CN212660000U - Small-size deep sea exploration operation type submersible power management system - Google Patents
Small-size deep sea exploration operation type submersible power management system Download PDFInfo
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- CN212660000U CN212660000U CN202021847488.9U CN202021847488U CN212660000U CN 212660000 U CN212660000 U CN 212660000U CN 202021847488 U CN202021847488 U CN 202021847488U CN 212660000 U CN212660000 U CN 212660000U
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 53
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 53
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 239000002131 composite material Substances 0.000 claims abstract description 33
- 238000006243 chemical reaction Methods 0.000 claims description 34
- 238000002955 isolation Methods 0.000 claims description 33
- 238000007599 discharging Methods 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000004913 activation Effects 0.000 claims 2
- 230000009193 crawling Effects 0.000 abstract description 12
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 8
- HEZMWWAKWCSUCB-PHDIDXHHSA-N (3R,4R)-3,4-dihydroxycyclohexa-1,5-diene-1-carboxylic acid Chemical compound O[C@@H]1C=CC(C(O)=O)=C[C@H]1O HEZMWWAKWCSUCB-PHDIDXHHSA-N 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 239000013589 supplement Substances 0.000 description 3
- 239000003990 capacitor Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
The utility model relates to the technical field of underwater robots, in particular to a power management system of a small deep sea exploration operation type submersible, which comprises a power management unit and a power distribution unit, wherein the power management unit is connected with a lithium battery pack, the power distribution unit and a submersible control system and is also connected with an underwater base station power supply through a photoelectric composite cable; the power distribution unit is connected with the submersible control system, the floating body equipment and the chassis equipment. The utility model adopts a parallel power supply scheme composed of the photoelectric composite cable and the battery pack, which not only meets the energy requirement and the maximum navigation power requirement of the normal working time of the submersible, but also reduces the wire diameter and the weight of the photoelectric composite cable and improves the flexibility of the submersible during operation; the single-point fault influence range is effectively reduced, later maintenance and debugging are facilitated, and meanwhile, the stability and reliability of the submarine deep-sea floating crawling dual-mode detection operation are effectively improved.
Description
Technical Field
The utility model relates to an underwater robot technical field, a small-size deep sea exploration operation type submersible power management system specifically says so.
Background
Although the traditional underwater robot has strong operation capability, the traditional underwater robot generally has the problems of large volume, several tons of weight, long development period, high cost, low operation efficiency and high risk. The small seabed floating crawling robot is a seabed mobile robot with small volume and strong operation capability, can perform floating and sitting detection operation, can be carried on other equipment to jointly submerge to the seabed, has the characteristics of long working time, flexible motion control, high efficiency, low cost and the like, and can meet the actual requirement of fine detection operation in the current deep sea environment.
The underwater robot faces complex sea conditions and severe working environments in the detection operation process, so that higher requirements on reliability and safety are provided. The power management system is used as a bridge between each device of the submersible and a power supply, and the energy management distribution condition directly influences whether the submersible can complete a detection operation task and safely return to the home. Under the condition, the small deep-sea floating and crawling detection operation type submersible has to be provided with a mature and reliable power management system, a dual-power parallel power supply system consisting of a mooring cable and a lithium battery pack can be managed, energy can be reasonably distributed to each device of a submersible carrier, and two detection operation modes of floating and crawling can be switched conveniently, quickly and safely.
SUMMERY OF THE UTILITY MODEL
In order to solve the existing problems, the utility model aims to provide a small-size deep sea exploration operation type submersible power management system.
The purpose of the utility model is realized through the following technical scheme: a power management system for a small deep-sea exploration operation type submersible, comprising: a power management unit and a power distribution unit;
the power management unit is connected with the lithium battery pack, the power distribution unit and the submersible control system and is also connected with the power supply of the underwater base station through a photoelectric composite cable;
the power distribution unit is connected with the submersible control system, the floating body equipment and the chassis equipment.
The power management unit comprises a voltage reduction isolation module, a charging module, a discharging module, an electric quantity detection sensor, a lithium battery protection board BMS, a single chip microcomputer and a master switch;
the input end of the voltage reduction isolation module is connected with the photoelectric composite cable, the output end of the voltage reduction isolation module is connected with the lithium battery protection board BMS through the charging module and the discharging module, and the lithium battery protection board BMS is connected with the lithium battery pack; electric quantity detection sensors are connected between the charging module and the lithium battery protection board BMS and between the discharging module and the lithium battery protection board BMS, the electric quantity detection sensors are connected with the single chip microcomputer, and the charging module is connected with the submersible control system through the single chip microcomputer; and the output end of the voltage reduction isolation module is used as the output end of the power management unit after passing through the main switch and is connected with the power distribution unit.
The power distribution unit comprises a high-power equipment starting circuit, a first current sensor, a second current sensor, a floating body power conversion plate and a chassis power conversion plate;
the output end of the power management unit is connected with the high-power equipment starting circuit, the floating body power conversion plate and the chassis power conversion plate; a first current sensor and a second current sensor are respectively arranged on a connecting circuit between the output end of the power management unit and the starting circuit of the high-power equipment and on a connecting circuit between the output end of the power management unit and the chassis power supply conversion plate; and the detection signal end of the first current sensor and the detection signal output end of the second current sensor are connected with a submersible control system.
The high-power equipment starting circuit comprises a solid relay QD and resistors R1-R5;
the control input end of the solid-state relay QD is connected with a submersible control system through a resistor R1, the output end of the solid-state relay QD is used as the output end OUT + of a high-power equipment starting circuit and is connected with the output end of a power management unit, and the output end of the solid-state relay QD is used as the output end OUT-of the high-power equipment starting circuit through resistors R2-R5 which are connected in parallel and is connected with the power supply input ends of a plurality of propellers of the floating body equipment.
The high-power equipment starting circuit is connected with a solid-state relay KM1 in parallel.
The floating body power supply conversion board comprises an overcurrent protection fuse F1, a floating body power supply on-off branch and a plurality of floating body power supply conversion branches;
the output end of the power supply management unit is connected with the acoustic positioning communication device of the floating body equipment through the floating body power supply on-off branch, and is also connected with the floating body equipment through a plurality of floating body power supply conversion branches respectively through a current protection fuse F1;
the on-off branch of the floating body power supply comprises a solid-state relay K7 and an overcurrent protection fuse F8 which are sequentially connected;
the floating body power supply conversion branch comprises a DC/DC isolation power supply module, a solid-state relay and an overcurrent protection fuse which are sequentially connected, and the output end of the overcurrent protection fuse is connected with at least one of a plurality of propeller control power supply input ends of the floating body equipment, a camera, a depth gauge, an altimeter, an electronic compass and a camera pitching cloud deck.
The floating body power supply conversion branch comprises a DC/DC isolation power supply module, and the output end of the DC/DC isolation power supply module is connected with at least one of an optical transceiver, a main control board and an IO expansion board of the floating body equipment.
The chassis power supply conversion board comprises a direct-current isolation power supply module and overcurrent protection fuses FU 3-FU 6;
the output end of the power supply management unit is connected with at least one of a chassis control panel, a control electric input end of a track motor driver, a control electric input end of a swing arm motor driver and a control electric input end of an electric manipulator joint motor driver of chassis equipment through a current protection fuse FU3 and a direct current isolation power supply module in sequence;
the output end of the power management unit is connected with at least one of the power electric input end of a track motor driver, the power electric input end of a swing arm motor driver and the power electric input end of an electric manipulator joint motor driver of the chassis equipment through a current protection fuse FU4, an overcurrent protection fuse FU5 and an overcurrent protection fuse FU6 respectively.
And a solid-state relay KM2 is connected in series between the output end of the power management unit and the chassis power supply conversion plate.
The utility model discloses an advantage does with positive effect:
1. the utility model discloses can use under the oil charge high-pressure environment for electronic equipment can with oil pressure part encapsulation together, effectively reduce volume and structure quantity, improve the reliability, can simplify the mechanical structure design degree of difficulty greatly when especially using in the deep sea environment.
2. The utility model discloses a solid-state relay's combination is used and can be controlled small-size deep sea effectively and survey operation type submersible power system connection condition, and complete is isolated between power supply and the carrier equipment, guarantees system safety.
3. The utility model discloses use the parallelly connected power supply scheme that photoelectric composite cable and lithium cell group are constituteed, satisfy the energy demand and the biggest navigation power demand of the normal operating time of submersible promptly, also reduced the line footpath and the weight of photoelectric composite cable. The flexibility of the submersible during operation is improved; when the photoelectric composite cable breaks down, the lithium battery pack can also be used as an emergency power supply of the submersible.
4. The utility model discloses can the state of real-time supervision submersible ware during operation group battery under water, the power consumption condition of carrier equipment gathers through dive control system information acquisition simultaneously and uploads to the surface of water control unit, for the surface of water operation decision-making provides the foundation, has very high security.
5. The utility model discloses carried out electrical isolation to driving system power 48V and control system power 24V, 12V, 5V effectively, reduced high-power electronic equipment such as propeller, acoustics positioner, chassis track, swing arm, electric manipulator effectively to control system's electromagnetic interference, improved submersible control system's interference killing feature.
6. The utility model discloses a microminiature high-power equipment starting circuit and high-power equipment start control method have been developed, can restrain many propellers effectively and go up the electricity simultaneously, and the huge electric current to 48V power supply in the twinkling of an eye strikes. Effectively preventing the front-stage circuit from being damaged due to overcurrent.
7. The utility model discloses a submersible control system coordinates and can carry out independent electric control from top to bottom to planktonic equipment and chassis equipment, and each equipment corresponds independent solid state relay and overcurrent protection fuse, can follow the excision in the carrier power supply circuit during single equipment trouble, and the fault equipment does not influence the power supply of whole system, very big reduction the scope that single point trouble influences.
Drawings
Fig. 1 is a functional schematic diagram of the power management system of the present invention;
fig. 2 is a schematic block diagram of the power management unit of the present invention;
fig. 3 is a schematic block diagram of the power distribution unit of the present invention;
FIG. 4 is a schematic diagram of the starting circuit of the high power device of the present invention;
FIG. 5 is a flow chart of the starting control method of the high-power device of the present invention;
the system comprises a power management unit 1, a power distribution unit 2, a submersible control system 3, a voltage reduction isolation module 10, a charging module 11, a discharging module 12, a discharging module 13, an electric quantity detection sensor 14, a lithium battery protection board BMS 15, a single chip microcomputer 16, a main switch 20, a high-power equipment starting circuit 21, a first current sensor 22, a second current sensor 23, a floating body power conversion board 24 and a chassis power conversion board.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The power supply of the power supply management system is taken from the photoelectric composite cable and the lithium battery pack, the energy provided by the photoelectric composite cable is taken as the main energy when the submersible works normally, the battery pack is used as energy supplement when the submersible works at high power, and the lithium battery pack can also be used as an emergency power supply of the submersible when the photoelectric composite cable breaks down. The power management system mainly comprises a power management unit and a power distribution unit, and is arranged in the submersible. The power management unit is connected with the photoelectric composite cable and the lithium battery pack, voltage reduction and isolation of a photoelectric composite cable high-voltage direct-current power supply can be achieved, charge and discharge management and electric quantity monitoring of the lithium battery pack are achieved, and communication with a submersible control system is achieved through an RS232 interface. The power distribution unit is connected with the submersible vehicle carrier equipment and can convert and isolate the 48V direct current output by the power management unit to supply to equipment such as a control system, a power system, an operating system and a detection system of the submersible vehicle. The power distribution unit can reasonably distribute electric energy according to the detection operation task and optimally control the power-on sequence of each device of the submersible vehicle. The submersible control system may monitor the operation of the power distribution unit through the DO and AI interfaces.
The utility model discloses can use in oil charge high pressure wet cabin, can satisfy 45MPa withstand voltage requirements under water. The power management system is an important guarantee for reliable operation of the small deep-sea floating crawling detection operation type submersible, and plays an important role in the overall safety of the submersible. The power management system adopts a parallel power supply scheme consisting of the photoelectric composite cable and the battery pack, so that the energy requirement and the maximum navigation power requirement of the submersible in normal working time are met, the wire diameter and the weight of the photoelectric composite cable are reduced, and the flexibility of the submersible during operation is improved; the power system power supply and the control system power supply are electrically isolated, and the carrier equipment is designed with independent power-on and power-off control and overcurrent protection, so that the single-point fault influence range is effectively reduced, later-stage maintenance and debugging are facilitated, and the stability and reliability of the submarine deep-sea floating crawling dual-mode detection operation are also effectively improved.
A power management system of a small deep sea exploration operation type submersible comprises a power management unit and a power distribution unit; the power management system adopts a parallel power supply scheme consisting of a photoelectric composite cable and a lithium battery pack, the submersible mainly uses energy provided by the photoelectric composite cable when in normal operation, and the battery pack is used as energy supplement when the submersible works at high power; when the photoelectric composite cable breaks down, the lithium battery pack can be used as an emergency power supply of the submersible;
the power management unit is connected with the photoelectric composite cable and the lithium battery pack, can realize the voltage reduction and isolation of the high-voltage direct-current power supply voltage of the photoelectric composite cable, provides charge-discharge management and electric quantity monitoring for the lithium battery pack, and communicates with the submersible control system through an RS232 interface;
the voltage reduction isolation module 10, the charging module 11, the electric quantity detection sensor 13 and the lithium battery protection board BMS14 are connected in series to charge the lithium battery pack; the single chip microcomputer 15 controls the charging current of the charging module 11 to the lithium battery pack by adjusting the PWM duty ratio; an AI interface of the single chip microcomputer 15 is connected with the electric quantity detection sensor 13, the charging and discharging voltage and current information of the lithium battery pack are collected and calculated, meanwhile, the single chip microcomputer 15 periodically records and stores the electric quantity information of the lithium battery pack and uploads the electric quantity information to the submersible control system 3 in real time, and the single chip microcomputer 15 system also has the function of automatically storing the electric quantity information of the lithium battery pack when the power is off; the lithium battery protection board BMS14 can be used for performing charge protection, discharge protection, overcurrent protection and short-circuit protection on the lithium battery pack; the lithium battery pack can be connected with the output end of the photoelectric composite cable voltage reduction isolation module 10 through the discharge module 12, so that a parallel power supply scheme of the submersible power management system is formed; the parallel output end of the lithium battery pack and the photoelectric composite cable is connected with the power distribution unit 2 through a solid-state relay of a main switch 16, and the main switch 16 can realize the power-on and power-off of a subsequent power supply loop through the control of an external starting plug;
the power distribution unit 2 comprises a high-power equipment starting circuit 20, a first current sensor 21, a second current sensor 22, a floating body power conversion plate 23, a chassis power conversion plate 24, a rail connecting terminal XT, an overcurrent protection fuse F and a plurality of solid-state relays;
the high-power equipment starting circuit 20 connects the power supply output of the power supply management unit with a plurality of high-power propellers, and the use of the high-power equipment starting circuit 20 can effectively inhibit the huge current impact on the 48V power supply at the moment when the plurality of propellers are electrified simultaneously; the power-on starting control method of the high-power equipment comprises the following steps: when a plurality of propellers are powered on, the submersible control system 3 firstly closes the small solid relay QD of the starting circuit through the digital output DO port, the starting resistor is connected into the 48V power supply loop of the propeller in series, the power is started to carry out current-limiting charging instantly so as to protect the elements of the preceding stage circuit, the charging of the filter capacitor in the propeller is finished after 5s of delay, the contact closing of the high-power solid relay KM1 is used for short-circuiting the resistor, and the power-on process of the plurality of propellers is finished;
and each thruster 48V power supply loop corresponds to the corresponding overcurrent protection fuse FU. When an overcurrent or short circuit fault occurs in one propeller, the corresponding fuse can be blown. The fault propeller is cut off from the 48V power supply loop, the normal work of other equipment of the carrier is not influenced, and the purpose of reducing the influence range of single-point faults is achieved;
the first current sensor 21 and the second current sensor 22 collect the current of a 48V power supply loop of the propeller and a 48V power supply loop of the chassis, and output analog voltage signals to a 3AI interface of the submersible control system for signal collection and operation after filtering and amplitude limiting by an operational amplifier;
the floating body power supply conversion board 23 converts 48V output by the power management unit 1 into 24V, 12V and 5V voltages through 4 DCDC isolated power supply modules, and supplies the voltages to each device on the floating body; each device independently corresponds to a solid-state relay switch K1-K7 and an overcurrent protection fuse F2-F8, the submersible control system 3 can control the independent power-on and power-off of each device of the carrier through a digital output interface DO, the power supply of the whole device of the carrier is not influenced by the single device fault, and the influence range of single-point faults is greatly reduced;
the power management unit 1 outputs 48V which passes through the high-power solid-state relay KM2 and then is connected to the chassis power conversion plate 24, and when the submersible works in a crawling mode, the submersible control system 3 can control the high-power solid-state relay KM2 through the digital output interface DO to electrically control the power supply loop of the chassis power supply; the high-power solid-state relay KM2 can conveniently and quickly realize the switching of the power supply loop of the floating and crawling double modes of the small deep-sea submersible;
the chassis power supply adapter plate 24 comprises a DCDC isolation power supply module, wiring terminals XT 3-4 and overcurrent protection fuses FU 4-6, wherein the DCDC isolation power supply module electrically isolates a chassis power system power supply 48V from a control system power supply 24V, electromagnetic interference of high-power electronic equipment such as a chassis crawler belt, a swing arm and an electric manipulator to the control system is effectively reduced, and the anti-interference capability of the submersible control system is improved.
As shown in fig. 1. The power supply of the power supply management system is taken from the photoelectric composite cable and the lithium battery pack, the submersible is mainly powered by the energy provided by the photoelectric composite cable during normal operation, and the lithium battery pack is used as energy supplement during high-power operation of the submersible. When the photoelectric composite cable breaks down, the lithium battery pack can be used as an emergency power supply of the submersible. The power management system mainly comprises a power management unit 1 and a power distribution unit 2.
The power management unit 1 is connected with the photoelectric composite cable and the lithium battery pack, can realize the voltage reduction and isolation of high-voltage direct-current power voltage transmitted by the photoelectric composite cable, provides charge-discharge management and electric quantity monitoring for the lithium battery pack, and communicates with the submersible control system 3 through an RS232 interface.
As shown in fig. 2, the power management unit 1 includes a voltage reduction isolation module 10, a charging module 11, a discharging module 12, a power detection sensor 13, a lithium battery protection board BMS14, a single chip microcomputer 15, and a main switch 16.
The voltage reduction and isolation module 10 converts the high-voltage direct current transmitted by the photoelectric composite cable into 48V direct current for output in a voltage reduction mode, and realizes the electrical isolation between the high-voltage direct current and a 48V power supply loop; the 48V direct current charges the lithium battery pack through the charging module 11, the electric quantity detection sensor 13 and the lithium battery protection board BMS 14; the main controller single chip microcomputer 15 of the power management unit is communicated with the submersible control system 3 through an RS232 serial port, and the single chip microcomputer 15 adjusts the charging current and time of the charging module 11 to the lithium battery pack through a received serial port communication instruction of the submersible control system 3; the electric quantity detection sensor 13 comprises a voltage detection sensor circuit and a current detection sensor circuit, the voltage detection sensor circuit outputs a low-voltage signal by adopting a resistance voltage division method, and the current detection sensor circuit converts the current signal into a voltage signal by adopting a linear hall current sensor ACS758 LCB-050B. The electric quantity detection sensor 13 circuit mainly has the functions of converting charge-discharge voltage and charge-discharge current signals of the lithium battery pack into 0-3V analog quantity voltage signals and sending the signals into an AI interface of the single chip microcomputer 15 for electric quantity acquisition and calculation, meanwhile, the single chip microcomputer 15 system periodically records and stores the charge-discharge electric quantity of the lithium battery pack and uploads data information to the submersible control system 3 in real time, and the single chip microcomputer 15 system also has the function of automatically storing the electric quantity information of the lithium battery pack when the power fails; the lithium battery protection board BMS14 can be used for performing charge protection, discharge protection, overcurrent protection and short-circuit protection on the lithium battery pack; the lithium battery pack can be in output connection with the photoelectric composite cable voltage reduction isolation module 10 through the discharge module 12, so that a parallel power supply scheme of the submersible power management system is formed; the lithium battery pack and the photoelectric composite cable are connected in parallel to output 48V direct current which is connected with the power distribution unit through the solid-state relay of the main switch 16, and the main switch 16 can be controlled by an external starting plug to realize the power-on and power-off of a subsequent power supply loop.
The power distribution unit 2 is connected with the power management unit 1 and each device of the submersible vehicle carrier, and can convert and isolate the 48V direct current output by the power management unit 1 through an isolation power module to supply to devices such as a control system, a power system, an operation system, a detection system and the like of the submersible vehicle. The power distribution unit 2 can reasonably distribute electric energy according to the detection task and optimally control the power-on and power-off sequence of each device of the submersible. The submersible control system may monitor the operation of the power distribution unit 2 through the DO and AI interfaces.
As shown in fig. 3, the power distribution unit 2 includes a high-power device starting circuit 20, a first current sensor 21, a second current sensor 22, a floating body power conversion board 23, a chassis power conversion board 24, a rail connection terminal XT, an overcurrent protection fuse F and a plurality of solid-state relays;
because a plurality of propellers are connected in parallel for supplying power, the capacity of a filter capacitor on the direct current side is very large, and a 48V power supply loop is equivalent to a short circuit at the moment of just charging, so that the current can be very large. The high-power equipment starting circuit 20 can effectively restrain the huge current impact on the 48V power supply at the moment when a plurality of propellers are electrified simultaneously. When a plurality of propellers need to be electrified, the small solid relay QD of the starting circuit is firstly closed, and the starting resistor is connected in series in a 48V power supply loop of the propeller to play a role in current-limiting charging at the moment of electrifying so as to protect preceding stage circuit components. After the charging is finished by the time delay of 5s, the submersible control system 3 controls the contact of the solid-state relay KM1 to be closed through the digital output DO port to short out the resistance, and the 48V power electricity electrifying process of a plurality of propellers is finished. A schematic diagram of a starting circuit 20 of high-power equipment is shown IN fig. 4, a small-sized solid-state relay U1 IN the starting circuit adopts a loose AQV254, starting resistors R2-R5 adopt four 10K +/-1% 1W chip resistors to be used IN parallel, R1 is a current-limiting resistor IN a control loop of the starting circuit 20, when 5V-15V voltage is applied to input ends of an IN _ Ctrl + control loop and an IN _ Ctrl control loop, pins 4, 6 and 5 of the small-sized solid-state relay U1 are conducted and closed, and at the moment, an output load end OUT + of the starting circuit is conducted with OUT-through a starting resistor 2.5K omega; when the input ends of the IN _ Ctrl + and IN _ Ctrl-control loops apply voltage of < 2V, pins 4, 6 and 5 of the U1 of the small solid-state relay are disconnected, and the output load end OUT + of the starting circuit is disconnected with the output load end OUT-at the moment; the circuit volume is only 16 × 11 × 2mm, and the high-power solid-state relay KM1 can be packaged together for use, so that the size and the installation volume of components of the power management system are effectively reduced. The flow chart of the high-power equipment starting control method is shown in fig. 5, when a plurality of thrusters are powered on, the solid-state relays K1, QD and KM1 are sequentially controlled to be closed according to the principle that electricity is firstly controlled to be 12V and then power electricity is 48V.
The power management unit 1 outputs 48V which is ultimately connected to the propeller of the buoyant carrier via rail mount terminal XT1, high power equipment starting circuit 20, rail mount terminal XT2 and force overcurrent protection fuse FU. The 48V power supply loop of each thruster corresponds to the corresponding overcurrent protection fuse FU, and when one thruster has overcurrent or short circuit fault, the corresponding fuse FU can be blown. The fault propeller is cut off from the 48V power supply loop, the normal work of other 48V equipment of the carrier is not influenced, and the purpose of reducing the influence range of single-point faults is achieved.
The first current sensor 21 and the second current sensor 22 adopt a perforated Hall current sensor WCS1800 to detect 48V power supply loop current, and output 0-5V analog voltage signals to a 3AI interface of a submersible control system for communication after filtering and amplitude limiting by an operational amplifierAnd acquiring and calculating the real-time current values of a propeller 48V power supply loop and a chassis 48V power supply loop. The formula of the analog quantity voltage value output by the current sensor module is as follows:
wherein: the linearity K is 0.066V/a, Vcc is an operating voltage of 5V, Ia is a current flowing through a wire, and Aout is an analog voltage value output by the current sensor module.
The floating body power conversion board 23 can convert 48V output by the power management unit 1 into 24V, 12V and 5V voltages through 4 DCDC isolated power modules, and supply the voltages to the devices on the floating body, such as: the device comprises a propeller control power supply, a high-definition camera power supply, a depth gauge power supply, an altimeter power supply, an electronic compass power supply, an optical transceiver power supply, a main control board power supply, an IO expansion board power supply, a lighting lamp power supply, a camera pitching pan-tilt power supply and an acoustic positioning device power supply. Each device corresponds to the respective independent solid-state relay switches K1-K7 and overcurrent protection fuses F2-F8, independent power supply and power supply of each device on the carrier can be realized through the control of the digital output interface DO of the submersible control system 3, the power supply of other devices on the carrier is not influenced by the single device fault, and the influence range of single-point faults is greatly reduced.
48V output by the power management unit 1 passes through a high-power solid-state relay KM2 and then is connected to the chassis power conversion board 24. When the submersible works in a crawling mode, the submersible control system 3 can control the solid-state relay KM2 to carry out power-on and power-off control on a power supply loop of a chassis power supply through the digital output interface DO, and the high-power solid-state relay KM2 can conveniently and quickly realize the switching of the power supply loop of the floating and crawling modes of the small deep sea submersible. After being connected to a chassis power supply adapter plate, 48V direct current is converted by a DCDC isolation power supply module to output 24V direct current to a chassis control plate, a track motor and driver control electric input interface, a swing arm motor and driver control electric input interface and a manipulator joint motor and driver control electric input interface, and the other three paths of 48V direct current of a WAGO wiring terminal XT3 are respectively connected to the track motor and driver power electric input interface, the swing arm motor and driver power electric input interface, the manipulator joint motor and driver power electric input interface through 3 overcurrent protection fuses FU 4-6.
The utility model discloses can use in oil charge high pressure wet cabin, can satisfy 45MPa withstand voltage requirements under water. The power management system is an important guarantee for reliable operation of the small deep-sea floating crawling detection operation type submersible, and plays an important role in the overall safety of the submersible. The power management system adopts a modularized design concept, so that the size of a power system is effectively reduced, the influence range of single-point faults is reduced, later maintenance and debugging are facilitated, and the stability and reliability of detection operation of a deep-sea floating and crawling double mode of the submersible are effectively improved.
In conclusion, the power management system scheme of the small deep-sea exploration operation type submersible meets the energy requirement and the maximum navigation power requirement of the submersible in normal working time, and reduces the wire diameter and the weight of the photoelectric composite cable. The flexibility of the submersible during detection operation is improved; the reliability and the safety of the submersible under the unknown working environment in deep sea are improved.
Claims (9)
1. A power management system for a small deep-sea exploration operation type submersible, comprising: a power management unit (1) and a power distribution unit (2);
the power management unit (1) is connected with the lithium battery pack, the power distribution unit (2) and the submersible control system (3) and is also connected with an underwater base station power supply through a photoelectric composite cable;
the power distribution unit (2) is connected with the submersible control system (3), the floating body equipment and the chassis equipment.
2. The power management system of the small deep-sea exploration operation type submersible as claimed in claim 1, wherein the power management unit (1) comprises a voltage reduction isolation module (10), a charging module (11), a discharging module (12), a power detection sensor (13), a lithium battery protection board BMS (14), a single chip microcomputer (15) and a master switch (16);
the input end of the voltage reduction isolation module (10) is connected with the photoelectric composite cable, the output end of the voltage reduction isolation module is connected with a lithium battery protection board BMS (14) through a charging module (11) and a discharging module (12), and the lithium battery protection board BMS (14) is connected with a lithium battery pack; electric quantity detection sensors (13) are connected between the charging module (11) and the lithium battery protection board BMS (14) and between the discharging module (12) and the lithium battery protection board BMS (14), the electric quantity detection sensors (13) are connected with a single chip microcomputer (15), and the charging module (11) is connected with a submersible control system (3) through the single chip microcomputer (15); the output end of the voltage reduction isolation module (10) is used as the output end of the power management unit (1) after passing through the main switch (16) and is connected with the power distribution unit (2).
3. The power management system of a small-sized submarine detection operation type submersible according to claim 1, wherein the power distribution unit (2) comprises a high-power equipment starting circuit (20), a first current sensor (21), a second current sensor (22), a floating body power conversion board (23), and a chassis power conversion board (24);
the output end of the power management unit (1) is connected with a high-power equipment starting circuit (20), a floating body power conversion plate (23) and a chassis power conversion plate (24); a first current sensor (21) and a second current sensor (22) are respectively arranged on a connecting circuit between the output end of the power management unit (1) and the high-power equipment starting circuit (20) and a connecting circuit between the output end of the power management unit (1) and the chassis power conversion board (24); the detection signal end of the first current sensor (21) and the detection signal output end of the second current sensor (22) are connected with a submersible control system (3).
4. The submersible power management system of claim 3, wherein the high power device activation circuit (20) comprises a solid state relay QD, resistors R1-R5;
the control input end of the solid-state relay QD is connected with a submersible control system (3) through a resistor R1, the output end of the solid-state relay QD is used as the output end OUT + of a high-power equipment starting circuit (20) and is connected with the output end of a power management unit (1), and the output end of the solid-state relay QD is used as the output end OUT-of the high-power equipment starting circuit (20) through resistors R2-R5 which are connected in parallel and is connected with the power supply input ends of a plurality of propellers of the floating body equipment.
5. The submersible power management system of claim 3, wherein the high power device activation circuit (20) is connected in parallel with a solid state relay KM 1.
6. The submersible power management system for small deep-sea exploration operation according to claim 3, wherein the floating body power conversion board (23) comprises an overcurrent protection fuse F1, a floating body power on-off branch and a plurality of floating body power conversion branches;
the output end of the power supply management unit (1) is connected with an acoustic positioning communication device of the floating body equipment through a floating body power supply on-off branch, and is also connected with the floating body equipment through a plurality of floating body power supply conversion branches respectively through a current protection fuse F1;
the on-off branch of the floating body power supply comprises a solid-state relay K7 and an overcurrent protection fuse F8 which are sequentially connected;
the floating body power supply conversion branch comprises a DC/DC isolation power supply module, a solid-state relay and an overcurrent protection fuse which are sequentially connected, and the output end of the overcurrent protection fuse is connected with at least one of a plurality of propeller control power supply input ends of the floating body equipment, a camera, a depth gauge, an altimeter, an electronic compass and a camera pitching cloud deck.
7. The submersible power management system according to claim 6, wherein the floating body power conversion branch comprises a DC/DC isolation power module, and the output end of the DC/DC isolation power module is connected to at least one of an optical transceiver, a main control board and an IO expansion board of the floating body equipment.
8. The submersible power management system for small deep-sea exploration operation according to claim 3, wherein the chassis power conversion board (24) comprises a DC isolation power module and overcurrent protection fuses FU 3-FU 6;
the output end of the power supply management unit (1) is connected with at least one of a chassis control panel, a control electric input end of a track motor driver, a control electric input end of a swing arm motor driver and a control electric input end of an electric manipulator joint motor driver of chassis equipment through a current protection fuse FU3 and a direct current isolation power supply module in sequence;
the output end of the power management unit (1) is respectively connected with at least one of the power electric input end of a track motor driver, the power electric input end of a swing arm motor driver and the power electric input end of an electric manipulator joint motor driver of chassis equipment through an overcurrent protection fuse FU4, an overcurrent protection fuse FU5 and an overcurrent protection fuse FU 6.
9. The power management system of the small deep-sea exploration working type submersible vehicle according to claim 3, wherein a solid-state relay KM2 is connected in series between the output end of the power management unit (1) and the chassis power conversion plate (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021847488.9U CN212660000U (en) | 2020-08-28 | 2020-08-28 | Small-size deep sea exploration operation type submersible power management system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021847488.9U CN212660000U (en) | 2020-08-28 | 2020-08-28 | Small-size deep sea exploration operation type submersible power management system |
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| CN212660000U true CN212660000U (en) | 2021-03-05 |
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| CN202021847488.9U Withdrawn - After Issue CN212660000U (en) | 2020-08-28 | 2020-08-28 | Small-size deep sea exploration operation type submersible power management system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112104059A (en) * | 2020-08-28 | 2020-12-18 | 中国科学院沈阳自动化研究所 | Power management system and management method for small deep-sea exploration operation type submersible |
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2020
- 2020-08-28 CN CN202021847488.9U patent/CN212660000U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112104059A (en) * | 2020-08-28 | 2020-12-18 | 中国科学院沈阳自动化研究所 | Power management system and management method for small deep-sea exploration operation type submersible |
| CN112104059B (en) * | 2020-08-28 | 2024-04-16 | 中国科学院沈阳自动化研究所 | Power management system and management method for small-sized deep sea exploration operation type submersible |
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