Deep sea transducer pressure balancing system and method based on two-stage compression cycle

Abstract

The embodiment of the invention discloses a deep sea transducer pressure balancing system and method based on two-stage compression circulation. The system comprises a deep sea transducer cavity, an air supply unit, a hydraulically-driven tandem type two-stage compression unit, an air path control unit, a pressure sensing unit and a main control unit. The hydraulically-driven tandem type two-stage compression unit is used for carrying out primary compression pressurization / secondary compression pressurization on the input air source; the gas path control unit is used for forming a corresponding gas path; and the main control unit is used for enabling the system to be automatically switched among four working modes of direct charging, two-stage compression charging, direct discharging and two-stage compression recharging based on the real-time pressure relationship. According to the invention, the large-depth underwater transducer can break through the deep sea pressure ratio limitation of single-stage compression, and pressure compensation with higher efficiency is realized; a gas recovery closed loop is originally created, so that the cruising ability and the environmental protection property are greatly improved; and stable and reliable operation under the full-depth working condition is ensured through multi-mode self-adaptive intelligent control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep-sea equipment and underwater acoustic engineering, and particularly relates to a deep-sea transducer pressure balancing system and method based on a two-stage compression cycle. BACKGROUND

[0002] At present, the active pressure compensation system used in engineering practice is mainly based on a high-pressure gas cylinder direct gas supply or a single-stage gas compression scheme. From the perspective of thermodynamics, the single-stage compression system is limited by its inherent upper limit of pressure ratio. When facing the high pressure difference condition corresponding to hundreds of meters of deep sea, there are inherent limitations such as sharp decline in compression efficiency, insufficient outlet pressure boosting capacity, etc. Specifically, in order to achieve a higher output pressure, a large cylinder diameter or a long stroke structure is often used, which not only leads to a large system volume and low energy efficiency, but also is accompanied by a significant adiabatic temperature rise phenomenon, further deteriorating the working efficiency and reliability of the system. In addition, the volumetric efficiency of the single-stage compression system under deep water high pressure environment will be greatly reduced, resulting in slow system response speed, which is difficult to meet the installation and working requirements of deep-sea, compact underwater platforms.

[0003] In addition, although there is currently an automatic cascading technology based on multi-stage gas storage cylinders, it is only applicable to land or shallow water scenarios, and such technology essentially relies on static pressure difference driven one-way gas flow, which is difficult to apply to deep-sea closed-loop application scenarios where the external environment pressure changes dynamically. SUMMARY

[0004] Therefore, in order to solve the problems existing in the prior art, the present application provides a deep-sea transducer pressure balancing system and method based on a two-stage compression cycle, that is, the present application provides an efficient, adaptive pressure compensation and control scheme for internal and external pressure balancing of a deep-sea transducer.

[0005] In order to achieve the above design purposes, the technical scheme of the present application is as follows: A deep-sea transducer pressure balancing system based on a two-stage compression cycle, comprising: a deep-sea transducer cavity, a gas supply unit, a hydraulic drive series two-stage compression unit, a gas path control unit, a pressure sensing unit, and a main control unit; the transducer cavity is used to withstand the pressure of the external environment of the deep-sea transducer; the gas supply unit is used to store and provide a gas source to the deep-sea transducer; the hydraulic drive series two-stage compression unit is in communication with the gas supply unit through the gas path control unit, and is used to preliminarily compress and boost / secondarily compress the input gas source; a gas path control unit for dynamically controlling the gas flow direction between the transducer cavity, the gas supply unit and the series secondary compression unit to form corresponding gas paths based on the working mode switching instruction of the master control unit; a pressure sensing unit composed of a plurality of pressure sensors arranged at the pressure monitoring nodes for obtaining real-time pressure data of each pressure monitoring node; and a master control unit, the signal input end of which is electrically connected with the pressure sensing unit, and the control output end of which is electrically connected with the series secondary compression unit and the gas path control unit, respectively, for automatically generating corresponding working mode switching instructions based on the real-time pressure relationship of each pressure monitoring node to control the series secondary compression unit and the gas path control unit to perform corresponding actions, thereby enabling the system to automatically switch between the four working modes of direct charging, secondary compression charging, direct discharging and secondary compression recharging.

[0006] Further, the pressure sensing unit includes a first pressure sensor, a second pressure sensor and a third pressure sensor; the first pressure sensor is arranged inside the deep-sea transducer cavity for obtaining real-time internal pressure data; the second pressure sensor is arranged outside the deep-sea transducer cavity for obtaining real-time external pressure data; and the third pressure sensor is arranged inside the gas supply unit for obtaining real-time gas source pressure data.

[0007] Further, the series secondary compression unit includes a hydraulic drive mechanism and a secondary compression mechanism driven by the hydraulic drive mechanism, and the secondary compression mechanism includes a series arrangement of a primary gas compression cylinder and a secondary gas compression cylinder; the primary gas compression cylinder is used to preliminarily compress and pressurize the input gas source under the drive of the hydraulic drive mechanism; and the secondary gas compression cylinder is used to secondarily compress and pressurize the preliminarily compressed and pressurized gas source under the drive of the hydraulic drive mechanism.

[0008] Still further, the hydraulic drive mechanism includes a drive motor, a hydraulic pump driven by the drive motor, and a hydraulic piston driven by the hydraulic pump; the movement of the hydraulic piston drives the compression pistons in the primary gas compression cylinder and the secondary gas compression cylinder to perform pressurization operation through a transmission mechanism.

[0009] Further, the gas path control unit is composed of a plurality of gas path control valves and gas flow pipes, and is used to dynamically control the gas flow direction between the transducer cavity, the gas supply unit and the series secondary compression unit to form corresponding gas paths by controlling the opening and closing states of each gas path control valve on the gas flow pipes based on the working mode switching instruction of the master control unit; Further, the gas path control valve comprises first to fifth electromagnetic valves and first to third two-position three-way valves; the first electromagnetic valve is arranged on the gas flow path between the gas supply unit and the transducer cavity; the second electromagnetic valve is arranged on the gas flow path between the gas supply unit, the transducer cavity and the gas inlet end of the serial two-stage compression unit; the third electromagnetic valve is arranged on the gas flow path between the gas supply unit and the gas outlet end of the serial two-stage compression unit; the fourth electromagnetic valve is arranged on the gas flow path between the gas supply unit, the transducer cavity and the gas inlet end of the serial two-stage compression unit; the fifth electromagnetic valve is arranged on the gas flow path between the transducer cavity and the gas outlet end of the serial two-stage compression unit; the first two-position three-way valve is arranged on the gas flow path between the second electromagnetic valve, the gas supply unit and the gas outlet end of the serial two-stage compression unit; the second two-position three-way valve is arranged on the gas flow path between the two-stage gas compression cylinders of the serial two-stage compression unit; and the third two-position three-way valve is arranged on the gas flow path between the fifth electromagnetic valve, the gas supply unit and the gas outlet end of the serial two-stage compression unit.

[0010] Further, the main control unit is pre-installed with an adaptive pressure compensation and control strategy, and according to the adaptive pressure compensation and control strategy and the real-time pressure relationship of each pressure monitoring node, a corresponding working mode switching instruction is automatically generated, and the specific instruction generation process comprises: According to the working state (submersion or floating) of the deep-sea transducer, and comparing the cavity internal pressure, external environment pressure and gas supply unit pressure monitored by the pressure sensing unit; During submersion, when the external pressure is higher than the cavity internal pressure by more than a set threshold, and the gas supply unit pressure is higher than the cavity internal pressure, the gas path control unit is controlled to form a direct charging path from the gas supply unit to the cavity; when the difference between the gas supply unit pressure and the cavity internal pressure is less than a set threshold, the mode is switched to charging the cavity with the gas compressed by the serial two-stage compression unit; During floating, when the cavity internal pressure is higher than the external pressure by more than a set threshold, and the cavity internal pressure is higher than the gas supply unit pressure, the gas path control unit is controlled to form a direct exhaust path from the cavity to the gas supply unit; when the difference between the cavity internal pressure and the gas supply unit pressure is less than a set threshold, the mode is switched to charging the gas supply unit with the gas compressed by the serial two-stage compression unit.

[0011] Based on the same inventive concept, the application also provides a deep-sea transducer pressure balance control method based on the deep-sea transducer pressure balance system, which comprises the following steps: S1, real-time monitoring of the working state of the deep-sea transducer and the internal pressure P1 of the deep-sea transducer cavity, the external pressure P2 of the cabin body, and the gas source pressure P3 in the gas supply unit; S2, based on the pressure relationship between the working state of the deep-sea transducer and the internal pressure P1 of the deep-sea transducer cavity, the external pressure P2 of the cabin body, and the gas source pressure P3 in the gas supply unit, the system executes the corresponding work: When the working state of the deep-sea transducer is diving, it is judged whether P2-P1 is greater than the preset pressure difference threshold AP and P3 is greater than P1, if yes, the gas source is controlled to charge the deep-sea transducer cavity, so that the system is in a direct charging mode; If the system is in the direct charging mode, it is judged whether P3-P1 is less than or equal to the preset compression pressure difference threshold Ah, if yes, the series two-stage compression unit is controlled to compress the gas source and charge the deep-sea transducer cavity, so that the system is in a two-stage compression charging mode; When the working state of the deep-sea transducer is floating, it is judged whether P1-P2 is greater than the preset pressure difference threshold AP and P1 is greater than P3, if yes, the gas in the deep-sea transducer cavity is directly discharged, so that the system is in a direct discharge mode; If the system is in the direct discharge mode, it is judged whether P1-P3 is less than or equal to the preset compression pressure difference threshold Ah, if yes, the series two-stage compression unit is controlled to compress the gas in the deep-sea transducer cavity and recharge to the gas supply unit, so that the system is in a two-stage compression recharge mode.

[0012] Implementing the embodiment of the present application will have the following beneficial effects: Firstly, the present application breaks through the technical bottleneck of single-stage compression system, adopts innovative two-stage series compression architecture, which effectively reduces the load intensity and exhaust temperature of single-stage compression unit, and significantly improves the thermodynamic performance of the system.

[0013] Secondly, the present application builds a complete gas recycling system through innovative two-stage compression recharge mode, realizes efficient recycling of working gas: through precise gas path control design, the system recycles the working gas directly discharged to the external environment during the floating process, and stores it in the high-pressure gas cylinder after being pressurized by the two-stage compression unit, forming a closed-loop working process of "compression-transportation-recovery-reuse". This innovative design not only significantly reduces the consumption of working medium, but also greatly improves the underwater self-sustaining ability of the system, embodies outstanding energy-saving benefits and environmental protection value, and provides reliable guarantee for long-term underwater operation.

[0014] Thirdly, the application establishes an adaptive multi-modal intelligent control unit: based on a microprocessor, an intelligent control core is constructed, through real-time monitoring of the dynamic relationship between the internal pressure (P1) of the transducer, the external hydrostatic pressure (P2) and the high-pressure gas cylinder pressure (P3), seamless smooth switching between the four working modes is realized. The control system adopts an advanced pressure difference control strategy, which can automatically select the optimal working mode according to different depth conditions, and has the rapid response characteristics of the direct charging and discharging mode and the large depth adaptability of the compression mode, so that the optimal dynamic pressure balance is realized in the full depth range, and the working stability and reliability of the system are ensured.

[0015] In summary, through the optimized system integration design, the application realizes the technical features of compact structure and high power density. The functional units are reasonably arranged, and have good adaptability. At the same time, the system shows excellent performance in compensation speed, control accuracy and operation reliability, and can meet the strict requirements of various underwater robots, sonar buoys, seabed observation networks and other marine equipment for transducer pressure management, and provides reliable technical support for deep sea exploration and operation tasks. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the 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 some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Among them: Figure 1 The deep-sea transducer pressure balance system provided by the embodiment of the application is shown in the schematic diagram. Figure 2 The basic step flow chart corresponding to the control logic of the deep-sea transducer pressure balance system provided by the embodiment of the application is shown in the schematic diagram. In the figure: 1-target transducer cabin, 2-1-first pressure sensor, 2-2-second pressure sensor, 2-3-third pressure sensor, 3-1-first electromagnetic valve, 3-2-second electromagnetic valve, 3-3-third electromagnetic valve, 3-4-fourth electromagnetic valve, 3-5-fifth electromagnetic valve, 4-1-first two-position three-way valve, 4-2-second two-position three-way valve, 4-3-third two-position three-way valve, 5-1-first-stage gas compression cylinder, 5-2-liquid drive cylinder, 5-3-second-stage gas compression cylinder, 6-PLA control unit, 7-compression piston, 8-gear booster pump, 9-high-pressure gas cylinder. DETAILED DESCRIPTION In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. It is to be understood that the use of "first", "second", etc. herein does not denote any order, quantity, combination of elements but rather is used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the application.

[0019] In view of the prior art, a new pressure compensation architecture and control strategy are needed, which can not only break through the thermodynamic bottleneck of single-stage compression, but also realize the coordinated control of efficient supercharging and gas closed-loop recovery in the dynamic deep diving-up floating whole cycle; and then through reasonable design in limited space, it can adaptively switch the working mode according to the real-time water depth, cavity pressure and gas cylinder state, so as to balance the safety, endurance and system compactness.

[0020] Based on the foregoing design requirements, the overall architecture idea of the present application is: a high-efficiency and self-adaptive pressure compensation system and control method for internal and external pressure balance of a deep underwater transducer are designed.

[0021] Based on the above design framework, in the present embodiment, a deep-sea transducer pressure balance system based on a two-stage compression cycle is particularly proposed, as shown in Figure 1 The system includes: a deep-sea transducer cavity, a gas supply unit, a hydraulic-driven two-stage compression unit in series, a gas path control unit, a pressure sensing unit, and a main control unit; The transducer cavity is used to bear the pressure of the external environment of the deep-sea transducer. The gas supply unit is used to store and provide a gas source for the deep-sea transducer. The hydraulic-driven two-stage compression unit in series is in communication with the gas supply unit through the gas path control unit, and is used to preliminarily compress and supercharge / secondarily compress and supercharge the input gas source. A gas path control unit, which is composed of a plurality of gas path control valves and gas flow pipelines, is used to dynamically control the gas flow direction between the transducer cavity, the gas supply unit and the series secondary compression unit to form corresponding gas passages by controlling the opening and closing states of each gas path control valve on the gas flow pipeline based on the operation mode switching instruction of the master control unit. A pressure sensing unit, which is composed of a plurality of pressure sensors arranged at the pressure monitoring nodes, is used to obtain the pressure data of each pressure monitoring node in real time. And a master control unit (PLA control unit 6) with a signal input end electrically connected with the pressure sensing unit and a control output end electrically connected with the series secondary compression unit and the gas path control unit, which is used to automatically generate corresponding operation mode switching instructions based on the real-time pressure relationship of each pressure monitoring node to control the series secondary compression unit and the gas path control unit to perform corresponding actions, so that the system automatically switches between the four working modes of direct charging, secondary compression charging, direct discharging and secondary compression recharging to realize the pressure balance control of the deep-sea transducer cavity.

[0022] Based on the above scheme, the present application can effectively overcome the problems of pressure ratio limitation, low efficiency and gas waste of the single-stage compression technology in the existing deep-sea transducer pressure compensation system. Through the innovative secondary compression architecture and gas path control architecture and the corresponding adaptive intelligent control strategy, the intelligent gas circulation and recycling mechanism and the multi-modal adaptive control mechanism are further integrated, so that the system not only can realize efficient pressure compensation at large depth, but also can recycle the excess gas in the transducer to the gas cylinder after secondary compression during the equipment floating process, realizing the closed-loop utilization of the working medium, and further making the system have the comprehensive advantages of large compensation depth, high energy utilization efficiency, strong environmental adaptability and significantly improved endurance. In addition, by introducing real-time pressure monitoring and feedback control strategy, the system can automatically switch the working mode according to the change of external hydrostatic pressure, ensuring that the optimal working state can be maintained under different water depth conditions, suitable for long-term reliable work of various deep water exploration equipment, and has important engineering application value and promotion prospect.

[0023] In some specific embodiments, the gas supply unit selects a high-pressure gas cylinder as a device for storing and providing gas source.

[0024] In some specific embodiments, the pressure sensing unit monitors the pressure of each key node of the deep-sea transducer, specifically including a first pressure sensor 2-1, a second pressure sensor 2-2, and a third pressure sensor 2-3; wherein the first pressure sensor 2-1 is arranged inside the deep-sea transducer cavity 1 for obtaining real-time internal pressure data P1 of the deep-sea transducer; the second pressure sensor 2-2 is arranged outside the deep-sea transducer cavity for obtaining real-time external pressure data P2; and the third pressure sensor 2-3 is arranged in the gas supply unit for obtaining real-time pressure data P3 of the gas source (i.e. high-pressure gas cylinder 9).

[0025] In some specific embodiments, as the core booster component of the system, the compression component adopts a two-stage compression architecture driven by a single hydraulic power source, specifically referring to the serial two-stage compression unit including a hydraulic drive mechanism and a two-stage compression mechanism driven by the hydraulic drive mechanism, the two-stage compression mechanism including a serially arranged primary gas compression cylinder 5-1 and a secondary gas compression cylinder 5-3; wherein the primary gas compression cylinder is used to preliminarily compress and boost the input gas source under the drive of the hydraulic drive mechanism; the gas inlet of the secondary gas compression cylinder is communicated with the gas outlet of the primary gas compression cylinder, for performing secondary compression and boosting on the preliminarily compressed and boosted gas source under the drive of the hydraulic drive mechanism; the primary gas compression cylinder is responsible for inhaling the gas from the low-pressure source (such as the gas cylinder or the recovery loop of the gas control unit) and compressing it to an intermediate pressure, and since the initial gas volume is large and the pressure is low, the primary gas compression cylinder needs to be set to a larger cylinder diameter to ensure that enough gas is inhaled in each stroke and the volumetric efficiency is improved; the secondary gas compression cylinder is responsible for secondary boosting, which receives the pre-compressed gas from the primary cylinder and compresses it to the final required high pressure; and since the gas volume has been significantly reduced due to the primary compression, the compression cylinder only needs a smaller cylinder diameter to efficiently handle this part of the gas and can withstand the final high pressure load.

[0026] Preferably, the hydraulic drive mechanism includes a drive motor (i.e. liquid drive cylinder 5-2), a hydraulic pump (i.e. gear booster pump 8) driven by the drive motor, and a hydraulic piston (i.e. compression piston 7) driven by the hydraulic pump; the movement of the hydraulic piston drives the compression pistons in the primary gas compression cylinder and the secondary gas compression cylinder to perform boosting operation through the transmission mechanism, and through the serial design of the two-stage compression cylinder, the system can achieve the target output pressure with higher isentropic efficiency, significantly improving the pressure compensation capability in deep water environment.

[0027] Preferably, the cylinder diameters (the inner diameter of the cylinder) of the primary gas compression cylinder and the secondary gas compression cylinder are different, and the diameter ratio is configured according to the target total pressure ratio to achieve a reasonable distribution of the inter-stage pressure ratio, so that the overall compression process approaches isothermal compression, thereby reducing the energy loss and adiabatic temperature rise in the compression process. For example, the diameter ratio of the primary gas compression cylinder and the secondary gas compression cylinder is determined according to the target total pressure ratio by the equal pressure ratio distribution principle or the optimization efficiency principle, so that the pressure ratios of the two-stage compression cylinder are equal or approximately equal. This design realizes the staged pressurization process of the gas through the two compression cylinders with different diameter ratios arranged in series. From the perspective of thermodynamics, this multi-stage compression method can more closely approach the isothermal compression process, significantly reducing the energy loss and temperature rise effect in the compression process. Specifically, the two-stage compression system realizes higher isentropic efficiency and lower unit displacement temperature rise by reasonably distributing the inter-stage pressure ratio, effectively breaking through the pressure ratio limit of single-stage compression, and maintaining a compact system structure. This design is particularly suitable for deep-sea equipment application scenarios with strict requirements on space, weight and energy efficiency, and provides a feasible technical path for efficient pressure compensation in deep-sea environments. That is, this technical breakthrough enables the system to operate stably and efficiently in deep-sea environments of 500 meters or more, solving the technical problem of the sharp decline in efficiency of traditional single-stage compression systems under high pressure difference conditions.

[0028] In some specific embodiments, the gas path control unit, which is composed of multiple gas path control valves and gas flow pipelines, is used to dynamically control the gas flow direction between the transducer cavity, the gas supply unit and the two-stage compression unit in series to form the corresponding gas path by controlling the opening and closing state of each gas path control valve on the gas flow pipeline based on the working mode switching instruction of the main control unit. This unit controls the flow direction of the gas between the transducer cavity, the gas supply unit (high-pressure gas cylinder), and the two-stage compression unit by setting multiple precise gas path control valves to achieve switching of multiple gas path modes. For example, electromagnetic valves for gas inlet and outlet can be installed at the transducer cavity and high-pressure gas cylinder end for the corresponding gas exchange process, and the gas flow pipeline can adopt a pressure-resistant pipeline structure.

[0029] Further, the gas path control valve is matched with the instructions of each system switching mode to perform corresponding opening and closing actions to form multiple opening and closing combinations, so that the system automatically switches between the following four gas exchange modes; preferably, the opening and closing combination includes controlling the direct formation of the gas exchange path between the high-pressure gas cylinder and the transducer cavity by opening and closing the first electromagnetic valve (3-1); by one combination state of the fourth and fifth electromagnetic valves (3-4, 3-5) and the first and third two-position three-way valves (4-1, 4-3), the pressurized charging path from the high-pressure gas cylinder to the transducer cavity through the secondary compression unit is controlled; by another combination state of the second and third electromagnetic valves (3-2, 3-3) and the first and third two-position three-way valves (4-1, 4-3), the gas recovery and pressurization path from the deep-sea transducer cavity to the high-pressure gas cylinder through the secondary compression unit is controlled.

[0030] Further, the corresponding gas path control valve includes the first to fifth electromagnetic valves and the first to third two-position three-way valves. The first electromagnetic valve 3-1 is arranged on the gas flow pipeline (direct connection path) between the gas supply unit and the deep-sea transducer cavity; the first electromagnetic valve serves as the main switch for controlling gas charging / discharging directly, ensuring that the gas flows directly between the gas supply unit and the deep-sea transducer cavity. For example, it is opened under the direct charging mode instruction to form a direct charging path so that the high-pressure gas of the gas supply unit directly enters the transducer cavity. Also, other modes of gas path can be realized by closing and cooperating with other control valves.

[0031] The second electromagnetic valve 3-2 is arranged on the gas flow pipeline between the gas supply unit, the transducer cavity and the gas inlet end of the serial secondary compression unit; the second electromagnetic valve serves as part of the compression inlet valve group, which can control the gas source entering the gas inlet end of the secondary compression unit and can cooperate with the fourth electromagnetic valve to form a gas path from the transducer air inlet in the secondary compression charging mode.

[0032] The third electromagnetic valve 3-3 is arranged on the gas flow pipeline between the gas supply unit and the gas outlet end of the serial secondary compression unit; the third electromagnetic valve serves as a gas compression charging valve, which can control the return charging path from the gas outlet end of the secondary compression unit to the high-pressure gas cylinder.

[0033] The fourth electromagnetic valve 3-4 is arranged on the gas flow pipeline between the gas supply unit, the transducer cavity and the gas inlet end of the serial secondary compression unit; the fourth electromagnetic valve serves as another part of the compression inlet valve group, which can control the gas source entering the gas inlet end of the secondary compression unit to form a gas path from the high-pressure gas cylinder in the secondary compression charging mode.

[0034] The fifth solenoid valve 3-5 is installed on the gas flow pipeline between the transducer cavity and the outlet end of the series-connected two-stage compression unit; the fifth solenoid valve serves as a compression charging valve (a deep pressure replenishment outlet valve) and is used to control the charging passage from the outlet end of the two-stage compression unit to the transducer cavity.

[0035] The first two-position three-way valve 4-1 is installed on the gas flow pipeline between the second solenoid valve, the gas supply unit and the outlet of the series-connected two-stage compression unit; the first two-position three-way valve is the key valve for gas source switching, namely the gas source switching valve, which is used to switch the gas source entering the inlet of the two-stage compression unit. In the two-stage compression charging mode, the gas source comes from the high-pressure gas cylinder, and in the two-stage compression recharging mode, the gas source comes from the transducer cavity.

[0036] The second two-position three-way valve 4-2 is installed on the gas flow pipeline between the two stages of the gas compression cylinders of the series two-stage compression unit; the second two-position three-way valve is installed between the two stages of compression cylinders as an interstage control valve and can be used for interstage pressure regulation, bypass or safety pressure relief.

[0037] The third two-position three-way valve 4-3 is installed on the gas flow pipeline between the fifth solenoid valve, the gas supply unit, and the outlet of the series-connected two-stage compression unit. This third two-position three-way valve acts as an output switching valve: it switches the final flow direction of the output gas from the outlet of the two-stage compression unit, so that the high-pressure gas flows to the transducer (filling) or flows back to the high-pressure gas cylinder (refilling).

[0038] Preferably, the correspondence between the opening and closing state combinations of each of the gas path control valves and the switching mode commands of each system is shown in the table below:

[0039] In some specific embodiments, the main control unit of the present invention is based on a microprocessor and adjusts the target pressure of the transducer cavity according to the real-time measured pressure data. Its signal input terminal is connected to the first, second, and third pressure sensors of the sensor unit, and its control output terminal is connected to each solenoid valve in the gas path control unit and the drive terminal of the secondary compression unit. It automatically judges and controls the gas path control unit and the secondary compression unit to execute the corresponding working modes.

[0040] In some specific embodiments, the main control unit has a pre-set adaptive pressure compensation and control strategy to automatically generate corresponding working mode switching instructions based on the adaptive pressure compensation and control strategy and the real-time pressure relationship of each pressure monitoring node (the pressure data obtained by the first, second, and third pressure sensors are labeled as P1, P2, and P3, respectively). The specific instruction generation process includes: According to the working state (submersion or floating) of the deep-sea transducer, and comparing the cavity internal pressure, external environment pressure and gas supply unit pressure monitored by the pressure sensing unit; (1) If the working state of the deep-sea transducer is submersion, when the external pressure is higher than the cavity internal pressure by a first set threshold, and the gas supply unit pressure is higher than the cavity internal pressure (P2-P1>ΔP and P3>P1), the gas path control unit is controlled to form a direct charging path from the gas supply unit to the cavity, i.e. a direct charging instruction is generated to make it in a direct charging mode, the gas path between the high-pressure gas cylinder 9 and the transducer cavity 1 is turned on, and the gas directly flows into the transducer cavity; when the difference between the gas supply unit pressure and the cavity internal pressure is less than a second set threshold (P3-P1≤Δh), the mode of charging the cavity with gas compressed by the series secondary compression unit is switched, i.e. a secondary compression charging instruction is generated to make it in a secondary compression charging mode, at this time the first electromagnetic valve 3-1 is closed, the fourth and fifth electromagnetic valves 3-4 / 3-5 are opened, the PLA control unit 6 sets the first two-position three-way valve 4-1 to the high-pressure gas cylinder 9 gas inlet state, the PLA control unit 6 sets the third two-position three-way valve 4-3 to the transducer 1 gas supplement state, and the PLA control unit 6 starts the gear supercharger pump 8 to make the gas in the high-pressure gas cylinder 9 enter the transducer cavity 1 through the fifth electromagnetic valve 3-5 after being pressurized by the secondary compression unit; (2) If the working state of the deep-sea transducer is floating, when the pressure in the cavity is higher than the external pressure by more than the first set threshold (P1-P2>ΔP and P1>P3), and the pressure in the cavity is higher than the pressure of the gas supply unit, the gas path control unit is controlled to form a direct exhaust path from the cavity to the gas supply unit, i.e. a direct exhaust command is generated, which is in a direct exhaust mode, the first electromagnetic valve 3-1 is opened, and the gas in the transducer cavity 1 is directly discharged to the high-pressure gas cylinder 9; when the pressure difference between the cavity and the gas supply unit is less than the second set threshold (P1-P3<Δh), the system switches to a mode of compressing the cavity gas through the series two-stage compression unit and then charging it to the gas supply unit, i.e. a two-stage compression charging command is generated, the system is in a two-stage compression charging mode, the first electromagnetic valve 3-1 is closed, and the direct exhaust path is closed. The second and third electromagnetic valves 3-2 / 3-3 are opened, the PLA control unit 6 sets the first two-position three-way valve 4-1 to the transducer 1 intake state, the PLA control unit 6 sets the third two-position three-way valve 4-3 to the high-pressure gas cylinder 9 gas supplement state, and the PLA control unit 6 starts the gear supercharger pump 8. The gas in the transducer cavity 1 is pressurized by the two-stage compression unit and then charged to the high-pressure gas cylinder 9 through the third electromagnetic valve 3-3. The working process of the system can include the following specific steps: 11, before the transducer device enters the water, the high-pressure gas cylinder 9 is charged to 6MPa through the gas supplement port, and the transducer cavity 1 maintains normal pressure; all electromagnetic valves and motors are in the closed state; the PLA control unit 6 sets the pressure difference threshold ΔP to 0.2MPa, and the system enters the standby state; 12, when the transducer device dives, the external static water pressure P2 continues to increase: 13, if P2-P1>0.2MPa and P3>P1 are detected, the system enters the high-pressure gas cylinder direct charging mode to achieve rapid pressure balance; the PLA control unit 6 opens the first electromagnetic valve 3-1, and the gas in the high-pressure gas cylinder 9 directly enters the transducer cavity 1 through the first electromagnetic valve 3-1; 14, when P1 rises to approach P3, the system automatically switches to the two-stage compression charging mode. At this time, the first electromagnetic valve 3-1 is closed, the fourth and fifth electromagnetic valves 3-4 / 3-5 are opened, the PLA control unit 6 sets the first two-position three-way valve 4-1 to the high-pressure gas cylinder 9 intake state, the PLA control unit 6 sets the third two-position three-way valve 4-3 to the transducer 1 gas supplement state, the main control unit 6 starts the drive motor, and then drives the gear supercharger pump 8 and the entire hydraulic system. The gas in the high-pressure gas cylinder 9 is pressurized by the two-stage compression unit and then enters the transducer cavity 1 through the electromagnetic valve 3-5. After two-stage continuous pressurization, gas with a pressure much higher than the initial pressure of the gas cylinder is generated and recharged into the transducer cavity.This mode breaks through the pressure ratio limit of single-stage compression and is a key technical guarantee for the system to achieve deep working conditions; 15. When the transducer device floats and the external hydrostatic pressure P2 continues to decrease: 16. If P1-P2>0.2MPa and P1>P3 are detected, the system enters the direct discharge mode, opens the first solenoid valve 3-1, and directly discharges the gas in the transducer cavity 1 to the high-pressure gas cylinder 9; 17. When P1 drops to near P3, the system switches to the two-stage compression recharge mode. At this time, the first solenoid valve 3-1 is closed, and the direct discharge pipeline is closed. The second and third solenoid valves 3-2 / 3-3 are opened, the PLA control unit 6 sets the first two-position three-way valve 4-1 to the transducer 1 air intake state, the PLA control unit 6 sets the third two-position three-way valve 4-3 to the high-pressure gas cylinder 9 recharge state, and the PLA control unit 6 starts the gear booster pump 8; the gas in the transducer cavity 1 is pressurized by the two-stage compression unit and then recharged to the high-pressure gas cylinder 9 through the third solenoid valve 3-3. This mode enables closed-loop recycling of the working medium, completely changing the wasteful practice of directly discharging gas into the water in traditional systems and greatly extending underwater operation time.

[0041] Based on the same inventive concept, this invention also proposes a pressure balancing method for deep-sea transducers based on the above system, comprising the following steps: S1. Real-time monitoring of the working status of the deep-sea transducer and the internal pressure P1 of the deep-sea transducer cavity, the external pressure P2 of the cabin, and the air source pressure P3 of the air supply unit. S2. Based on the working status of the deep-sea transducer and the pressure relationship between the internal pressure P1 of the deep-sea transducer cavity, the external pressure P2 of the cabin, and the gas source pressure P3 in the gas supply unit, the control system executes the corresponding tasks: When the deep-sea transducer is in the submerged state, it is determined whether P2-P1 is greater than the preset pressure difference threshold ΔP and whether P3 is greater than P1. If so, the air source is controlled to fill the deep-sea transducer cavity with air, so that the system is in direct charging mode. If the system is in direct charging mode, it determines whether P3-P1 is less than or equal to the preset compression pressure difference threshold Δh. If so, it controls the series-connected two-stage compression unit to compress the air source in two stages and then charge the deep-sea transducer cavity, so that the system is in two-stage compression charging mode. When the deep-sea transducer is in the floating state, it is determined whether P1-P2 is greater than the preset pressure difference threshold ΔP and whether P1 is greater than P3. If so, the gas in the deep-sea transducer cavity is directly discharged, so that the system is in the direct discharge mode. If the system is in direct discharge mode, it determines whether P1-P3 is less than or equal to the preset compression pressure difference threshold Δh. If so, it controls the series-connected two-stage compression unit to perform two-stage compression on the gas in the deep-sea transducer cavity and then recharge it to the gas supply unit, so that the system is in the two-stage compression recharge mode.

[0042] Based on the same inventive concept, the application further provides a computer readable storage medium comprising computer instructions which, when executed on a computer, cause the computer to perform the method.

[0043] Implementing the embodiments of the present application will have the following beneficial effects: The application can effectively adapt to the application requirement of deep-sea transducer which needs to balance the internal and external pressure in real time with the dynamic change of water depth, and realize active pressurization (especially overcome the back pressure of gas cylinder in the recovery stage) through the built-in hydraulic drive secondary compression unit. Since in the deep-sea high-pressure environment, the transducer exhaust gas pressure is usually lower than the current pressure of the high-pressure gas cylinder (especially in the initial stage of floating), direct back injection will cause backflow, therefore, the application combines the opening and closing state of each electromagnetic valve in the gas path control unit to back inject the used gas in the transducer to the original gas cylinder after being pressurized to be higher than the cylinder pressure through secondary compression, realize the closed-loop recovery of the medium, and effectively recover, and maintain the internal and external pressure difference of the transducer in the safe range through mode switching to prevent structural damage.

[0044] The above embodiments of the present application only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as the limitation of the patent scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A deep-sea transducer pressure equalization system based on a two-stage compression cycle, characterized in that, The deep-sea transducer pressure balancing system comprises a deep-sea transducer cavity, a gas supply unit, a hydraulic drive tandem two-stage compression unit, a gas path control unit, a pressure sensing unit, and a main control unit. The deep-sea transducer cavity is used to withstand the pressure of the external environment of the deep-sea transducer. The gas supply unit is used to store and provide a gas source for the deep-sea transducer. The hydraulic drive tandem two-stage compression unit is in communication with the gas supply unit through the gas path control unit and is used to preliminarily compress and boost / secondarily compress the input gas source. The gas path control unit is used to dynamically control the gas flow direction between the transducer cavity, the gas supply unit, and the tandem two-stage compression unit to form corresponding gas paths based on the working mode switching instructions of the main control unit. The pressure sensing unit is composed of a plurality of pressure sensors arranged at pressure monitoring nodes and is used to obtain real-time pressure data of each pressure monitoring node. The main control unit is electrically connected to the pressure sensing unit at the signal input end and is electrically connected to the tandem two-stage compression unit and the gas path control unit at the control output end. Based on the real-time pressure relationship of each pressure monitoring node, the main control unit generates corresponding working mode switching instructions to control the tandem two-stage compression unit and the gas path control unit to perform corresponding actions, thereby automatically switching the system between the four working modes of direct charging, two-stage compression charging, direct discharging, and two-stage compression recharging.

2. The deep-sea transducer pressure balancing system according to claim 1, wherein The tandem two-stage compression unit comprises a hydraulic drive mechanism and a two-stage compression mechanism driven by the hydraulic drive mechanism. The two-stage compression mechanism comprises a primary gas compression cylinder and a secondary gas compression cylinder arranged in series. The primary gas compression cylinder is used to preliminarily compress and boost the input gas source under the drive of the hydraulic drive mechanism. The secondary gas compression cylinder is used to secondarily compress and boost the preliminarily compressed and boosted gas source under the drive of the hydraulic drive mechanism. The hydraulic drive mechanism comprises a drive motor, a hydraulic pump driven by the drive motor, and a hydraulic piston driven by the hydraulic pump. The movement of the hydraulic piston drives the compression pistons in the primary gas compression cylinder and the secondary gas compression cylinder to perform boosting operations through a transmission mechanism.

3. The deep ocean transducer pressure equalization system of claim 2, wherein, 4. The deep-sea transducer pressure balancing system according to claim 1, wherein The gas path control unit is composed of a plurality of gas path control valves and gas flow pipes and is used to dynamically control the gas flow direction between the transducer cavity, the gas supply unit, and the tandem two-stage compression unit to form corresponding gas paths by controlling the opening and closing states of each gas path control valve on the gas flow pipes based on the working mode switching instructions of the main control unit.

5. The deep-sea transducer pressure balancing system according to claim 4, wherein ​ The gas path control valve comprises first to fifth electromagnetic valves and first to third two-position three-way valves; the first electromagnetic valve is arranged on a gas flow pipe between the gas supply unit and the transducer cavity; the second electromagnetic valve is arranged on a gas flow pipe between the gas supply unit, the transducer cavity and the gas inlet end of the serial two-stage compression unit; the third electromagnetic valve is arranged on a gas flow pipe between the gas supply unit and the gas outlet end of the serial two-stage compression unit; the fourth electromagnetic valve is arranged on a gas flow pipe between the gas supply unit, the transducer cavity and the gas inlet end of the serial two-stage compression unit; the fifth electromagnetic valve is arranged on a gas flow pipe between the transducer cavity and the gas outlet end of the serial two-stage compression unit; the first two-position three-way valve is arranged on a gas flow pipe between the second electromagnetic valve, the gas supply unit and the gas outlet end of the serial two-stage compression unit; the second two-position three-way valve is arranged on a gas flow pipe between the two-stage gas compression cylinders of the serial two-stage compression unit; and the third two-position three-way valve is arranged on a gas flow pipe between the fifth electromagnetic valve, the gas supply unit and the gas outlet end of the serial two-stage compression unit.

6. The deep-sea transducer pressure balancing system according to claim 1, wherein The pressure sensing unit comprises a first pressure sensor, a second pressure sensor and a third pressure sensor; the first pressure sensor is arranged inside the deep-sea transducer cavity to obtain internal pressure data in real time; the second pressure sensor is arranged outside the deep-sea transducer cavity to obtain external pressure data in real time; and the third pressure sensor is arranged in the gas supply unit to obtain gas source pressure data in real time.

7. The deep ocean transducer pressure equalization system of claim 1, wherein, The master control unit is pre-installed with an adaptive pressure compensation and control strategy to automatically generate corresponding working mode switching instructions according to the adaptive pressure compensation and control strategy and the real-time pressure relationship of each pressure monitoring node, and the specific instruction generation process comprises: According to the working state of the deep-sea transducer and comparing the internal pressure of the deep-sea transducer cavity, the external environment pressure and the gas supply unit pressure monitored by the pressure sensing unit; During the diving process, when the external pressure is higher than the internal pressure of the deep-sea transducer cavity and exceeds the set threshold, and the gas supply unit pressure is higher than the internal pressure of the deep-sea transducer cavity, the gas path control unit is controlled to form a direct charging path from the gas supply unit to the deep-sea transducer cavity; when the difference between the gas supply unit pressure and the internal pressure of the deep-sea transducer cavity is less than the set threshold, the mode of charging the deep-sea transducer cavity with the gas compressed by the serial two-stage compression unit is switched; During the floating process, when the internal pressure of the deep-sea transducer cavity is higher than the external pressure and exceeds the set threshold, and the internal pressure of the deep-sea transducer cavity is higher than the gas supply unit pressure, the gas path control unit is controlled to form a direct exhaust path from the deep-sea transducer cavity to the gas supply unit; when the difference between the internal pressure of the deep-sea transducer cavity and the gas supply unit pressure is less than the set threshold, the mode of charging the gas supply unit with the gas compressed by the serial two-stage compression unit from the deep-sea transducer cavity is switched.

8. A method of controlling a pressure equalization of a deep-sea transducer pressure equalization system according to any one of claims 1 to 7, characterized in that, The method comprises the following steps: S1, real-time monitoring of the working state of the deep-sea transducer and the internal pressure P1 of the deep-sea transducer cavity, the external pressure P2 of the cabin body, and the gas source pressure P3 in the gas supply unit; S2, based on the pressure relationship between the working state of the deep-sea transducer and the internal pressure P1 of the deep-sea transducer cavity, the external pressure P2 of the cabin body, and the gas source pressure P3 in the gas supply unit, the control system executes the corresponding work: When the working state of the deep-sea transducer is diving, it is judged whether P2-P1 is greater than the preset pressure difference threshold ΔP and P3 is greater than P1, if so, the gas source is controlled to charge the deep-sea transducer cavity, and the system is in a direct charging mode; If the system is in a direct charging mode, it is judged whether P3-P1 is less than or equal to the preset compression pressure difference threshold Δh, if so, the series two-stage compression unit is controlled to compress the gas source and charge the deep-sea transducer cavity, and the system is in a two-stage compression charging mode; When the working state of the deep-sea transducer is floating, it is judged whether P1-P2 is greater than the preset pressure difference threshold ΔP and P1 is greater than P3, if so, the gas in the deep-sea transducer cavity is directly discharged, and the system is in a direct discharge mode; If the system is in a direct discharge mode, it is judged whether P1-P3 is less than or equal to the preset compression pressure difference threshold Δh, if so, the series two-stage compression unit is controlled to compress the gas in the deep-sea transducer cavity and recharge to the gas supply unit, and the system is in a two-stage compression recharge mode.

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