CN-121976991-A - Submarine hydraulic system monitoring and early warning method and system based on electrical control

CN121976991ACN 121976991 ACN121976991 ACN 121976991ACN-121976991-A

Abstract

The invention discloses a submarine hydraulic system monitoring and early warning method and system based on electrical control, which relate to the technical field of submarine hydraulic systems, and are characterized in that in the submergence process, based on the underwater depth of a submarine, each monitoring point is started to monitor each parameter of the hydraulic system, the influence of different underwater depths on the hydraulic oil characteristics is analyzed, the current hydraulic oil characteristics are obtained, the pre-tightening force of a spring in an overflow valve is adjusted based on the current hydraulic oil characteristics, meanwhile, each parameter limit value of the current hydraulic system is analyzed based on historical diving information for each time, and whether the hydraulic system fails or not is judged, if the failure occurs, the failure type is obtained, the failure grade is obtained based on the failure type and the underwater depth of the current submarine, early warning feedback is carried out, the accuracy of the failure monitoring of the hydraulic system and the effectiveness of the adjustment of the pre-tightening force of the spring in the overflow valve are ensured, and the effectiveness of the failure analysis of the hydraulic system is also ensured.

Inventors

HUANG WENQI
MA JUNQING
FAN YAPENG
CHEN JIANAN
SHI KUNLIN

Assignees

江苏舯航泓达精工机械有限公司

Dates

Publication Date: 20260505
Application Date: 20251216

Claims (10)

1. The submarine hydraulic system monitoring and early warning method based on electrical control is characterized by comprising the following steps of: S1, hydraulic monitoring, namely arranging a plurality of monitoring points in a submarine hydraulic system in advance, acquiring the current underwater depth of the submarine in real time in the submarine submergence process, starting each monitoring point needing to perform monitoring action according to the current underwater depth of the submarine, and monitoring each parameter of the submarine hydraulic system; S2, hydraulic control, namely acquiring parameters of a submarine hydraulic system, analyzing the influence of different underwater depths on the characteristics of hydraulic oil, acquiring the characteristics of the hydraulic oil at the current underwater depth, and adjusting the pre-tightening force of a spring in an overflow valve according to the characteristics of the current hydraulic oil; And S3, hydraulic early warning, namely acquiring limit values of all parameters of the current hydraulic system while adjusting the pre-tightening force of the spring in the overflow valve, analyzing whether the hydraulic system fails, acquiring a failure type if the hydraulic system fails, analyzing a failure grade, carrying out early warning and feeding back the failure type according to the failure grade, and starting a protection mechanism.
2. The monitoring and early warning method for the submarine hydraulic system based on the electrical control according to claim 1, wherein each monitoring point needing to be monitored is obtained, and the specific process is as follows: Acquiring the current water area where the submarine is positioned and the historical diving information of the submarine from a database, acquiring the water area where the submarine is positioned in each time of diving from the current water area, comparing the current water area with the current water area where the submarine is positioned, enabling each time of diving of the same history as the current water area where the submarine is positioned in the water area to be called each marked historical diving, acquiring the depth area where the submarine is positioned in each marked historical diving from the database, and dividing each marked historical diving with the same depth area into one diving group, thereby acquiring each diving group, and acquiring each monitoring point of each diving group needing to perform monitoring action; according to each monitoring point of each diving group needing to monitor and the depth area corresponding to each diving group, a monitoring point-depth area comparison table is constructed, a depth area-underwater depth matching table is obtained from a database, the depth area of the current submarine is obtained, and meanwhile, each monitoring point needing to monitor is obtained from the monitoring point-depth area comparison table.
3. The method for monitoring and early warning of the submarine hydraulic system based on the electrical control according to claim 2, wherein the specific process of acquiring each monitoring point of each diving group needing to perform the monitoring action is as follows: Acquiring each fault position of a hydraulic system when historical diving is carried out in each diving group from a database, acquiring a fault position set of each diving group, clustering each fault position in the fault position set of each diving group to obtain an initial monitoring area of each diving group, acquiring each monitoring point needing to carry out monitoring action in the initial monitoring area of each diving group according to the first monitoring point density, namely each first monitoring point, acquiring each monitoring point needing to carry out monitoring action outside the initial monitoring area of each diving group according to the second monitoring point density, namely each second monitoring point, and then each first monitoring point and each second monitoring point of each diving group are each monitoring point needing to carry out monitoring action of each diving group.
4. The submarine hydraulic system monitoring and early warning method based on electrical control according to claim 1, wherein the hydraulic control comprises the following specific processes: Acquiring initial characteristics of hydraulic oil and hydraulic oil used by a hydraulic system and water area information of a submarine from a database, constructing a simulation environment according to the hydraulic oil, the initial hydraulic oil characteristics and the water area information of the submarine used by the hydraulic system, analyzing the change characteristics of the hydraulic oil characteristics in different depth areas, constructing a depth area-characteristic change association diagram of the hydraulic oil, and matching the depth area of the current submarine with the depth area-characteristic change association diagram of the hydraulic oil to acquire the characteristics of the hydraulic oil in the current hydraulic system; The hydraulic pressure needed to be provided by the hydraulic system is obtained from the database, the pre-tightening force needed by the internal spring of the overflow valve is obtained based on the hydraulic pressure needed to be provided by the hydraulic system and the characteristics of hydraulic oil in the current hydraulic system, whether the pre-tightening force of the internal spring of the current overflow valve meets the standard is judged, and if the pre-tightening force of the internal spring of the overflow valve does not meet the standard, the pre-tightening force of the internal spring of the overflow valve is adjusted to the pre-tightening force needed by the internal spring of the overflow valve.
5. The monitoring and early warning method for the submarine hydraulic system based on the electrical control according to claim 4, wherein the analysis of the characteristic change characteristics of the hydraulic oil in different depth areas comprises the following specific processes: Setting a plurality of simulation groups, simulating the operation of a hydraulic system of each simulation group in different depth areas in a simulation environment, acquiring the numerical value of each parameter of hydraulic oil of each simulation group in the different depth areas, dividing each parameter in the same depth area into a parameter set, acquiring each parameter set of the hydraulic oil of each simulation group by the method, acquiring the initial numerical value of each parameter of the hydraulic oil from a database, and acquiring the initial parameter set of the hydraulic oil; In each simulation group, sequencing each parameter set according to the sequence from shallow depth to deep depth, sequencing the initial parameter set at the forefront, acquiring the change characteristics of hydraulic oil characteristics in different depth areas according to the sequence of the initial parameter set and each parameter set, acquiring the change characteristics of the hydraulic oil characteristics of each simulation group in the different depth areas by the method, comparing the change characteristics, acquiring the return coefficient of each simulation group, and taking the change characteristics of the hydraulic oil of the simulation group with the highest return coefficient in the different depth areas as the change characteristics of the hydraulic oil characteristics in the different depth areas.
6. The monitoring and early warning method for the submarine hydraulic system based on the electrical control according to claim 4, wherein the method is characterized in that the pretightening force required by the spring in the overflow valve is obtained by the following specific process: A11, carrying a simulation experiment platform, acquiring the depth area where the current submarine is located and the characteristics of hydraulic oil, simulating the environment where the current submarine is located, acquiring a hydraulic pressure-internal spring pre-tightening force matching table of the overflow valve from a database, acquiring the initial pre-tightening force of the internal spring of the overflow valve from the matching table, adjusting the pre-tightening force of the internal spring of the overflow valve to the initial pre-tightening force on the simulation experiment platform, monitoring the hydraulic pressure provided by the hydraulic system at the moment, and comparing the hydraulic pressure with the hydraulic pressure required by the hydraulic system; A12, if the hydraulic pressure provided by the hydraulic system is smaller than the hydraulic pressure required by the hydraulic system at the moment, increasing the pre-tightening force of the internal spring of the overflow valve according to a preset gradient threshold value, monitoring the hydraulic pressure provided by the hydraulic system in real time, and acquiring the pre-tightening force of the internal spring of the overflow valve when the hydraulic pressure provided by the hydraulic system is monitored to be equal to the hydraulic pressure required by the hydraulic system, wherein the pre-tightening force of the internal spring of the overflow valve is the pre-tightening force required by the internal spring of the overflow valve; A13, if the hydraulic pressure provided by the hydraulic system is smaller than the hydraulic pressure required by the hydraulic system at the moment, reducing the pre-tightening force of the internal spring of the overflow valve according to a preset gradient threshold value, and obtaining the pre-tightening force required by the internal spring of the overflow valve according to the method of the step A12.
7. The monitoring and early warning method for the submarine hydraulic system based on the electrical control according to claim 1, wherein the hydraulic early warning is characterized by comprising the following specific processes: according to the historical diving information of the submarine for each time, obtaining the current parameter limit value of the hydraulic system liquid, comparing the monitored parameter value of the hydraulic oil with the parameter limit value, and judging whether the hydraulic system fails; If the hydraulic system is normal, continuing to monitor, if the hydraulic system fails, acquiring parameter failure characteristics of the current hydraulic system according to each parameter limit value of the current hydraulic system and each monitored parameter value of the hydraulic system, and matching the parameter failure characteristics with the parameter failure characteristics corresponding to each failure type in the database to acquire the failure type of the current hydraulic system; based on the current underwater depth of the submarine and the fault type of the hydraulic system, judging the fault grade of the hydraulic system, carrying out early warning according to the fault grade of the submarine hydraulic system, feeding back the fault type of the current hydraulic system, and starting a protection mechanism.
8. The method for monitoring and early warning of the submarine hydraulic system based on the electrical control according to claim 7, wherein the method for acquiring the limiting value of each parameter of the current hydraulic system is characterized by comprising the following specific processes: Acquiring the state of a hydraulic system of the submarine in the process of each marking history diving from a database, calling each marking history diving with normal hydraulic state of the submarine in the diving process as each secondary marking history diving, acquiring the real-time underwater depth of the submarine in the process of each secondary marking history diving from the database, and comparing the real-time underwater depth with the current underwater depth of the submarine to acquire the marked underwater depth of each secondary marking history diving; And acquiring the numerical value of each parameter of the hydraulic system on the marked underwater depth of each secondary marked historical diving from the database, comparing, and acquiring the maximum value and the minimum value of each parameter of the submarine hydraulic system, wherein the maximum value and the minimum value of each parameter of the submarine hydraulic system are the limiting value of each parameter of the current hydraulic system.
9. The monitoring and early warning method for the submarine hydraulic system based on the electrical control according to claim 7, wherein the judging of the fault level of the hydraulic system is characterized by comprising the following specific processes: Judging whether the fault position is in a key component of the hydraulic system according to the fault type of the current hydraulic system, if so, judging that the fault level of the hydraulic system is three-level, if not, judging that each marked historical dive of the hydraulic state fault of the submarine in the diving process is called each fault historical dive, acquiring the returned state of the submarine in each fault historical dive process from a database, judging that each fault historical dive of which the returned state is unreturned is called each marked fault historical dive, acquiring the underwater depth of the submarine in each marked fault historical dive process when the hydraulic system breaks down, comparing the underwater depth with the underwater depth of the current submarine, acquiring the minimum depth, comparing the underwater depth with the underwater depth of the current submarine, if the minimum depth is larger than the minimum depth, judging that the fault level of the hydraulic system is three-level, otherwise, acquiring the returned speed of the submarine in each fault dive from the database, calculating the average returned speed, comparing the average returned speed with a preset speed threshold, and if the returned speed threshold is smaller than the preset speed threshold, judging that the fault level of the hydraulic system is two-level, otherwise, judging that the fault level of the hydraulic system is one-level.
10. A monitoring and warning system using the electrical control-based submarine hydraulic system monitoring and warning method according to any one of claims 1 to 9, characterized by comprising: the hydraulic monitoring module is used for arranging a plurality of monitoring points in the submarine hydraulic system in advance, acquiring the current underwater depth of the submarine in real time in the submarine submerging process, starting each monitoring point needing to perform monitoring action according to the current underwater depth of the submarine, and monitoring each parameter of the submarine hydraulic system; the hydraulic analysis module comprises a hydraulic control unit and a hydraulic early warning unit: the hydraulic control unit is used for acquiring parameters of a submarine hydraulic system, analyzing the influence of different underwater depths on the characteristics of hydraulic oil, acquiring the characteristics of the hydraulic oil at the current underwater depth, and adjusting the pre-tightening force of the spring in the overflow valve according to the characteristics of the current hydraulic oil; The hydraulic early warning unit is used for acquiring limit values of all parameters of the current hydraulic system while adjusting the pre-tightening force of the spring in the overflow valve, analyzing whether the hydraulic system fails, if so, acquiring a failure type, analyzing a failure grade, carrying out early warning and feedback on the failure type according to the failure grade, and starting a protection mechanism; The database is used for storing the current water area where the submarine is located, a depth area-underwater depth matching table, the initial characteristics of hydraulic oil and hydraulic oil used by the hydraulic system, the hydraulic pressure required by the hydraulic system, the initial numerical value of each parameter of the hydraulic oil, a spring pretightening force matching table in the hydraulic pressure-overflow valve, parameter fault characteristics corresponding to the fault type and submarine history each time of diving information.

Description

Submarine hydraulic system monitoring and early warning method and system based on electrical control Technical Field The invention relates to the technical field of submarine hydraulic systems, in particular to a submarine hydraulic system monitoring and early warning method and system based on electrical control. Background The submarine hydraulic system is a complex system with multiple scientific intersections of machinery, fluid, control, materials and the like, is a power core and a control center for supporting the deep sea operation of the submarine, takes high hydraulic oil as an energy carrier, and drives the key equipment of the submarine to act through pressure transmission and accurate control. When the submarine is submerged, the traditional submarine hydraulic system monitoring and early warning method and system are characterized in that the internal spring pre-tightening force of the overflow valve is adjusted based on the submerged depth of the submarine, meanwhile, each parameter of the hydraulic system is monitored according to fixed monitoring points, each parameter limit value of the hydraulic system is obtained from a database, whether the hydraulic system fails or not is judged, if the hydraulic system fails, early warning is carried out, the failure type and the failure level are obtained according to each parameter value of the hydraulic system, and obviously, the submarine hydraulic system monitoring and early warning method and system have the following defects that 1, the monitoring points in the traditional submarine hydraulic system monitoring and early warning method and system are fixed, the monitoring points cannot be set according to the failure of the submarine in different depth areas, the condition of missing monitoring possibly occurs, and then the accuracy of hydraulic system failure monitoring cannot be guaranteed. The traditional submarine hydraulic system monitoring and early warning method and system are based on the submarine submergence depth to adjust the internal spring pretightening force of the overflow valve, hydraulic oil is an energy carrier of the hydraulic system, and when the internal spring pretightening force of the overflow valve is adjusted, the influence of the submergence depth on the hydraulic oil characteristic is ignored, so that the effectiveness of the adjustment of the internal spring pretightening force of the overflow valve cannot be guaranteed. The traditional submarine hydraulic system monitoring and early warning method and system neglect the influence of different underwater depths on the limiting values of all parameters of the hydraulic system when analyzing whether the hydraulic system is in fault or not, so that the effectiveness of fault analysis of the hydraulic system cannot be ensured. Disclosure of Invention Aiming at the technical defects, the invention aims to provide a submarine hydraulic system monitoring and early warning method and system based on electrical control. In order to solve the technical problems, the invention adopts the following technical scheme that the invention provides a submarine hydraulic system monitoring and early warning method based on electric control, which comprises the following steps of S1, hydraulic monitoring, namely, arranging a plurality of monitoring points in the submarine hydraulic system in advance, acquiring the current submarine depth in real time in the submarine submergence process, starting each monitoring point needing to perform monitoring action according to the current submarine depth, and monitoring each parameter of the submarine hydraulic system. And S2, hydraulic control, namely acquiring parameters of a submarine hydraulic system, analyzing the influence of different underwater depths on the characteristics of hydraulic oil, acquiring the characteristics of the hydraulic oil at the current underwater depth, and adjusting the pre-tightening force of the spring in the overflow valve according to the characteristics of the current hydraulic oil. And S3, hydraulic early warning, namely acquiring limit values of all parameters of the current hydraulic system while adjusting the pre-tightening force of the spring in the overflow valve, analyzing whether the hydraulic system fails, acquiring a failure type if the hydraulic system fails, analyzing a failure grade, carrying out early warning and feeding back the failure type according to the failure grade, and starting a protection mechanism. The invention provides a submarine hydraulic system monitoring and early warning system based on electric control, which comprises a hydraulic monitoring module, a hydraulic monitoring module and a hydraulic control module, wherein the hydraulic monitoring module is used for arranging a plurality of monitoring points in the submarine hydraulic system in advance, acquiring the current submarine depth in real time in the submarine submergence process, starting each monitoring point needing to