Piston type buoyancy regulator and control method thereof

Abstract

The invention relates to the field of underwater equipment, in particular to a piston type buoyancy regulator and a control method thereof.The piston type buoyancy regulator comprises a pressure sensor, a control system, a stepping motor, a two-way screw, a left piston structure, a right piston structure and an internally-formed gas cavity. The control system controls the stepping motor to operate according to a buoyancy adjusting instruction, the stepping motor drives the bidirectional screw to rotate and drives the left piston structure and the right piston structure to move in the same direction or opposite directions, the gas volume in the gas cavity is changed, and buoyancy adjusting is achieved. According to the control method, stability of buoyancy is ensured by initializing system parameters, reading depth information, judging an adjusting instruction, calculating target volume and displacement, controlling a motor to drive a piston structure to move and monitoring feedback in real time for error compensation. Safety protection measures have the advantages of being high in precision, quick in response and high in adaptability, are suitable for buoyancy adjustment of underwater equipment, and can improve the stability and reliability of the equipment in underwater operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of underwater equipment, in particular to a piston type buoyancy regulator and a control method thereof. BACKGROUND

[0002] In underwater operations, accurate buoyancy adjustment is crucial for the stability and maneuverability of underwater equipment. Existing buoyancy adjustment devices often have low adjustment accuracy, slow response speed, poor adaptability, and other problems, making it difficult to meet the demand for rapid and accurate buoyancy adjustment in complex underwater environments. For example, some devices cannot accurately adjust the buoyancy in time when the depth changes, causing the equipment to drift, sink, and other unstable phenomena underwater, affecting the efficiency and safety of the operation. Therefore, there is an urgent need for a device and control method that can efficiently and accurately adjust the buoyancy of underwater equipment. SUMMARY

[0003] The present application aims to provide an intelligent buoyancy regulator and a control method thereof, which can accurately obtain depth information and utilize the advanced control mechanism of left and right pistons driven by a bidirectional screw to achieve rapid and accurate adjustment of the buoyancy of underwater equipment, improving the stability and reliability of the equipment in underwater operations.

[0004] To achieve the above objectives, the present application is implemented by the following technical solutions:

[0005] A piston type buoyancy regulator, comprising: a control system and an intelligent buoyancy regulator, the control system being electrically connected to the intelligent buoyancy regulator, the intelligent buoyancy regulator comprising: a multi-wire water-tight joint, a pressure sensor, an upper cover, a step drive motor, a sealed cabin outer sleeve, a pressure regulating cabin, a sealed end cover, a buoyancy material, a control board, a reduction box, a bidirectional screw, and a bidirectional nut, the pressure regulating cabin being a two-sided open cylindrical structure, the sealed cabin outer sleeve being sleeved on the middle part of the pressure regulating cabin and being sealingly connected thereto, the upper cover being provided on the top of the sealed cabin outer sleeve and being sealingly connected thereto, the multi-wire water-tight joint and the pressure sensor being provided on the top of the upper cover, the step drive motor penetrating through the middle part of the pressure regulating cabin and being located at the bottom of the upper cover, the reduction box being provided at the bottom of the step drive motor and being drivingly connected thereto, the sealed end cover having an end-closed inner hole provided in the middle part of the sealed end cover and being symmetrically provided in the pressure regulating cabin and sealingly connected thereto, the bidirectional nut being provided in the middle part of the sealed end cover, the thread directions of the bidirectional nuts being opposite to each other, the bidirectional screw penetrating through the middle part of the reduction box and being fixedly connected thereto, the two ends of the bidirectional screw being respectively provided in the end-closed inner holes of the two sealed end covers and being respectively threadedly connected to the bidirectional nuts on the left and right sides, the control board being provided at the bottom of the reduction box, and the buoyancy material being further provided between the sealed end cover and the pressure regulating cabin.

[0006] Preferably, the upper cover and the sealed cabin outer sleeve are sealed by an upper cover sealing ring.

[0007] Preferably, the sealing cabin outer sleeve is sealed with the pressure regulating cabin by a sealing cabin sealing ring.

[0008] Preferably, the sealing end cap is sealed with the pressure regulating cabin by an end cap sealing ring.

[0009] Preferably, the top of the pressure regulating cabin is further provided with a guide screw at each end, and a groove is arranged axially along the top of the buoyancy material, and the guide screw is embedded in the groove.

[0010] Preferably, a motor fixing frame is further arranged in the middle of the sealing cabin outer sleeve, the motor fixing frame is fixedly connected with the sealing cabin outer sleeve by a fixing frame screw, and a step drive motor and a speed reducer are arranged on the inner end surface of the motor fixing frame.

[0011] The control method of the piston type buoyancy regulator comprises the following steps:

[0012] Initialize system parameters and calibrate the pressure sensor;

[0013] Read the depth information fed back by the pressure sensor;

[0014] Determine whether a buoyancy adjustment instruction is received, if not, return to the step of reading the depth information; if yes, continue to the next step;

[0015] Determine the buoyancy increase or decrease instruction, calculate the target gas volume and the piston movement displacement according to the instruction;

[0016] Control the step motor to rotate forward or reverse, drive the bidirectional screw rod to rotate and make the piston move;

[0017] Real-time monitor the piston displacement feedback, determine whether the target displacement is reached, if not, adjust the motor speed to continue driving; if yes, continue to the next step;

[0018] Determine whether the buoyancy is stable, if stable, end the current adjustment; if not stable, perform error compensation adjustment.

[0019] Preferably, a PID control algorithm combined with a feedforward control method is used in the control process to improve the system response speed and anti-interference ability.

[0020] Preferably, the control method further comprises the following safety protection measures:

[0021] A current sensor monitors the working current of the step motor, and when the current exceeds 150% of the rated value, the motor stops running;

[0022] According to the limit position of the piston movement, the maximum number of rotations of the motor in one direction is set, and when the limit position is approached, the motor is stopped to prevent collision;

[0023] The real-time monitoring control system communicates with the upper computer. If the communication is interrupted for more than a set time, it enters a safety mode, maintaining the current buoyancy or executing a preset emergency operation.

[0024] Advantages

[0025] The present application provides a piston-type buoyancy regulator, which has the following advantages compared to existing technology:

[0026] High precision adjustment: Using high-precision pressure sensors and stepper motors, combined with advanced control algorithms, precise adjustment of buoyancy can be achieved, allowing underwater equipment to maintain stable buoyancy at different depths.

[0027] Fast response: The control system reacts quickly and can make timely adjustments when the depth changes, ensuring that the equipment quickly adapts to changes in the underwater environment and improves operational efficiency.

[0028] Strong adaptability: Suitable for various underwater operation scenarios and different types of underwater equipment, with wide versatility and practicality, providing a reliable buoyancy adjustment solution for underwater operations.

[0029] Symmetry and balance: Compared to single-piston or bellows, bidirectional piston movement better balances internal pressure, especially horizontal placement reduces the impact of buoyancy changes on the device's equilibrium point.

[0030] Space utilization and compactness: The design can adjust the length-diameter ratio according to the structure of the underwater vehicle, making the entire regulator structure more compact and saving valuable space inside the underwater vehicle.

[0031] Sealing reliability: The piston structure has a longer service life and better sealing performance in high-pressure deep water environments.

[0032] Creative optimization of control strategy: The control method and PID parameter setting strategy can be specially designed for the dynamic characteristics of the bidirectional piston system, achieving faster response, higher precision, or lower energy consumption.

[0033] High equipment safety: Using a ball screw nut connection, if the vehicle circuit fails and the stepper motor loses power, the left and right pistons will move outward to expand the drainage volume under the action of high pressure in the gas cavity, forcing the vehicle to float upwards, achieving the purpose of self-rescue in case of circuit failure. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only embodiments of the present application, and those skilled in the art can obtain other drawings according to the provided drawings without creative labor.

[0035] Figure 1 isometric view of the intelligent buoyancy regulator of the present invention;

[0036] Figure 2 isometric view of the intelligent buoyancy regulator of the present invention;

[0037] Figure 3 is Figure 2 side view;

[0038] Figure 4 control flow chart of the intelligent buoyancy regulator of the present invention;

[0039] in the figure:

[0040] 1 - multi-wire water-tight joint, 2 - pressure sensor, 3 - upper cover, 4 - upper cover sealing ring, 5 - step drive motor, 6 - sealed cabin cover, 7 - sealed cabin sealing ring, 8 - pressure regulating cabin, 9 - guide screw, 10 - sealed end cover, 11 - end cover sealing ring, 12 - buoyancy material, 13 - motor fixing frame, 14 - fixing frame screw, 15 - control board, 16 - speed reducer, 17 - two-way screw rod, 18 - two-way nut, 19 - groove, 20 - end closed inner hole. DETAILED DESCRIPTION

[0041] In order to make the technical problems to be solved by the present invention, the technical solutions and beneficial effects more clear and obvious, the present invention is further described in detail in combination with embodiments and drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not limit the present invention. The technical solutions of the present invention are described in detail below in combination with embodiments and drawings, but the protection scope is not limited by this.

[0042] Please refer to Figures 1-4 , the present invention provides a technical solution:

[0043] A piston type buoyancy regulator, comprising: a control system controls the operation of the stepper motor according to the set buoyancy adjustment strategy and depth information, the control system is electrically connected with the intelligent buoyancy regulator, the intelligent buoyancy regulator comprises: a multi-wire water-tight joint 1, a pressure sensor 2 for measuring the depth of the underwater equipment in real time and converting it into an electrical signal to feed back to the control system, an upper cover 3, a step drive motor 5, a sealed cabin outer sleeve 6, a pressure regulating cabin 8, a sealed end cover 10, a buoyancy material 12, a control panel 15, a reduction box 16, a bidirectional screw rod 17 and a bidirectional screw nut 18, the pressure regulating cabin 8 is a cylindrical structure with two open ends, the sealed cabin outer sleeve 6 is sleeved in the middle of the pressure regulating cabin 8 and is sealingly connected with the pressure regulating cabin 8 through a sealed cabin sealing ring 7, the upper cover 3 is arranged on the top of the sealed cabin outer sleeve 6 and is sealingly connected with the sealed cabin outer sleeve 6 through an upper cover sealing ring 4, the multi-wire water-tight joint 1 and the pressure sensor 2 are arranged on the top of the upper cover 3, the step drive motor 5 penetrates the middle of the pressure regulating cabin 8 and is located at the bottom of the upper cover 3, the reduction box 16 is arranged at the bottom of the step drive motor 5, the output end of the step drive motor 5 is connected with the driving planetary gear shaft through a key groove to drive the driving planetary gear to transmit power, the middle of the sealed end cover 10 is provided with an end closed inner hole 20 which is integrally arranged with the sealed end cover, the sealed end cover is symmetrically arranged in the pressure regulating cabin 8 and is sealingly connected with the pressure regulating cabin 8 through an end cover sealing ring 11 to form a piston structure, the bidirectional screw nut 18 is arranged in the middle of the sealed end cover 10 and is fixed, the screw threads of the bidirectional screw nut 18 are oppositely arranged, the bidirectional screw rod 17 penetrates the middle of the reduction box 16 and is oppositely fixed with the driven bevel gear of the reduction box 16, so that the reduction box 16 drives the bidirectional screw rod 17 to rotate, and the two ends of the bidirectional screw rod 17 are arranged in the end closed inner holes 20 of the two sealed end covers 10 respectively and are threadedly connected with the bidirectional screw nuts 18 on the left and right sides respectively, the control system controls the operation of the stepper motor according to the set buoyancy adjustment strategy and depth information, the stepper motor drives the reduction box 16 and the bidirectional screw rod 17 to rotate, and then drives the pistons on the left and right sides to move towards each other or in opposite directions, so as to change the volume of the gas in the gas cavity, thereby realizing the adjustment of the buoyancy, the control panel 15 is arranged at the bottom of the reduction box 16, and the buoyancy material 12 is further arranged between the sealed end cover 10 and the pressure regulating cabin 8.

[0044] In some embodiments, the step drive motor 5 and the reduction box 16 can also be configured as a spiral bevel gear reducer.

[0045] In some embodiments, the top of the pressure regulating cabin 8 is further provided with a guide screw 9, a groove 19 is arranged axially along the top of the buoyancy material 12, and the top end of the guide screw 9 is embedded in the groove 19.

[0046] In some embodiments, the middle of the sealed cabin outer sleeve 6 is further provided with a motor fixing frame 13, the motor fixing frame 13 is fixedly connected with the sealed cabin outer sleeve 6 through a fixing frame screw 14, and the inside end face of the motor fixing frame 13 is provided with the step drive motor 5 and the reduction box 16.

[0047] The control method of the piston type buoyancy regulator comprises the following steps:

[0048] Initialize system parameters, calibrate pressure sensor 2 to ensure measurement accuracy;

[0049] The control system reads the depth signal information fed back by the pressure sensor 2 and compares it with the target depth to determine whether buoyancy adjustment is needed;

[0050] Determine whether a buoyancy adjustment instruction has been received. If not, return to the step of reading the depth information. If yes, proceed to the next step;

[0051] Determine the adjustment needed, whether to increase or decrease the buoyancy, and calculate the target gas volume change based on the depth difference to determine the piston displacement;

[0052] Control the forward or reverse rotation of the stepper motor to drive the bidirectional screw 17 to rotate and move the piston;

[0053] During the adjustment process, monitor the piston displacement feedback in real time to determine whether the target displacement has been reached. If not, adjust the motor speed and continue driving. If yes, proceed to the next step;

[0054] Determine whether the buoyancy is stable. If it is stable, end the adjustment. If it is not stable, perform error compensation adjustment.

[0055] In some embodiments, a PID control algorithm combined with a feedforward control method is used in the control process to improve system response speed and anti-interference ability.

[0056] In some embodiments, the control method further includes the following safety protection measures:

[0057] The current sensor monitors the working current of the stepper motor. When the current exceeds 150% of the rated value, the motor stops running;

[0058] According to the limit position of the piston movement, set the maximum number of one-way rotation of the motor. When approaching the limit position, stop the motor to prevent collision;

[0059] Real-time monitoring of the communication state between the control system and the upper computer. If communication is interrupted for more than a set time, enter safety mode, maintain the current buoyancy, or perform a preset emergency operation.

[0060] In some embodiments, the multi-wire water-tight connector 1 is connected to the power supply and the equipment that needs buoyancy adjustment. The pressure sensor 2 is connected to the control board 15. The control system is installed in the lowermost system or the system software part programmed in the industrial computer on the control board 15.

[0061] Embodiment:

[0062] 1. Component installation and connection:

[0063] Install the intelligent buoyancy regulator in a suitable location on the underwater equipment, ensuring that the pressure sensor can accurately measure the surrounding water pressure corresponding to the depth information, and connect it to the control system through the signal line for real-time transmission of depth data.

[0064] The stepper motor is fixed on the equipment support through the motor base, and its output shaft is connected to one end of the bidirectional screw rod. The other end of the bidirectional screw rod is connected to the left and right piston structures through threads, respectively, ensuring that the motor rotation can drive the screw rod to rotate, and then drive the piston structure to move smoothly in the gas cavity. The gas cavity is connected to the buoyancy tank of the underwater equipment to adjust the gas volume in the buoyancy tank.

[0065] The control system is installed in the control cabin of the equipment and connected to the pressure sensor, stepper motor, and other necessary sensors and actuators through electrical interfaces, and the corresponding wiring is arranged and fixed to ensure normal signal transmission and power supply between components.

[0066] 2. System initialization and parameter setting:

[0067] After power-on, the control system first initializes its hardware, including detecting and configuring various peripheral interfaces, memory, communication modules, etc., to ensure normal operation of the system. Then, the pressure sensor is calibrated by collecting pressure values at different known depths to establish a pressure-depth calibration curve, improving the accuracy of depth measurement.

[0068] Set the related parameters for buoyancy adjustment, such as target depth, buoyancy adjustment speed, error tolerance range, etc. These parameters can be pre-set according to specific underwater operation tasks and equipment requirements and stored in the control system's memory for subsequent buoyancy adjustment control process.

[0069] 3. Buoyancy adjustment process:

[0070] During underwater operation, the control system reads the depth information fed back by the pressure sensor in real time, samples once every certain time interval (such as 0.1 seconds), and compares it with the pre-set target depth. When the depth deviation exceeds the set error tolerance range, the control system determines that buoyancy adjustment is needed, and determines whether to increase or decrease the buoyancy according to the direction and size of the depth deviation.

[0071] If the buoyancy needs to be increased, the control system calculates the required increased gas volume, and then determines the displacement amount of the piston structure that should move in the opposite direction. Then, control the stepper motor to rotate forward, drive the bidirectional screw rod to rotate, and make the left and right piston structures move towards each other, expand the gas volume, and thus increase the buoyancy. Conversely, if the buoyancy needs to be decreased, control the stepper motor to rotate in the opposite direction, make the piston structure move in the opposite direction, compress the gas in the gas cavity, and reduce the buoyancy.

[0072] During the movement of the piston structure, the control system monitors the actual displacement of the piston structure in real time through the feedback signal of the stepper motor, and compares it with the target displacement. If the actual displacement does not reach the target displacement, the control system will adjust the speed of the stepper motor according to the displacement deviation, speed up or slow down the motor operation, and ensure that the piston structure accurately moves to the specified position.

[0073] When the piston structure reaches the target displacement, the control system judges whether the buoyancy is stable. By monitoring the change of buoyancy in real time (which can be indirectly judged according to the slight fluctuation of depth, etc.), if the buoyancy remains stable within a certain time and the depth deviation is within the allowable range, it is considered that this time of buoyancy adjustment is successful, and the control system enters standby state, waiting for the next buoyancy adjustment instruction. If the buoyancy still fluctuates or the depth deviation exceeds the allowable range, the control system performs error compensation adjustment, recalculates and adjusts the displacement of the piston structure, until the buoyancy is stable at the target state.

[0074] 4. Control process:

[0075] When the intelligent buoyancy regulator of the present application is working, the pressure sensor continuously collects the depth information h of the underwater equipment, and converts it into an electrical signal to the control system. The control system internally pre-stores the target depth h0, and calculates the depth deviation e = h - h0.

[0076] According to the size and direction of the deviation e, the control system calculates the number of steps N that the stepper motor needs to rotate through the built-in buoyancy adjustment algorithm. Then, the control system sends a pulse signal to the stepper motor to drive it to rotate.

[0077] The stepper motor drives the bidirectional screw to rotate. Due to the special structure of the bidirectional screw, the left piston structure and the right piston structure will move synchronously towards or away from each other.

[0078] When the buoyancy needs to be increased, the control system commands the piston structure to move away from each other, increasing the volume V of the gas cavity. According to the Boyle's law (P1V1 = P2V2), the gas pressure in the cavity decreases, and the external water pressure will increase the water volume that is pushed away by the rigid shell, thereby obtaining positive buoyancy.

[0079] When the buoyancy needs to be reduced, the control system commands the piston structure to move towards each other, reducing the volume V of the gas cavity, so that the gas in the cavity is compressed and the pressure is increased, which will reduce the water volume that is pushed away by the rigid shell, thereby obtaining negative buoyancy.

[0080] Through this closed-loop control, the underwater equipment can quickly and accurately stabilize at the target depth.

[0081] Buoyancy adjustment calculation process and control process:

[0082] Physical principle and calculation formula of buoyancy adjustment:

[0083] The core of buoyancy adjustment is Archimedes' principle: the buoyancy of an object in a fluid is equal to the weight of the fluid displaced by the object.

[0084] F b = p-g-V

[0085] Where:

[0086] F b : the buoyancy of the object (N);

[0087] p: the density of water (kg / m 3 , about 1000 for fresh water, about 1025 for sea water);

[0088] g: the acceleration of gravity (9.8 m / s 2 ) ;

[0089] V: the volume of the object displaced by water, i.e. the displacement volume (m 3 ) ;

[0090] The adjustment mechanism of the present invention: by changing the volume V gas of the gas cavity, the total displacement volume V total of the entire underwater equipment is indirectly changed.

[0091] When the volume of the gas cavity increases by AV, the volume of a retractable shell is increased, resulting in an increase of the total displacement volume V total by AV.

[0092] Conversely, when the volume of the gas cavity decreases, the total displacement volume decreases accordingly.

[0093] Therefore, the change in buoyancy AF b is:

[0094] AF b = p-g-AV;

[0095] Where AV is the change in the volume of the gas cavity, which is approximately equal to the change in the total displacement volume.

[0096] Target buoyancy calculation:

[0097] Suppose the underwater equipment needs to be stabilized from the current depth h to the target depth h0. Its net buoyancy needs to be zero. If the equipment's own gravity is G, the initial buoyancy F b0 , the target buoyancy F target required should be equal to the gravity G.

[0098] The change in buoyancy AF b required by the buoyancy adjustment system is:

[0099] AFb = G - Fb0;

[0100] Since F b0 = p.g.V current , and G = p.g.V target (at the target depth), therefore:

[0101] AF b = p.g(V target - V current );

[0102] So, the drainage volume we need to change, AV, is:

[0103] AV = V target - V current = p.g.AF b ;

[0104] This AV is the gas cavity volume we need to change by piston movement.

[0105] Control related processes and formulas:

[0106] The control system adopts a typical closed-loop negative feedback control, the process is shown in Figure 4 , the specific steps are as follows:

[0107] Set the target value: the user or the upper system sets the target depth h0.

[0108] Measure the feedback value: the pressure sensor measures the current depth h in real time.

[0109] Calculate the deviation: the control system calculates the depth deviation e.

[0110] e(t) = h(t) - h0;

[0111] Controller calculation: the control system uses a PID control algorithm to calculate the control output according to the deviation e(t). The physical meaning of the control quantity is usually "the volume AV that needs to be changed" or directly converted into "the number of steps N that the stepper motor needs to rotate".

[0112] PID control formula:

[0113] u(t) = K p ·e(t) + K i ·∫0 t e(τ)dτ + K d ·de(t) / dt;

[0114] Where:

[0115] u(t): output of the controller (for example, target volume change AV target ).

[0116] K p : Proportion coefficient, determines the reaction speed to current error.

[0117] K i : Integral coefficient, used to eliminate steady-state error (static error).

[0118] K d : Differential coefficient, used to predict error trend and suppress overshoot.

[0119] e(t): Depth deviation at current time.

[0120] ∫e(τ)dτ: Integral of error (cumulative error).

[0121] de(t) / dt: Differential of error (error change rate).

[0122] Output conversion: Convert ΔV output by the controller into step number N of the stepper motor. target

[0123] The lead of the bidirectional screw is L (mm / turn), that is, the piston moves a distance L for each revolution of the screw.

[0124] The number of steps per revolution of the stepper motor is S (steps / turn), for example, 200 steps / turn.

[0125] The cross-sectional area of the gas cavity is A (mm 2 ).

[0126] The relationship between volume change ΔV and piston displacement Δd is ΔV = A·Δd.

[0127] The relationship between piston displacement Δd and motor step number N is Δd = L·N / S.

[0128] Therefore, the final conversion formula is:

[0129] N = S·ΔV target / A·L where ΔV target is the output u(t) of the PID controller.

[0130] Perform action: The control system sends N pulse signals to the stepper motor driver, drives the motor to rotate, drives the piston to move, and changes the volume of the gas cavity.

[0131] Effect feedback and cycle: After the piston moves, the buoyancy of the underwater equipment changes, and the depth h changes. The pressure sensor measures the new depth value again, returns to the control calculation step, and starts a new round of adjustment cycle until the depth deviation e(t) approaches zero.

[0132] 5. Safety protection measures: ​

[0133] In the buoyancy adjustment process, the control system monitors the working current of the stepper motor in real time. When the current exceeds 150% of the rated value, it is judged that the motor may be overloaded, the motor operation is immediately stopped, and an alarm signal is triggered to remind the operator to check and handle, preventing the motor from being damaged. When the piston structure approaches the limit position, the limit program switch is triggered, and the control system stops the stepper motor immediately after receiving the signal to avoid collision between the piston structure and the cylinder body, protecting the safety of the equipment. The control system maintains real-time communication with the upper computer or other equipment. If the communication is interrupted for more than a set time (such as 5 seconds), the control system automatically enters a safety mode, maintains the current buoyancy state, and attempts to reestablish the communication connection. If the communication is interrupted for more than a safety set time (such as 5 minutes), the drive motor is forced to rise to ensure the safety of the equipment.

[0134] The above is a further detailed description of the present application in combination with a specific preferred embodiment. For those of ordinary skill in the art to which the present application belongs, without departing from the present application, simple deductions or substitutions can also be made, which should be considered as belonging to the scope of patent protection determined by the claims submitted.

Claims

1. A piston-type buoyancy regulator, characterized in that, The utility model relates to a control system and intelligent buoyancy regulator, the control system is electrically connected with intelligent buoyancy regulator, and the intelligent buoyancy regulator includes: multi -wire watertight joint, pressure sensor, upper cover, step drive motor, sealed cabin cover, pressure regulating cabin, sealed end cover, buoyancy material, control panel, reduction gearbox, two -way screw rod and two -way nut, the pressure regulating cabin is two -sided opening cylinder structure, the sealed cabin cover is connected with the sealed connection of pressure regulating cabin middle part in the pressure regulating cabin, the upper cover is located sealed cabin cover top and is connected with the sealed connection thereof, the multi -wire watertight joint is located upper cover top with pressure sensor, the step drive motor penetrates pressure regulating cabin middle part, is located upper cover bottom, the reduction gearbox is located step drive motor bottom and is transmission connected with it, the sealed end cover middle part is equipped with with sealed end cover integral setting end part closed inner hole, and the symmetry is located pressure regulating cabin in and is connected with the sealed connection thereof, two -way nut is equipped with respectively in sealed end cover middle part, and its thread direction is opposite setting, two -way screw rod penetrates reduction gearbox middle part and is opposite fixed with it, and both ends are equipped with respectively in the end part closed inner hole of two sealed end covers, and are respectively in the thread connection of two -way nut of left and right sides, the control panel is located reduction gearbox bottom, and the sealed end cover is still equipped with buoyancy material between pressure regulating cabin. The upper cover and the sealed cabin cover are sealed by the upper cover sealing ring.

2. The piston-type buoyancy regulator of claim 1, wherein: The sealed cabin cover and the pressure regulating cabin are sealed by the sealed cabin sealing ring.

3. The piston-type buoyancy regulator of claim 1, wherein: The sealed end cover and the pressure regulating cabin are sealed by the end cover sealing ring.

4. The piston-type buoyancy regulator of claim 1, wherein: The pressure regulating cabin further comprises guide screws at the top of both ends, and grooves are arranged axially on the top of the buoyancy material, and the guide screws are embedded in the grooves.

5. The piston-type buoyancy regulator of claim 1, wherein: The sealed cabin cover further comprises a motor fixing frame, the motor fixing frame is fixed to the sealed cabin cover by fixing screws, and the step drive motor and the reduction gearbox are installed on the inner end surface of the motor fixing frame.

6. The piston-type buoyancy regulator of claim 1, wherein: The control method comprises the following steps:

7. The control method of a piston-type buoyancy regulator according to claim 1, characterized by: initializing system parameters and calibrating the pressure sensor; reading the depth information fed back by the pressure sensor; determining whether a buoyancy adjustment instruction is received, if not, returning to the step of reading the depth information; if yes, proceeding to the next step; determining the buoyancy increase or decrease instruction, calculating the target gas volume and the piston displacement according to the instruction; controlling the step motor to rotate forward or reverse, driving the two-way screw rod to rotate to move the piston; real-time monitoring the piston displacement feedback, determining whether the target displacement is reached, if not, adjusting the motor speed to continue driving; if yes, proceeding to the next step; determining whether the buoyancy is stable, if stable, ending the current adjustment; if not stable, performing error compensation adjustment. The PID control algorithm combined with the feedforward control method is used in the control process to improve the system response speed and anti-interference ability.

8. A control method of a piston-type buoyancy regulator according to claim 7, characterized in that: The control method further comprises the following safety protection measures:

9. A control method of a piston-type buoyancy regulator according to claim 7, characterized in that: a current sensor is used to monitor the working current of the step motor, and the motor stops running when the current exceeds 150% of the rated value; the maximum number of one-way rotation of the motor is set according to the limit position of the piston, and the motor stops when approaching the limit position to prevent collision; the communication state between the control system and the upper computer is monitored in real time, and the safety mode is entered when the communication interruption exceeds the set time to maintain the current buoyancy or execute the preset emergency operation. ​

Images