CN112298513B - Driver device of underwater propeller - Google Patents
Driver device of underwater propeller Download PDFInfo
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- CN112298513B CN112298513B CN202011193501.8A CN202011193501A CN112298513B CN 112298513 B CN112298513 B CN 112298513B CN 202011193501 A CN202011193501 A CN 202011193501A CN 112298513 B CN112298513 B CN 112298513B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K1/00—Printed circuits
- H05K1/02—Details
- H05K1/11—Printed elements for providing electric connections to or between printed circuits
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- Combustion & Propulsion (AREA)
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Abstract
The present invention provides a driver arrangement for an underwater thruster, comprising: the main power board is provided with a plurality of binding posts and a plurality of silicon carbide power components on a substrate; the main circuit board is provided with a plurality of wiring terminals corresponding to the wiring terminals, the wiring terminals are connected with the wiring terminals on the main circuit board, and the main circuit board is provided with pinholes for welding and fixing with pins of the silicon carbide power components; the driving chip assemblies are arranged on the main circuit connecting plate, each driving chip assembly is used for controlling two corresponding silicon carbide power assemblies, and each driving power assembly is provided with a pin hole to be welded and fixed with a pin of the corresponding silicon carbide power assembly; and the main control board comprises a digital signal processing chip and is communicated with the plurality of driving chip assemblies through pin welding to form a control circuit.
Description
Technical Field
The present invention relates to a deep sea underwater operation robot, and more particularly, to a driver apparatus for a propeller of an underwater operation robot.
Background
Remotely controlled underwater Robots (ROVs) are powerful tools for today's mankind to explore the marine environment and to develop marine resources. Compared with the traditional hydraulic ROV, the electric ROV has more advantages, such as small weight and size of the system, and effectively reduces the power and size of the LARS system on the ship deck; the assembly is easy to be integrated into group rotation and disassembly, and is convenient to move and transport; the underwater operation system is excellent in operation performance and simple in operation, underwater working capacity is effectively improved, and maintenance labor cost is reduced; the oil stain leakage risk is small, and the environmental protection and the regulation evaluation are facilitated; the intelligent functions of navigation, control, operation and the like are easier to integrate, and the method has a technical foundation for upgrading to the AUV. In summary, the advantages of lower maintenance cost, higher reliability and efficiency, thinner and cheaper umbilical cables, and less risk of environmental pollution make the electric ROV the development direction of the next generation ROV technology.
With the continuous expansion of the application field, the ROV is developed towards the direction that the continuous working time is longer, the control maneuverability is more flexible, and the propelling power is larger. As a power part of the electric ROV, the power part provides stable and powerful power guarantee for normal operation of the underwater robot, and has important significance for application of deep-sea working robots.
Disclosure of Invention
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
According to an aspect of the present invention, there is provided a driver device for an underwater propeller, comprising:
the main power board comprises a substrate, wherein a plurality of wiring terminals and a plurality of silicon carbide power components are arranged on the substrate;
the main circuit board is arranged above the main power board and integrates a positive bus and a negative bus of an input end and an alternating current bus of an output end, a plurality of wiring terminals corresponding to the wiring terminals are arranged on the main circuit board, the wiring terminals support the main circuit board and are connected with the wiring terminals on the main circuit board, and pin holes are arranged on the main circuit board to be welded and fixed with pins of the silicon carbide power components;
the driving chip components are arranged on the main circuit connecting plate, each driving chip component comprises two driver chips and is used for controlling two corresponding silicon carbide power components, and each driving power component is provided with a pin hole for being welded and fixed with a pin of the corresponding silicon carbide power component; and
the main control board is positioned above the main circuit connecting board and comprises a digital signal processing chip, and the main control board is communicated with the plurality of driving chip assemblies through pins in a welding mode to form a control circuit.
In one example, each of the silicon carbide power assemblies includes two silicon carbide discrete devices positioned on the substrate by a positioning plate, the silicon carbide discrete devices being separated at their bottoms by a ceramic plate and compressed at their tops by a wafer.
In one example, the number of the plurality of silicon carbide power components is 6, the number of the driving chip components is 3, and each driving chip component is used for controlling two groups of the silicon carbide power components to form a single-phase circuit so as to finally obtain a three-phase circuit.
In one example, the post is cast from an insulating material with a threaded rod.
In one example, the main power board further includes a temperature measurement component, the temperature measurement component is located between two sets of the silicon carbide power components for measuring the temperature of the power components and transmitting the temperature to the main control board, and the temperature measurement component is fixed on the substrate through bolts.
In one example, the main circuit connecting board is provided with a direct current side supporting capacitor and a sampling resistor for measuring and protecting related technical parameters of a direct current side circuit, and two current sensors for collecting an output side alternating current.
In one example, the substrate comprises an aluminum alloy substrate.
In one example, the main circuit connecting board is formed by pressing a multi-layer PCB and a low-inductance bus bar.
In one embodiment, the stack of the low-inductance bus bar is formed by hot-pressing with an adhesive.
In one example, the main power board is provided with a notch for communicating with an oil passage in the motor compartment in a state of being mounted to the motor.
In one example, one side of the main control board is provided with a power interface and a signal interface.
In one example, the driver device further includes a casing covering the main power board, the main circuit connection board, and the main control board, and the casing is fixed to a base plate of the main power board by bolts.
Drawings
The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar associated characteristics or features may have the same or similar reference numerals.
FIG. 1A is a front schematic view illustrating an integrated underwater propulsor in accordance with an aspect of the present invention;
FIG. 1B is a bottom projection illustration showing an integrated underwater propulsor in accordance with an aspect of the present invention;
FIG. 1C is a schematic top plan view illustrating an integrated underwater propulsor in accordance with an aspect of the present invention;
FIG. 1D is a right side projection illustration showing an integrated underwater propulsor in accordance with an aspect of the present invention;
FIG. 1E is a left side projection illustration showing an integrated underwater propulsor in accordance with an aspect of the present invention;
FIG. 2 is a front cross-sectional view illustrating an integrated underwater propulsor in accordance with an aspect of the present invention;
FIG. 3 is a schematic diagram illustrating an internal cavity of an integrated underwater propulsor in accordance with an aspect of the present invention;
FIG. 4A is a schematic diagram illustrating a side view of a driver apparatus according to an aspect of the present invention;
FIG. 4B is a schematic diagram illustrating a front side of a driver apparatus according to an aspect of the invention;
FIG. 4C is a schematic diagram illustrating a main power board of a driver apparatus according to an aspect of the present invention;
fig. 4D is a schematic diagram showing a main circuit connection board of the driver apparatus according to an aspect of the present invention;
FIG. 4E is a schematic diagram illustrating a main control board of a driver apparatus according to an aspect of the invention, an
Fig. 4F is a schematic diagram illustrating another side of a driver apparatus according to an aspect of the invention.
Description of the symbols:
1000: integrated propeller
100: permanent magnet synchronous motor
110: end bearing
120: transmission shaft
130: permanent magnet synchronous motor rotor
140: permanent magnet synchronous motor stator
150: intermediate support bearing
200: magnetic gear mechanism
210: rotor fixing bearing
220: magnetic gear high-speed rotor
230: gear shaft
240: pole piece stator
250: magnetic gear outer magnet rotor
260: output transmission shaft
270: front end bearing
280: shaft sleeve end cover
300: propeller mechanism
310: impeller
320: locking cap
330: air guide sleeve
400: driver assembly
410: driver outer casing
420: cover plate
430: water filling opening
440: oil charging port
450: relief valve of oil-filled cabin
460: decompression valve of water filling cabin
470: watertight plug
500. 600: pressure balancer
510. 610: pressure balancer shell
511. 611: through hole
520. 620: piston disc
521. 612: guide post
530. 630: telescopic spring
540. 640: rubber diaphragm
700: driver device
710: protective shell
720: main power board
721: substrate
722: binding post
723: temperature measuring assembly
724: silicon carbide power assembly
7241: silicon carbide discrete device
7242: positioning plate
7243: tabletting
725: square notch
730: main circuit connecting plate
731: connecting terminal
732: support capacitor
733: sampling resistor
734: current sensor
740: driving chip assembly
750: main control board
751: DSP chip
752: power supply interface
753: signal interface
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is noted that the aspects described below in connection with the figures and the specific embodiments are only exemplary and should not be construed as imposing any limitation on the scope of the present invention.
According to an aspect of the present invention, there is provided an underwater integrated thruster 1000, as shown in fig. 1A, the main components of the thruster 1000 may include a permanent magnet synchronous motor 100, a magnetic gear mechanism 200, a propeller mechanism 300, a motor driver assembly 400. The propeller 1000 of the present disclosure is described below with reference to fig. 1A to 1E and fig. 2 and 3.
As shown in the figure, permanent magnet synchronous motor 100 sets up in motor housing, and magnetic gear mechanism 200 is connected with permanent magnet synchronous motor 100's one end axial along axial one end, and magnetic gear mechanism 200 sets up in magnetic gear housing, adopts the ring flange butt joint between motor housing and the magnetic gear housing, connects the fastening through hexagonal stainless steel bolt.
The propeller mechanism 300 may be axially connected with the other end of the magnetic gear mechanism 200, and the magnetic gear mechanism 200 may be used to transmit power of the permanent magnet synchronous motor 100 to the propeller mechanism.
The driver assembly 400 may be connected to side ends of the permanent magnet synchronous motor 100 and the magnetic gear mechanism 200, and the driver assembly 400 is connected to a lower side of the permanent magnet synchronous motor 100 and the magnetic gear mechanism 200 as viewed in fig. 1A. The driver assembly can be arranged in a driver shell, and the driver shell is butted with the motor shell and the magnetic gear shell by flange plates and is also connected and fastened by inner hexagonal stainless steel bolts.
In the scheme, the shells of all parts are made of aluminum alloy, the surfaces of the parts are subjected to anodic oxidation (black) treatment, and the parts have the salt spray corrosion resistance and seawater corrosion resistance. The component housing of the drive assembly 400 has a cover plate 420 with 4 fastening bolts around it, which is used to connect to the main frame of the underwater robot.
Permanent magnet synchronous machine 100 may include end bearings 110, drive shaft 120, permanent magnet synchronous machine rotor 130, permanent magnet synchronous machine stator 140, and intermediate support bearings 150. The end bearings 110 and the intermediate support bearings 150 are fixed in the housing and are in mechanical interference fit with the transmission shaft 120, ensuring that the transmission shaft 120 can rotate freely. The permanent magnet synchronous motor rotor 130 may be geared with the drive shaft 120.
The permanent magnet synchronous motor stator 140 can be fixed with an aluminum alloy shell, a copper wire winding is arranged on the permanent magnet synchronous motor stator 140, and a three-phase power line is finally led out and can be connected to the driver assembly 400. The stator 140 of the permanent magnet synchronous motor 100 may be energized with a three-phase ac voltage via the driver assembly 400 to drive the permanent magnet synchronous motor rotor 130 to rotate.
The magnetic gear high-speed rotor 220 may be fixed integrally with a gear shaft 230, and the gear shaft 230 may be engaged with the drive shaft 120 through a gear, thereby transmitting the power of the permanent magnet synchronous motor 100 to the magnetic gear mechanism 200. The pole piece stator 240 may be secured to the magnetic gear housing by bolts. Through the action of the magnetic field, the pole piece stator 240 can transmit the rotation speed of the magnetic gear high-speed rotor 220 to the magnetic gear outer magnet rotor 250, so that the magnetic gear outer magnet rotor 250 rotates along with the rotation of the magnetic gear high-speed rotor 220.
One end of the magnetic gear outer magnet rotor 250 is in interference fit with the outer ring of the rotor fixing bearing 210, and the rotor fixing bearing 210 can be fixed with an aluminum alloy shell. One end of the output transmission shaft 260 is engaged with the magnetic gear external magnet rotor 250 through a gear, the other end is in interference fit with the inner ring of the front end bearing 270 and extends out of the housing, and a shaft sleeve end cover 280 is installed between the front end and the housing.
The propeller mechanism 300 may mainly comprise three parts, an impeller 310, a locking cap 320 and a pod 330. The impeller 310 may be made of an aluminum alloy, and is corrosion resistant and light in weight. The output drive shaft 260 is connected to the impeller 310, thereby finally transmitting power to the impeller 310.
The connection position of the output transmission shaft 260 and the impeller 310 can be in a cone shape, and the key on the shaft body and the key groove on the impeller 310 can be limited by interference fit. The end of the output transmission shaft 260 can be provided with threads, and the impeller 310 can be fixed through the locknut, so that the device is stable and reliable. In addition, a locking cap 320 may be provided at a front end of the impeller 310 to be coupled to the impeller 310 by a bolt. More specifically, a bolt hole is disposed in the center of the locking cap 320, and the impeller 310 is fastened to a female screw hole in the end surface of the output drive shaft 260 by a bolt. Therefore, a double-positioning mode is adopted to ensure that the impeller 310 cannot be loosened when rotating underwater.
The backflow cover 330 can be formed by pouring epoxy resin, a plane is processed at the upper part of the backflow cover, nuts are embedded inside the backflow cover, then the backflow cover and the extending section of the shell of the driver assembly 400 are fastened through bolts, the water inlet side is a large horn-shaped opening, water flow can be gathered together to form an even flow field, the water flow resistance of the rotation of the blades is reduced, and therefore greater propelling force is generated.
According to an aspect of the invention, the interior cavity of the motor housing, the interior cavity of the driver housing, and a portion of the interior cavity of the magnet gear housing form an oil fill compartment, and another portion of the interior cavity of the magnet gear housing forms a water fill compartment, as shown in fig. 3. Further, the underwater propeller 1000 is also provided with a pressure balancer 500 and a pressure balancer 600.
The integrated propeller device disclosed by the invention adopts a special pressure compensation device, does not need to be connected with an external oil circuit, can meet the application of a deep sea environment, and can effectively avoid the risk of oil leakage.
The internal cavity of the pressure balancer 500 may be in spatial communication with the oil-filled tank, and a movable piston disc 520 may be disposed within the cavity of the balancer housing 510, and a rubber diaphragm 540 may be disposed at the bottom of the piston disc 520 to fluidly seal the internal cavity of the pressure balancer 500 from the oil-filled tank. By "fluidly sealed off" is meant that no leakage of fluid, such as oil, occurs between the oil-filled tank and the internal cavity of the pressure balancer 500.
The inner cavity of the pressure balancer 500 is communicated with the outside through a through hole 511 of the balancer housing 510, a telescopic spring 530 is provided between the piston plate 520 and the housing of the pressure balancer 500, and the piston plate 520 can be kept balanced by the pressure at both sides and the spring force of the telescopic spring 530.
Similarly, the interior chamber of the pressure balancer 600 is in spatial communication with the water-filled chamber, and a movable piston disc 620 is disposed within the chamber of the balancer housing 610, with a rubber diaphragm 640 disposed at the bottom of the piston disc 620 to fluidly seal the interior chamber of the pressure balancer 600 from the water-filled chamber.
The inner chamber of the pressure balancer 600 is communicated with the outside through a through hole 611 formed in the balancer housing 610, and a telescopic spring 630 is provided between the piston disc 620 and the balancer housing 610, so that the piston disc 620 can be balanced by the pressure at both sides and the spring force of the telescopic spring 630.
In the embodiment shown in fig. 2, driver assembly 400 may be housed within a cavity of driver housing 410. The driver shell 410 is made of aluminum alloy materials, is in butt joint with shells of the permanent magnet synchronous motor 100 and the magnetic gear mechanism 200 through contact flange plates, is provided with a sealing ring in the middle, is externally fastened through 10 hexagon socket head cap bolts, and can be waterproof and vibration-resistant. A cover plate 420 is arranged at the bottom (in the view of the figure) of the driver shell 410, and is fastened by bolts and matched with an O-shaped sealing ring, so that the waterproof performance can be effectively achieved.
The driver assembly 400 is mounted inside the driver housing 410, with the substrate of the driver assembly 400 in planar contact with the top (as viewed in the figures) inside the driver housing 410 and fastened thereto by 6 bolts, ensuring that the substrate is able to dissipate heat through the driver housing 410.
A cable port is opened at the top of the driver housing 410 (i.e., the side near the motor and magnetic gear in the view of the figure) to connect the power cable of the permanent magnet synchronous motor 100 and the control cable of the magnetic gear mechanism 200 portion to the driver assembly 400. A watertight plug 470 is disposed at one end of the driver housing 410, and may be a 2-core main circuit connector and a multi-core control circuit connector, where the 2-core main circuit connector is mainly used to provide a dc power supply for the driver assembly 400 to convert dc power into ac three-phase power for driving the pmsm 100 to operate. The multi-core control circuit connector is mainly used for the upper layer controller to send out command signals to the driver assembly 400 and for the state and signal feedback of the lower layer components. Optionally, 1-2 watertight plugs 470 may be provided on the drive housing 410, requiring only standard mounting members to be replaced. Due to the adoption of the design of the integrated shell, the circuit system can be connected with the control system only by one watertight plug, and the assembly is convenient and quick.
In the example shown in the figure, the pole piece stator 240 in the magnetic gear mechanism 200 divides the magnetic gear cavity into 2 cavities, the part at one end of the butt joint motor is an oil-filled cavity and is communicated with the cavity of the permanent magnet synchronous motor 100, the part at one end of the butt joint propeller 300 is a water-filled cavity, and the water-filled cavity mainly contains the magnetic gear outer magnet rotor 250, the output transmission shaft 260 and the front end bearing 270.
In one example, the housing 510 of the pressure balancer 500 may be connected to the housing of the permanent magnet synchronous motor 100 by a flange, and the joint is configured with a sealing ring and fastened by bolts. A guide hole is formed at an end of the balancer housing 510, a guide post 521 is provided on the piston plate 520, and a telescopic spring 530 is fitted over the guide post 521 and received in the guide hole together with the telescopic spring 530. The rubber diaphragm 540 is disposed at the bottom of the piston plate 520, and is abutted against the flange on the inner side of the balancer housing 510 via the flange and fastened by bolting, whereby the interior of the pressure balancer 500 can be divided into 2 spaces by the rubber diaphragm 540.
In one example, the housing 610 of the pressure balancer 600 may be disposed at one end of the driver housing 410. A guide post 612 extending into the chamber is provided at an end of the balancer housing 610, a part of the extension spring 630 is fitted over the guide post 612, and the other part thereof extends into a recess of the piston plate 620, so that the piston plate 620 can move left and right in the axial direction of the guide post. The bottom of the piston disc 620 is provided with a rubber diaphragm 640 so that the interior of the pressure balancer 600 can be divided into 2 spaces by the rubber diaphragm 640.
The driver housing 410 is opened with an oil fill port 440 communicating to the oil fill tank and a water fill port 430 communicating to the water fill tank, as well as an oil fill tank pressure relief valve 450 communicating to the oil fill tank and a water fill tank pressure relief valve 460 communicating to the water fill tank for pressure relief when filling oil and water to the oil fill tank and the water fill tank, respectively.
After the equipment is assembled, the insulating oil is injected into the cavity through the oil filling port 440 to form an oil filling chamber, and a certain pressure, for example, 0.3-0.6MPa, can be applied in the oil filling process. The three functions are realized, one is that the gas in the cavity can be discharged by adjusting the pressure release valve 450 of the oil-filled cabin, so that the cavity is ensured to be filled with oil; secondly, the telescopic spring 530 of the pressure balancer 500 can be forced to be compressed to a certain extent, when the equipment is applied in deep sea, the through hole 511 on the balancer housing 510 can allow seawater to enter, and as the submergence depth increases, the telescopic spring 530 can sense the pressure of the seawater, so that the piston disc 520 is forced to drive the rubber diaphragm 540 to move towards one side of the oil-filled cabin, and the volume of the oil-filled cabin is compressed to ensure that the integral motor housing can not bear the strong seawater pressure. After balancing, the oil-filled tank will only be subjected to a slightly lower pressure than the pressure applied during filling, e.g. less than 0.3-0.6 MPa. In addition, in the whole submergence and upward floating process of the equipment, the pressure of the oil filling cabin is always larger than that of the seawater, so that the seawater can not enter the oil filling cabin, and the damage of electric components caused by the seawater is avoided. The reliability of the motor can also be improved.
In addition, after the equipment is assembled, purified water is injected into the cavity through the water filling port 430 to form a water filling chamber, and a certain pressure, for example, 0.3-0.6MPa, is applied during the water filling process, but the pressure is smaller than the pressure value of the oil filling chamber.
The working principle of the pressure balancer 600 is similar to that of the pressure balancer 500, in the whole submergence and floating process of the equipment, the pressure of the water filling cabin is always larger than that of seawater, but smaller than that of the oil filling cabin, so that water can not enter the oil filling cabin, and the seawater can not enter the water filling cabin.
The driver adopted by the integrated thruster device has the capability of bearing 65MPa of pressure, is arranged in the motor integrated shell and is immersed in insulating oil, so that the power grade of the underwater electric driver can be effectively improved. In addition, an internal oil filling mode is adopted, so that the effects of insulation, lubrication, heat dissipation and pressure balance can be effectively achieved.
The propeller of present case adopts motor driver and motor integrated design, control and drive integration, and it is nimble to control to can effectively reduce the use of connecting cable under water, reduce the volume of pressure-bearing electronic cabin, the total reduces the cost of underwater robot.
The invention also provides a driver device for the propeller, and the whole structure adopts a modular design. The main components of the driver device 700 may include a protective housing 710, a main power board 720, a main circuit connection board 730, a driving chip assembly 740, and a main control board 750. The driver device is structurally formed by overlapping a plurality of PCBs, the bottommost layer is a main power board 720, the upper layer is a main circuit connecting board 730, 3 driving chip assemblies 740 are arranged on 3 sides around the main power board, the top is a main control board 750, all the components are welded with one another through device pins to form a set of circuit system, and power density and reliability of the device can be effectively improved. The protective casing 710 is designed outside all the components, and the protective casing 710 can be connected with the base plate 721 of the main power board 720 through bolts, so that the protective casing can protect electronic devices and has a good electromagnetic shielding effect on a control circuit.
The main power board 720 may include a substrate 721, a terminal 722, a temperature measuring component 723, and a silicon carbide power component 724. The substrate 721 may be an aluminum alloy substrate as a base of the entire driver apparatus. The aluminum alloy substrate is beneficial to the installation of the driver device, and meanwhile, the heat dissipation problem of the power device can be effectively solved.
Six groups of silicon carbide power assemblies 724 may be bolted to the base plate 721, each silicon carbide power assembly 724 being configured with two silicon carbide discrete devices 7241, a positioning plate 7242, ceramic plates, and a wafer 7243. Two silicon carbide discrete devices 7241 are limited in displacement by positioning plates 7242, the bottoms of the devices are isolated by ceramic plates, and the upper parts of the devices are compressed by pressing sheets 7243, so that the devices and the substrate are tightly attached. The ceramic chip has good heat conduction and insulation capabilities, and can effectively ensure the heat dissipation and reliability of the silicon carbide device. The motor driver device adopts the silicon carbide discrete device, so that the power density of the device can be effectively improved.
The temperature measuring component 723 can be fixed on the aluminum alloy substrate 721 through bolts, and the position of the temperature measuring component can be located between the two groups of silicon carbide power components 724, so that the temperature of the power components can be measured in real time and transmitted to the main control board 750 for monitoring. The aluminum alloy substrate 721 is provided with a U-shaped notch at a corresponding position, for example, and the U-shaped notch is mainly used for giving way to the connecting cable.
In this case, the base plate 721 may also have a square notch 725 for communicating the actuator device with the oil passage inside the motor compartment after being installed inside the motor-integrated casing. This function ensures that the pressure in the cabin of the actuator device is balanced with the pressure of the sea water, and can also be used for the circulation of insulating oil to assist the heat dissipation of the actuator device. The aluminum alloy substrate and the motor integrated shell conduct heat dissipation and the insulating oil and motor integrated shell conduct heat conduction in two heat dissipation modes, and reliability of the driver device can be effectively guaranteed.
The binding post 722 can be made of insulating materials and poured by a screw, one end of the binding post can be fixed with the aluminum alloy substrate 721, the other end of the binding post can be used as a binding post of a main circuit, and the binding post is simple in structure, safe and reliable.
The main circuit connection board 730 is mainly used to connect main circuits, i.e., a positive/negative dc power input bus and a three-phase ac output bus. The main circuit connecting plate 730 can be formed by pressing a plurality of layers of PCBs and low-inductance busbars, positive and negative busbars of an input end and a U/V/W three-phase busbar of an output end are integrated, the laminated busbar is formed by hot pressing of viscose, an insulating layer and a copper plate can be completely attached, no air gap exists, and therefore the occurrence rate of partial discharge can be effectively reduced. In addition, the PCB material is adopted for packaging, so that the threat of creepage breakdown can be greatly reduced, and the insulating property between layers is improved.
Each binding post 731 is located the different positions of main circuit board respectively, easily distinguishes, and the port is naked tin-plated copper, and is smooth level and smooth, the overlap joint of binding post of being convenient for. The main circuit connection board 730 is provided with a dc side support capacitor 732 and a sampling resistor 733 for measurement and protection of related technical parameters of the dc side circuit. In addition, the main circuit connection board 730 may be configured with two current sensors 734, mainly for output side ac current collection. The main circuit connecting plate 730 is provided with a pinhole to be welded and fixed with a pin of the silicon carbide power component 724, so that a complete main circuit is built. The main circuit connecting board 730 configured according to the scheme has the advantages of low impedance, strong anti-interference capability and good reliability.
The driving chip assembly 740 may be used to control the silicon carbide power assembly 724 and may be fabricated using a PCB. Each driver chip assembly 740 may be configured with two driver chips, each chip being configured with a corresponding detection and protection circuit. According to the design of the existing device, each driving chip assembly 740 can control two sets of silicon carbide power assemblies 724, so as to build a single-phase circuit. Three sets of driving chip assemblies 740 are shown in fig. 4D arranged along the perimeter to form a three-phase circuit. Each driver chip assembly 740 may be designed with pin holes for soldering with the pins of the corresponding sic power assembly 724 to build up a complete driver circuit. The driving chip assembly 740 is easy to assemble and has a high system integration level.
The main control board 750 is mainly used for signal transmission, signal acquisition, issuing of a cut-off instruction and fault feedback of the whole device. The main control board 750 may include a DSP chip 751 for model processing analysis, programming calculation, very high integration, stability and precision. A power interface 752 is disposed on one side of the main control board 750, and is mainly used for power input of the main control board 750, and provides power for the driving chip assembly 740 through the main control board 750. A signal interface 753 is further configured on one side of the main control board 750, and is mainly used for transmitting various signals of the main control board 750, and can receive commands from an upper layer control and feed back various types of status information of the device. The main control board 750 can be connected with the three driving chip assemblies 740 by pin soldering to build up a complete control circuit, which is also made of PCB board and has high integration level.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A driver arrangement for an underwater propulsor, comprising:
the main power board comprises a substrate, and a plurality of wiring terminals and a plurality of silicon carbide power components are arranged on the substrate;
the main circuit connecting plate is arranged above the main power plate and integrates a positive bus and a negative bus of an input end and an alternating current bus of an output end, a plurality of wiring terminals corresponding to the wiring terminals are arranged on the main circuit connecting plate, the wiring terminals support the main circuit connecting plate and are connected with the wiring terminals on the main circuit connecting plate, needle holes are formed in the main circuit connecting plate to be welded and fixed with pins of the silicon carbide power components, the main circuit connecting plate is formed by pressing a plurality of layers of PCBs and low-inductance busbars, and the lamination layers of the low-inductance busbars are formed by hot pressing of viscose;
the driving chip components are arranged on the main circuit connecting plate, each driving chip component comprises two driver chips and is used for controlling two corresponding silicon carbide power components, and each driving power component is provided with a pin hole for welding and fixing with a pin of the corresponding silicon carbide power component; and
the main control board is positioned above the main circuit connecting board and comprises a digital signal processing chip, and the main control board is communicated with the plurality of driving chip assemblies through pin welding to form a control circuit.
2. The driver apparatus of claim 1, wherein each of the silicon carbide power components comprises two silicon carbide discrete devices positioned on the base plate by a positioning plate, the silicon carbide discrete devices separated at their bottoms by a ceramic plate and compressed at their tops by a compression plate.
3. The driver apparatus as claimed in claim 1, wherein the number of the plurality of silicon carbide power components is 6, the number of the driving chip components is 3, and each driving chip component is used for controlling two sets of the silicon carbide power components to form a single phase circuit so as to finally obtain a three-phase circuit.
4. The actuator apparatus of claim 1 wherein the post is cast from an insulating material with the threaded rod.
5. The driver device as claimed in claim 1, wherein the main power board further comprises a temperature measurement component, the temperature measurement component is located between two groups of silicon carbide power components for measuring the temperature of the power components and transmitting the temperature to the main control board, and the temperature measurement component is fixed on the substrate through bolts.
6. Driver device as claimed in claim 1, characterized in that the main circuit connection board is provided with a dc-side supporting capacitance and a sampling resistance for measurement and protection of dc-side circuit-related technical parameters and with two current sensors for output-side ac current acquisition.
7. The driver device of claim 1, wherein the substrate comprises an aluminum alloy substrate.
8. The drive arrangement as claimed in claim 1, wherein the main power plate is provided with notches for communication with oil passages in the motor compartment in the mounted state to the motor.
9. The driver apparatus of claim 1, wherein a side of the main control board is configured with a power interface and a signal interface.
10. The driver apparatus as claimed in claim 1, further comprising a housing covering the main power board, the main circuit connection board and the main control board, the housing being fixed to a base plate of the main power board by bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011193501.8A CN112298513B (en) | 2020-10-30 | 2020-10-30 | Driver device of underwater propeller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011193501.8A CN112298513B (en) | 2020-10-30 | 2020-10-30 | Driver device of underwater propeller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112298513A CN112298513A (en) | 2021-02-02 |
| CN112298513B true CN112298513B (en) | 2022-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011193501.8A Active CN112298513B (en) | 2020-10-30 | 2020-10-30 | Driver device of underwater propeller |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114013619B (en) * | 2021-11-10 | 2022-09-27 | 国家深海基地管理中心 | Deep sea magnetic coupling isolation oil compensation propeller |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4850564B2 (en) * | 2006-04-06 | 2012-01-11 | 日立オートモティブシステムズ株式会社 | Power converter |
| PL218282B1 (en) * | 2009-12-08 | 2014-10-31 | Politechnika Gdańska | Bearing for the rotor of underwater vehicle propulsion |
| CN103129727A (en) * | 2013-03-21 | 2013-06-05 | 国家海洋技术中心 | Minitype underwater propeller propelling device for deep-sea high voltage compensation through magnetic transmission pressure |
| DK3137375T3 (en) * | 2014-05-01 | 2019-03-25 | Blue Robotics Inc | UNDERWATER ELECTRIC PRESSURE ENGINE |
| CN109080809A (en) * | 2018-08-14 | 2018-12-25 | 青岛海研电子有限公司 | Magnetic coupling deep-water propeller and its assemble method |
| CN210653605U (en) * | 2019-08-29 | 2020-06-02 | 上海禹海科技有限公司 | Novel underwater brushless magnetic coupling propeller |
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| CN112298513A (en) | 2021-02-02 |
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