Power supply and distribution system applied to high-speed underwater unmanned vehicle and design method thereof

Abstract

The invention provides a power supply and distribution system applied to a high-speed unmanned underwater vehicle and a design method of the power supply and distribution system. The power supply and distribution system comprises a main controller, a high-voltage battery module, a low-voltage battery module and a safety protection circuit, wherein the main controller is responsible for data transmission, signal processing, algorithm operation, state monitoring and manipulation control in the whole aircraft; the high-voltage battery module provides high-power electric energy output for power equipment in the aircraft, and the module is in communication connection with the main controller; the low-voltage battery module provides electric energy for the main controller and various sensors in the cabin; the safety protection circuit module is responsible for dealing with sudden out-of-control conditions of the circuit and feeding back electric signals; meanwhile, reasonable circuit layout can be designed according to the internal structure, and potential safety hazards of equipment are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of power supply and distribution for high-speed underwater unmanned vehicles, and specifically, to an internal energy source and control system applied to high-speed underwater unmanned vehicles, and more particularly to a power supply and distribution system applied to high-speed underwater unmanned vehicles and a design method thereof. Background Art

[0002] The marine operating environment has received more and more attention from countries, and underwater unmanned vehicles are an important tool for marine operations; high-speed underwater unmanned vehicles need to meet the maneuverability of both low-speed cruising and high-speed navigation, which places high demands on the energy and power supply and distribution systems they carry.

[0003] The high-speed underwater unmanned vehicle has a large overall power, which can be mainly divided into a high-power high-voltage system and a medium- and small-power low-voltage system. The high-voltage system needs to supply power to the main propulsion system and other equipment, and has a high peak power; the low-voltage system needs to supply power to equipment such as the cabin controller sensor, and has a lower power.

[0004] High-speed underwater unmanned vehicles have high maneuverability, frequent acceleration and deceleration, and high instantaneous power of the whole machine. Their power equipment mainly relies on high-voltage battery systems to supply electricity. High-voltage battery systems have high discharge rates and large output currents, and have high requirements for circuit safety control.

[0005] High-speed underwater unmanned vehicles require high control accuracy and a lot of internal signal feedback. Their control equipment and sensor equipment mainly rely on low-voltage battery systems for power supply. In order to meet the different voltage power supply requirements of various devices, the low-voltage battery system needs to design a reasonable power control board to output a stable voltage.

[0006] High-speed underwater unmanned vehicles have many internal wiring harnesses but limited space. Communications of certain devices with high signal quality requirements are easily interfered with, so a reasonable line layout needs to be designed based on the internal structure.

[0007] The power supply and distribution of high-speed underwater unmanned vehicles must rely on their own energy systems. For the safety of the energy system, it is necessary to design reasonable protection and control circuits to reduce equipment safety hazards. Summary of the invention

[0008] In view of the defects in the prior art, the present invention provides a power supply and distribution system for a high-speed underwater unmanned vehicle and a design method thereof.

[0009] According to the present invention, a power supply and distribution system for a high-speed underwater unmanned vehicle and a design method thereof are provided, and the scheme is as follows:

[0010] In a first aspect, a power supply and distribution system for a high-speed underwater unmanned vehicle is provided, the system comprising: a high-voltage battery module, a low-voltage battery module, a main controller and a safety protection circuit module;

[0011] Among them, the high-voltage battery module provides high-power output electrical energy for the internal power equipment of the aircraft, and the module is connected to the main controller in communication;

[0012] The low-voltage battery module provides power to the main controller and various sensors in the cabin. The module is connected to the main controller for communication;

[0013] The main controller is responsible for data transmission, signal processing, algorithm operation, status monitoring and operation control within the entire spacecraft;

[0014] Safety protection circuit module, responsible for dealing with sudden out-of-control situations of the circuit and electrical signal feedback;

[0015] Preferably, the high-voltage battery module comprises: a high-voltage BMS control board;

[0016] The high-voltage BMS control board includes a high-voltage sampling circuit, an insulation monitoring circuit, a high-voltage communication circuit and a high-voltage on-board MCU;

[0017] Among them, the high-voltage BMS control board collects the external characteristic parameters of the high-voltage battery module in real time through the high-voltage sampling circuit;

[0018] The insulation monitoring circuit monitors the internal and external insulation performance of the high-voltage battery module;

[0019] The high-voltage internal communication circuit provides a data communication link to complete the BMS internal signal acquisition and processing; the high-voltage external communication circuit provides a 485 interface to complete the communication between the high-voltage battery module and the aircraft main controller;

[0020] High-voltage onboard MCU: realizes high-voltage battery module BMS control, processing and feedback functions.

[0021] Preferably, the high-voltage battery module further comprises: a high-voltage battery pack;

[0022] The high-voltage battery pack adopts a modular design, and a single module is packaged with different battery cells; a passive balancing strategy is adopted between cells to compensate for the inconsistency of the battery.

[0023] Preferably, the high-voltage battery module further comprises: a high-voltage input circuit and a high-voltage output circuit;

[0024] The high-voltage input circuit includes: a high-voltage charging circuit and a high-voltage communication circuit, the high-voltage charging circuit is connected to the watertight connector on the aircraft bulkhead through a cable, and the high-voltage communication circuit is connected to the main controller in the cabin through a cable;

[0025] The high-voltage output line is connected to the main power equipment through a high-power cable and an IGBT.

[0026] Preferably, the low-voltage battery module comprises: a low-voltage BMS control board, a low-voltage battery pack, a low-voltage input circuit and a low-voltage output circuit;

[0027] The low-voltage BMS control board includes a low-voltage sampling circuit, a low-voltage communication circuit and a low-voltage onboard MCU; wherein the low-voltage BMS control board collects the external characteristic parameters of the low-voltage battery module in real time through the low-voltage sampling circuit; in the low-voltage communication circuit, the low-voltage internal communication circuit provides a data communication link to complete the BMS internal signal collection and processing; the low-voltage external communication circuit provides a 485 interface to complete the communication between the low-voltage battery module and the main controller of the aircraft; the low-voltage onboard MCU realizes the BMS control, processing and feedback functions of the low-voltage battery system;

[0028] The low-voltage battery pack is formed by packing different battery cells, and a passive balancing strategy is adopted between the cells;

[0029] The low-voltage input circuit includes: a low-voltage charging circuit and a low-voltage communication circuit, the low-voltage charging circuit is connected to the watertight connector on the aircraft bulkhead via a cable, and the low-voltage communication circuit is connected to the main controller in the cabin via a cable;

[0030] The low-voltage output circuit is connected to various low-voltage electrical equipment via a multi-channel power supply board and a control relay.

[0031] Preferably, the main controller comprises:

[0032] The main controller establishes communication with different sensors in the aircraft cabin to obtain real-time signals in different states; and processes the received real-time signals to form input sequences or external outputs in sequence;

[0033] The main controller's internal algorithm runs in conjunction with the processed signal input sequence and outputs the decision result. It also outputs the processed signal externally to provide real-time monitoring and feedback of the status.

[0034] The main controller controls the actions of the external devices according to the decision results to achieve manipulation control.

[0035] Preferably, the safety protection circuit module comprises: a state feedback protection circuit and a mechanical independent protection circuit, which are connected in series into the circuit to form a logical "AND" relationship;

[0036] The state feedback protection circuit can respond to sudden out-of-control situations such as circuit short circuit, low battery level in the battery system, and sensor feedback values ​​exceeding normal values. At this time, the state feedback protection circuit outputs a signal to cut off the loop relay to prevent the submersible from further out-of-control;

[0037] The mechanical independent protection circuit can deal with the failure of electrical signal control, such as failure of electric relays and inaccurate control signals. At this time, the mechanical independent protection circuit is combined with a timing spring and a pressure switch to cut off the circuit to prevent the submersible from further losing control.

[0038] In a second aspect, a method for designing a power supply and distribution system for a high-speed underwater unmanned vehicle is provided, the method comprising:

[0039] Step S1: designing the high-voltage battery module in the cabin according to the aircraft power index;

[0040] Step S2: designing a low-voltage battery module in the cabin according to the power supply requirements of other equipment in the aircraft;

[0041] Step S3: Establish control communication between the main controller and each device as a control center for power supply and distribution;

[0042] Step S4: Setting a safety protection circuit module, using a state feedback protection circuit and a mechanical independent protection circuit to deal with the risk of loss of control of the aircraft, and providing protection by cutting off the loop relay, its own switch, and IGBT;

[0043] Step S5: Optimize the internal line layout of the power supply and distribution system to ensure that the lines in the aircraft cabin do not interfere with each other.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. This application reduces the interference between strong and weak electricity by designing separate high and low voltage systems in the cabin;

[0046] 2. This application increases system reliability and reduces the risk of unmanned aerial vehicle power supply and distribution out of control by designing a state feedback protection circuit and a mechanical independent protection circuit.

[0047] Other beneficial effects of the present invention will be explained in the specific implementation manner through the introduction of specific technical features and technical solutions. Through the introduction of these technical features and technical solutions, those skilled in the art should be able to understand the beneficial technical effects brought about by the technical features and technical solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0049] Figure 1 This is a schematic diagram of the control of the internal power supply and distribution system of a high-speed underwater unmanned vehicle;

[0050] Figure 2 Schematic diagram of high / low voltage battery system for high-speed underwater unmanned vehicle;

[0051] Figure 3 It is a schematic diagram of the safety protection circuit and internal circuit layout of the high-speed underwater unmanned vehicle;

[0052] Figure 4 Design a flow chart for the safety protection circuit of a high-speed underwater unmanned vehicle. DETAILED DESCRIPTION

[0053] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0054] The embodiment of the present invention provides a power supply and distribution system for a high-speed underwater unmanned vehicle, referring to Figure 1 As shown, the system includes: a high-voltage battery module, a low-voltage battery module, a main controller and a safety protection circuit;

[0055] Among them, the high-voltage battery module provides high-power output electrical energy for the internal power equipment of the aircraft, and the module is connected to the main controller for communication.

[0056] The low-voltage battery module provides power to the main controller and various sensors in the cabin. The module is connected to the main controller for communication;

[0057] The main controller is responsible for data transmission, signal processing, algorithm operation, status monitoring and operation control within the entire spacecraft; the main controller establishes communication with different sensors in the spacecraft cabin to obtain real-time signals under different states; and processes the received real-time signals to form input sequences or external outputs in sequence; the internal algorithm of the main controller is combined with the processed signal input sequence to run and output the decision result; and according to the processed signal external output, the status is monitored and fed back in real time; the main controller controls the action of external devices according to the decision result to achieve operation control.

[0058] Safety protection circuit module, responsible for dealing with sudden out-of-control situations of the circuit and electrical signal feedback;

[0059] Specifically, the high-voltage battery module includes: a high-voltage BMS control board, a high-voltage battery pack, a high-voltage input line and a high-voltage output line;

[0060] Among them, the high-voltage BMS control board includes a high-voltage sampling circuit, an insulation monitoring circuit, a high-voltage communication circuit and a high-voltage on-board MCU; the high-voltage BMS control board collects the external characteristic parameters of the high-voltage battery module in real time through the high-voltage sampling circuit; the insulation monitoring circuit monitors the internal and external insulation performance of the high-voltage battery module; in the high-voltage communication circuit, the high-voltage internal communication circuit provides a data communication link to complete the BMS internal signal acquisition and processing; the high-voltage external communication circuit provides a 485 interface to complete the communication between the high-voltage battery module and the aircraft main controller; the high-voltage on-board MCU: realizes the BMS control, processing and feedback functions of the high-voltage battery module.

[0061] The high-voltage battery pack adopts a modular design, and a single module is composed of different battery cells. A passive balancing strategy is used between cells to compensate for battery inconsistencies.

[0062] The high-voltage input circuit includes: a high-voltage charging circuit and a high-voltage communication circuit. The high-voltage charging circuit is connected to the watertight connector on the aircraft bulkhead through a cable, and the high-voltage communication circuit is connected to the main controller in the cabin through a cable; the high-voltage output circuit is connected to the main power equipment through a high-power cable and IGBT.

[0063] Specifically, the low-voltage battery module includes: a low-voltage BMS control board, a low-voltage battery pack, a low-voltage input line and a low-voltage output line.

[0064] The low-voltage BMS control board includes a low-voltage sampling circuit, a low-voltage communication circuit and a low-voltage onboard MCU; the low-voltage BMS control board collects the external characteristic parameters of the low-voltage battery module in real time through the low-voltage sampling circuit; in the low-voltage communication circuit, the low-voltage internal communication circuit provides a data communication link to complete the BMS internal signal acquisition and processing; the low-voltage external communication circuit provides a 485 interface to complete the communication between the low-voltage battery module and the aircraft main controller; the low-voltage onboard MCU realizes the low-voltage battery system BMS control, processing and feedback functions.

[0065] The low-voltage battery pack is composed of different battery cells, and a passive balancing strategy is adopted between the cells;

[0066] The low voltage input circuit includes: a low voltage charging circuit and a low voltage communication circuit, the low voltage charging circuit is connected to the watertight connector on the aircraft bulkhead through a cable, and the low voltage communication circuit is connected to the main controller in the cabin through a cable;

[0067] The low-voltage output line is connected to various low-voltage electrical equipment through a multi-channel power supply board and a control relay.

[0068] Specifically, the safety protection circuit module includes: a state feedback protection circuit and a mechanical independent protection circuit, which are connected in series into the circuit to form a logical "and" relationship (i.e., common protection);

[0069] The state feedback protection circuit is used to deal with sudden loss of control, such as circuit short circuit, low battery system power, sensor feedback value exceeding normal value, etc. At this time, the state feedback protection circuit outputs a signal to cut off the loop relay to prevent the submersible from further losing control;

[0070] The mechanical independent protection circuit can deal with the failure of electrical signal control, such as failure of electric relays, inaccurate control signals, etc. At this time, the mechanical independent protection circuit can be combined with the setting of timing springs and pressure switches to cut off the circuit to prevent the submersible from further losing control.

[0071] The design steps of the present invention include:

[0072] Step S1: designing the high-voltage battery module in the cabin according to the power index (speed) of the aircraft;

[0073] Step S2: designing a low-voltage battery module in the cabin according to the power supply requirements of other equipment in the aircraft;

[0074] Step S3: Establish control communication between the main controller and each device as a control center for power supply and distribution;

[0075] Step S4: Setting a safety protection circuit module, using a state feedback protection circuit and a mechanical independent protection circuit to deal with the risk of loss of control of the aircraft, and providing protection by cutting off the loop relay, its own switch, and IGBT;

[0076] Step S5: The internal line layout of the power supply and distribution system is comprehensively considered in accordance with strong / weak electricity, power supply / signal, and structural space to ensure that the wiring in the cabin is reliable and does not interfere with each other.

[0077] Next, the present invention will be described in more detail.

[0078] The present invention provides a power supply and distribution system for a high-speed underwater unmanned vehicle, referring to Figure 2 As shown, the battery system external characteristic acquisition module can collect battery voltage, current, and temperature signals in real time. The battery system control host computer can display monitoring signals and issue control instructions in real time. The high-voltage battery pack is composed of multiple high-voltage battery modules through modular design and is monitored and controlled by the high-voltage battery management system. The low-voltage battery pack is monitored and controlled by the low-voltage battery management system. The battery management system designs an algorithm based on the corresponding relationship between battery state of charge and open circuit voltage to output the battery status in real time.

[0079] Reference Figure 1As shown, the external communication, control, feedback and protection circuits are mainly composed of a low-voltage control electrical protection circuit, a high-voltage power electrical protection circuit and a communication control feedback circuit of the power supply and distribution system. The low-voltage battery system is composed of a low-voltage battery pack and a low-voltage battery management system. The high-voltage battery system is composed of a high-voltage battery pack and a high-voltage battery management system. The main controller performs real-time system control and data transmission through the communication circuit; various sensors in the cabin are powered by the low-voltage battery system and transmit data with the main controller; the power equipment in the cabin is powered by the high-voltage battery system and is operated and controlled by the main controller.

[0080] Reference Figure 3 As shown, the state feedback protection circuit controls the loop relay through the real-time monitoring of the system state, where the system state includes the state of feedback from each sensor (such as current size, depth, speed, and power); the mechanical independent protection circuit controls the loop mechanical switch by the system-set threshold (such as winding time and pressure size), and the internal circuit is mainly designed for layout based on the system's strong / weak current, power supply / signal, and structural space.

[0081] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0082] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A power supply and distribution system for a high-speed underwater unmanned vehicle, characterized in that: include: Main controller, high voltage battery module, low voltage battery module, main controller and safety protection circuit; Among them, the high-voltage battery module provides high-power output electrical energy for the internal power equipment of the aircraft, and the module is communicatively connected to the main controller; The low-voltage battery module provides power to the main controller and various sensors in the cabin. The module is connected to the main controller for communication; The main controller is responsible for data transmission, signal processing, algorithm operation, status monitoring and operation control within the entire spacecraft; The safety protection circuit module is responsible for responding to sudden circuit out-of-control situations and electrical signal feedback.

2. The power supply and distribution system for high-speed underwater unmanned vehicles according to claim 1 is characterized in that: The high-voltage battery module includes: a high-voltage BMS control board; The high-voltage BMS control board includes a high-voltage sampling circuit, an insulation monitoring circuit, a high-voltage communication circuit and a high-voltage on-board MCU; Among them, the high-voltage BMS control board collects the external characteristic parameters of the high-voltage battery module in real time through the high-voltage sampling circuit; The insulation monitoring circuit monitors the internal and external insulation performance of the high-voltage battery module; The high-voltage communication circuit provides a data communication link to complete the BMS internal signal acquisition and processing; the high-voltage external communication circuit provides a 485 interface to complete the communication between the high-voltage battery module and the aircraft main controller; High-voltage onboard MCU: realizes high-voltage battery module BMS control, processing and feedback functions.

3. The power supply and distribution system for high-speed underwater unmanned vehicles according to claim 2 is characterized in that: The high-voltage battery module further includes: a high-voltage battery pack; The high-voltage battery pack adopts a modular design, and a single module is packaged with different battery cells; a passive balancing strategy is adopted between cells to compensate for the inconsistency of the battery.

4. The power supply and distribution system for high-speed underwater unmanned vehicles according to claim 3 is characterized in that: The high-voltage battery module further includes: a high-voltage input circuit and a high-voltage output circuit; The high-voltage input circuit includes: a high-voltage charging circuit and a high-voltage communication circuit, the high-voltage charging circuit is connected to the watertight connector on the aircraft bulkhead through a cable, and the high-voltage communication circuit is connected to the main controller in the cabin through a cable; The high-voltage output line is connected to the main power equipment through a high-power cable and an IGBT.

5. The power supply and distribution system for high-speed underwater unmanned vehicle according to claim 1, characterized in that: The low-voltage battery module includes: a low-voltage BMS control board, a low-voltage battery pack, a low-voltage input circuit and a low-voltage output circuit; The low-voltage BMS control board includes a low-voltage sampling circuit, a low-voltage communication circuit and a low-voltage onboard MCU; wherein the low-voltage BMS control board collects the external characteristic parameters of the low-voltage battery module in real time through the low-voltage sampling circuit; in the low-voltage communication circuit, the low-voltage internal communication circuit provides a data communication link to complete the BMS internal signal collection and processing; the low-voltage external communication circuit provides a 485 interface to complete the communication between the low-voltage battery module and the main controller of the aircraft; the low-voltage onboard MCU realizes the BMS control, processing and feedback functions of the low-voltage battery system; The low-voltage battery pack is formed by packing different battery cells, and a passive balancing strategy is adopted between the cells; The low-voltage input circuit includes: a low-voltage charging circuit and a low-voltage communication circuit, the low-voltage charging circuit is connected to the watertight connector on the aircraft bulkhead via a cable, and the low-voltage communication circuit is connected to the main controller in the cabin via a cable; The low-voltage output circuit is connected to various low-voltage electrical equipment via a multi-channel power supply board and a control relay.

6. The power supply and distribution system for high-speed underwater unmanned vehicle according to claim 1, characterized in that: The main controller comprises: The main controller establishes communication with different sensors in the aircraft cabin to obtain real-time signals in different states; and processes the received real-time signals to form input sequences or external outputs in sequence; The main controller's internal algorithm runs in conjunction with the processed signal input sequence and outputs the decision result. It also outputs the processed signal externally to provide real-time monitoring and feedback of the status. The main controller controls the actions of the external devices according to the decision results to achieve manipulation control.

7. The power supply and distribution system for high-speed underwater unmanned vehicle according to claim 1, characterized in that: The safety protection circuit module includes: a state feedback protection circuit and a mechanical independent protection circuit, which are connected in series to form a common protection relationship; The state feedback protection circuit can respond to sudden out-of-control situations such as circuit short circuit, low battery level in the battery system, and sensor feedback values ​​exceeding normal values. At this time, the state feedback protection circuit outputs a signal to cut off the loop relay to prevent the submersible from further out-of-control; The mechanical independent protection circuit can deal with the failure of electrical signal control, such as failure of electric relays and inaccurate control signals. At this time, the mechanical independent protection circuit is combined with a timing spring and a pressure switch to cut off the circuit to prevent the submersible from further losing control.

8. A method for designing a power supply and distribution system for a high-speed underwater unmanned vehicle, based on the power supply and distribution system for a high-speed underwater unmanned vehicle according to any one of claims 1 to 7, characterized in that: include: Step S1: designing the high-voltage battery module in the cabin according to the aircraft power index; Step S2: designing a low-voltage battery module in the cabin according to the power supply requirements of other equipment in the aircraft; Step S3: Establish control communication between the main controller and each device as a control center for power supply and distribution; Step S4: Setting a safety protection circuit module, using a state feedback protection circuit and a mechanical independent protection circuit to deal with the risk of loss of control of the aircraft, and providing protection by cutting off the loop relay, its own switch, and IGBT; Step S5: Optimize the internal line layout of the power supply and distribution system to ensure that the lines in the aircraft cabin do not interfere with each other.

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