CN111252220A - Buoyancy compensation system for underwater glider - Google Patents

Buoyancy compensation system for underwater glider Download PDF

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Publication number
CN111252220A
CN111252220A CN201911305251.XA CN201911305251A CN111252220A CN 111252220 A CN111252220 A CN 111252220A CN 201911305251 A CN201911305251 A CN 201911305251A CN 111252220 A CN111252220 A CN 111252220A
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oil bag
way valve
energy accumulator
bag
type energy
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CN201911305251.XA
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王树新
王延辉
杨绍琼
谢旭东
牛文栋
马伟
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Tianjin University
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Tianjin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)

Abstract

The invention discloses a buoyancy compensation system for an underwater glider, which comprises an internal oil bag, an external oil bag, a bidirectional pump, a one-way valve, an inflatable energy accumulator and a spring type energy accumulator, wherein the internal oil bag is connected with the external oil bag through the bidirectional pump; the external oil bag is sequentially connected with the one-way valve, the two-way pump and the internal oil bag through pipelines, and the external oil bag and the one-way valve are connected with the spring type energy accumulator and the inflatable type energy accumulator through a three-position three-way valve; a two-position two-way electromagnetic valve is arranged on the one-way valve in parallel; the active buoyancy compensation part consists of an internal oil bag, a bidirectional pump, a one-way valve, a two-position two-way electromagnetic valve and an external oil bag, and the sizes of the internal oil bag and the external oil bag are adjusted through the bidirectional pump; the external oil part bag, the three-position three-way valve, the spring type energy accumulator and the inflatable type energy accumulator form a passive buoyancy compensation part, and the oil quantity is automatically adjusted according to the pressure of the seawater.

Description

Buoyancy compensation system for underwater glider
Technical Field
The invention relates to the field of hydraulic system design, in particular to a novel buoyancy compensation system based on a spring type and hydraulic type double energy accumulator for an underwater glider.
Background
The underwater glider is a special unmanned underwater vehicle, can carry out long-time and large-range observation and detection on a complex marine environment, plays an important role in a global marine observation and detection system, and is an important tool for human exploration and development of oceans. At present, an underwater glider mainly changes the buoyancy of the glider by a buoyancy adjusting system so as to realize heave movement and hover at a fixed depth in water. However, since the seawater density changes under the influence of pressure, temperature, salinity, etc., the change of the seawater density must be considered and adjusted accordingly to maintain the stable motion state of the underwater glider. The change of the seawater density causes the constant change of the driving buoyancy of the underwater glider, so that the influence of the change of the seawater density can be overcome by additionally consuming energy in the running process. Therefore, the net buoyancy fluctuation caused by the density change of the seawater is reduced through the passive buoyancy compensation, the active buoyancy adjustment is reduced as far as possible, and the method has important significance for improving the running stability and the energy use efficiency of the underwater glider and enhancing the cruising ability. Typical passive buoyancy compensating devices mainly include spring-type accumulators and gas-filled accumulators. The spring type energy accumulator has simple structure and high sensitivity, but can only provide buoyancy compensation for underwater gliders working in shallow sea areas because the problem of the elastic limit of the spring cannot be applied to high-pressure environment. The gas-filled accumulator stores and releases energy by utilizing the compression and expansion of gas, has high reliability and good nonlinear compensation effect, but has no compensation effect in a shallow sea range (the environmental pressure is less than the pre-charging pressure) because of the pre-charging pressure.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a novel buoyancy compensation system based on spring type and hydraulic type double energy accumulators for an underwater glider
The purpose of the invention is realized by the following technical scheme:
a buoyancy compensation system for an underwater glider comprises an internal oil bag, an external oil bag, a bidirectional pump, a one-way valve, an inflatable energy accumulator and a spring type energy accumulator; the external oil bag is sequentially connected with the one-way valve, the two-way pump and the internal oil bag through pipelines, and the external oil bag and the one-way valve are connected with the spring type energy accumulator and the inflatable type energy accumulator through a three-position three-way valve; a two-position two-way electromagnetic valve is arranged on the one-way valve in parallel; the active buoyancy compensation part consists of an internal oil bag, a bidirectional pump, a one-way valve, a two-position two-way electromagnetic valve and an external oil bag, and the sizes of the internal oil bag and the external oil bag are adjusted through the bidirectional pump; the external oil part bag, the three-position three-way valve, the spring type energy accumulator and the inflatable type energy accumulator form a passive buoyancy compensation part, and the oil quantity is automatically adjusted according to the pressure of the seawater.
Preferably, the three-position three-way valve has A, B, C three positions, wherein A position represents two-way, and external oil bag oil can freely flow into and out of the two accumulators; b position represents a single-pass mode, and external oil bag oil can only freely flow into and out of the inflatable accumulator to protect the spring accumulator under the highest working pressure; and the C position indicates that the oil way is closed, and oil cannot freely flow between the external oil bag and the two accumulators so as to protect the two accumulators to work within the limit pressure range.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
the invention skillfully combines the advantages of no energy consumption of passive buoyancy compensation and accurate active buoyancy compensation, so that the precise buoyancy control of the glider is realized under the condition of meeting the requirement of lowest energy consumption. And the passive buoyancy compensation part skillfully combines the advantages of a typical spring type energy accumulator and an inflatable type energy accumulator, and the energy accumulator is protected at high pressure while the effective working range of the energy accumulator is enlarged by additionally arranging a three-position three-way valve. Because two kinds of type energy storage wares that use can play complementary effect, so single energy storage ware of comparing can show and promote the passive buoyancy compensation effect to glider under water to reduce the energy resource consumption of buoyancy initiative compensation, improve the stability and the energy utilization efficiency of glider operation, increase glider continuation of the journey mileage.
Drawings
FIG. 1 is a schematic diagram of the oil circuit of the system of the present invention;
FIG. 2 is a schematic diagram of the principle of the present invention;
FIG. 3 is a control flow diagram of the hydraulic system of the present invention;
reference numerals: 1-external oil bag, 2-one-way valve, 3-two-way pump, 4-internal oil bag, 5-inflatable accumulator, 6-spring accumulator, 7-three-position three-way valve and 8-two-position two-way electromagnetic valve
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The hydraulic system oil circuit diagram is shown in fig. 1, and the hydraulic buoyancy adjusting system comprises an internal oil bag 4, an external oil bag 1, a two-way pump 3, a one-way valve 2, a two-position two-way electromagnetic valve 8, a three-position three-way valve 7, an inflatable energy accumulator 5, a spring type energy accumulator 6 and other components. The external oil bag 1 is sequentially connected with the one-way valve 2, the two-way pump 3 and the internal oil bag 4 through pipelines, and the pipeline between the external oil bag 4 and the one-way valve 2 is connected with the spring type energy accumulator 6 and the inflatable type energy accumulator 5 through a three-position three-way valve 7; a two-position two-way electromagnetic valve 8 is arranged on the one-way valve 2 in parallel;
the inner oil bag 4, the bidirectional pump 3, the one-way valve 2, the two-position two-way electromagnetic valve 8 and the outer oil bag 1 form an active buoyancy compensation part, and the size of the inner oil bag and the size of the outer oil bag can be adjusted through the bidirectional oil pump. The external oil bag 1, the three-position three-way valve 7 and the two energy accumulators form a passive buoyancy compensation part, and the oil quantity is automatically adjusted according to the seawater pressure, wherein the three-position three-way valve 7 has A, B, C positions, the A position represents two-way, and the oil in the external oil bag can freely flow into and flow out of the two energy accumulators; b position represents a single-pass mode, and external oil bag oil can only freely flow into and out of the inflatable accumulator, so that the spring accumulator can be protected under the highest working pressure; the C position indicates that the oil way is closed, and oil cannot freely flow between the external oil bag and the two energy accumulators, so that the two energy accumulators can be protected to work within a limit pressure range.
The basic principle of the invention is shown in fig. 2: the highest working pressure of the spring type energy accumulator is PkPre-charge pressure of the accumulator is Pp0The highest working pressure is Pp1. When the underwater glider runs underwater, if the pressure of the surrounding seawater is less than PpkThe buoyancy compensation can be carried out by utilizing the spring type energy accumulator; if the pressure of the seawater is Pp0～Pp1In between, then can utilize inflatable accumulator to carry out buoyancy compensation.
The control flow of the system of the invention is shown in FIG. 3: when the glider runs, the pressure sensor detects the external pressure of the glider and feeds the external pressure back to the control system, the three-position three-way valve is arranged at the A position at first, and oil can freely flow and compensate between the external oil bag and the two energy accumulators. When the detected pressure is greater than PkWhen the valve is arranged at the position B, the oil way of the spring type energy accumulator is closed, and the spring type energy accumulator can be protected. When the detected pressure is greater than Pp1When the valve is arranged at the C position, the oil way of the inflatable accumulator is closed, and the effect of the inflatable accumulator can be protected. When the glider floats upwards, the control flow is similar, and the position of the electromagnetic valve is also controlled through the detected external pressure value, so that the effect of reasonably utilizing the two energy accumulators is achieved.
In this embodiment, the specific parameters related to the spring-type and gas-filled accumulators can be obtained by the following steps:
step 1: the seawater density equation of state is approximately expressed as:
Figure BDA0002322903670000031
where ρ is0The density of the surface layer of the seawater is shown; rhohIn order to neglect the influence of temperature and salinity, only the seawater density under the action of the pressure p is considered; ksSea water bulk modulus of elasticity.
Step 2: calculating the volume change of a glider casing
Figure BDA0002322903670000032
Wherein, is Δ VhRepresenting the negative deformation of the pressure shell of the glider; khRepresents the modulus of elasticity of the housing; v0Representing the original volume of the housing.
And step 3: calculating the volume change of the spring type energy accumulator;
F＝kΔx＝ps (3)
ΔVk＝-Δx·s (4)
ΔVk＝-ps2/k (5)
wherein, is Δ VkThe volume deformation of the spring type energy accumulator is represented; f represents the pressure applied on the spring type energy accumulator; k is the spring elastic coefficient; Δ x represents the amount of spring expansion; and s is the contact area of the spring type energy accumulator and the hydraulic oil.
And 4, step 4: calculating the volume change of the inflatable accumulator:
pVn＝p0V0 nconstant (6)
ΔVp＝Vp-Vp0＝Vp0(Pp0/P-1) (7)
Wherein, is Δ VpRepresenting the volume deformation of the inflatable accumulator; vp0Representing the working volume of the gas-filled accumulator; p is a radical ofp0Indicating a pre-charge pressure of the gas-charged accumulator; n is a polytropic exponent, which is related to the gas properties.
And 5: the buoyancy compensating system should meet the following requirements:
B0＝Bh(7)
ρ0V0g＝ρhVhg (8)
ρ0V0＝ρh(V0+ΔVh+ΔVk+ΔVp) (9)
substituting equations (5) and (7) into equation (9) can obtain:
Figure BDA0002322903670000041
wherein, B0Representing the glider initial buoyancy; b ishIndicating the buoyancy of the glide at a depth H. Through the formula (10), the related characteristic parameters of the spring type energy accumulator and the gas-filled type energy accumulator can be solved, and therefore model selection is carried out.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (2)

1. A buoyancy compensation system for an underwater glider is characterized by comprising an internal oil bag, an external oil bag, a bidirectional pump, a one-way valve, an inflatable energy accumulator and a spring type energy accumulator; the external oil bag is sequentially connected with the one-way valve, the two-way pump and the internal oil bag through pipelines, and the external oil bag and the one-way valve are connected with the spring type energy accumulator and the inflatable type energy accumulator through a three-position three-way valve; a two-position two-way electromagnetic valve is arranged on the one-way valve in parallel; the active buoyancy compensation part consists of an internal oil bag, a bidirectional pump, a one-way valve, a two-position two-way electromagnetic valve and an external oil bag, and the sizes of the internal oil bag and the external oil bag are adjusted through the bidirectional pump; the external oil part bag, the three-position three-way valve, the spring type energy accumulator and the inflatable type energy accumulator form a passive buoyancy compensation part, and the oil quantity is automatically adjusted according to the pressure of the seawater.
2. The buoyancy compensation system for an underwater glider according to claim 1 wherein the three-position three-way valve has A, B, C three positions, wherein A position represents two-way, and external oil bladder oil can freely flow into and out of the spring-loaded accumulator and the gas-filled accumulator as the pressure of the ocean environment changes; b position represents a single-pass mode, and external oil bag oil can only freely flow into and out of the inflatable accumulator to protect the spring accumulator under the highest working pressure; the C position indicates that the oil way is closed, and oil cannot freely flow between the external oil bag and the two energy accumulators, so that the spring type energy accumulator and the inflatable type energy accumulator are protected to work within a limit pressure range.
CN201911305251.XA 2019-12-17 2019-12-17 Buoyancy compensation system for underwater glider Pending CN111252220A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113060263A (en) * 2021-04-29 2021-07-02 成都欧迅科技股份有限公司 Long-distance underwater glider variable-buoyancy driving device and method thereof
CN115009485A (en) * 2022-05-30 2022-09-06 大连海事大学 Underwater buoyancy adjusting system for glass pressure-resistant cover
CN115214863A (en) * 2022-08-24 2022-10-21 青岛海洋科学与技术国家实验室发展中心 Underwater glider buoyancy driving system, buoyancy adjusting method and power generation method

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CN101003298A (en) * 2006-12-21 2007-07-25 天津大学 Self-holding underwater section buoy of using multiple sources of energy, and drive method
CN102180243A (en) * 2011-04-13 2011-09-14 浙江大学 Driving device for buoyancy regulating mechanism of underwater glider
US20170297659A1 (en) * 2014-09-25 2017-10-19 Hydro Leduc Hydraulic device for controlling the depth of an immersible object
CN107697251A (en) * 2017-10-09 2018-02-16 西北工业大学 A kind of combination drive buoyancy regulating device for underwater glider
CN109353477A (en) * 2018-08-31 2019-02-19 杭州电子科技大学 A kind of underwater glider
CN209650510U (en) * 2019-02-18 2019-11-19 上海交通大学 Mix buoyancy regulating device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101003298A (en) * 2006-12-21 2007-07-25 天津大学 Self-holding underwater section buoy of using multiple sources of energy, and drive method
CN102180243A (en) * 2011-04-13 2011-09-14 浙江大学 Driving device for buoyancy regulating mechanism of underwater glider
US20170297659A1 (en) * 2014-09-25 2017-10-19 Hydro Leduc Hydraulic device for controlling the depth of an immersible object
CN107697251A (en) * 2017-10-09 2018-02-16 西北工业大学 A kind of combination drive buoyancy regulating device for underwater glider
CN109353477A (en) * 2018-08-31 2019-02-19 杭州电子科技大学 A kind of underwater glider
CN209650510U (en) * 2019-02-18 2019-11-19 上海交通大学 Mix buoyancy regulating device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113060263A (en) * 2021-04-29 2021-07-02 成都欧迅科技股份有限公司 Long-distance underwater glider variable-buoyancy driving device and method thereof
CN115009485A (en) * 2022-05-30 2022-09-06 大连海事大学 Underwater buoyancy adjusting system for glass pressure-resistant cover
CN115009485B (en) * 2022-05-30 2024-01-12 大连海事大学 Underwater buoyancy adjusting system of glass pressure cover
CN115214863A (en) * 2022-08-24 2022-10-21 青岛海洋科学与技术国家实验室发展中心 Underwater glider buoyancy driving system, buoyancy adjusting method and power generation method
CN115214863B (en) * 2022-08-24 2023-08-22 青岛海洋科技中心 Buoyancy driving system, buoyancy adjusting method and power generation method of underwater glider

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Application publication date: 20200609