Compensated balancing system and method for electrodynamic transducers

Abstract

The invention provides a compensation balance system and method of an electrodynamic transducer, and aims to solve the following problems in the prior art: a traditional electrodynamic sound source transducer needs to realize large-volume displacement in a low-frequency application scene, but the flexibility of an elastic suspension support of the traditional electrodynamic sound source transducer is insufficient to bear hydrostatic pressure; meanwhile, traditional passive and active compensation modes have challenges in the aspects of delay and stability. In order to solve the problems, the compensation balance system and method of the electrodynamic transducer mainly comprise an underwater acoustic transducer, a low-pressure middle cabin and a high-pressure gas cylinder, and a system self-checking function, a transducer piston position balance control function and a transducer fuzzy self-adaptive control function are integrated. The defects in the prior art are effectively overcome, and balance between the inner cavity of the transducer and the external hydrostatic pressure can be rapidly achieved. In addition, the control process is further simplified by determining the target control quantity, and the overall performance of the system is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of air pressure compensation and underwater acoustic transducer, and in particular, relates to a compensation balancing system and method of an electrodynamic transducer, and more particularly to a compensation balancing system and method of a large-depth electrodynamic transducer. BACKGROUND

[0002] At present, in order to radiate greater sound power in a low-frequency scenario, an electrodynamic sound source type transducer must ensure that the radiating surface produces greater volume displacement, so the elastic suspension support system of the radiating surface of this type of transducer must achieve sufficient flexibility, but this results in the mechanical strength of the transducer itself being unable to withstand huge hydrostatic pressure. In order to eliminate the influence of the increase in depth on the hydrostatic pressure on the internal working system of the sound source, the internal gas pressure of the transducer must be automatically compensated to achieve the effect of internal and external pressure balance.

[0003] For example, patent document CN115902848A discloses an ultralow frequency, high sound source level sound source system suitable for deep water work and a working method thereof, which solves the problems of realization of centimeter-level large amplitude in current low frequency or ultralow frequency radiation and sound compensation caused by deep water static pressure through mutual connection and cooperation between each subsystem.

[0004] For example, patent document CN115994434A discloses an air balancing sound compensation system suitable for deep-sea low-frequency sound sources and a design method thereof, which realizes the static pressure balance between the air chamber and the seawater through the liquid and gas phase conversion of the selected working gas.

[0005] These traditional passive compensation systems realize compensation for different depths of hydrostatic pressure by elastic deformation of the thin-walled container to extrude the internal gas, but due to the large volume change, the stability of the heavy buoyancy center position of the carrying platform is greatly affected. Generally, active compensation realizes internal pressure balance through the control of solenoid valves or electric proportional valves, which has a certain delay, and the radiation surface of the low-frequency piston type radiation sound source deviates from the middle position when subjected to hydrostatic pressure, so the volume of the air cavity is changed to respond to the pressure change, which cannot guarantee that the piston surface is always in the middle position. Although the active and passive combined compensation system can realize volume compensation.

[0006] For example, patent document CN112558649A proposes a transducer active and passive combined pressure balancing system and method, which realizes efficient gas pressure compensation through a system composed of a high-pressure gas bottle cavity, a low-pressure intermediate cabin and a compensation piston cavity. However, due to the influence of the starting friction of the piston in the piston cavity, there is a certain delay. SUMMARY

[0007] In view of the defects in the prior art, the purpose of the present application is to provide a compensation balancing system and method of an electrodynamic transducer.

[0008] According to the application, a compensation balancing system of an electric transducer is provided, comprising: a water acoustic transducer 1, a low-pressure intermediate cabin 2, and a high-pressure gas cylinder 3.

[0009] The water acoustic transducer 1 and the low-pressure intermediate cabin 2 are communicated through a pipeline and a control line; the high-pressure gas cylinder 3 and the low-pressure intermediate cabin 2 are communicated through a pipeline; the water acoustic transducer 1 is communicated with the high-pressure gas cylinder 3 through the low-pressure intermediate cabin 2; the pipeline is provided with sensor components and valve components; the control line can monitor and control the sensor components and the valve components; the high-pressure gas cylinder 3 comprises a high-pressure carbon fiber gas cylinder.

[0010] Preferably, the water acoustic transducer 1 comprises a displacement sensor 101, an exhaust electromagnetic valve 102, and a one-way valve 103.

[0011] The displacement sensor 101 can monitor the displacement of the piston of the water acoustic transducer 1 in real time; the exhaust electromagnetic valve 102 has a controllable function; the one-way valve 103 is arranged in the water acoustic transducer 1, and the displacement sensor 101 and the exhaust electromagnetic valve 102 are controlled by an MCU controller 203 in the low-pressure intermediate cabin 2 through a control line.

[0012] Preferably, the low-pressure intermediate cabin 2 comprises a first pressure sensor 201, a first electromagnetic valve 202, an MCU controller 203, a flow proportional valve 204, a second pressure sensor 205, a pressure reducing valve 206, a third pressure sensor 207, a fourth pressure sensor 208, and a one-way valve 209.

[0013] The first pressure sensor 201 is arranged between the water acoustic transducer 1 and the first electromagnetic valve 202 and can monitor the pressure of the water acoustic transducer 1 in real time; the first electromagnetic valve 202, the flow proportional valve 204, and the pressure reducing valve 206 all have controllable functions; the second pressure sensor 205 can monitor the pressure of the pipeline in real time; the third pressure sensor 207 can monitor the pressure of the high-pressure gas cylinder 3 in real time; and the fourth pressure sensor 208 can monitor the pressure of the external still water in real time.

[0014] The first electromagnetic valve 202, the flow proportional valve 204, the second pressure sensor 205, the pressure reducing valve 206, and the third pressure sensor 207 are arranged in sequence between the first pressure sensor 201 and the high-pressure gas cylinder 3; and the fourth pressure sensor 208 and the one-way valve 209 are arranged in the low-pressure intermediate cabin 2, respectively.

[0015] The first pressure sensor 201, the first electromagnetic valve 202, the flow proportional valve 204, the second pressure sensor 205, the pressure reducing valve 206, and the third pressure sensor 207 are monitored and controlled by the MCU controller 203 through control lines, respectively.

[0016] Preferably, under the monitoring and control of the MCU controller 203, the following functions are provided: system self-checking function, transducer piston position balance control function, transducer fuzzy adaptive control function.

[0017] Preferably, the system self-checking function, in particular, after the system is powered on, the MCU controller 203 automatically monitors the current value of the underwater acoustic transducer 1, and under the monitoring and control of the MCU controller 203:

[0018] When the pressure of the high-pressure gas cylinder 3 is greater than the external hydrostatic pressure, the underwater acoustic transducer 1 can continue to work, otherwise the underwater acoustic transducer 1 can only work after the high-pressure gas cylinder 3 is filled with gas;

[0019] When the pipeline pressure is greater than 3 units, the pressure reducing valve 206 is used to reduce the pipeline pressure to less than 3 units;

[0020] When the pressure difference between the pressure of the underwater acoustic transducer 1 and the external hydrostatic pressure exceeds the set pressure of the one-way valve 103, the one-way valve 103 fails immediately and needs to be handled before it can work.

[0021] Preferably, the transducer piston position balance control function, by analyzing the current value and the initial current of the underwater acoustic transducer 1, the working state of the underwater acoustic transducer 1 is judged, and the corresponding compensation balance strategy is matched, and then based on the implementation of the compensation balance strategy, the piston of the underwater acoustic transducer 1 is always kept in the balanced position.

[0022] Preferably, the compensation balance strategy includes:

[0023] When the current value of the underwater acoustic transducer 1 is greater than or equal to the initial current, the underwater acoustic transducer 1 enters the standby detection state, and if |P a -P d |>P s , the standby detection state is ended, otherwise the high-pressure gas cylinder 3 will actively compensate the underwater acoustic transducer 1, wherein P a represents the internal pressure, P d represents the external water pressure, and P s represents the high-pressure gas cylinder pressure.

[0024] When the underwater acoustic transducer 1 ends the standby detection state, the displacement sensor 101 immediately monitors the change amount of the piston displacement, and then the MCU controller 203 compares and analyzes the change amount of the piston displacement with the preset piston limit displacement, and finally the MCU controller 203 controls the control line to make the change amount of the piston displacement consistent with the preset piston limit displacement;

[0025] For example, the piston initial displacement of the underwater acoustic transducer 1 is S0, the internal and external pressure balance is a standard unit, the upper and lower limit displacement is S1 and S2 respectively, wherein S0, S1 and S2 satisfy S2 < S0 < S1, when the external static water pressure of the underwater acoustic transducer 1 changes, that is, S0, S1 and S2 no longer satisfy S2 < S0 < S1, the MCU controller 203 controls the first electromagnetic valve 202, the flow proportional valve 204 and the pressure reducing valve 206 to reduce the internal pressure of the underwater acoustic transducer 1 or pressurize the internal pressure of the underwater acoustic transducer 1 through the high-pressure gas cylinder 3, so as to further adjust the gas pressure in the underwater acoustic transducer 1 until the internal and external pressure balance of the underwater acoustic transducer 1 is a standard unit.

[0026] Preferably, the compensation balance strategy comprises:

[0027] When the current value of the underwater acoustic transducer 1 is less than the initial current, the underwater acoustic transducer 1 enters a non-working state.

[0028] When the underwater acoustic transducer 1 is in a non-working state, the displacement sensor 101 immediately monitors the change of the piston displacement point, the MCU controller 203 compares and analyzes the change of the piston displacement point and the preset initial piston displacement point, and finally the MCU controller 203 controls the control line to make the piston return to the preset initial piston displacement point.

[0029] For example, the initial piston displacement point of the underwater acoustic transducer 1 is S i If the change of the piston displacement point is S, when S satisfies S ≠ S i , the MCU controller 203 controls the first electromagnetic valve 202, the flow proportional valve 204 and the exhaust electromagnetic valve 102 to reduce the internal pressure of the underwater acoustic transducer 1 or pressurize the internal pressure of the underwater acoustic transducer 1 through the high-pressure gas cylinder 3 until the change of the piston displacement is S and the initial piston displacement is S i .

[0030] Preferably, the transducer fuzzy adaptive control function is specifically that, under the control of the MCU controller 203:

[0031] The sensor components transmit input information to the MCU controller 203 through the control line, and after fuzzy PID control processing, the MCU controller 203 transmits output information to the specified valve components through the control line, wherein the input information and the output information are automatically corrected through the fuzzy PID control.

[0032] According to the compensation balance method of the electric transducer provided by the application, the compensation balance system of the electric transducer is executed.

[0033] Compared with the prior art, the present application has the following beneficial effects:

[0034] 1、The transducer fuzzy adaptive control function proposed in the present application ingeniously solves the problems of insufficient response speed of the traditional active compensation system, short service life of the passive compensation system, and large variation of the heavy floating core, etc. by compensating the internal gas pressure of the underwater acoustic transducer; and when the external hydrostatic pressure changes, the present application uses the transducer fuzzy adaptive control function to realize instant response of the system, ensuring that the underwater acoustic transducer is in a normal working state in the constantly changing deep water environment.

[0035] 2、The present application uses the piston displacement as the regulating quantity of the transducer piston position balance control function, judges the working mode through the current signal, can conveniently and timely balance the underwater acoustic transducer cavity and the external hydrostatic pressure, and simplifies the control process through the explicit target control quantity.

[0036] 3、The present application can compensate the hydrostatic pressure of the underwater acoustic transducer in the water depth of 0m to 400m, ensuring that the underwater acoustic transducer system is in a normal working state at all times in deep water.

[0037] 4、The present application can ensure that the internal and external pressures of the transducer are instantaneously responsive and accurately balanced in a long-time, deep-depth environment, and simplifies the control process through the explicit target control quantity. BRIEF DESCRIPTION OF DRAWINGS

[0038] Other characteristics, objects and advantages of the present application will become more apparent from the following detailed description of non-restrictive embodiments, made with reference to the attached drawings:

[0039] Figure 1 It is a schematic diagram of the compensation balance system of the electric transducer;

[0040] Figure 2 It is a schematic diagram of the principle of the compensation balance system of the electric transducer;

[0041] Figure 3 It is a schematic diagram of the flow of the compensation balance system of the electric transducer.

[0042] In the drawings, it is shown that:

[0043] DETAILED DESCRIPTION

[0044] The application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the application. These are within the scope of protection of the application.

[0045] The application provides a compensation balancing system of an electric transducer, comprising: a water acoustic transducer 1, a low-pressure intermediate cabin 2, and a high-pressure gas cylinder 3.

[0046] The water acoustic transducer 1 and the low-pressure intermediate cabin 2 are communicated through a pipeline and a control line, the high-pressure gas cylinder 3 and the low-pressure intermediate cabin 2 are communicated through a pipeline, the water acoustic transducer 1 is communicated with the high-pressure gas cylinder 3 through the low-pressure intermediate cabin 2, and the pipelines are all provided with sensors and valves, and the control line adopts fuzzy PID control, so as to monitor and control the sensors and valves.

[0047] The water acoustic transducer 1 comprises a displacement sensor 101, an exhaust electromagnetic valve 102, and a one-way valve 103.

[0048] The displacement sensor 101 can monitor the piston displacement S of the water acoustic transducer 1 in real time.

[0049] The exhaust electromagnetic valve 102 has a controllable function, the one-way valve 103 is arranged in the water acoustic transducer 1, and the displacement sensor 101 and the exhaust electromagnetic valve 102 are controlled by an MCU controller 203 in the low-pressure intermediate cabin 2 through a control line.

[0050] The low-pressure intermediate cabin 2 comprises a first pressure sensor 201, a first electromagnetic valve 202, an MCU controller 203, a flow proportional valve 204, a second pressure sensor 205, a pressure reducing valve 206, a third pressure sensor 207, a fourth pressure sensor 208, and a one-way valve 209.

[0051] The first pressure sensor 201 is arranged between the water acoustic transducer 1 and the first electromagnetic valve 202 and can monitor the pressure P of the water acoustic transducer 1 in real time. 换 The first electromagnetic valve 202, the flow proportional valve 204, and the pressure reducing valve 206 all have controllable functions; the second pressure sensor 205 monitors the pipeline pressure P in real time. 管路 The third pressure sensor 207 monitors the pressure P of the high-pressure gas cylinder 3 in real time. s The fourth pressure sensor 208 monitors the external hydrostatic pressure P in real time. 水

[0052] ​A first electromagnetic valve 202, a flow proportional valve 204, a second pressure sensor 205, a pressure reducing valve 206, a third pressure sensor 207 are sequentially arranged between the first pressure sensor 201 and the high-pressure gas cylinder 3; the fourth pressure sensor 208 and the one-way valve 209 are respectively arranged inside the low-pressure intermediate cabin 2.

[0053] The first pressure sensor 201, the first electromagnetic valve 202, the flow proportional valve 204, the second pressure sensor 205, the pressure reducing valve 206, and the third pressure sensor 207 are respectively monitored and controlled by the MCU controller 203 through control lines.

[0054] The high-pressure gas cylinder 3 comprises a high-pressure carbon fiber gas cylinder.

[0055] The compensation balance system of the electric transducer has the following functions under the monitoring and control of the MCU controller 203: system self-checking function, transducer piston position balance control function, and transducer fuzzy self-adaptive control function.

[0056] The system self-checking function specifically refers to that after the system is powered on, the MCU controller 203 automatically monitors the current value I of the underwater acoustic transducer 1, and under the control of the MCU controller 203:

[0057] The first pressure sensor 201 monitors the pressure P of the underwater acoustic transducer 1 in real time 换 ; the second pressure sensor 205 monitors the pipeline pressure P 管路 ; the third pressure sensor 207 monitors the pressure P of the high-pressure gas cylinder 3 s ; the fourth pressure sensor 208 monitors the external static water pressure P 水 ; and the displacement sensor 101 monitors the piston displacement S of the underwater acoustic transducer 1 in real time.

[0058] When P s is greater than P 水 , the system can continue to work, otherwise the system can work after the high-pressure gas cylinder 3 is filled with gas.

[0059] When P 管路 is greater than 3 MPa, the pressure reducing valve 206 is used to reduce the pipeline pressure to P 管路 less than 3 MPa.

[0060] When the pressure difference between P 换 and P 水 exceeds the opening pressure of the one-way valve 103, the one-way valve 103 fails, and then the one-way valve 103 needs to be checked before working.

[0061] The transducer piston position balance control function judges the working state of the underwater acoustic transducer 1 by analyzing the current value I and the initial current I0 of the underwater acoustic transducer 1, further matches the corresponding compensation balance strategy, and based on the implementation of the compensation balance strategy, the piston of the underwater acoustic transducer 1 is always kept at the balance position S0.

[0062] The compensation balance strategy specifically refers to:

[0063] When I≥I0, the underwater acoustic transducer 1 enters the standby detection state;

[0064] If |P a -P d |>P s , the standby detection state is ended, otherwise the high-pressure gas cylinder 3 will actively compensate the system, wherein P a represents the internal pressure, P d represents the external water pressure, and P s represents the high-pressure gas cylinder pressure.

[0065] When the underwater acoustic transducer 1 ends the standby detection state, the MCU controller 203 controls the displacement sensor 101 to monitor the change of the piston displacement S in real time, and compares the piston displacement S with the preset piston displacement.

[0066] In the preferred example, the initial piston displacement of the underwater acoustic transducer 1 is S0, at this time the internal and external pressure balance is a standard atmospheric pressure (0.1MPa), and the upper and lower limit displacement amounts are S1 and S2 respectively. According to the internal and external pressure balance, S2

[0067] For example, when the external static water pressure increases, the transducer is in the sinking stage, the first pressure sensor 201 monitors that the internal gas of the underwater acoustic transducer 1 is compressed and the pressure rises, the piston displacement S will be less than the preset lower piston displacement S2, the MCU controller 203 immediately controls the first electromagnetic valve 202, the flow proportional valve 204 and the pressure reducing valve 206, so that the internal gas of the high-pressure gas cylinder 3 enters the underwater acoustic transducer 1, increases the internal gas pressure of the underwater acoustic transducer 1, and until the compensation piston displacement increases to the initial piston displacement S0, so that the piston displacement S satisfies S>S2, and the piston of the underwater acoustic transducer 1 will return to the balance position;

[0068] For example, when the external hydrostatic pressure decreases, the water acoustic transducer is in the rising stage, the first pressure sensor 201 monitors the pressure decrease after the expansion of the gas inside the water acoustic transducer 1, the piston displacement S will be greater than the preset piston upper displacement S1, the MCU controller 203 immediately controls the exhaust electromagnetic valve 102 to release the gas inside the water acoustic transducer 1 to the seawater until the piston displacement returns to the initial piston displacement S0, so that the piston displacement S satisfies S < S1, and the piston of the water acoustic transducer 1 will return to the equilibrium position;

[0069] When I < I0, the water acoustic transducer 1 is in a non-working state;

[0070] When the water acoustic transducer 1 is in a non-working state, the MCU controller 203 immediately controls the displacement sensor 101 to monitor the change of the piston displacement S, and compares the piston displacement S with the preset initial piston displacement S0;

[0071] If the piston displacement S is less than the preset initial piston displacement S0, the external hydrostatic pressure increases, the gas inside the water acoustic transducer 1 is compressed, the pressure increases, the MCU controller 203 controls the first electromagnetic valve 202 and the flow proportional valve 204, so that the gas inside the high-pressure gas cylinder 3 enters the water acoustic transducer 1, the pressure of the gas inside the water acoustic transducer 1 is increased, and the increase of the piston displacement is compensated until S0;

[0072] If the piston displacement S is greater than the preset initial piston displacement S0, the external hydrostatic pressure decreases, the gas inside the water acoustic transducer 1 expands, the pressure decreases, and the MCU controller 303 controls the exhaust electromagnetic valve 102 to release the gas inside the water acoustic transducer 1 to the seawater until the piston displacement returns to S0.

[0073] The transducer fuzzy adaptive control function is specifically that the control circuit adopts fuzzy PID control, that is, the fuzzy control principle is introduced on the basis of PID control, which has strong stability and anti-interference ability, and is suitable for some complex nonlinear systems. The digital PID controller is represented as:

[0074]

[0075] Wherein,

[0076] u(k) represents the control output at the kth sampling time;

[0077] k p represents the system proportional control parameter;

[0078] k i represents the system integral control parameter;

[0079] k d k represents the initial proportional control parameter of the system;

[0080] j represents the sampling time of the proportional control parameter;

[0081] T represents the sampling period.

[0082] Taking the error e and its change rate de as input quantities, the control parameters of the digital PID controller are adjusted in real time, the fuzzy quantity is subjected to fuzzy reasoning through the area center method, so as to obtain the correction parameters of the PID parameters, and the fuzzy PID control parameter adjustment quantity of the system parameters k e , k p , and k i is:

[0083] k d = k p + {e p0 , ec i} i p

[0084] k i = k i0 + {e i , ec i} i

[0085] k d = k d0 + {e i , ec i} d

[0086] wherein,

[0087] k p0 represents the initial proportional control parameter of the system;

[0088] e i represents the error at the i-th sampling time;

[0089] ec i represents the error change quantity at the i-th sampling time;

[0090] k i0 represents the initial integral control parameter of the system;

[0091] k d0 represents the initial differential control parameter of the system.

[0092] The application further provides a compensation balancing method of an electrodynamic transducer, and a compensation balancing system of the electrodynamic transducer is used for compensation balancing. ​

[0093] The specific embodiments of the present application have been described. It is to be understood that the application is not limited to particular details described herein and that various modifications can be made therein without departing from the scope of the claimed application. Embodiments and features disclosed in this document, including in the examples, can be combined with each other, unless specifically contradicted by or inconsistent with each other.

Claims

1. A compensation balancing system for an electrodynamic transducer, characterized in that: include: underwater acoustic transducer (1), low-pressure intermediate cabin (2), high-pressure gas cylinder (3); The underwater acoustic transducer (1) is connected to the low-pressure intermediate cabin (2) through a pipeline and a control circuit; the high-pressure gas cylinder (3) is connected to the low-pressure intermediate cabin (2) through a pipeline; the underwater acoustic transducer (1) is connected to the high-pressure gas cylinder (3) through the low-pressure intermediate cabin (2); the pipelines are all provided with sensor components and valve components; the control circuit can monitor and control the sensor components and valve components; the high-pressure gas cylinder (3) includes: a high-pressure carbon fiber gas cylinder.

2. The compensation balancing system of the electrodynamic transducer according to claim 1, characterized in that: The underwater acoustic transducer (1) comprises: a displacement sensor (101), an exhaust solenoid valve (102), and a one-way valve (103); The displacement sensor (101) is capable of monitoring the piston displacement of the underwater acoustic transducer (1) in real time; the exhaust solenoid valve (102) has a controllable function; the one-way valve (103) is arranged inside the underwater acoustic transducer (1), and the displacement sensor (101) and the exhaust solenoid valve (102) are controlled by an MCU controller (203) in the low-pressure intermediate cabin (2) through a control circuit.

3. The compensation and balancing system of the electrodynamic transducer according to claim 1, characterized in that: The low-pressure intermediate compartment (2) comprises: a first pressure sensor (201), a first solenoid valve (202), an MCU controller (203), a flow proportional valve (204), a second pressure sensor (205), a pressure reducing valve (206), a third pressure sensor (207), a fourth pressure sensor (208), and a one-way valve (209); The first pressure sensor (201) is arranged between the underwater acoustic transducer (1) and the first electromagnetic valve (202), and is capable of monitoring the pressure of the underwater acoustic transducer (1) in real time; the first electromagnetic valve (202), the flow proportional valve (204), and the pressure reducing valve (206) all have controllable functions; the second pressure sensor (205) is capable of monitoring the pressure of the pipeline in real time; the third pressure sensor (207) is capable of monitoring the pressure of the high-pressure gas cylinder (3) in real time; and the fourth pressure sensor (208) is capable of monitoring the pressure of external static water in real time; A first solenoid valve (202), a flow proportional valve (204), a second pressure sensor (205), a pressure reducing valve (206), and a third pressure sensor (207) are sequentially arranged between the first pressure sensor (201) and the high-pressure gas cylinder (3); the fourth pressure sensor (208) and the one-way valve (209) are respectively arranged inside the low-pressure intermediate cabin (2); The first pressure sensor (201), the first solenoid valve (202), the flow proportional valve (204), the second pressure sensor (205), the pressure reducing valve (206), and the third pressure sensor (207) are respectively monitored and controlled by the MCU controller (203) through control lines.

4. The compensation and balancing system of the electrodynamic transducer according to claim 1, characterized in that: Under the monitoring and control of the MCU controller (203), the system has the following functions: system self-checking function, transducer piston position balance control function, and transducer fuzzy adaptive control function.

5. The compensation and balancing system of the electrodynamic transducer according to claim 4, characterized in that: The system self-check function specifically refers to that after the system is powered on, the MCU controller (203) automatically monitors the current value of the underwater acoustic transducer (1), and under the monitoring and control of the MCU controller (203): When the pressure of the high-pressure gas cylinder (3) is greater than the external hydrostatic pressure, the underwater acoustic transducer (1) can continue to work; otherwise, the underwater acoustic transducer (1) can only work after the high-pressure gas cylinder (3) is filled with gas; When the pipeline pressure is greater than 3 units, the pressure reducing valve (206) is used to reduce the pipeline pressure until the pipeline pressure is less than 3 units; When the pressure difference between the pressure of the underwater acoustic transducer (1) and the external hydrostatic pressure exceeds the set pressure of the one-way valve (103), the one-way valve (103) will fail immediately and the one-way valve (103) needs to be repaired before it can work again.

6. The compensation and balancing system for an electrodynamic transducer according to claim 4, characterized in that: The transducer piston position balance control function determines the working state of the underwater acoustic transducer (1) by analyzing the current current value and the initial current of the underwater acoustic transducer (1), further matches the corresponding compensation balance strategy, and then promotes the piston of the underwater acoustic transducer (1) to always maintain a balanced position based on the implementation of the compensation balance strategy.

7. The compensation and balancing system of the electrodynamic transducer according to claim 6, characterized in that: The compensation balancing strategy includes: When the current value of the underwater acoustic transducer (1) is greater than or equal to the initial current, the underwater acoustic transducer (1) enters the standby detection state. If |P a -P d |>P s , then the standby detection state ends, otherwise the high-pressure gas cylinder (3) will actively compensate the underwater acoustic transducer (1), wherein, P a Indicates internal pressure, P d Indicates external water pressure, P s Indicates the pressure of high-pressure gas cylinder; When the underwater acoustic transducer (1) ends the standby detection state, the displacement sensor (101) immediately monitors the change in piston displacement, and then the MCU controller (203) compares and analyzes the change in piston displacement with a preset piston limit displacement. Finally, the MCU controller (203) adjusts the control circuit so that the change in piston displacement remains consistent with the preset piston limit displacement. The initial displacement of the piston of the underwater acoustic transducer (1) is S0, at which time the internal and external pressures are balanced to a standard unit, and the displacements of the upper and lower limits are S1 and S2 respectively, wherein S0, S1, and S2 satisfy S2<S0<S1. When the external hydrostatic pressure of the underwater acoustic transducer (1) changes, that is, S0, S1, and S2 no longer satisfy S2<S0<S1, the MCU controller (203) controls the first solenoid valve (202), the flow proportional valve (204), and the pressure reducing valve (206) through the control circuit to reduce the pressure inside the underwater acoustic transducer (1), or increases the pressure inside the underwater acoustic transducer (1) through the high-pressure gas cylinder (3), thereby further adjusting the gas pressure inside the underwater acoustic transducer (1) until the internal and external pressures of the underwater acoustic transducer (1) are balanced to a standard unit.

8. The compensation and balancing system for an electrodynamic transducer according to claim 6, wherein: The compensation balancing strategy includes: When the current value of the underwater acoustic transducer (1) is less than the initial current, the underwater acoustic transducer (1) enters a non-operating state; When the underwater acoustic transducer (1) is in a non-operating state, the displacement sensor (101) immediately monitors the change of the piston displacement point, and the MCU controller (203) compares and analyzes the change of the piston displacement point with a preset initial piston displacement point. Finally, the MCU controller (203) restores the piston to the preset initial piston displacement point through the control of the control circuit; The initial displacement point of the piston of the underwater acoustic transducer (1) is S i , if the change of the piston displacement point is S, when S satisfies S≠S i When the pressure inside the underwater acoustic transducer (1) is reduced, the MCU controller (203) controls the first electromagnetic valve (202), the flow proportional valve (204), and the exhaust electromagnetic valve (102) through the control route, or increases the pressure inside the underwater acoustic transducer (1) through the high-pressure gas cylinder (3), until the change in the piston displacement is S and the piston is restored to the initial displacement of S. i .

9. The compensation and balancing system for an electrodynamic transducer according to claim 4, characterized in that: The transducer fuzzy adaptive control function specifically refers to, under the control of the MCU controller (203): The sensor component transmits input information to the MCU controller (203) through a control line. After fuzzy PID control processing, the MCU controller (203) transmits output information to a designated valve component through the control line, wherein both the input information and the output information are automatically corrected through the fuzzy PID control.

10. A compensation balancing method for an electrodynamic transducer, characterized in that: Compensation and balancing are performed using the compensation and balancing system of the electrodynamic transducer according to any one of claims 1 to 9.

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