CN115509293B - Sonar emission power regulation circuit, system and control method - Google Patents
Sonar emission power regulation circuit, system and control method Download PDFInfo
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- CN115509293B CN115509293B CN202211123889.3A CN202211123889A CN115509293B CN 115509293 B CN115509293 B CN 115509293B CN 202211123889 A CN202211123889 A CN 202211123889A CN 115509293 B CN115509293 B CN 115509293B
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
- G05F1/66—Regulating electric power
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/524—Transmitters
Abstract
The invention discloses a sonar emission power regulation circuit, a sonar emission power regulation system and a sonar emission power regulation control method, which comprise a charge-discharge management module, a voltage acquisition circuit, a power failure maintenance backup power supply, an FPGA signal generation module, a charge switch, a charge current-limiting resistor, a discharge switch, an energy storage capacitor group and a power amplification module, wherein the charge switch, the charge current-limiting switch and the energy storage capacitor group are in series connection, the charge current-limiting resistor is connected with the charge current-limiting switch in parallel, the discharge switch is connected with the energy storage capacitor group, the voltage acquisition circuit is connected with the energy storage capacitor group and the charge-discharge management module, the FPGA signal generation module provides an emission enabling signal for the charge-discharge management module, the charge-discharge management module provides an emission signal for the power amplification module, and the charge-discharge management module controls the magnitude of electric energy stored and released by the energy storage capacitor group according to an upper computer power regulation instruction. The invention can effectively increase the adjustable range of output electric power and emitted sound power and improve the emission efficiency under the condition of not reducing the sonar distance resolution.
Description
Technical Field
The invention belongs to the technical field of sonar electronic systems, and particularly relates to a sonar emission power regulation and control circuit, a sonar emission power regulation and control system and a sonar emission power regulation and control method.
Background
The sonar is equipment for performing underwater observation detection tasks based on the underwater sound technology, and plays an important role in the fields of anti-frogman invasion, underwater vehicle monitoring, offshore monitoring protection and the like. In the process of performing tasks such as underwater security, the transmitting power of the sonar is required to be correspondingly adjusted according to different detection distances, so that good detection effects can be obtained for targets with different distances in different scenes, and the transmitting power of the sonar is required to be output in an adjustable mode.
Aiming at the problems, the prior art mostly adopts a mode of adjusting the pulse width or the duty ratio of the excitation signal of the transmitting transducer to adjust the transmitting sound power, thereby changing the detection distance of the sonar. The mode of adjusting the pulse width can obtain a larger power adjusting range, but the pulse width modulation power not only affects the frame rate and the distance resolution of sonar imaging, but also increases the complexity of pulse modulation and demodulation; the mode of adopting the adjustment transmission signal duty cycle is less in power adjustable range on the one hand, and on the other hand can lead to transmitter transmission efficiency to reduce for the sonar is difficult to adapt to more scene demands.
Disclosure of Invention
In order to solve the defects and the shortcomings existing in the prior art, the inventor provides a technical scheme through research and development, and realizes the wide-range continuous adjustability of sonar transmitting power by adopting the energy storage capacitor rapid charge-discharge control technology, and specifically, the invention is realized as follows:
a sonar transmit power regulation circuit, comprising: the power amplifier comprises a charging switch, a charging current limiting resistor, a discharging switch, an energy storage capacitor bank and a power amplifier module, wherein the charging switch is connected with high-voltage direct current, the charging switch is connected with the charging current limiting switch in series, the charging current limiting resistor is connected with the charging current limiting switch in parallel, the output end of the charging current limiting switch is connected with the positive electrode of the energy storage capacitor bank to form a charging control loop of the energy storage capacitor bank, the positive electrode side of the energy storage capacitor bank is connected with the discharging switch, the output end of the discharging switch is connected to the ground to form a discharging control loop of the energy storage capacitor bank, the charging switch, the charging current limiting switch and the discharging switch can respectively receive enabling signals to carry out switch control, the energy storage capacitor bank can discharge and output the enabling signals to the power amplifier module, and the power amplifier module carries out power amplification on sonar emission signals; the negative electrode of the input end of the energy storage capacitor group is connected with the negative electrode of the high-voltage direct current, the positive electrode of the energy storage capacitor group is connected with the negative electrode of the output end of the charging current-limiting switch to form a charging control loop, and the negative electrode of the output end of the energy storage capacitor group is connected with the negative electrode of the power supply interface of the power amplifier module and the negative electrode of the output end of the discharging switch, and the positive electrode of the energy storage capacitor group is connected with the positive electrode of the power supply interface of the power amplifier module to form a discharging control loop.
Furthermore, the charging switch and the charging current-limiting switch have the same topological structure and comprise two MOS tubes, a boost conversion module and a resistor-capacitor part, wherein one MOS tube is connected with the positive electrode of the input end of the boost conversion module, the positive electrode of the output end of the boost conversion module is connected with the other MOS tube, when the enabling signal is in a low level, the switching circuit is closed, and otherwise, the switching circuit is turned off; the negative electrode of the input end of the boost conversion module is connected with the negative electrode of the power supply source of the switch circuit, and the positive electrode of the boost conversion module is connected with the drain electrode of one PMOS tube; the negative electrode of the output end of the boost conversion module is connected with the negative electrode of the output end of the switch circuit, and the positive electrode of the boost conversion module is connected with a current limiting resistor and then connected with the grid electrode of the other NMOS tube; one MOS tube is a PMOS tube, the grid electrode of the MOS tube is connected with a switch enabling signal output by the charge-discharge management module, the source electrode of the MOS tube is connected with the positive electrode of the power supply of the switch circuit, and the drain electrode of the MOS tube is connected with the positive electrode of the input end of the boost conversion module; the other MOS tube is an NMOS tube, the grid electrode of the MOS tube is connected with the positive electrode of the output end of the boost conversion module, the drain electrode of the MOS tube is connected with the positive electrode of the output end of the switch circuit, the source electrode of the MOS tube is connected with the negative electrode of the switch circuit, in the discharge switch circuit, the positive electrode of the diode is connected with the emitter electrode of the triode and the source electrode of the NMOS tube, and the negative electrode of the diode is connected with the collector electrode of the triode and the grid electrode of the NMOS tube; the discharging switch comprises a discharging current limiting resistor, a triode, a diode, an NMOS tube and two resistors, wherein the discharging current limiting resistor is formed by connecting a plurality of power resistors in series, one end of the discharging current limiting resistor is connected with the energy storage capacitor group, the other end of the discharging current limiting resistor is connected with the drain electrode of the NMOS tube, the source electrode of the NMOS tube is connected with a high-voltage direct-current ground end, and the grid electrode of the NMOS tube is connected with the collector electrode of the triode; the collector of the triode is connected to the high-voltage end through a first resistor, the emitter is connected with the source electrode of the NMOS tube, and the base is connected to a switch enabling signal output by the charge-discharge management module through a second resistor; the discharge switch is turned off when the enable signal is at a high level; otherwise, the discharge switch is closed. The circuit is also connected with a power-down maintaining backup power supply, the power-down maintaining backup power supply comprises three diodes, a resistor, a self-recovery insurance and a super capacitor, wherein the first diode is positioned in the main loop, the positive electrode of the first diode is connected with the input of a direct current power supply, and the negative electrode of the first diode is connected with the self-recovery insurance; the second diode is arranged in the bypass, the anode of the second diode is connected with the anode of the first diode, the cathode of the second diode is connected with the resistor, the resistor is connected with the anode of the super capacitor and the anode of the third diode, the cathode of the third diode is connected with the cathode of the first diode, and the cathode of the super capacitor is connected with GND.
In another aspect of the invention, a sonar emission power regulation and control system is disclosed, including the above sonar emission power regulation and control circuit, and further including: charge-discharge management module, voltage acquisition circuit, FPGA signal generation module, wherein: the input end of the voltage acquisition circuit is connected with the positive electrode side of the energy storage capacitor group, and the output end of the voltage acquisition circuit is connected with the ADC port of the charge-discharge management module; the charge-discharge management module is connected with the voltage acquisition circuit, can read the acquired voltage value signal in real time, and carries out negative feedback logic judgment according to a transmitting power adjusting instruction sent by the upper computer, and controls the charge-discharge process of the energy storage capacitor group by sending switch enabling signals to the charge switch, the charge current limiting switch and the discharge switch; the FPGA signal generating module is connected with the charge and discharge management module and the power amplification module, can send a transmission enabling signal to the charge and discharge management module, and simultaneously outputs a sonar transmission signal to the power amplification module, the power amplification module performs power amplification on the transmission signal, and the energy storage capacitor bank performs rapid charge and discharge to meet the instantaneous high power requirement of the power amplification module so as to drive the load of the transmission transducer.
The voltage acquisition circuit comprises a voltage dividing circuit, a front-stage operational amplifier, a precise linear optocoupler and a voltage follower, wherein the voltage dividing circuit adopts two series resistors to divide the acquired high voltage into an ADC input voltage range, the ADC input voltage range is input into the in-phase input end of the front-stage operational amplifier after the voltage division, the output end of the front-stage operational amplifier is connected with an input photodiode of the linear optocoupler, a feedback photodiode of the linear optocoupler is connected with an inverted input end of the front-stage operational amplifier, the output photodiode is connected with the voltage follower, and the output of the voltage follower is connected with an ADC interface in the charge-discharge management module.
The charge-discharge management module sets a full charge voltage threshold and a discharge voltage drop threshold of the energy storage capacitor group according to a transmission power regulation instruction sent by the upper computer, reads collected voltage value signals in real time, compares the collected voltage value signals with the full charge voltage threshold if the energy storage capacitor group is in a charging state, controls charge energy storage regulation and control through controlling the charge switch and the charge current limiting switch, compares the energy storage regulation and control with the discharge voltage drop threshold if the energy storage capacitor group is in the transmission state, and controls a discharge energy release process through controlling the on-off of the discharge switch so as to meet different transmission power output requirements.
The energy storage capacitor group can charge and store energy when the sonar transmitter is idle, and discharge and release energy when the transmitter is in a transmitting state; the charge and discharge management module can control the terminal voltage of the charged energy storage capacitor group to any value in the upper limit interval and the lower limit interval of the withstand voltage value through voltage negative feedback control so as to increase the power regulation range, when the energy storage capacitor group outputs power to the power amplification module, the allowable voltage drop is kept stable in the voltage drop threshold range, continuously adjustable transmitting electric power is provided for the transmitter through the regulation and control power amplification module, and the transmitting sound source level of the adjustable sonar transmitting transducer can realize the adjustment of the sonar detection distance.
The invention also discloses a sonar emission power regulation control method, which comprises the following steps:
step 1, starting high-voltage direct current input, and setting a voltage threshold U at which an energy storage capacitor is fully charged according to an output power adjusting instruction 1 The charging switch and the charging current limiting switch are closed, the energy storage capacitor group enters a quick charging mode, and meanwhile charging voltage and charging time monitoring are started;
step 2, monitoring the actual charging voltage value and comparing with the full charge voltage threshold U 1 Comparing, if the voltage threshold U is close to or reached 1 The charging current-limiting switch is disconnected, the charging current-limiting resistor is connected to enter a trickle slow charging mode until the charging voltage is stabilized at a threshold value, if the charging voltage is smaller than the voltage threshold value U 1 Judging whether the charging state is normal or not according to the charging time, and feeding back the charging state information to the upper computer;
step 3, if the charging state is monitored to be normal, which means that the charging of the energy storage capacitor group is completed, the charging loop is disconnected: turning off the charging switch and the charging current limiting switch;
if the charging state is abnormal, interrupting to inquire whether the system is powered down, if so, automatically switching the system to the power down state to keep the backup power supply to supply power briefly, performing power down protection, and feeding back the power down state to the upper computer;
step 4, when the FPGA signal generating module sends a transmitting enabling signal, the charging and discharging management module controls the discharging output loop to be closed: the charging switch and the charging current limiting switch are opened, the discharging switch is closed, and the discharging voltage is monitored in real time;
and step 5, monitoring the discharge voltage to judge whether the discharge is finished, and if the discharge voltage drop exceeds a threshold value, finishing the discharge and entering a new round of charge and discharge process.
The charging voltage is regulated according to the transmitting power control command, so that the charging voltage has the adjustable output capability of instantaneous transmitting power, and the capacitance value of the energy storage capacitor is calculated according to the formula
Wherein C is the total capacitance of the energy storage capacitor group, P is the transmitting power of the transmitter, tau is the maximum pulse width of the transmitting signal, U 1 For the voltage of the end of the energy storage capacitor before transmitting, U 2 For the voltage value obtained by subtracting the saturated voltage drop of the power amplifier from the voltage of the energy storage capacitor before transmitting, U 1 And U 2 Is controlled by a charge and discharge management module.
Adjustment of sonar detection distance:
the output electric power is adjusted, so that the emission sound source level of the sonar emission transducer can be adjusted, and the sonar detection distance can be adjusted;
the emission sound source level calculation formula:
SL＝20lgU effective and effective +S V
In the formula, SL is the emission sound source level of the emission transducer, S V For transmitting voltage response of transmitting transducer, U Effective and effective To transmit the effective value of the transducer excitation voltage signal.
The working principle and beneficial effects of the invention are introduced: in the circuit, a charging switch is connected with a charging current-limiting switch in series, a charging current-limiting resistor is connected in parallel with the charging current-limiting switch, the output end of the charging current-limiting switch is connected with the positive electrode of an energy storage capacitor bank to form a charging control loop of the energy storage capacitor bank, the positive electrode side of the energy storage capacitor bank is connected with a discharging switch, the output end of the discharging switch is connected to the ground end to form a discharging control loop of the energy storage capacitor bank, the charging and discharging process of the energy storage capacitor bank is feedback controlled by a charging and discharging management module and a voltage acquisition circuit, the input end of the voltage acquisition circuit is connected with the positive electrode side of the energy storage capacitor bank, the output end of the voltage acquisition circuit is connected with an ADC port of the charging and discharging management module, the charging and discharging management module reads acquired voltage value signals in real time and carries out negative feedback logic judgment according to a transmitting power regulation command sent by an upper computer, and a charging and discharging process of the energy storage capacitor bank is controlled by sending a switch enabling signal to the charging and discharging switch, so that continuous adjustable power control is realized, an FPGA signal generating module sends a transmitting enabling signal to the power amplifier module, and a sonar transmitting signal is amplified by the power amplifier module, and a power amplifier module is used for amplifying and driving a power transducer by the energy storage capacitor bank to meet the requirement of a fast-amplifying power amplifier module; according to the transmitting power adjusting instruction, setting a voltage threshold value at which the energy storage capacitor is fully charged, and then controlling a charging loop of the energy storage capacitor group to be closed: the charging switch and the charging current-limiting switch are closed, the charging current-limiting resistor is short-circuited, the energy storage capacitor group enters a fast charging mode, when the charging voltage is detected to be close to or reach a full charging voltage threshold value, the charging current-limiting switch is disconnected, the charging current-limiting resistor is connected, the trickle slow charging mode is entered, and the charging voltage is finely regulated until the charging voltage is stabilized at the threshold value; according to the transmitting power adjusting instruction sent by the upper computer, the charging and discharging management module controls the terminal voltage of the charged energy storage capacitor group to be any value within the range of 0-200V through voltage negative feedback control, when the energy storage capacitor group outputs to the power amplification module, the allowable voltage drop is kept stable within the attenuation range of 5%, and the transmitting sound source level of the sonar transmitting transducer can be adjusted by adjusting and controlling the electric power output by the power amplification module, so that the sonar detection distance is adjusted. In the common technology, the technical scheme of adopting the energy storage capacitor to charge and discharge to drive the power amplifier only aims at providing fixed instantaneous high-power output capacity, but not for carrying out wide-range output power regulation, and the conventional technical schemes such as pulse width modulation power or duty ratio modulation power can realize power regulation in a certain range, but have the problems of small power regulation range, low efficiency, high control complexity and the like. According to the invention, through the sonar emission power regulation circuit, continuous adjustable output in a section of interval can be realized, and regulation of changing sound source level can be realized so as to detect target effects in different distances.
The sonar emission power regulation circuit provided by the invention adopts the rapid charge and discharge control technology of the energy storage capacitor, can control the magnitude of the electric energy stored and released by the energy storage component according to the power regulation instruction of the upper computer, realizes the wide-range continuous regulation of the output electric power, further realizes the regulation of the emission sound source level of the sonar emission transducer, and has the advantages of high emission efficiency, wide power regulation range and the like; the charge and discharge management module adopts a backup power supply based on a super capacitor to supply power for the MCU, so that the charge and discharge management module can still keep short-term normal work under the condition of unexpected power failure, and emergency disposal, fault removal and data storage record can be performed in time; the invention meets the design requirement of low cost, does not use special capacitor charge and discharge management chips, storage batteries and other high-cost solutions, adopts super capacitor energy storage, has the advantages of high energy density, high charge and discharge speed, multiple charge and discharge times, long service life, low cost and the like, and meets the design requirement of safety, stability and high efficiency.
Drawings
FIG. 1 is a topological structure block diagram of a sonar emission power regulation circuit according to the invention;
FIG. 2 is a schematic diagram of the charge switch and charge current limiting switch circuit shown in FIG. 1;
FIG. 3 is a schematic diagram of the discharge switching circuit shown in FIG. 1;
FIG. 4 is a schematic diagram of the power down hold back-up power supply circuit depicted in FIG. 1;
FIG. 5 is a schematic diagram of the voltage acquisition circuit shown in FIG. 1;
FIG. 6 is a flow chart of a control method of a sonar emission power regulation circuit according to the present invention;
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Example 1: sonar transmitting power regulation and control circuit
Comprising the following steps: the power amplifier comprises a charging switch, a charging current limiting resistor, a discharging switch, an energy storage capacitor bank and a power amplifier module, wherein the charging switch is connected with high-voltage direct current, the charging switch is connected with the charging current limiting switch in series, the charging current limiting resistor is connected with the charging current limiting switch in parallel, the output end of the charging current limiting switch is connected with the positive electrode of the energy storage capacitor bank to form a charging control loop of the energy storage capacitor bank, the positive electrode side of the energy storage capacitor bank is connected with the discharging switch, the output end of the discharging switch is connected to the ground to form a discharging control loop of the energy storage capacitor bank, the charging switch, the charging current limiting switch and the discharging switch can respectively receive enabling signals to carry out switch control, the energy storage capacitor bank can discharge and output the enabling signals to the power amplifier module, and the power amplifier module carries out power amplification on sonar emission signals to drive a transducer load;
the charging switch and the charging current-limiting switch have the same topological structure and are composed of two MOS tubes, a DC/DC boost conversion module and a very small amount of resistor-capacitor parts. The first MOS tube is connected with the positive electrode of the input end of the DC/DC boost conversion module, the positive electrode of the output end of the boost conversion module is connected with the second MOS tube, the on-off of the switching circuit is controlled by a switch enabling signal output by the charge-discharge management module, when the enabling signal is in a low level, the first MOS tube is conducted, and the DC/DC boost conversion module converts the output to drive the second MOS tube to be conducted, so that the switching circuit is closed; and on the contrary, the switching circuit is turned off, and the switching circuit realizes the isolation control of the low-voltage control signal to the high-voltage direct-current load through the DC/DC boost conversion module, has the characteristics of simple and compact circuit structure, and can improve the safety and reliability of the system.
Preferably, the discharge switch consists of a discharge current limiting resistor, a triode, a diode, an NMOS tube and two resistors. The discharging current-limiting resistor is formed by connecting a plurality of power resistors in series, one end of the discharging current-limiting resistor is connected with the energy storage capacitor group, the other end of the discharging current-limiting resistor is connected with the drain electrode of the NMOS tube, the source electrode of the NMOS tube is connected with DC200V-, and the grid electrode of the NMOS tube is connected with the collector electrode of the triode; the collector of the triode is connected to the high voltage end through a first resistor, the emitter is connected with the source electrode of the NMOS tube, and the base is connected to a switch enabling signal output by the charge and discharge management module through a second resistor. When the enabling signal is in a high level, the triode is conducted, the grid electrode of the NMOS tube is pulled to a low level, the NMOS tube is cut off, and the discharge switch is turned off; and if not, closing the discharge switch, and discharging the energy storage capacitor group through the discharge current-limiting resistor.
Preferably, the energy storage capacitor group is formed by connecting a plurality of super capacitors in parallel.
Example 2: sonar transmitting power regulation and control system
Comprising the following steps: the power supply comprises a charge and discharge management module, a voltage acquisition circuit, a power failure maintenance backup power supply, an FPGA signal generation module, a charge switch, a charge current limiting resistor, a discharge switch, an energy storage capacitor group and a power amplifier module.
The charging switch 5 is connected with the charging current-limiting switch 6 in series, the charging current-limiting resistor 7 is connected on the charging current-limiting switch 6 in parallel, the output end of the charging current-limiting switch is connected with the positive electrode of the energy storage capacitor bank to form a charging control loop of the energy storage capacitor bank, the positive electrode side of the energy storage capacitor bank is connected with the discharging switch 8, the output end of the discharging switch 8 is connected to the ground end to form a discharging control loop of the energy storage capacitor bank, the charging and discharging process of the energy storage capacitor bank is feedback controlled by the charging and discharging management module and the voltage acquisition circuit, the input end of the voltage acquisition circuit is connected with the positive electrode side of the energy storage capacitor bank, the output end of the voltage acquisition circuit is connected with the ADC port of the charging and discharging management module, the charging and discharging management module reads acquired voltage value signals in real time, and carries out negative feedback logic judgment according to a transmitting power adjustment instruction sent by the upper computer, and the charging and discharging process is controlled by sending switch enabling signals to the charging switch, the charging current-limiting switch and the discharging switch.
The FPGA signal generating module sends a transmitting enabling signal to the charging and discharging management module, and outputs a sonar transmitting signal to the power amplifying module, the power amplifying module amplifies the transmitting signal in power, and the energy storage capacitor group is used for fast charging and discharging to meet the power requirement of the power amplifying module so as to drive the transmitting transducer to load.
In order to improve the safety and stability of the sonar emission power regulation circuit, a power-down maintenance backup power supply is adopted to carry out power-down protection on the charge and discharge management module, so that the charge and discharge management module can carry out emergency treatment when the system is powered down.
Preferably, the power-down maintaining backup power supply is composed of three diodes, a resistor, a self-recovery fuse and a super capacitor. The first diode is positioned in the main loop, the anode of the first diode is connected with the DC5V input end, and the cathode of the first diode is connected with the self-recovery insurance; the second diode is arranged in the bypass, the anode of the second diode is connected with the anode of the first diode, the cathode of the second diode is connected with the resistor, the resistor is connected with the anode of the super capacitor and the anode of the third diode, the cathode of the third diode is connected with the cathode of the first diode, and the cathode of the super capacitor is connected with GND. When the power supply works normally, the DC5V supplies power to the charge and discharge management module through a main loop of the backup power supply when the power supply is in power failure, meanwhile, the super capacitor charges, and when the power failure of the system occurs, the super capacitor immediately supplies short-term power to the charge and discharge management module through bypass discharge, so that the power failure protection of the system is completed.
Preferably, the charge-discharge monitoring circuit adopts precise linear optocoupler isolation sampling and consists of a voltage dividing circuit, a front-stage operational amplifier, a precise linear optocoupler and a voltage follower. The voltage dividing circuit adopts two series resistors to divide the acquired high voltage into a range of 0-2.5V, the voltage is input into the non-inverting input end of the front-stage operational amplifier after being divided, the output end of the front-stage operational amplifier is connected with the input photodiode of the linear optocoupler, the feedback photodiode of the linear optocoupler is connected with the inverting input end of the front-stage operational amplifier, the output photodiode is connected with the voltage follower, and the output of the voltage follower is connected with the ADC interface in the charge-discharge management module. The charge-discharge monitoring circuit has the advantages of voltage isolation, high sampling precision, low cost, high stability and the like.
Example 3: control method of sonar emission power regulation circuit
Referring to fig. 1, a sonar emission power regulation circuit provided in this embodiment includes: the power supply comprises a charge and discharge management module 1, a voltage acquisition circuit 2, a power failure maintaining backup power supply 3, an FPGA signal generation module 4, a charge switch 5, a charge current limiting switch 6, a charge current limiting resistor 7, a discharge switch 8, an energy storage capacitor bank 9 and a power amplifier module 10.
The charging switch 5 is connected with the charging current-limiting switch 6 in series, the charging current-limiting resistor 7 is connected in parallel on the charging current-limiting switch 6, the output end of the charging current-limiting switch 6 is connected with the positive electrode of the energy storage capacitor bank 9 to form a charging control loop of the energy storage capacitor bank 9, the positive electrode side of the energy storage capacitor bank 9 is connected with the discharging switch 8, the output end of the discharging switch 8 is connected to the ground end to form a discharging control loop of the energy storage capacitor bank 9, the charging and discharging process of the energy storage capacitor bank 9 is feedback controlled by the charging and discharging management module 1 and the voltage acquisition circuit 2, the voltage acquisition circuit 2 acquires the charging and discharging voltage value of the energy storage capacitor bank 9 in real time, the charging and discharging management module 1 reads the acquired voltage value signal, and carries out negative feedback logic judgment according to a transmitting power regulation command sent by the upper computer, and the charging and discharging enabling signals SwitchEn1, switchEn2 and SwitchEn3 are respectively sent to the charging switch 5, the charging current-limiting switch 6 and the discharging switch 8 to control the charging and discharging process of the energy storage capacitor bank 9.
Fig. 2 is a schematic circuit diagram of the charging switch 5 and the charging current-limiting switch 6 according to a preferred embodiment. The switching circuit only needs two MOS tubes DV30 and DV31, one DC5V/DC12V boost conversion module PW30 and a very small amount of resistor and capacitor parts, the working voltage of the switching circuit is DC5V, the MOS tube DV30 is connected with the positive electrode of the input end of the boost conversion module PW30, the on-off of the DV30 is controlled by a switching signal SwitchEn output by the charge and discharge management module 1, the output end of the boost conversion module PW30 is connected with DV31, when the SwitchEn signal is in a low level, DV30 is conducted, the boost conversion module PW30 converts output 12V, so that the MOS tube DV31 is conducted, and the Out+ and Out-of the switching circuit are closed; and if the voltage is not higher than the preset voltage, the switching circuit is turned off.
Fig. 3 is a schematic circuit diagram of the discharge switch 8 according to a preferred embodiment. The discharging switch consists of a discharging current limiting resistor R70, a triode Q71, a diode D70, an NMOS tube Q70 and resistors R71 and R72. The discharging current limiting resistor R70 is formed by connecting a plurality of power resistors in series, one end of the discharging current limiting resistor R70 is connected with the energy storage capacitor group 9, the other end of the discharging current limiting resistor R70 is connected with the drain electrode of the NMOS tube Q70, the source electrode of the NMOS tube Q70 is connected with a high-voltage direct current ground, and the grid electrode of the NMOS tube Q70 is connected with the collector electrode of the triode Q71; the collector of the triode Q71 is connected to the high voltage end of the R70 through a resistor R71, the emitter is connected with the source of the NMOS tube Q70, and the base is connected to a switch enabling signal output by the charge and discharge management module 1 through a resistor R72. When the enabling signal is at a high level, the triode Q71 is turned on, the grid electrode of the NMOS tube Q70 is pulled to a low level, the NMOS tube Q70 is turned off, and the discharge switch 8 is turned off; otherwise, the discharge switch 8 is closed, and the energy storage capacitor group 9 discharges through the discharge current limiting resistor R70.
Fig. 4 is a schematic diagram of the power-down holding back-up power supply 3 according to a preferred embodiment. The power-down maintaining backup power supply is composed of three diodes D10, D11 and D12, a resistor R10, a self-recovery fuse F10 and a super capacitor C10 of 5F. The diode D10 is positioned in the main loop, the positive electrode of the diode D10 is connected with the input of a DC5V power supply, and the negative electrode of the diode D is connected with the self-recovery fuse F10; the diode D11 is positioned in the bypass, the positive electrode of the diode D11 is connected with the positive electrode of the D10, the negative electrode of the diode D11 is connected with the resistor R10, the resistor R10 is connected with the positive electrode of the super capacitor C10 and the positive electrode of the diode D12, the negative electrode of the diode D12 is connected with the negative electrode of the diode D10, and the negative electrode of the super capacitor C10 is connected with GND. When the sonar power supply works normally, DC5V supplies power to the charge and discharge management module 1 through a main loop of the power failure maintenance backup power supply, meanwhile, the 5F super capacitor C10 is charged, and when the system is powered down, the super capacitor C10 immediately supplies short-term power to the charge and discharge management module 1 through bypass discharge, so that the system is powered down for protection.
Fig. 5 is a schematic diagram of the voltage acquisition circuit 2 according to a preferred embodiment. The voltage acquisition circuit 2 adopts a precise linear optocoupler to perform isolation sampling, and mainly comprises voltage dividing resistors R50 and R51, a front-stage operational amplifier U50, the precise linear optocoupler U51 and a voltage follower U52. The divider resistors R50 and R51 are connected in series to divide the voltage of the collected high voltage into a range of 0-2.5V, the divided voltage is input into the non-inverting input end of the front-stage operational amplifier U50, the output end of the front-stage operational amplifier U50 is connected with the input photodiode of the linear optocoupler U51, the feedback photodiode of the linear optocoupler U51 is connected with the inverting input end of the front-stage operational amplifier U50, the output photodiode is connected with the voltage follower U52, and the output of the voltage follower U52 is connected with the ADC interface of the charge-discharge management module 1. The voltage acquisition circuit has the advantages of high voltage isolation, high sampling precision, low cost, high stability and the like.
In this embodiment, the sonar emission signal is generated by the FPGA signal generating module 4, and the power amplifying module 10 amplifies the sonar emission signal to drive the emission transducer load, because the instantaneous emission power of the sonar transmitter is larger, but the average power is smaller, the energy storage capacitor group 9 needs to perform rapid charge and discharge to meet the power requirement of the power amplifying module 10.
The main functions of the storage capacitor group 9 are: and charging and energy storage are carried out when the sonar transmitter is idle, and discharging and energy release are carried out when the transmitter is in a transmitting state. The charge and discharge voltage of the energy storage capacitor group 9 is regulated by the charge and discharge management module 1 according to the emission power control instruction, so that the energy storage capacitor group has the adjustable output capacity of instantaneous emission power.
In this embodiment, the parameter design of the storage capacitor set 9 includes the following steps:
(a) The capacitance value of the energy storage capacitor is calculated according to the formula:
(b) Wherein C is the total capacitance of the energy storage capacitor group, P is the transmitting power of the transmitter, tau is the maximum pulse width of the transmitting signal, U 1 For the voltage of the end of the energy storage capacitor before transmitting, U 2 For the voltage value obtained by subtracting the saturated voltage drop of the power amplifier from the voltage of the energy storage capacitor before transmitting, U 1 And U 2 Is controlled by a charge and discharge management module 1. In this embodiment, the total capacity of the storage capacitor set is calculated according to the required maximum emission power, i.e., p=7500W, τ=20ms, u 1 =200v, control the capacitor discharge voltage drop within 5%, U 2 =190V, then the required capacitance total c=76923 μf;
(c) According to the calculation, the energy storage capacitor group 9 is formed by connecting 43 super capacitors with nominal capacity value of 1800 mu F and withstand voltage value of 250V in parallel.
The charge and discharge management module 1 adopts a C8051F410 as a main control chip, mainly completes tasks such as communication processing, charge and discharge control of an energy storage capacitor bank, voltage acquisition feedback and the like, and in order to improve the safety and stability of a sonar system, the power-down protection is carried out on the charge and discharge management module 1 by a power-down keeping backup power supply 3.
According to the transmitting power adjusting instruction sent by the upper computer, the charging and discharging management module 1 controls the terminal voltage of the charged energy storage capacitor group to any value within the interval of 0-200V through voltage negative feedback control, when the energy storage capacitor group 9 discharges and outputs to the power amplification module 10, the allowable voltage drop is kept stable within the attenuation range of 5%, and then the charging and discharging formula of the energy storage capacitor is shown as follows:
in theory, the transmitting power regulating circuit provided by the embodiment can provide the continuously adjustable transmitting electric power of 0W-7546.5W for the transmitter. Furthermore, by adjusting the electric power output by the power amplification module 10, the emission sound source level of the sonar emission transducer can be adjusted, so that the sonar detection distance can be adjusted.
Emission sound source level calculation formula: sl=20 lgU Effective and effective +S V (3)
In the formula, SL is the emission sound source level of the emission transducer, S V For the transmit voltage response of the transmit transducer, S in this embodiment V ＝167，U Effective and effective In order to transmit the effective value of the excitation voltage signal of the transducer, in this embodiment, the transmission signal is a square wave signal with equal amplitude and opposite phase, the transformer with the transformation ratio of 2 couples the ac power output by the power amplifier module 10 with the transmission signal and realizes the boost output to drive the load of the transducer, so U Effective and effective ＝2U 1 。
According to the formula (3), the adjustable range of the transmitting sound source level of the transmitting transducer is up to 52dB, so that the invention has the remarkable advantages of large adjustable range of the transmitting electric power and the sound power.
Referring to fig. 6, in this embodiment, the control method flow for implementing the sonar output electric power and the emission sound source level adjustment by adopting the present invention is described by taking the example that the sonar emission power regulation circuit provides four emission electric powers of full power, 1/2 power, 1/4 power and 1/8 power to the sonar transducer respectively:
s1: and the charge and discharge management module 1 receives a transmitting power adjusting instruction sent by the upper computer, analyzes the instruction and starts DC200V high-voltage direct current input.
S2: setting a voltage threshold U of full charge of the energy storage capacitor according to the output power instruction 1 For example, if the full power is output, U is set 1 =200v; if 1/2 power output, set U 1 =141V; if 1/4 power output, set U 1 =100deg.V; if 1/8 power output, set U 1 =71V, then controls the charge control loop to close: the charging switch 5 and the charging current-limiting switch 6 are closed, the charging current-limiting resistor 7 is short-circuited, the discharging switch 8 is opened, the energy storage capacitor group 9 enters a fast charging state, and meanwhile, the charging and discharging management module 1 starts the analog-to-digital converter ADC0 and the timer TIME0 to monitor charging voltage and charging TIME in real TIME.
S3: when the charging voltage is detected to be close to 95% U 1 The charging current-limiting switch 6 is disconnected, the charging current-limiting resistor 7 is connected, trickle slow charging is performed, the charging voltage is finely regulated and controlled until the charging voltage is stabilized at U 1 A value; and then judging whether the charging state is normal or not according to the charging time, and feeding back the charging state information to the upper computer.
S4: if the charging state is detected to be normal, which means that the charging of the energy storage capacitor group 9 is completed, the charging control loop is disconnected: the charging switch 5 and the charging current limiting switch 6 are turned off; if the charging state is abnormal, interrupting the inquiry system to judge whether the system is powered down, if the system is powered down, automatically switching to the power down to keep the backup power supply 3 for supplying power briefly, feeding back the power down to the upper computer, closing the sonar emission signal, and resetting the system.
S5: waiting to enter a discharging output state, and when the FPGA signal generating module 4 sends a transmitting enabling signal, the charging and discharging management module 1 controls a discharging output loop to be closed: the charging switch 5 and the charging current-limiting switch 6 are opened, the discharging switch 8 is closed, and the discharging voltage is monitored in real time. As shown in Table 1, under the four output power instructions illustrated in this embodiment, the output electric power of the sonar emission power regulation circuit is compared with the emission sound source level of the transducer, and as can be seen from the table, the invention realizes the provision of the emission electric power with a very wide adjustable range for the sonar, thereby realizing the regulation of the emission sound source level.
Table 1, output electric power versus emission sound source level.
| Instructions for | Full charge voltage U 1 | Output electric power P | Emission sound source stage SL |
| Full power | 200V | 7546.5W | 219dB |
| 1/2 power | 142V | 3773.3W | 216dB |
| 1/4 power | 100V | 1886.6W | 213dB |
| 1/8 power | 71V | 943.3W | 210dB |
S6: the charge and discharge management module 1 judges whether the discharge is completed according to the monitored discharge voltage, if the discharge voltage drop exceeds 5%U 1 The discharge is completed and a new round of charging is entered.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (7)
1. The sonar emission power regulation and control circuit is characterized by comprising: the power amplifier comprises a charging switch, a charging current limiting resistor, a discharging switch, an energy storage capacitor bank and a power amplifier module, wherein the charging switch is connected with high-voltage direct current, the charging switch is connected with the charging current limiting switch in series, the charging current limiting resistor is connected with the charging current limiting switch in parallel, the output end of the charging current limiting switch is connected with the positive electrode of the energy storage capacitor bank to form a charging control loop of the energy storage capacitor bank, the positive electrode side of the energy storage capacitor bank is connected with the discharging switch, the output end of the discharging switch is connected to the ground to form a discharging control loop of the energy storage capacitor bank, the charging switch, the charging current limiting switch and the discharging switch can respectively receive enabling signals to carry out switch control, the energy storage capacitor bank can discharge and output the enabling signals to the power amplifier module, and the power amplifier module carries out power amplification on sonar emission signals; the negative electrode of the input end of the energy storage capacitor group is connected with the negative electrode of the high-voltage direct current, the positive electrode of the energy storage capacitor group is connected with the negative electrode of the output end of the charging current-limiting switch to form a charging control loop, the negative electrode of the output end of the energy storage capacitor group is connected with the negative electrode of the power supply interface of the power amplifier module and the negative electrode of the output end of the discharging switch, and the positive electrode of the energy storage capacitor group is connected with the positive electrode of the power supply interface of the power amplifier module to form a discharging control loop;
the charging switch and the charging current-limiting switch have the same topological structure and comprise two MOS tubes, a boost conversion module and a resistor-capacitor part, wherein one MOS tube is connected with the positive electrode of the input end of the boost conversion module, the positive electrode of the output end of the boost conversion module is connected with the other MOS tube, when the enabling signal is in a low level, the switching circuit is closed, and otherwise, the switching circuit is turned off; the negative electrode of the input end of the boost conversion module is connected with the negative electrode of the power supply source of the switch circuit, and the positive electrode of the boost conversion module is connected with the drain electrode of one PMOS tube; the negative electrode of the output end of the boost conversion module is connected with the negative electrode of the output end of the switch circuit, and the positive electrode of the boost conversion module is connected with a current limiting resistor and then connected with the grid electrode of the other NMOS tube; one MOS tube is a PMOS tube, the grid electrode of the MOS tube is connected with a switch enabling signal output by the charge-discharge management module, the source electrode of the MOS tube is connected with the positive electrode of the power supply of the switch circuit, and the drain electrode of the MOS tube is connected with the positive electrode of the input end of the boost conversion module; the other MOS tube is an NMOS tube, the grid electrode of the MOS tube is connected with the positive electrode of the output end of the boost conversion module, the drain electrode of the MOS tube is connected with the positive electrode of the output end of the switch circuit, the source electrode of the MOS tube is connected with the negative electrode of the output end of the switch circuit,
the discharging switch comprises a discharging current limiting resistor, a triode, a diode, an NMOS tube and two resistors, wherein the discharging current limiting resistor is formed by connecting a plurality of power resistors in series, one end of the discharging current limiting resistor is connected with the energy storage capacitor group, the other end of the discharging current limiting resistor is connected with the drain electrode of the NMOS tube, the source electrode of the NMOS tube is connected with a high-voltage direct-current ground end, and the grid electrode of the NMOS tube is connected with the collector electrode of the triode; the positive electrode of the diode is connected with the emitter of the triode and the source electrode of the NMOS tube, and the negative electrode of the diode is connected with the collector of the triode and the grid electrode of the NMOS tube; the collector of the triode is connected to the high-voltage end through a first resistor, the emitter is connected with the source electrode of the NMOS tube, and the base is connected to a switch enabling signal output by the charge-discharge management module through a second resistor; the discharge switch is turned off when the enable signal is at a high level; otherwise, the discharge switch is closed;
the sonar emission power regulation circuit is also connected with a power-down maintaining backup power supply, the power-down maintaining backup power supply comprises three diodes, a resistor, a self-recovery insurance and a super capacitor, wherein the first diode is positioned in the main loop, the positive electrode of the first diode is connected with the input of a direct current power supply, and the negative electrode of the first diode is connected with the self-recovery insurance; the second diode is arranged in the bypass, the anode of the second diode is connected with the anode of the first diode, the cathode of the second diode is connected with the resistor, the resistor is connected with the anode of the super capacitor and the anode of the third diode, the cathode of the third diode is connected with the cathode of the first diode, and the cathode of the super capacitor is connected with GND.
2. A sonar transmit power regulation and control system comprising the sonar transmit power regulation and control circuit of claim 1, and further comprising: charge-discharge management module, voltage acquisition circuit, FPGA signal generation module, wherein:
the input end of the voltage acquisition circuit is connected with the positive electrode side of the energy storage capacitor group, and the output end of the voltage acquisition circuit is connected with the ADC port of the charge-discharge management module;
the charge-discharge management module is connected with the voltage acquisition circuit, can read the acquired voltage value signal in real time, and carries out negative feedback logic judgment according to a transmitting power adjusting instruction sent by the upper computer, and controls the charge-discharge process of the energy storage capacitor group by sending switch enabling signals to the charge switch, the charge current limiting switch and the discharge switch;
the FPGA signal generating module is connected with the charge and discharge management module and the power amplification module, and can send a transmitting enabling signal to the charge and discharge management module and output a sonar transmitting signal to the power amplification module, the power amplification module carries out power amplification on the transmitting signal, and the energy storage capacitor group carries out rapid charge and discharge to meet the instantaneous high power requirement of the power amplification module so as to drive the transmitting transducer load;
the voltage acquisition circuit comprises a voltage dividing circuit, a front-stage operational amplifier, a precise linear optocoupler and a voltage follower, wherein the voltage dividing circuit adopts two series resistors to divide the acquired high voltage into an ADC input voltage range, the ADC input voltage range is input into the in-phase input end of the front-stage operational amplifier after the voltage division, the output end of the front-stage operational amplifier is connected with the input photodiode of the precise linear optocoupler, the feedback photodiode of the precise linear optocoupler is connected with the inverting input end of the front-stage operational amplifier, the output photodiode is connected with the voltage follower, and the output of the voltage follower is connected with an ADC interface in the charge-discharge management module.
3. The sonar emission power regulation and control system according to claim 2, wherein the charge and discharge management module sets a full charge voltage threshold and a discharge voltage drop threshold of the energy storage capacitor group according to an emission power regulation instruction sent by the host computer, reads the collected voltage value signal in real time, compares the collected voltage value signal with the full charge voltage threshold if the charge state is in the charge state, performs charge and energy storage regulation and control by controlling the charge switch and the charge current limiting switch, compares the charge and energy storage regulation and control with the discharge voltage drop threshold if the charge state is in the emission state, and controls the discharge energy release process by controlling the on-off of the discharge switch so as to meet different emission power output requirements.
4. The sonar emission power regulation and control system according to claim 2, wherein the energy storage capacitor group can charge and store energy when the sonar transmitter is idle, and discharge and release energy when the transmitter is in an emission state; the charge and discharge management module can control the terminal voltage of the charged energy storage capacitor group to any value in the upper limit interval and the lower limit interval of the withstand voltage value through voltage negative feedback control so as to increase the power regulation range, when the energy storage capacitor group outputs power to the power amplification module, the allowable voltage drop is kept stable in the voltage drop threshold range, continuously adjustable transmitting electric power is provided for the transmitter through the regulation and control power amplification module, and the transmitting sound source level of the adjustable sonar transmitting transducer can realize the adjustment of the sonar detection distance.
5. A sonar emission power regulation control method based on the sonar emission power regulation system of claim 2, comprising the steps of:
step 1, starting high-voltage direct current input, and setting a full-charge voltage threshold value of an energy storage capacitor according to an output power regulation instructionThe charging switch and the charging current limiting switch are closed, the energy storage capacitor group enters a quick charging mode, and meanwhile charging voltage and charging time monitoring are started;
step 2, monitoring the actual charging voltage value and comparing with the full-charge voltage threshold valuePerforming comparison if the voltage threshold value is close to or reached +.>The charging current-limiting switch is disconnected, the charging current-limiting resistor is connected to enter a trickle slow charging mode until the charging voltage is stabilized at a threshold value, and if the charging voltage is smaller than the voltage threshold value +_>Judging whether the charging state is normal or not according to the charging time, and feeding back the charging state information to the upper computer;
step 3, if the charging state is monitored to be normal, which means that the charging of the energy storage capacitor group is completed, the charging loop is disconnected: turning off the charging switch and the charging current limiting switch;
if the charging state is abnormal, interrupting to inquire whether the system is powered down, if so, automatically switching the system to the power down state to keep the backup power supply to supply power briefly, performing power down protection, and feeding back the power down state to the upper computer;
step 4, when the FPGA signal generating module sends a transmitting enabling signal, the charging and discharging management module controls the discharging output loop to be closed: the charging switch and the charging current limiting switch are opened, the discharging switch is closed, and the discharging voltage is monitored in real time;
and step 5, monitoring the discharge voltage to judge whether the discharge is finished, and if the discharge voltage drop exceeds a threshold value, finishing the discharge and entering a new round of charge and discharge process.
6. The sonar emission power regulation control method according to claim 5, wherein the charging voltage is regulated according to an emission power control command to enable the sonar emission power to have an instantaneous emission power adjustable output capacity, and the calculation formula of the capacitance value of the energy storage capacitor is that
In the method, in the process of the invention,for the total capacitance of the energy storage capacitor bank, +.>For the transmitter transmit power, < >>Maximum pulse width for transmitting signal, < >>For the voltage of the storage capacitor before emission, +.>For the voltage value obtained by subtracting the saturated voltage drop of the power amplifier from the voltage of the energy storage capacitor before transmitting, < >>Andis controlled by a charge and discharge management module.
7. A sonar emission power regulation control method according to claim 6, further comprising adjusting a sonar detection distance:
the output electric power is adjusted, so that the emission sound source level of the sonar emission transducer can be adjusted, and the sonar detection distance can be adjusted;
the emission sound source level calculation formula:
in the method, in the process of the invention,for the transmitting sound source level of the transmitting transducer, +.>For the transmit voltage response of the transmit transducer, +.>To transmit the effective value of the transducer excitation voltage signal.
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