery pack 174 is boosted and stabilized through the bidirectional DC/DC converter 172 and then is input into the aircraft power grid 175;
the electricity of the aircraft electric network 175 supplies power to the stern propulsion motor 21 after voltage regulation is carried out through the unidirectional DC/DC converter 210, and the stern propulsion motor 21 drives the ducted propeller 23;
under the working conditions, when the steering engine system is used for operation control, the power grid 175 of the hybrid underwater vehicle supplies power to the steering engine system 26 and drives the rudder 20 to rotate under the transmission of the rudder stock 19; when additional maneuvering force is provided by the side-pusher propeller 2, the electricity of the aircraft electrical grid 175 is voltage regulated by the unidirectional DC/DC converter 202 to power the side pusher motor 204, and the side pusher motor 204 drives the side-pusher propeller 2 to rotate; when the rotatable cabin needs to be rotated, the electricity of the aircraft power grid 175 is subjected to voltage regulation through the unidirectional DC/DC converter 201 and then supplies power to the planetary gear transmission motor 4, and the planetary gear transmission motor 4 drives the rotatable cabin 1 to rotate through the planetary gear transmission device.
In conclusion, the hybrid multi-working-condition underwater vehicle provided by the invention has multiple propulsion modes, can realize the purpose of multi-working-condition operation, and is beneficial to the vehicle to complete multiple tasks.
Claims (6)
1. A hybrid multi-operating-condition underwater vehicle is characterized in that: the submarine comprises a submarine body, the submarine body comprises a streamlined bow part, a rotatable cabin, a front end motor cabin, a task equipment cabin, a buoyancy adjusting and fuel cell cabin, a lithium battery cabin, an asymmetric stern part, a guide pipe propeller, a side push propeller is installed in the rotatable cabin, a planetary gear transmission mechanism is arranged in the front end motor cabin, a right side motor, a left side motor, the planetary gear transmission mechanism is connected with the planetary gear transmission motor, a submarine body left side device bag is installed on the left and right sides of the outer portion of the submarine body respectively, a submarine body right side device bag is installed on the left side device bag and comprises a left worm wheel, a left side gliding wing, the left side worm wheel and the left side worm form a transmission mechanism, a left side worm, the left side wing is glidingly connected with the left side motor, the right side worm wheel and the left side worm form a transmission mechanism, the right side worm wheel and the right side worm form a transmission mechanism, the right side worm, the right side gliding wing is connected with the right side motor, the asymmetric stern part is installed, and the rudder is transmitted through a rudder lever.
2. The hybrid multi-operating-mode underwater vehicle as claimed in claim 1, wherein: the rear portion of the asymmetric stern includes an upper curved section and a lower curved section which are asymmetric, the upper curved section is kept in an upward state, and the lower curved section is kept in a downward state.
3. The hybrid multi-condition underwater vehicle of claim 1 wherein: a honeycomb-shaped lithium battery pack is arranged in the lithium battery compartment and comprises a No. 1 lithium battery pack and a No. 2 lithium battery pack; a fuel cell pile and an aircraft power grid are arranged in a buoyancy adjusting and fuel cell cabin, the fuel cell pile is respectively connected with a first switch, a second switch and a third switch, the first switch is connected with the aircraft power grid, the second switch is connected with a No. 2 lithium battery pack, the third switch is connected with a No. 1 lithium battery pack, a fifth switch is arranged behind the second switch, a fourth switch is arranged behind the third switch, the fourth switch and the fifth switch are both connected with the aircraft power grid, the aircraft power grid is respectively connected with a side thruster motor, a planetary gear transmission motor, a left side motor, a right side motor, a steering engine system and a stern propulsion motor, and the side thruster motor is connected with a side thruster propeller.
4. A hybrid multi-regime underwater vehicle as claimed in claim 3, wherein: when the aircraft body is in an unstable operation condition, the No. 1 lithium battery pack and the No. 2 lithium battery pack are alternately used as power supply sources; when the No. 1 lithium battery pack and the No. 2 lithium battery pack are in a full-electric-quantity state, the fuel cell pile does not work, the first switch, the second switch, the third switch and the fifth switch are opened at the moment, the fourth switch is closed, and the No. 1 lithium battery pack is powered by the power grid which is introduced into the aircraft.
5. A hybrid multi-regime underwater vehicle as claimed in claim 3, wherein: the aircraft body is under an unstable operation condition, when the No. 1 lithium battery pack is in a low-power state, the fuel cell stack operates under a rated condition, the No. 2 lithium battery pack is in a discharging state, at the moment, the first switch, the second switch and the fourth switch are opened, the third switch and the fifth switch are closed, electricity generated by the fuel cell stack supplies power to the No. 1 lithium battery pack, and the No. 1 lithium battery pack is in a charging state; and the current generated by the No. 2 lithium battery pack enters an aircraft power grid and is supplied with power by the aircraft power grid.
6. A hybrid multi-regime underwater vehicle as claimed in claim 3, wherein: when the aircraft body sails under a stable working condition, the fuel cell stack is used as a power supply source, the No. 1 lithium battery pack and the No. 2 lithium battery pack are used as auxiliary power, the second switch and the third switch are opened at the moment, the first switch, the fourth switch and the fifth switch are closed, current generated by the fuel cell stack enters an aircraft power grid, and the current in the aircraft power grid enters a stern portion propulsion motor.
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