海底观测网非接触式水下接驳系统的设计与实现
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摘要
为充分利用海底观测网与自主水下航行器各自优势,构建海洋立体观测网络,设计并实现了海底观测网非接触式水下接驳系统.考虑水下接驳需求和海水环境特殊性,设计接驳系统机械结构,包括导引结构、耐压腔体.利用高频电磁波通信技术,并结合水下实际环境,实现水下高速非接触信号传输.基于电磁耦合方式,并考虑电路拓扑和耦合线圈的设计,利用胶封线圈实现水下大功率、高效率的非接触电能传输.基于WinCC组态软件设计系统上位机,并结合嵌入式PC控制器,建立系统中央控制系统.在实验室环境下对耐压腔体的深水工作能力进行了压力试验验证,湖上试验对系统进行了非接触信号传输、非接触电能传输和中央控制系统测试.测试结果验证了各功能模块间的兼容性和系统整体方案的可靠性,并为后续海试提供了试验方案的验证.
A non-contact underwater docking system on ocean observatory network was designed and realized in order to make full use of the advantage of ocean observatory and autonomous underwater vehicle and to construct the ocean three-dimensional observatory system. Based on underwater docking requirement and the characteristic in ocean,the mechanical structures of docking system including guiding structure and cavity were designed.Making use of high frequency electromagnetic wave communication technology and connecting with the practical situation in ocean,the underwater non-contact signal transmission with high speed was realized.Based on electromagnetic coupling technology and considering the design of circuit topology and coupling coil,the non-contact power transfer with high power and great efficiency was realized by using sealing coils.A system upper computer software was developed based on WinCC.Combining with embedded PC,a central control system was built.Pressure test for cavity was conducted in laboratory.Overall tests including non-contact signal transmission,non-contact power transfer and central control system were completed in lake trial.The experimental results verified the compatibility among various modules and the reliability of the whole system scheme and provided basis for successive tests.
A non-contact underwater docking system on ocean observatory network was designed and realized in order to make full use of the advantage of ocean observatory and autonomous underwater vehicle and to construct the ocean three-dimensional observatory system. Based on underwater docking requirement and the characteristic in ocean,the mechanical structures of docking system including guiding structure and cavity were designed.Making use of high frequency electromagnetic wave communication technology and connecting with the practical situation in ocean,the underwater non-contact signal transmission with high speed was realized.Based on electromagnetic coupling technology and considering the design of circuit topology and coupling coil,the non-contact power transfer with high power and great efficiency was realized by using sealing coils.A system upper computer software was developed based on WinCC.Combining with embedded PC,a central control system was built.Pressure test for cavity was conducted in laboratory.Overall tests including non-contact signal transmission,non-contact power transfer and central control system were completed in lake trial.The experimental results verified the compatibility among various modules and the reliability of the whole system scheme and provided basis for successive tests.
引文
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[2]陈鹰,杨灿军,陶春辉,等.海底观测系统[M].北京:海洋出版社,2006:66-77.CHEN Ying,YANG Canjun,TAO Chunhui,et al.Submarine observation system[M].Beijing:Ocean Press,2006:66-77.
[3]封锡盛,李一平.海洋机器人30年[J].科学通报,2013,58S(II):2-7.FENG Xisheng,LI Yiping.Thirty years evolution of SIA’s unmanned marine vehicles[J].Chinese Science Bulletin,2013,58(S2):2-7
[4]LI D J,CHEN Y H,SHI J G,et al.Autonomous underwater vehicle docking system for cabled ocean observatory network[J].Ocean Engineering,2015,109:127-134.
[5]YANG C,PENG S,FAN S,et al.Study on docking guidance algorithm for hybrid underwater glider in currents[J].Ocean Engineering,2016,125:170-181.
[6]MCEWEN R S,HOBSON B W,MCBRIDE L,et al.Docking control system for a 54-cm-diameter(21-in)AUV[J].IEEE Journal of Oceanic Engineeering,2009,33(4):550-562.
[7]LAMBIOTTE J C,COULSON R,SMITH S M,et al.Results from mechanical docking tests of a Morpheus class AUV with a dock designed for an OEX class AUV[J].Oceans,2002,1:260-265.
[8]FRYE D E,KEMP J,PAUL W,et al.Mooring developments for autonomous ocean-sampling networks[J].IEEE Journal of Oceanic Engineering,2001,26(4):477-486.
[9]FUKASAWA T,NOGUCHI T,KAWASAKI T,et al.“MARINE BIRD”,a new experimental AUV with underwater docking and recharging system[J].Oceans,2003,4:2195-2200.
[10]ZHANG T,LI D,YANG C.Study on impact process of AUV underwater docking with a coneshaped dock[J].Ocean Engineering,2017,130:176-187.
[11]张康达,洪起超.压力容器手册[M].北京:劳动人事出版社,1987.ZHANG Kangda,HONG Qichao.Pressure vessel manual[M].Beijing:Labor and Personnel Publishing House,1987.
[12]刘岚.电磁场与电磁波基础[M].北京:电子工业出版社,2010.LIU Lan.Electromagnetic field and electromagnetic wave base[M].Beijing:Electronic Industry Press,2010.
[13]刘焱,苏东林,张恺,等.系统级链路预算方法[J].北京航空航天大学学报,2013,39(1):47-51.LIU Yan,SU Donglin,ZHANG Kai,et al.System level link budget method[J].Journal of Beijing University of Aeronautics and Astronautics,2013,39(1):47-51.
[14]SHI J G,LI D J,YANG C J.Design and analysis of an underwater inductive coupling power transfer system for autonomous underwater vehicle docking applications[J].Journal of Zhejiang University SCIENCE C,2014,15(1):51-62.
[15]MCLYMAN C W T.Transformer and inductor design handbook[M].Boca Raton:CRC Press,2017.