Bidirectional self-coupling underwater electric propulsion power device and multi-modal control method

Abstract

The application discloses a kind of bidirectional self-coupling underwater electric propulsion power device and multi-modal control method, the device includes transmission, bidirectional self-coupling motor and intelligent controller, intelligent controller is electrically connected with bidirectional self-coupling motor, bidirectional self-coupling motor is mechanically connected with transmission.Bidirectional self-coupling motor adopts double-stator double-rotor nested structure, bidirectional stator disc is divided into inner and outer ring stator mounting part by electromagnetic shielding layer, respectively installs positive rotation stator and reverse rotation stator, corresponding cooperation positive rotation permanent magnet rotating disc and reverse rotation permanent magnet rotating disc, and is equipped with magnetic separation ring to reduce electromagnetic interference.Multi-modal control method is through determining torque distribution coefficient, calculating rotor reference torque, combined with double-rotor torque equation and current coupling control algorithm dynamic adjustment phase difference, realize cruise, latency, penetration and other mode Intelligent switching, with the characteristics of high power density, stable operation, adapt to multiple scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater power propulsion, in particular to a bidirectional self-coupling underwater electric propulsion power device and a multi-modal control method. BACKGROUND

[0002] The underwater electric propulsion device is currently a kind of underwater navigation device using electric power propulsion, mainly applied in deep sea exploration, carrying combat systems, underwater operation and other fields. The traditional underwater vehicle generally uses a fuel system to generate thrust underwater to propel the entire device forward. The current underwater propulsion technology has many technical bottlenecks in material processing and application, which restricts the development of deep sea exploration, underwater combat and other fields.

[0003] The traditional fuel power system has obvious defects in material adaptability. Its power output depends on fuel combustion, and the deep sea high pressure environment will cause the fuel atomization efficiency to decrease by more than 30%, which is closely related to the insufficient material sealing of the fuel injection system. The conventional metal sealing element is prone to micro-deformation under deep sea pressure, causing the injection angle of the fuel atomization nozzle to deviate, and thus causing the thrust output fluctuation amplitude to reach ± 15%. At the same time, the metal pipeline and sealing element of the fuel system are easily corroded by seawater in long-term use, not only shortening the service life of the equipment, but also causing oil leakage due to material wear, which causes serious marine pollution problems.

[0004] The material performance and structural design of the conventional electric propulsion system are difficult to meet the high power demand. The single-stator motor is limited by the magnetic conductivity of the silicon steel sheet, and the power density is low when using traditional silicon steel sheets, which cannot meet the requirements of miniaturization and high power of deep sea equipment. Although the double-rotor electric system attempts to increase the number of rotors to increase power, the lack of material electromagnetic compatibility design leads to serious electromagnetic coupling interference, and the torque ripple rate of the double-rotor system is > 8% (see China Shipbuilding, No. 4, 2022).

[0005] The core chip and sensor of the traditional PID control system have poor stability in complex sea current environment, the metal packaging material has poor thermal conductivity, the chip temperature drift is obvious under high load, and the speed synchronization error is > 2%. In addition, although the existing technology such as CN108765432A increases the number of stator slots to increase power, it does not solve the magnetic coupling interference problem of the double-rotor system, and the reliability of the motor is significantly reduced in the deep sea high pressure environment, which cannot realize the functions of fast start and stop and concealment. SUMMARY

[0006] The technical problem to be solved by the present application is to provide a bidirectional self-coupling underwater electric propulsion power device and a multi-modal control method to overcome the defects of traditional fuel power devices such as large pollution, insufficient power of electric propulsion systems, coupling interference and low control precision, and to realize efficient, stable and multi-scene adaptive underwater propulsion.

[0007] To solve the above technical problems, embodiments of the present application provide the following technical solutions: a bidirectional self-coupling underwater electric propulsion power device, comprising a transmission device, a bidirectional self-coupling motor, and an intelligent controller, wherein the output end of the intelligent controller is electrically connected with the bidirectional self-coupling motor, and the bidirectional self-coupling motor is mechanically connected with the transmission device.

[0008] The bidirectional self-coupling motor comprises a first bearing, a second bearing, a forward rotation output shaft, a reverse rotation output shaft, a forward rotation permanent magnet rotating disc, a reverse rotation permanent magnet rotating disc, a reverse rotation stator, a forward rotation stator, a bidirectional stator disc, and a double-motor driver, wherein the reverse rotation output shaft is nestedly installed in the forward rotation output shaft, the outer side of the rotating shaft of the forward rotation output shaft is sleeved with the first bearing, the outer side of the rotating shaft of the reverse rotation output shaft is sleeved with the second bearing, the side opposite to the rotating shaft of the forward rotation output shaft is provided with the forward rotation permanent magnet rotating disc, and the side opposite to the rotating shaft of the reverse rotation output shaft is provided with the reverse rotation permanent magnet rotating disc, which is nestedly installed in the forward rotation permanent magnet rotating disc.

[0009] The bidirectional stator disc is divided into an outer ring stator mounting portion and an inner ring stator mounting portion by an annular electromagnetic shielding layer, the forward rotation stator is mounted in the outer ring stator mounting portion of the bidirectional stator disc, and the reverse rotation stator is mounted in the inner ring stator mounting portion of the bidirectional stator disc.

[0010] After the reverse rotation stator and the forward rotation stator are mounted in the bidirectional stator disc, the forward rotation stator in the bidirectional stator disc is connected with the forward rotation permanent magnet rotating disc, the reverse rotation stator in the bidirectional stator disc is connected with the reverse rotation permanent magnet rotating disc, and the other side of the bidirectional stator disc is connected with and electrically connected with the double-motor driver.

[0011] The intelligent controller comprises a power module and a control chip, and the control chip is electrically connected with the double-motor driver.

[0012] Preferably, the outer ring stator mounting portion comprises 24 outer ring stator mounting grooves arranged uniformly, and the inner ring stator mounting portion comprises 12 inner ring stator mounting grooves arranged uniformly.

[0013] Preferably, the forward rotation stator comprises 24 first stator assemblies mounted in the outer ring stator mounting grooves respectively, the outer side of each first stator assembly is wound with a first stator winding, and the first stator windings on the outer sides of the first stator assemblies are isolated from each other by a first insulating material.

[0014] The reverse rotation stator comprises 12 second stator assemblies mounted in the inner ring stator mounting grooves respectively, the outer side of each second stator assembly is wound with a second stator winding, and the second stator windings on the outer sides of the second stator assemblies are isolated from each other by a second insulating material.

[0015] Preferably, the outer ring stator mounting part is provided with first stator interface pins, and the inner ring stator mounting part is provided with second stator interface pins, and the first stator interface pins and the second stator interface pins are electrically connected with the double-motor driver.

[0016] Preferably, the positive rotation permanent magnet rotating disc is uniformly arranged with 10 first permanent magnets, and adjacent first permanent magnets have opposite polarities, and the gap between adjacent first permanent magnets is a first epoxy resin isolation layer; the negative rotation permanent magnet rotating disc is uniformly arranged with 8 second permanent magnets, and adjacent second permanent magnets have opposite polarities, and the gap between adjacent second permanent magnets is a second epoxy resin isolation layer; the positive rotation permanent magnet rotating disc and the negative rotation permanent magnet rotating disc are provided with a magnetic isolation ring for isolating the radial magnetic field of the permanent magnets.

[0017] Preferably, the positive rotation output shaft includes a first outer rotor yoke part and 8 first outer rotor positioning grooves and 8 first mounting holes uniformly arranged on the edge part of the output shaft; the negative rotation output shaft includes a second outer rotor yoke part and 6 second outer rotor positioning grooves and 6 second mounting holes uniformly arranged on the edge part of the output shaft.

[0018] Preferably, the double-motor driver adopts an IGBT module FF300R12ME4, the control chip is a TI C2000 series DSP of model TMS320F28379D, and the power module is a 48VDC lithium battery pack.

[0019] The application also provides a multi-mode control method of the bidirectional self-coupling underwater electric propulsion power device.

[0020] (1) Torque distribution and current reference value generation: determine the torque distribution coefficient κ according to the operation mode, and calculate the outer rotor and inner rotor reference torques:

[0021] ,

[0022] Wherein the mode selection is:

[0023]

[0024] Wherein, is the outer rotor reference torque, is the inner rotor reference torque, is the torque distribution coefficient, is the reference torque.

[0025] (2) Determine the outer rotor torque and the inner rotor torque according to the double-rotor torque equation.

[0026] The outer rotor torque is: , and the inner rotor torque is:

[0027] The coefficients 1.875 and 1.08 are calculated by motor pole pair number and flux linkage;

[0028] for outer rotor shaft current, for inner rotor shaft current, for inner / outer rotor phase difference;

[0029] (3) Phase difference dynamic adjustment based on current coupling control algorithm, the phase difference dynamic adjustment adjusts the phase difference by error proportional integral, the formula is:

[0030]

[0031] Wherein the phase difference range is limited to , the measured total torque , for outer rotor torque, for inner rotor torque, for reference torque;

[0032] (4) Current command generation: according to torque distribution result and phase difference, calculate q-axis current reference value, according to the following current function expression, complete accurate control of motor torque:

[0033]

[0034] for outer rotor q-axis current reference value, for inner rotor q-axis current reference value, for outer rotor pole pair number, for inner rotor pole pair number, for outer rotor flux linkage, for outer rotor flux linkage.

[0035] Preferably, in cruise mode, outer / inner rotor current reference value is proportionally distributed, specifically:

[0036] ,

[0037] Wherein for outer rotor shaft current reference value, for inner rotor shaft current reference value, for reference torque.

[0038] Preferably, the phase difference dynamic adjustment further includes phase difference dynamic compensation, specifically:

[0039]

[0040]

[0041] is a proportional coefficient, is an integral coefficient, is a next phase difference, is a current phase difference, is a total torque of the inner rotor and the outer rotor, is a reference torque.

[0042] The beneficial effects of the above technical solutions of the present application are as follows:

[0043] 1. The present application effectively solves the electromagnetic coupling interference problem of the traditional double rotor system through the unique double stator isolation structure and electromagnetic shielding design. The annular electromagnetic shielding layer is arranged in the bidirectional stator disc to divide the stator into an outer ring and an inner ring mounting part, and the forward rotating stator and the reverse rotating stator are respectively installed, achieving spatial isolation. The magnetic shielding ring between the forward rotating permanent magnet disc and the reverse rotating permanent magnet disc further blocks the radial magnetic field interference, avoiding the performance fluctuation caused by the mutual superposition of magnetic fields. This design enables the device to maintain stable operation in complex underwater environments, solving the reliability problem of the traditional double rotor system caused by electromagnetic interference, and ensuring smooth and controllable propulsion.

[0044] 2. The multi-modal control method based on the current coupling control algorithm enables the device to intelligently adjust according to different operating requirements. Through dynamic adjustment of the torque distribution coefficient, reasonable distribution of the torque of the outer rotor and the inner rotor is realized, adapting to various modes such as cruising, penetration, and concealment. When cruising, efficiency is prioritized to ensure long-term stable navigation; when penetrating, full power is output to meet the rapid maneuvering requirement; when concealing, low power consumption is maintained to achieve silent concealment. This flexible mode switching capability enables the device to adapt to long-term operation in deep sea exploration.

[0045] 3. The present application adopts a nested structure design, with the reverse output shaft nested in the forward output shaft, and the forward rotating permanent magnet disc and the reverse rotating permanent magnet disc also arranged in a nested layout, making the overall structure compact and the space utilization rate high. The cooperation of the double motor driver and the intelligent controller realizes efficient conversion of electrical energy to mechanical energy, replacing the traditional fuel power system and fundamentally avoiding the problem of ocean pollution caused by oil leakage. At the same time, the insulation isolation and sealing treatment of the stator winding enhance the corrosion resistance and durability of the device in underwater environments, improving the propulsion efficiency and meeting environmental protection requirements, suitable for deep sea operation scenes sensitive to the environment. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1It is a bidirectional self-coupling motor explosion structure schematic diagram of a bidirectional self-coupling underwater electric propulsion power device of the application;

[0047] Figure 2 It is a double-stator structure sectional view of a bidirectional self-coupling underwater electric propulsion power device of the application;

[0048] Figure 3 It is a double-rotor structure sectional view of a bidirectional self-coupling underwater electric propulsion power device of the application;

[0049] Figure 4 It is a pump output shaft sectional view of a bidirectional self-coupling underwater electric propulsion power device of the application;

[0050] Figure 5 It is a front view of a forward rotation output shaft of a bidirectional self-coupling underwater electric propulsion power device of the application, which is opposite to a rotation shaft side;

[0051] Figure 6 It is a view of a forward rotation output shaft of a bidirectional self-coupling underwater electric propulsion power device of the application, which is opposite to a rotation shaft side;

[0052] Figure 7 It is a perspective view of a forward rotation output shaft of a bidirectional self-coupling underwater electric propulsion power device of the application;

[0053] Figure 8 It is a front view of a reverse rotation output shaft of a bidirectional self-coupling underwater electric propulsion power device of the application, which is opposite to a rotation shaft side;

[0054] Figure 9 It is a view of a reverse rotation output shaft of a bidirectional self-coupling underwater electric propulsion power device of the application, which is opposite to a rotation shaft side;

[0055] Figure 10 It is a perspective view of a reverse rotation output shaft of a bidirectional self-coupling underwater electric propulsion power device of the application. DETAILED DESCRIPTION

[0056] To make the technical problems, technical solutions and advantages of the application more clear, the following will be described in detail with reference to the drawings and specific embodiments.

[0057] As Figure 1 shown, the application proposes a bidirectional self-coupling underwater electric propulsion power device, which comprises a transmission device, a bidirectional self-coupling motor and an intelligent controller, the intelligent controller is electrically connected with the bidirectional self-coupling motor at an output end, and the bidirectional self-coupling motor is mechanically connected with the transmission device;

[0058] The bidirectional self-coupling motor comprises a first bearing 1, a second bearing 2, a forward rotation output shaft 3, a reverse rotation output shaft 4, a forward rotation permanent magnet rotating disc 5, a reverse rotation permanent magnet rotating disc 6, a reverse rotation stator 7, a forward rotation stator 8, a bidirectional stator disc 9 and a double motor driver 10.

[0059] After the reverse rotation stator 7 and the forward rotation stator 8 are installed in the bidirectional stator disc 9, the forward rotation stator 8 in the bidirectional stator disc 9 is connected with the forward rotation permanent magnet rotating disc 5, the reverse rotation stator 7 in the bidirectional stator disc 9 is connected with the reverse rotation permanent magnet rotating disc 6, and the other side of the bidirectional stator disc 9 is connected with and electrically connected with the double motor driver 10.

[0060] As shown in Figure 2 The bidirectional self-coupling motor stator part of the application adopts a double stator design, and the outer stator and the inner stator are isolated in space. The bidirectional stator disc 9 is divided into an outer ring stator mounting part and an inner ring stator mounting part by an annular electromagnetic shielding layer 91. The forward rotation stator 8 is installed in the outer ring stator mounting part of the bidirectional stator disc 9, and the reverse rotation stator 7 is installed in the inner ring stator mounting part of the bidirectional stator disc 9. The outer ring stator mounting part comprises 24 outer ring stator mounting grooves arranged uniformly, and the inner ring stator mounting part comprises 12 inner ring stator mounting grooves arranged uniformly. An electromagnetic shielding layer is designed between the outer stator and the inner stator, which is made of a non-magnetic material to prevent electromagnetic interference between the outer stator and the inner stator. The stator fixing disc is composed of iron powder, carbon powder, silicon powder and composite glue, and the material ratio is: iron powder (95%, particle size ≤5 μm), carbon powder (2%), silicon powder (2%) and composite glue (1%). After 1200 MPa isostatic pressing and 650℃ heat treatment for 2h, the magnetic permeability is increased by 20%.

[0061] The forward rotation stator 8 comprises 24 first stator assemblies 81 installed in the outer ring stator mounting grooves respectively, and a first stator winding 82 is wound outside each first stator assembly 81. The first stator windings 82 outside the first stator assemblies 81 are isolated by a first insulating material 83.

[0062] The reverse rotation stator 7 comprises 12 second stator assemblies 71 installed in the inner ring stator mounting grooves respectively, and a second stator winding 72 is wound outside each second stator assembly 71. The second stator windings 72 outside the second stator assemblies 71 are isolated by a second insulating material 73.

[0063] The outer ring stator mounting portion is provided with first stator interface pins 84, and the inner ring stator mounting portion is provided with second stator interface pins 74, and the first stator interface pins 84 and the second stator interface pins 74 are electrically connected with the double-motor driver 10.

[0064] After the stator coil is mounted to the stator fixing disc, the whole is subjected to epoxy resin sealing treatment to increase the mechanical strength and insulation performance of the stator assembly. The stator assembly has 6 outgoing lines, which are outgoing lines of the inner stator and outer stator windings respectively, and each way is composed of three outgoing lines of UVW. The inner and outer stators are completely independent and do not interfere with each other.

[0065] As shown in Figure 3 , the rotor part is composed of two parts of the inner rotor and the outer rotor, and the inner rotor is independently fixed on the inner rotor output turntable, and the outer rotor is independently fixed on the outer rotor output turntable. The inner and outer rotors rotate in opposite directions and the speed is independently controllable, and are respectively used to drive the inner and outer propellers of the pump propulsion system, so that the water flow sprayed by the propellers is coupled with each other and linearly propelled.

[0066] The outer rotor has 5 pole pairs, which is composed of 10 high-performance permanent magnets, and the inner rotor has 4 pole pairs, which is composed of 8 high-performance permanent magnets. The permanent magnets are embeddedly mounted on the rotor disc, and epoxy resin is added at the gap between each permanent magnet to improve the reliability of the rotor. The spatial arrangement is as shown in Figure 3 , specifically: the forward rotation permanent magnet turntable 5 is uniformly arranged and mounted with 10 first permanent magnets 52, and the polarities of adjacent first permanent magnets 52 are opposite, and the gap between adjacent first permanent magnets 52 is a first epoxy resin isolation layer 51; the reverse rotation permanent magnet turntable 6 is uniformly arranged and mounted with 8 second permanent magnets 62, and the polarities of adjacent second permanent magnets 62 are opposite, and the gap between adjacent second permanent magnets 62 is a second epoxy resin isolation layer 61. The forward rotation permanent magnet turntable 5 and the reverse rotation permanent magnet turntable 6 are provided with a magnetic isolation ring 63 for isolating the radial magnetic field of the permanent magnet.

[0067] The pump propulsion output shaft is divided into a forward rotation output shaft and a reverse rotation output shaft, and is combined into a whole through four bearings (two first bearings and two second bearings). The forward rotation output shaft has 8 positioning grooves and 8 mounting holes for connecting and fixing the rotor. The reverse rotation output shaft has 6 positioning grooves and 6 mounting holes for connecting and fixing the rotor. The pump propulsion output shaft is made of high-strength stainless steel and adopts a hollow shaft inner spline design to facilitate the installation of propeller blades. There are two groups of bearings, a total of four (two first bearings and two second bearings), between the inner and outer shafts for fixing the output shaft. As shown in Figure 4As shown, the forward rotation output shaft 3 includes a first outer rotor yoke part 31 and 8 first outer rotor positioning grooves 32 and 8 first mounting holes 33 evenly arranged on the output shaft edge part; the reverse rotation output shaft 4 includes a second outer rotor yoke part 41 and 6 second outer rotor positioning grooves 42 and 6 second mounting holes 43 evenly arranged on the output shaft edge part. Figure 5 、 6 , as shown in Fig. 7, it is a schematic diagram of each orientation structure of the forward rotation output shaft. As shown in Figure 8 、 9 , as shown in Fig. 10, it is a schematic diagram of each orientation structure of the reverse rotation output shaft.

[0068] The bidirectional self-coupling underwater electric propulsion power device of the application comprises a transmission device, a bidirectional self-coupling motor and an intelligent controller. The intelligent controller controls the bidirectional self-coupling motor of the above structure, and the intelligent controller comprises a power module and a control chip, and the control chip is electrically connected with the double-motor driver 10. The control chip is the core of the controller, which is used to send control signals to the double-motor driver 10 to drive the rotation of the forward and reverse rotors. The control chip is a TI C2000 series DSP with model number TMS320F28379D, the current sampling frequency is 20 kHz, and the position sampling frequency is 100 kHz. The power module is a 48VDC lithium battery pack with a capacity of 20 Ah and an energy density of 180 Wh / kg. The double-motor driver 10 adopts an IGBT module FF300R12ME4, and the DC / AC conversion efficiency is greater than or equal to 96%. The transmission device of the application can adopt a double-layer propeller assembly connected with the forward rotation output shaft and the reverse rotation output shaft of the bidirectional self-coupling motor. The outer propeller is connected with the forward rotation output shaft through a spline and rotates forward with it; the inner propeller is nested inside the outer propeller and connected with the reverse rotation output shaft and rotates reversely with it. The blades of the two layers of propellers rotate in opposite directions and form coupled water flow when rotating, and the thrust is adjusted through the superposition and offset of the water flow, so that the rotary motion of the motor is efficiently converted into propelling force, which adapts to the power demand under different working conditions.

[0069] The bidirectional self-coupling underwater electric propulsion power device of the application also adopts a multi-modal control method, comprising the following steps:

[0070] (1) Torque distribution and current reference value generation: determine the torque distribution coefficient κ according to the operation mode, and calculate the outer rotor and inner rotor reference torque:

[0071] ,

[0072] Among them, the mode selection is:

[0073]

[0074] Among them, is the outer rotor reference torque, is the reference torque of the inner rotor, is the torque distribution coefficient, is the reference torque of the inner rotor;

[0075] (2) According to the double-rotor torque equation, the outer rotor torque and the inner rotor torque are determined;

[0076] The outer rotor torque is: The inner rotor torque is:

[0077] The coefficients 1.875 and 1.08 are calculated by the number of motor pole pairs and the flux linkage;

[0078] is the outer rotor axial current, is the inner rotor axial current, is the phase difference between the inner and outer rotors;

[0079] (3) Based on the current coupling control algorithm, the phase difference is dynamically adjusted, and the phase difference is adjusted by error proportional integral, and the formula is:

[0080]

[0081] Where the phase difference range is limited to , the measured total torque , is the outer rotor torque, is the inner rotor torque, is the reference torque;

[0082] (4) Current command generation: Calculate the q-axis current reference value according to the torque distribution result and the phase difference, and complete the accurate control of the motor torque according to the following current function expression:

[0083]

[0084] is the outer rotor q-axis current reference value, is the inner rotor q-axis current reference value, is the number of outer rotor pole pairs, is the number of inner rotor pole pairs, is the outer rotor flux linkage, is the outer rotor flux linkage.

[0085] In this embodiment, in the cruise mode, the outer / inner rotor current reference value is distributed in proportion, specifically:

[0086] ,

[0087] wherein is an outer rotor is an axial current reference value, is an inner rotor is an axial current reference value, is a reference torque.

[0088] In this embodiment, the phase difference dynamic adjustment further includes phase difference dynamic compensation, specifically:

[0089]

[0090]

[0091] is a proportional coefficient, is an integral coefficient, is a next moment phase difference, is a current phase difference, is a sum of inner rotor and outer rotor torques, is a reference torque.

[0092] The algorithm core of the present application is a double-rotor cooperative regulation mechanism based on current coupling control, which realizes efficient propulsion through torque distribution, phase difference dynamic control and multi-modal adaptation. The principle is to utilize the phase coupling characteristics of double-rotor torque, to realize flexible torque distribution and dynamic optimization of power output by precisely regulating current and phase difference. Specifically, the algorithm first determines the torque distribution coefficient according to the operating mode, and distributes the total reference torque to the inner and outer rotors in proportion, to set a basic power distribution framework for different operating conditions (such as cruising and penetration). Subsequently, based on the double-rotor torque equation, the outer rotor torque and the inner rotor torque are coupled through the cosine and sine relationship of current and phase difference, and by adjusting the phase difference between the two, the torque ratio can be dynamically changed to realize continuous adjustable thrust. To ensure control accuracy, the algorithm uses error proportional integral regulation for phase difference dynamic compensation, which adjusts the phase in real time according to the deviation between the measured total torque and the reference torque, to ensure stable power output. At the same time, through the current command generation formula, the torque demand is converted into specific current control signals to realize precise driving of the inner and outer rotors. This algorithm design effectively solves the problem of double-rotor electromagnetic coupling interference, and through dynamic adjustment of phase difference and current distribution, it realizes efficient power output in multiple modes (such as efficiency priority in cruising and full power output in penetration), while ensuring speed synchronization accuracy and running stability, making the device have both power and adaptability in complex underwater environments.

[0093] The present application realizes speed synchronization accuracy ≤0.5% by real-time adjustment of the phase difference (0-π / 2) between the inner and outer stator currents based on the dq-axis decoupled double-rotor torque distribution algorithm of the control chip. The operating modes include:

[0094] Cruise mode, efficiency priority control (η≥88%), motor speed 2000-6000rpm; latent mode, system power consumption ≤1.2W when stopped, magnetic latching relay maintains rotor position; penetration mode, 200% overload for 30s, end acceleration response time <500ms.

[0095] The application realizes the technical effects of power density and continuously adjustable thrust by the double-stator double-rotor coupling structure and the intelligent current control algorithm, and the noise is reduced compared with the traditional device. The double-rotor coupling interference problem is solved by electromagnetic shielding and magnetic isolation design, and the control method supports multi-mode intelligent switching.

[0096] The above is the preferred embodiment of the application, it should be pointed out that, for those skilled in the art, without departing from the principles of the application, can make a number of improvements and refinements, these improvements and refinements should also be considered as the protection scope of the application.

Claims

1. A bidirectional self-coupling underwater electric propulsion power unit, characterized in that, It includes a transmission device, a bidirectional self-coupling motor, and an intelligent controller. The output terminal of the intelligent controller is electrically connected to the bidirectional self-coupling motor, and the bidirectional self-coupling motor is mechanically connected to the transmission device. The bidirectional self-coupling motor includes a first bearing (1), a second bearing (2), a forward output shaft (3), a reverse output shaft (4), a forward permanent magnet turntable (5), a reverse permanent magnet turntable (6), a reverse stator (7), a forward stator (8), a bidirectional stator disk (9), and a dual motor driver (10). The reverse output shaft (4) is nested inside the forward output shaft (3). The first bearing (1) is sleeved on the outer side of the shaft of the forward output shaft (3), and the second bearing (2) is sleeved on the outer side of the shaft of the reverse output shaft (4). The forward permanent magnet turntable (5) is installed on the side of the forward output shaft (3) opposite to the shaft, and the reverse permanent magnet turntable (6) is installed on the side of the reverse output shaft (4) opposite to the shaft. The reverse permanent magnet turntable (6) is nested inside the forward permanent magnet turntable (5). The bidirectional stator disk (9) is divided into an outer ring stator mounting part and an inner ring stator mounting part by an annular electromagnetic shielding layer (91). The forward-rotating stator (8) is installed in the outer ring stator mounting part of the bidirectional stator disk (9), and the reverse-rotating stator (7) is installed in the inner ring stator mounting part of the bidirectional stator disk (9). After the reverse stator (7) and the forward stator (8) are installed in the bidirectional stator disk (9), the forward stator (8) in the bidirectional stator disk (9) is connected to the forward permanent magnet turntable (5), the reverse stator (7) in the bidirectional stator disk (9) is connected to the reverse permanent magnet turntable (6), and the other side of the bidirectional stator disk (9) is connected to and electrically connected to the dual motor driver (10); The intelligent controller includes a power module and a control chip, and the control chip is electrically connected to the dual motor driver (10).

2. The bidirectional self-coupling underwater electric propulsion power unit according to claim 1, characterized in that, The outer ring stator mounting section includes 24 outer ring stator mounting slots evenly arranged, and the inner ring stator mounting section includes 12 inner ring stator mounting slots evenly arranged.

3. The bidirectional self-coupling underwater electric propulsion power unit according to claim 2, characterized in that, The forward-rotating stator (8) includes 24 first stator assemblies (81) respectively installed in the outer ring stator mounting slots. The first stator assemblies (81) are surrounded by first stator windings (82), and the first stator windings (82) on the outer sides of each first stator assembly (81) are isolated from each other by a first insulating material (83). The reverse stator (7) includes 12 second stator assemblies (71) respectively installed in the inner ring stator mounting slots. The second stator assemblies (71) are surrounded by second stator windings (72), and the second stator windings (72) on the outside of each second stator assembly (71) are isolated from each other by a second insulating material (73).

4. The bidirectional self-coupling underwater electric propulsion power unit according to claim 2, characterized in that, The outer ring stator mounting part is provided with a first stator interface pin (84), and the inner ring stator mounting part is provided with a second stator interface pin (74). The first stator interface pin (84) and the second stator interface pin (74) are electrically connected to the dual motor driver (10).

5. A bidirectional self-coupling underwater electric propulsion power unit according to claim 1, characterized in that, Ten first permanent magnets (52) are evenly arranged on the forward-rotating permanent magnet turntable (5), and adjacent first permanent magnets (52) have opposite polarities. The gap between adjacent first permanent magnets (52) is a first epoxy resin isolation layer (51). Eight second permanent magnets (62) are evenly arranged on the reverse-rotating permanent magnet turntable (6), and adjacent second permanent magnets (62) have opposite polarities. The gap between adjacent second permanent magnets (62) is a second epoxy resin isolation layer (61). A magnetic isolation ring (63) is provided between the forward-rotating permanent magnet turntable (5) and the reverse-rotating permanent magnet turntable (6) to isolate the radial magnetic field of the permanent magnets.

6. A bidirectional self-coupling underwater electric propulsion power unit according to claim 1, characterized in that, The forward output shaft (3) includes a first outer rotor yoke (31) and eight first outer rotor positioning grooves (32) and eight first mounting holes (33) evenly arranged on the edge of the output shaft; the reverse output shaft (4) includes a second outer rotor yoke (41) and six second outer rotor positioning grooves (42) and six second mounting holes (43) evenly arranged on the edge of the output shaft.

7. A bidirectional self-coupling underwater electric propulsion power unit according to claim 1, characterized in that, The dual motor driver (10) uses an IGBT module FF300R12ME4, the control chip is a TIC2000 series DSP with model TMS320F28379D, and the power supply module is a 48VDC lithium battery pack.

8. A multi-mode control method for a bidirectional self-coupled underwater electric propulsion power unit, employing the bidirectional self-coupled underwater electric propulsion power unit as described in any one of claims 1-7, characterized in that, Includes the following steps: (1) Torque distribution and current reference value generation: Determine the torque distribution coefficient κ according to the operating mode, and calculate the reference torques of the outer rotor and inner rotor: ， Mode selection: in, This is the reference torque for the outer rotor. This is the reference torque for the inner rotor. This is the torque distribution coefficient. Reference torque; (2) Determine the outer rotor torque and inner rotor torque based on the dual rotor torque equation; External rotor torque: Internal rotor torque: The coefficients 1.875 and 1.08 are calculated from the number of pole pairs and flux linkage of the motor; External rotor shaft current, Internal rotor shaft current, The phase difference between the inner and outer rotors; (3) Dynamic adjustment of phase difference is performed based on current coupling control algorithm. The dynamic adjustment of phase difference is achieved by adjusting the phase difference through proportional-integral error, and the formula is: The phase difference range is limited to Measured total torque , For the external rotor torque, For the internal rotor torque, Reference torque; (4) Current command generation: Calculate the q-axis current reference value based on the torque distribution result and phase difference, and achieve precise control of the complete motor torque according to the following current function expression: This is the reference value for the q-axis current of the external rotor. This is the reference value for the q-axis current of the inner rotor. The number of pole pairs of the external rotor. The number of pole pairs of the internal rotor. For external rotor flux linkage, It is the external rotor flux linkage.

9. The multi-mode control method for a bidirectional self-coupled underwater electric propulsion power unit according to claim 8, characterized in that, In cruise mode, the external / internal rotor current reference values ​​are proportionally distributed, specifically as follows: ， in External rotor Shaft current reference value, Internal rotor Shaft current reference value, This is the reference torque.

10. The multi-mode control method for a bidirectional self-coupled underwater electric propulsion power unit according to claim 8, characterized in that, The dynamic adjustment of the phase difference also includes dynamic compensation of the phase difference, specifically: This is the proportionality coefficient. The integral coefficient is... The phase difference at the next moment, The current phase difference, This is the sum of the torques of the inner and outer rotors. This is the reference torque.

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