CN203339976U - Underwater vehicle long-distance direct-current feed system - Google Patents
Underwater vehicle long-distance direct-current feed system Download PDFInfo
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- CN203339976U CN203339976U CN2013204630415U CN201320463041U CN203339976U CN 203339976 U CN203339976 U CN 203339976U CN 2013204630415 U CN2013204630415 U CN 2013204630415U CN 201320463041 U CN201320463041 U CN 201320463041U CN 203339976 U CN203339976 U CN 203339976U
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Abstract
The utility model discloses a underwater vehicle long-distance direct-current feed system. The underwater vehicle long-distance direct-current feed system comprises a water surface alternating-current power source, a water surface high-voltage direct-current cabinet, a high-voltage direct-current feed cable, and an underwater power converter. The water surface alternating-current power source is connected with the high-voltage direct-current cabinet, the high-voltage direct-current cabinet is connected with the underwater power converter through the direct-current feed cable; a high-frequency PWM alternating-current chopper, a three-phase three-winding transformer, a three-phase rectifier bridge, a smoothing reactor and a filter capacitor are arranged inside the high-voltage direct-current cabinet; the high-frequency PWM alternating-current chopper is connected with the three-phase three-winding transformer, the three-phase three-winding transformer is connected with the three-phase rectifier bridge, and the three-phase rectifier bridge is connected with the smoothing reactor and the filter capacitor. The system of the utility model is used to feed electrical energy to an underwater vehicle, reduce the diameter of a long-distance feeder line as to reduce the underwater resistance of the feeder line, reduce the size and weight of the power converter at the underwater vehicle end so as to reduce the total weight of an underwater body, eliminate the influence of distribution impedance parameters of the long-distance feeder line, and improve the transmission efficiency of the electric energy.
Description
Technical field
A kind of submerge device of the utility model length, apart from the DC feedback system, belongs to the HVDC Light technical field.
Background technology
Submerge device (walking robot under water) has very wide application prospect in deep water unmanned operation fields such as marine safety, explosive, submarine oil exploitations under water.The required all power of submerge device is presented apart from umbilical cable by long by water surface base station.The resistance moved under water in order to reduce the submerge device, the wire diameter of the feeder cable that requirement adopts is as far as possible little, and the volume of converter is as far as possible little under water, weight is light as far as possible.In order to enlarge the underwater moving radius of submerge device, the length of the feeder cable that requirement adopts is large as far as possible.But tiny wire diameter and longer cable length will cause the loss of cable very serious, efficiency of transmission is very low, and the power that can be transferred to underwater vehicle is very limited.For the weight and volume that reduces the underwater power source converter, to reduce the weight and volume of submerge body, the topological structure of variator and working method become key issue under water.
It is domestic that what carry out the research and development of submerge body technique is mainly some military project R&D institutions.Aspect submerge body feeding technique, current state-of-the-art technology is to adopt medium-frequency high-voltage to exchange transmission plan, this scheme first will obtain direct current after the low-voltage alternating current power supply rectification of water surface base station, by resulting DC inverter, be the 400Hz alternating current again, become the medium-frequency high-voltage alternating current after step-up transformer, be transferred under water by umbilical cable.Converter using intermediate frequency step-down transformer and rectification circuit obtain low-voltage DC for the submerge body under water.This scheme adopts transmission current and the loss of high-voltage transmission to reduce cable, adopts the 400Hz intermediate frequency to reduce the weight and volume of underwater power source converter.But there is wretched insufficiency in this scheme.The first, because adopting 400Hz midfrequent AC transferring electric power, the distribution induction reactance of umbilical cable has been increased to 8 times with respect to power frequency, and the distribution capacitive reactance has been reduced to 1/8 with respect to power frequency.The increase of distribution induction reactance further makes the pressure drop of circuit increase, and the reduction of distribution capacitive reactance strengthens the circuit reactive current, result, and the active power that circuit can be transferred to end greatly reduces, and the reactive loss of cable increases a lot.Second, end is after step-down transformer, what adopt is three-phase bridge rectifier circuit, make the harmonic wave THD of electric current on umbilical cable can reach 300%-500%, the peak value of electric current can reach more than ten times of first-harmonic, and the low order of harmonic current is that 5 frequencys multiplication are 2kHz, produces skin effect serious, further increase the weight of the cable heating.Three, rectification and inverse convertor circuit are not controlled because adopting in water surface base station, the AC harmonic severe contamination water surface AC power produced, in most cases this power supply is the three-phase mains electrical network, makes water surface instrument and equipment be disturbed seriously, near other electric equipment even feeding through to.Therefore, the power delivery technology is a large bottleneck of submerge body technique, this bottleneck by submerge body technique application restric-tion in existing small-power, shallow water, coastal waters scope.
Summary of the invention
In order to overcome the bottleneck effect of existing high pressure midfrequent AC feeding technique, the utility model provides a kind of submerge device length apart from the DC feedback system, to improve efficiency of transmission and through-put power, enlarge the range of application of submerge device, push submerge device technology to deep-sea and off-lying sea.
The technical scheme that the utility model is taked is: submerge device length, apart from the DC feedback system, comprises water surface AC power, water surface high voltage direct current cabinet, direct current feeder cable, underwater power source converter; Water surface AC power connects described high voltage direct current cabinet, and described high voltage direct current cabinet connects described underwater power source converter by direct current feeder cable; Described high voltage direct current cabinet inside is equipped with high-frequency PWM AC chopper, three-phase three-winding transformer, three-phase commutation bridge, smoothing reactor and filtering capacitor;
The high-frequency PWM AC chopper connects three-phase three-winding transformer, and three-phase three-winding transformer connects three-phase commutation bridge, and three-phase commutation bridge connects smoothing reactor and filtering capacitor;
Described high-frequency PWM AC chopper is three-phase Buck type pulse-width modulation AC/AC AC chopper, often be connected with respectively mutually two full-control type semiconductor electronic switches, output AC after three-phase LC filter, described high-frequency PWM AC chopper adopts and changes the output voltage that the duty ratio mode is regulated chopper;
Described three-phase three-winding transformer, three-phase commutation bridge, smoothing reactor, filtering capacitor form the 12 pulsating wave rectifier;
The former limit of described three-phase three-winding transformer is that triangular form connects, one of two secondary winding for the triangular form connection, another is Y-connection, and is connected respectively to three-phase commutation bridge;
Described three-phase commutation bridge direct current negative terminal is connected with described three-phase commutation bridge direct current anode, the series connection output dc voltage, and described three-phase commutation bridge direct current anode is connected with smoothing reactor respectively with described three-phase commutation bridge direct current negative terminal; Described smoothing reactor is connected with filtering capacitor.
Described underwater power source converter is three level Buck formula DC/DC high-frequency converters.
Described underwater power source converter is arranged in the submerge device, for high voltage direct current being transformed to low-voltage DC for the submerge device.
Described direct current feeder cable two ends are connected with high voltage direct current cabinet, described underwater power source converter respectively.
Described direct current feeder cable length >=2Km.
A kind of submerge device of the utility model length apart from the advantage of DC feedback system is:
1, the utility model adopts the direct current transmission scheme, overcome the bottleneck effect of existing high pressure midfrequent AC feeding technique, there do not is the problem that affects that transmission is subject to the umbilical cable distributed constant that exchanges, efficiency of transmission and through-put power have been improved, solved the contradiction between cable size requirement and loss heating, enlarge the range of application of submerge body, pushed the submerge body technique to deep-sea and off-lying sea.
2, the utility model adopts the high-frequency work mode, and underwater power source inverter power density is higher than existing intermediate frequency transmission plan, and volume and weight are all transmitted much smaller than intermediate frequency.
3, underwater power source converter using DC/DC high-frequency converter of the present utility model, there do not is in existing midfrequent AC transmission plan the harmonic loss problem of the harmonic wave of rectifier on cable under water, greatly alleviate the cable heating problem, improved quality and the efficiency of delivery of electrical energy.
4,, in the utility model, the high-frequency PWM AC chopper in water surface high voltage direct current cabinet and three-phase 12 Pulses Rectifier coordinative roles, can remain on 4000V by its output dc voltage, is conducive to the safe operation of umbilical cable and underwater power source converter.
5, in water surface high voltage direct current cabinet of the present utility model, the high-frequency PWM AC chopper is by changing duty ratio mode regulation output voltage, reduced the control requirement to the rectification circuit power electronic device, employing is not controlled switching tube and can be met the demands, save the complicated control circuit of controlled electronic power switch, properly settled problems such as controlling requirement, High-Voltage Insulation isolation, parts selection difficulty.
6, in water surface high voltage direct current cabinet of the present utility model, adopt three-phase 12 Pulses Rectifiers, when solving the device selection issue, reduced the harmonic content in the input current, greatly reduced interference and impact on water surface low-voltage alternating current power supply and bank based device.
7, described underwater power source converter of the present utility model is three level Buck formula DC/DC high-frequency converters, adopts staggered control mode work, accurately controls the output low-voltage direct, has reduced the IGBT voltage stress, has reduced the filter volume.
8, in the utility model, convenient on-the-spot use of the cabinet type structure of surface facilities, the tubular structure of underwater installation is guaranteed resistance to compression and waterproof, and the utility model can promote the use of in other short-distance and medium-distance direct current power transmission and go, as: the occasions such as DC micro-electric net, offshore island direct current transportation, market application foreground is wide, and economic benefit is very optimistic.
The accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is described in further detail:
Fig. 1 is the structural representation of the utility model submerge device length apart from the DC feedback system.
Fig. 2 is the utility model two-way AC chopper schematic diagram.
Fig. 3 is that the utility model is positioned at supply convertor structured flowchart under water.
Fig. 4 is that the utility model is arranged in three level Buck formula DC/DC high-frequency converter schematic diagrams of converter under water.
Embodiment
As shown in Figure 1, submerge device length comprises apart from the DC feedback system: water surface AC power 1, water surface high voltage direct current cabinet 3, high voltage direct current feeder cable 4, underwater power source converter 5; Water surface AC power 1 connects described high voltage direct current cabinet 3, and described high voltage direct current cabinet 3 connects described underwater power source converter 5 by direct current feeder cable 4; Described high voltage direct current cabinet 3 inside are equipped with high-frequency PWM AC chopper 6, three-phase three-winding transformer 7, three-phase commutation bridge 8, smoothing reactor 10 and filtering capacitor 9; High-frequency PWM AC chopper 6 connects three-phase three-winding transformer 7, and three-phase three-winding transformer 7 connects three-phase commutation bridge 8, and three-phase commutation bridge 8 connects smoothing reactor 10 and filtering capacitor 9; Described high-frequency PWM AC chopper 6 is three-phase Buck type pulse-width modulation AC/AC AC chopper, every two full-control type semiconductor electronic switches, output AC after three-phase LC filter of being connected with respectively mutually.Described high-frequency PWM AC chopper 6 adopts and changes the VD that the duty ratio mode is regulated high voltage direct current cabinet 3;
Described three-phase three-winding transformer 7, three-phase commutation bridge 8, smoothing reactor 10, filtering capacitor 9 form the 12 pulsating wave rectifier;
The former limit of described three-phase three-winding transformer 7 is that triangular form connects, one of two secondary winding for the triangular form connection, another is Y-connection, and is connected respectively to three-phase commutation bridge 8; Described three-phase commutation bridge 8 direct current negative terminals are connected with described three-phase commutation bridge 8 direct current anodes, series connection output high-voltage dc voltage, and described three-phase commutation bridge 8 direct current anodes are connected with smoothing reactor 10 respectively with described three-phase commutation bridge 8 direct current negative terminals; Described smoothing reactor 10 is connected with filtering capacitor 9.
Described underwater power source converter 5 is three level Buck formula DC/DC high-frequency converter and auxiliary power circuits.
Described underwater power source converter 5 is arranged in submerge device 2, for high voltage direct current being transformed to low-voltage DC for the submerge device.
Described direct current feeder cable 4 two ends are connected with high voltage direct current cabinet 3, described underwater power source converter 5 respectively.
Described direct current feeder cable 4 length >=2km.
Embodiment:
As shown in Figure 1, whole submerge device length is comprised of water surface high voltage direct current cabinet 3, high voltage direct current feeder cable 4 and underwater power source converter 5 three parts apart from the DC feedback system.High voltage direct current feeder cable 4 is umbilical cable.Wherein, water surface high voltage direct current cabinet 3 comprises again the upper rectifier bridge of high-frequency PWM AC chopper 6, three-phase three-winding transformer 7, three-phase commutation bridge 8 and lower rectifier bridge, smoothing reactor 9, filtering capacitor etc.As shown in Figure 3, underwater power source converter 5 is three level Buck formula DC/DC high-frequency converters, is input as the high voltage direct current that direct-current tie 4 provides, and the output low-voltage direct, connect load.
Water surface AC power 1 is through after high-frequency PWM AC chopper 6 is regulated and controled, be applied to the former limit of three-phase three-winding transformer 7, two secondary of three-phase three-winding transformer 7 are connected respectively to upper rectifier bridge and the lower rectifier bridge of tandem type 12 Pulses Rectifiers, and, through smoothing reactor 10 and filtering capacitor 9, obtain high voltage direct current.Length is transferred to high voltage direct current in underwater power source converter 5 apart from umbilical cable; Underwater power source converter 5 in the submerge body is transformed to the high voltage direct current of cable transmission low-voltage DC again and supplies with the use of submerge body.
As shown in Figure 2, two-way AC chopper is three-phase Buck type pulse-width modulation AC/AC AC converter to the schematic diagram of described high-frequency PWM AC chopper 6, often connects respectively mutually two full-controlled switch pipes, i.e. the Q of a in mutually
1with Q
4, the Q of b in mutually
2with Q
5, the Q of c in mutually
3with Q
6.The on off operating mode of each switching tube determined by the size of three-phase input phase voltage, and mutually corresponding two switching tubes that phase voltage is minimum keep conducting state, the complementary break-make of the switching tube in other two-phase.For example: in 1/3 primitive period in a phase voltage lower than b, c phase voltage, according to above control law, can obtain the Q of a in mutually
1and Q
4always in conducting state, b, the c Q in mutually
2with Q
5, Q
3with Q
6complementary break-make under the control of pwm pulse, now, b, c circuitry phase can be regarded the combination of two single phase alternating current (A.C.) choppers as.L in Fig. 2
1, L
2, L
3and C
1, C
2, C
3form three-phase LC filter, the high-frequency harmonic in filtering chopper circuit gained voltage, to improve the output voltage quality of AC chopper, the impact of harmonic reduction on water surface low-voltage alternating current power supply.For whole AC/AC AC converter, change the duty ratio of pwm pulse, can regulate the output voltage of chopper.
Described three-phase three-winding transformer 7 is step-up transformer, former limit winding is that triangular form connects, two secondary windings adopt respectively triangular form to connect and Y-connection, the output line voltage effective value of secondary winding equates, but, because of the difference of connected mode, make 30 ° of the output voltage phase phasic differences of secondary two windings
The upper rectifier bridge negative terminal of described three-phase commutation bridge is connected with the anode of lower rectifier bridge, series connection output high voltage direct current.
Described cable is umbilical cable, and length is not less than 2km.
Described underwater power source converter 5 adopts staggered control mode work, accurately controls the output low-voltage direct, has reduced the IGBT voltage stress, has reduced the filter volume.DC converter on the submerge body adopts the organization plan of BUCK three level DC conversion under water, do not need isolating transformer, and the staggered control mode of switch has reduced the output filter circuit parameter, so that the weight and volume of whole supply convertor parts further reduces, also be conducive to the type selecting of high-frequency and high-voltage semiconductor switch device simultaneously.
Described underwater power source converter be three level Buck formula DC/DC high-frequency converters as shown in Figure 4, its function is that the high voltage direct current that umbilical cable is sent into is transformed to the required low-voltage DC of submerge body.C wherein
d1and C
d2be two dividing potential drop electric capacity, its voltage is half Uin/2 of input voltage, and V1 and V2 are single tube IGBT, and D1, D2 are fly-wheel diode, and inductance L f and capacitor C f form the LC filter circuit, finally export low-voltage direct.Two staggered work of power switch V1, V2, Continuity signal differs 180 °.In a high frequency period, this DC converter can be divided into four-stage, that is: 1. V1 conducting, V2 turn-off, and now capacitor C d1 powers to the load through switch V1, LC filter and diode D2, and A, B point-to-point transmission voltage U AB are Uin/2; 2. switch V1, V2 turn-off, and filter inductance Lf has guaranteed the continuous of output current, diode D1, D2 conducting afterflow, and now UAB is zero; 3. V1 shutoff, V2 conducting, capacitor C
d1through diode D1, LC filter and switch V2, power to the load, now AB two point voltage UAB are Uin/2; 4. this stage is with 2. situation is identical, and switch V1, V2 turn-off, diode D1, D2 conducting afterflow, and now UAB is zero.As from the foregoing, this circuit structure is simple, do not adopt transformer, and in a switch periods, the output voltage pulsation makes for twice filter circuit can adopt more small parameter, thereby reduced the volume and weight of converter, and power switch IGBT voltage stress is reduced to output voltage half, is beneficial to parts selection.
Described auxiliary power circuit is mainly used in the required power supply of operation of converter under water.
Submerge device length described in the utility model is greater than 40kW apart from DC feedback system through-put power.
Operation principle:
The three-phase low-voltage electricity come from water surface low-voltage alternating current power supply, the adjusting of the two-way high-frequency PWM AC chopper in flow surface high voltage direct current cabinet, then pass through the 12 pulsating wave rectifier, obtain stable high-voltage dc voltage output.The control of two-way high-frequency PWM AC chopper is adopted to the FEEDBACK CONTROL of high direct voltage, by the high direct voltage output detected and the reference value of setting, compare, obtain changing the pwm signal duty ratio by adjuster after error, make to export high voltage direct current and be stabilized on desired value.
Adopt direct current transmission to avoid the impact of alternating-current feeding mode distributed constant, reduced switching loss, improved efficiency of transmission, in the situation that power demand is identical endways, with high pressure intermediate frequency transmission plan, compare, the cable wire diameter can be less, and cable length can be longer, increased the sub aqua sport radius of submerge device.The end of umbilical cable is connected with the underwater power source converter.The underwater power source converter is one of key of DC feedback system, to its requirement be reliable, volume is little, little to the electromagnetic interference of mobile terminal miscellaneous equipment.Consider, select three level Buck formula DC/DC high-frequency converters, it is split into two parts by the whole direct voltages of circuit, and half that each several part is whole voltages can adopt withstand voltage lower IGBT, and leave voltage margin.
The utility model submerge device length adopts HVDC Transmission and high-frequency converter apart from the DC feedback system, volume and the weight of submerge body have not only been reduced, and overcome the bottleneck effect of existing high pressure midfrequent AC feeding technique, solved between the diameter of cable and loss heating, restricted numerous contradictions of submerge device technical development between the impact of cable length and distribution impedance, between power request transmission and the heavy burden of submerge body etc. always, enlarge the range of application of submerge body, pushed the submerge body technique to deep-sea and off-lying sea.
Claims (5)
1. submerge device length, apart from the DC feedback system, comprises water surface AC power (1), water surface high voltage direct current cabinet (3), direct current feeder cable (4), underwater power source converter (5);
Water surface AC power (1) connects described high voltage direct current cabinet (3), and described high voltage direct current cabinet (3) connects described underwater power source converter (5) by direct current feeder cable (4);
It is characterized in that, described high voltage direct current cabinet (3) inside is equipped with high-frequency PWM AC chopper (6), three-phase three-winding transformer (7), three-phase commutation bridge (8), smoothing reactor (10) and filtering capacitor (9);
High-frequency PWM AC chopper (6) connects three-phase three-winding transformer (7), and three-phase three-winding transformer (7) connects three-phase commutation bridge (8), and three-phase commutation bridge (8) connects smoothing reactor (10) and filtering capacitor (9);
Described high-frequency PWM AC chopper (6) is three-phase Buck type pulse-width modulation AC/AC AC chopper, often be connected with respectively mutually two full-control type semiconductor electronic switches, output AC after three-phase LC filter, described high-frequency PWM AC chopper (6) adopts and changes the output voltage that the duty ratio mode is regulated chopper;
Described three-phase three-winding transformer (7), three-phase commutation bridge (8), smoothing reactor (10), filtering capacitor (9) form the 12 pulsating wave rectifier;
The former limit of described three-phase three-winding transformer (7) is that triangular form connects, one of two secondary winding for the triangular form connection, another is Y-connection, and is connected respectively to three-phase commutation bridge (8);
Described three-phase commutation bridge (8) direct current negative terminal is connected with described three-phase commutation bridge (8) direct current anode, the series connection output dc voltage, described three-phase commutation bridge (8) direct current anode is connected with smoothing reactor (10) respectively with described three-phase commutation bridge (8) direct current negative terminal; Described smoothing reactor (10) is connected with filtering capacitor (9).
2. submerge device length, apart from the DC feedback system, is characterized in that according to claim 1, and described underwater power source converter (5) is three level Buck formula DC/DC high-frequency converters.
3. submerge device length, apart from the DC feedback system, is characterized in that according to claim 1, and described underwater power source converter (5) is arranged in submerge device (2), for high voltage direct current being transformed to low-voltage DC for the submerge device.
4. submerge device length, apart from the DC feedback system, is characterized in that according to claim 1, and described direct current feeder cable (4) two ends are connected with high voltage direct current cabinet (3), described underwater power source converter (5) respectively.
5. submerge device length, apart from the DC feedback system, is characterized in that according to claim 1, described direct current feeder cable (4) length >=2Km.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013204630415U CN203339976U (en) | 2013-07-31 | 2013-07-31 | Underwater vehicle long-distance direct-current feed system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013204630415U CN203339976U (en) | 2013-07-31 | 2013-07-31 | Underwater vehicle long-distance direct-current feed system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103368416A (en) * | 2013-07-31 | 2013-10-23 | 三峡大学 | Long-distance direct-current feed system of underwater vehicle |
| CN105141170A (en) * | 2015-09-18 | 2015-12-09 | 江苏同芯电气科技有限公司 | Long pulse large power high voltage power supply |
| CN107645160A (en) * | 2017-11-23 | 2018-01-30 | 长沙广义变流技术有限公司 | A kind of remote seabed HVDC electric power system |
-
2013
- 2013-07-31 CN CN2013204630415U patent/CN203339976U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103368416A (en) * | 2013-07-31 | 2013-10-23 | 三峡大学 | Long-distance direct-current feed system of underwater vehicle |
| CN103368416B (en) * | 2013-07-31 | 2015-06-10 | 三峡大学 | Long-distance direct-current feed system of underwater vehicle |
| CN105141170A (en) * | 2015-09-18 | 2015-12-09 | 江苏同芯电气科技有限公司 | Long pulse large power high voltage power supply |
| CN107645160A (en) * | 2017-11-23 | 2018-01-30 | 长沙广义变流技术有限公司 | A kind of remote seabed HVDC electric power system |
| CN107645160B (en) * | 2017-11-23 | 2023-11-28 | 长沙广义变流技术有限公司 | Remote seabed high-voltage direct current power supply system |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131211 Termination date: 20140731 |
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