Underwater robot power supply system and power supply control method

Abstract

The invention provides an underwater robot power supply system and a power supply control method, and the system comprises a common power supply connection bus point, the common power supply connection bus point is connected with a power adjusting and starting loop, a load power utilization main circuit, a first power utilization common connection point, a second power utilization common connection point and a third power utilization common connection point. And the power regulator is used for carrying out switching-off, switching-off and switching-on control processing on the switches of the main power utilization main circuit and the branch circuit according to the control mode. The method has the beneficial effects that the investment of early-stage equipment of an underwater robot system and a marine power matched generator set is reduced, the starting current in the operation stage and the loss during operation are reduced, the system electric energy quality is improved, the equipment operation cost is reduced, and the service life is prolonged.

Description

Technical Field

[0001] The present invention relates to the field of underwater robots and electric power technology, and in particular to an underwater robot power supply system and a power supply control method. Background Art

[0002] The power transmission of deep-sea heavy underwater robots such as deep-sea ROV, buried plows, trenchers and mining vehicles is large due to the long distance and large voltage drop under power. It is usually necessary to convert the surface ship power to high voltage and then provide power to the motor and control system of the underwater body through the umbilical cable. Underwater high-voltage motors generally use contactors connected to step-up transformers for direct starting, thyristor soft starters connected to step-up transformers for soft starting, or frequency converters connected to step-up transformers for soft starting. Each starting method has the following advantages and disadvantages: direct starting torque is large and the method is simple, but the starting current is the largest, which is easy to cause system voltage drop, causing equipment abnormalities, and requires a larger ship power supply capacity; soft starter starting can greatly reduce the starting current, but there is still 2-3 times the starting current, and the starting torque is greatly reduced, and the starting torque is insufficient for some loads. The frequency converter has a small starting current and a large starting torque, but the cost is high, and there is no bypass, so it needs to run for a long time, with large losses and low reliability.

[0003] refer to Figure 1 The current solution shown still has the following problems:

[0004] 1) Both the soft starter and the inverter soft start mode are one-to-one start of one underwater motor and one soft starter or inverter, which is relatively costly;

[0005] 2) The power supply system has unbalanced loads because the underwater control power supply and the surface power supply are single-phase loads, which can easily cause unbalanced ship power;

[0006] 3) The system has no reactive power compensation, low power factor, high energy consumption, large cables and large investment;

[0007] 4) Direct start and soft start require large ship power capacity, increasing investment and operating costs. Summary of the invention

[0008] The main purpose of the embodiments of the present invention is to provide an underwater robot power supply system and a power supply control method, which improves the capacity requirement and equipment cost of the marine generator when the underwater robot is working, and improves the equipment utilization and service life.

[0009] One aspect of the present invention provides an underwater robot power supply system, comprising:

[0010] A public power supply connection bus point, to which the power regulation and starting circuit, the load power main circuit, the first power common connection point, the second power common connection point and the third power common connection point are respectively connected;

[0011] The public power supply connection bus point includes a first generator and a current transformer group connected to each other;

[0012] The power regulation and starting circuit includes a power regulation circuit composed of a connected power regulator and the first circuit breaker, and a starting circuit composed of a connected second circuit breaker and a first switching switch, wherein the power regulation circuit and the starting circuit are connected in parallel;

[0013] The load power main circuit includes a power branch, which includes a third circuit breaker, a second switching switch, a first surface step-up transformer and an underwater motor connected in sequence, and the power branches are all connected to the first switching switch;

[0014] The first electricity common connection point includes a third switching switch, a second water surface step-up transformer, and an underwater step-down transformer connected in sequence; the second electricity common connection point includes a fourth circuit breaker and a transformer connected thereto; the third electricity common connection point includes a fifth circuit breaker;

[0015] The power regulator is used to disconnect, open and close the first switching switch, the second switching switch, the third switching switch, the fast switching switch, the first circuit breaker, the second circuit breaker, the third circuit breaker, the fourth circuit breaker and the fifth circuit breaker according to the control mode.

[0016] According to the underwater robot power supply system, the power regulator includes a starting unit, an incoming line filter, an incoming line converter, an outgoing line converter, an outgoing line filter, and a power regulator control unit connected in sequence, an intermediate capacitor is provided between the incoming line converter and the outgoing line converter, and grid-connected switches are provided at both ends of the power regulator;

[0017] The startup unit includes a startup resistor and a bypass switch, and the startup unit is used to charge the intermediate capacitor through the startup resistor after power-on, and turn on the bypass switch after charging is completed;

[0018] The inlet filter and the outlet filter include a sine filter, the sine filter includes a series inductor and a parallel capacitor, and the sine filter is used to process grid-connected harmonics and power supply harmonics;

[0019] The in-line converter and the out-line converter include a three-phase fully-controlled bridge IGBT module, which is respectively connected to the positive electrode and the negative electrode of the intermediate capacitor through the DCbus+ and DCbus- of the DC bus, and the UVW three-phase lines on the AC output side of the three-phase fully-controlled bridge IGBT module are connected to the power grid or the load through the in-line filter and the out-line filter;

[0020] The power regulator control unit is used to control the incoming line converter, the outgoing line converter and the grid-connected switch.

[0021] According to the underwater robot power supply system, the power regulator further includes:

[0022] The control mode is a power regulation mode, which is used to disconnect the first switching switch, the second switching switch, the third switching switch and the fast switching switch, control the bypass switch to close, and control the incoming converter and the outgoing converter to be connected to the public power supply connection bus point respectively;

[0023] When the control mode is the reactive mode, it is used to disconnect the first switching switch, the second switching switch, the third switching switch and the fast switching switch, control the bypass switch to open, and the incoming converter enters the public power supply connection bus point;

[0024] When the control mode is the soft start mode, it is used to control the switching switch to close according to the switching branch, control the bypass switch to open, and control the fast switching switch to disconnect before soft start;

[0025] When the control mode is the soft stop mode, it is used to control the switching switch to close according to the switching branch, control the bypass switch to open, control the fast switching switch to close before the soft stop, and disconnect the corresponding switching switch.

[0026] In this mode, the switching switch is closed according to the branch to be switched, the bypass switch is opened, the fast switching switch is closed before the soft stop, and the running switch is opened.

[0027] According to the underwater robot power supply system, the fast switching switch is a three-phase switch, each phase of the fast switching switch includes parallel anti-parallel thyristors and voltage transformers, and the fast switching switch is triggered and controlled by a control unit.

[0028] According to the underwater robot power supply system, the power regulator can also be a general-purpose inverter or an energy feedback inverter.

[0029] According to the underwater robot power supply system, the fast switching switch can also adopt IGBT, GTO fast switching devices.

[0030] An embodiment of the present invention also includes a method for powering an underwater robot, comprising:

[0031] Acquire a control mode, wherein the control mode includes a power regulation mode, a reactive mode, a soft start mode, and a soft stop mode;

[0032] According to the control mode, it is judged whether the power supply system of the underwater robot meets the execution conditions. If it meets the execution conditions, the first switching switch, the second switching switch, the third switching switch, the fast switching switch, the first circuit breaker, the second circuit breaker, the third circuit breaker, the fourth circuit breaker and the fifth circuit breaker are disconnected, opened and closed according to the control mode.

[0033] According to the underwater robot power supply method, before obtaining the control mode, the method further includes:

[0034] Perform power-on initialization, charge the intermediate capacitor, close the startup unit when the intermediate capacitor is full, and start the incoming line converter.

[0035] According to the underwater robot power supply method, it also includes:

[0036] The three-phase voltage is collected by fast switching on and off, and the three-phase voltage is compared with the preset closing allowable value;

[0037] When the three-phase voltage is less than a preset closing allowable value and the control mode includes a closing command, the execution condition is met to trigger the thyristor signal.

[0038] According to the underwater robot power supply method, the control mode includes:

[0039] The power regulation mode analyzes the reactive power, active power and harmonic conditions of the system by detecting the current value of the current transformer, and sets the reactive power target, active power target and harmonic target by adjusting the incoming converter and the outgoing converter;

[0040] The reactive mode analyzes the reactive and harmonic conditions by detecting the current value of the current transformer, and sets the reactive and harmonic targets by adjusting the incoming line converter;

[0041] The soft start mode stabilizes the DC bus voltage through the incoming converter, and the outgoing converter follows the voltage amplitude, phase and frequency of the public power supply connection bus point, increases the output voltage from 0 to the same voltage of the public power supply connection bus point within the set time content, and issues a soft start completion and fast switching switch closing command, the fast switching switch completes the closing, and the second switching switch is closed, after completion, the outgoing converter stops, and the second switching switch and the fast switching switch are cut off;

[0042] The soft stop mode stabilizes the DC bus voltage through the incoming converter, and the outgoing converter follows the voltage amplitude, phase and frequency of the soft stop mode, increases the output voltage from 0 to the phase voltage of the soft stop mode within the set time, sends a fast switching opening command, and the fast switching completes the opening. The outgoing converter reduces the output voltage to 0 within the set time, and then cuts off the switching switch. After completion, the outgoing converter stops.

[0043] The beneficial effects of the present invention are as follows: using a power regulator, a fast switching switch, a thyristor contactor and the like to start multiple underwater motors, thereby reducing equipment investment and improving equipment utilization; using a bypass operation function to reduce operating losses and increase equipment service life; through a one-belt-multiple control mode of the fast switching switch, when both the power regulator and the fast switching switch fail, they are directly started through the bypass switch without affecting system operation; a variety of functional modes can be completed through the power regulator and the fast switching switch to simultaneously meet the start-up, reactive power compensation, power balance and other modes, and the device utilization rate is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0045] Figure 1 This is a schematic diagram of direct starting of existing contactors.

[0046] Figure 2 Schematic diagram of an underwater robot power supply system according to an embodiment of the present invention.

[0047] Figure 3 The figure is a topological block diagram of a power regulator according to an embodiment of the present invention.

[0048] Figure 4 It is a topological block diagram of a power regulator converter according to an embodiment of the present invention.

[0049] Figure 5 The topological block diagram is a fast switching switch according to an embodiment of the present invention.

[0050] Figure 6 It is a schematic diagram of the power supply process of the underwater robot according to an embodiment of the present invention.

[0051] Figure 7 The present invention is a schematic diagram of a power supply process of an underwater robot with multiple control modes according to an embodiment of the present invention.

[0052] Figure 8 The invention discloses a switching switch closing command control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. In the subsequent description, the use of suffixes such as "module", "component" or "unit" used to represent elements is only for the purpose of facilitating the description of the present invention, and has no specific meaning in itself. Therefore, "module", "component" or "unit" can be used in a mixed manner. "First", "second" and the like are only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the order of the indicated technical features. In this subsequent description, the continuous numbering of the method steps is for the convenience of review and understanding. In combination with the overall technical solution of the present invention and the logical relationship between the various steps, adjusting the implementation order between the steps will not affect the technical effect achieved by the technical solution of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0054] refer to Figure 2 ,in Figure 2 Schematic diagram of an underwater robot power supply system according to an embodiment of the present invention, which includes:

[0055] The public power supply connection bus point PCC1 is respectively connected to a power regulation and starting circuit, a load power main circuit, a first power common connection point PCC2, a second power common connection point PCC3 and a third power common connection point PCC4;

[0056] The public power supply connection bus point PCC1 includes a first generator G and a current transformer group TA connected thereto, wherein the first generator G is a marine generator;

[0057] The power regulation and starting circuit includes a power regulation circuit composed of a connected power regulator and a first circuit breaker QF1, and a starting circuit composed of a connected second circuit breaker QF2 and a first switching switch KM41-KM4n, and the power regulation circuit and the starting circuit are connected in parallel;

[0058] The load power main circuit includes a power branch, which includes a third circuit breaker QF31-QF3n, a second switching switch KM31-KM3n, a first surface step-up transformer T31-T3n and an underwater motor M31-M3n connected in sequence, and the power branch is connected to the first switching switch KM41-KM4n;

[0059] The first electricity common connection point PCC2 includes a third switching switch KM4, a second water surface step-up transformer T41, and a water step-down transformer T42 connected in sequence; the second electricity common connection point PCC3 includes a fourth circuit breaker QF5 and a transformer T5 connected in sequence; the third electricity common connection point PCC4 includes a fifth circuit breaker QF6;

[0060] The power regulator is used to disconnect, open and close the first switching switch KM41-KM4n, the second switching switch KM31-KM3n, the third switching switch KM4, the fast switching switch QTS, the first circuit breaker QF1, the second circuit breaker QF2, the third circuit breaker QF31-QF3n, the fourth circuit breaker QF5 and the fifth circuit breaker QF6 according to the control mode.

[0061] In some embodiments, underwater electricity is connected and transmitted between the first surface step-up transformer T31-T3n and the underwater motors M31-M3n, and between the second surface step-up transformer T41 and the underwater step-down transformer T42 through an umbilical cable.

[0062] In some embodiments, the first common power connection point PCC2 is an underwater single-phase control system power branch, which is used for underwater power control; the second common power connection point PCC3 is a deck single-phase control system power branch, which is used for deck power control on board; the third common power connection point PCC4 is another three-phase power branch.

[0063] In some embodiments, reference Figure 3 A topological block diagram of a power regulator is shown. The power regulator includes a starting unit 2-1, an incoming line filter 2-2, an incoming line converter 2-3, an outgoing line converter 2-4, an outgoing line filter 2-5, and a power regulator control unit 2-6 which are connected in sequence, an intermediate capacitor C is provided between the incoming line converter 2-3 and the outgoing line converter 2-4, and a grid-connected switch KM1 is provided at both ends of the power regulator.

[0064] The starting unit 2 - 1 includes a starting resistor and a bypass switch. The starting unit 2 - 1 is used to charge the intermediate capacitor C through the starting resistor after power-on, and turn on the bypass switch after charging is completed, so as to reduce the power-on impact of the converter.

[0065] The incoming line filter 2-2 and the outgoing line filter 2-5 include a sine filter, which includes a series inductor and a parallel capacitor. The sine filter is used to process grid-connected harmonics and power supply harmonics, wherein the outgoing line filter reduces the peak voltage on the long-distance transmission umbilical cable, thereby affecting the insulation of the umbilical cable and the motor.

[0066] In some embodiments, reference Figure 3A topological block diagram of a power regulator is shown. The incoming line converter 2-3 and the outgoing line converter 2-4 include a three-phase full-controlled bridge IGBT module, which is connected to the positive and negative electrodes of the intermediate capacitor C respectively through the DCbus+ and DCbus- of the DC bus, and the UVW three-phase lines on the AC output side of the three-phase full-controlled bridge IGBT module are connected to the power grid or load through the incoming line filter 2-2 and the outgoing line filter 2-5.

[0067] The power regulator control unit 2-6 is used to control the incoming converter 2-3, the outgoing converter 2-4 and the grid-connected switch KM1.

[0068] In some embodiments, the power regulator further includes performing the following switch processing according to the control mode:

[0069] The control mode is the power regulation mode, which is used to disconnect the first switching switch KM41-KM4n, the second switching switch KM31-KM3n, the third switching switch KM4 and the fast switching switch QTS, control the bypass switch to close, and control the incoming converter 2-3 and the outgoing converter 2-4 to be connected to the public power supply connection bus point PCC1 respectively;

[0070] When the control mode is the reactive mode, it is used to disconnect the first switching switch KM41-KM4n, the second switching switch KM31-KM3n, the third switching switch KM4 and the fast switching switch QTS, control the bypass switch to open, and the incoming line converter 2-3 enters the public power supply connection bus point PCC1;

[0071] When the control mode is the soft start mode, it is used to control the switching switch to close according to the switching branch, control the bypass switch to open, and control the quick switching switch QTS to disconnect before soft start;

[0072] When the control mode is the soft stop mode, it is used to control the switching switch to close according to the switching branch, control the bypass switch to open, control the fast switching switch QTS to close before the soft stop, and disconnect the corresponding switching switch.

[0073] In some embodiments, the power regulator and the fast switching switch are directly connected with high voltage, and the step-up transformers T31-T32 in the scheme can be eliminated, with the same effect.

[0074] In some embodiments, the power regulator is replaced by a general-purpose inverter or an energy-regenerative inverter. The main difference is the control method. The lost effect is that the system power factor regulation and load balancing cannot be achieved.

[0075] In some embodiments, the fast switching switch uses fast switching devices such as IGBT\GTO, which has the same technical effect but with higher cost and complexity.

[0076] refer to Figure 5 ,in Figure 5 It is a topological block diagram of a fast switching switch according to an embodiment of the present invention. The fast switching switch QTS is a three-phase switch. Each phase of the fast switching switch QTS includes a parallel anti-parallel thyristor and a voltage transformer. The fast switching switch QTS is triggered and controlled by a control unit.

[0077] Figure 6 Schematic diagram of the power supply process of the underwater robot according to an embodiment of the present invention. It includes but is not limited to steps S610 to S620:

[0078] S610, obtaining a control mode, where the control mode includes a power regulation mode, a reactive mode, a soft start mode, and a soft stop mode;

[0079] S620, judging whether the underwater robot power supply system meets the execution conditions according to the control mode, if it meets the execution conditions, then according to the control mode, the first switching switch, the second switching switch, the third switching switch, the fast switching switch, the first circuit breaker, the second circuit breaker, the third circuit breaker, the fourth circuit breaker and the fifth circuit breaker are disconnected, opened and closed.

[0080] Figure 7 This is a schematic diagram of a power supply process of an underwater robot with multiple control modes according to an embodiment of the present invention. Each mode is as follows:

[0081] Power regulation mode: In power regulation mode, all switching switches are disconnected, fast switching switches are disconnected, bypass switch KM1 is closed, and the incoming converter and outgoing converter are connected to the common point PCC1 respectively. The main control system detects the current value of the current transformer, analyzes the reactive power, active power and harmonic conditions of the system, and achieves the set reactive power target, active power target and harmonic target by adjusting the incoming converter and outgoing converter.

[0082] Reactive mode: In this mode, all switching switches are disconnected, fast switching switches are disconnected, bypass switch KM1 is open, and the incoming converter is connected to the common point PCC1. The main control system analyzes the reactive power and harmonic conditions of the system by detecting the current value of the current transformer, and achieves the set reactive power and harmonic targets by adjusting the incoming converter.

[0083] Soft start mode: In this mode, the switching switch is closed according to the branch to be switched, the bypass switch is opened, and the fast switching switch QTS is disconnected before soft start. The incoming converter will stabilize the DC bus voltage, and the outgoing converter will follow the voltage amplitude, phase and frequency of PCC1 point, increase the output voltage from 0 to the same voltage at PCC1 point within the set time content, and issue a soft start completion, fast switching switch QTS closing command. The fast switching switch QTS completes the closing, and closes the running switch of the selected branch. After completion, the outgoing converter stops, and the branch switching switch and fast switching switch QTS are switched on.

[0084] Soft stop mode: In this mode, the switching switch is closed according to the branch to be switched, the bypass switch is opened, the fast switching switch QTS is closed before the soft stop, and the running switch is disconnected. The incoming converter will stabilize the DC bus voltage, and the outgoing converter will follow the voltage amplitude, phase and frequency of PCC1 point, increase the output voltage from 0 to the same voltage at PCC1 point within the set time, send the fast switching switch QTS opening command, the fast switching switch QTS completes the opening, and the outgoing converter will reduce the output voltage to 0 within the set time, and then cut off the switching switch. After completion, the outgoing converter will stop.

[0085] Figure 8 The invention discloses a method for controlling the closing command of a switching device according to an embodiment of the present invention. The method comprises the following steps: collecting the three-phase voltage through a fast switching device, and comparing the three-phase voltage with a preset closing allowable value; when the three-phase voltage is less than the preset closing allowable value, and the control mode includes a closing command, the execution condition is met to trigger the thyristor signal.

[0086] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0087] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0088] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0089] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. An underwater robot power supply system, characterized in that: include: A public power supply connection bus point, to which the power regulation and starting circuit, the load power main circuit, the first power common connection point, the second power common connection point and the third power common connection point are respectively connected; The public power supply connection bus point includes a first generator and a current transformer group connected to each other; The power regulation and starting circuit includes a power regulation circuit composed of a connected power regulator and the first circuit breaker, and a starting circuit composed of a connected second circuit breaker and a first switching switch, wherein the power regulation circuit and the starting circuit are connected in parallel; The load power main circuit includes a power branch, which includes a third circuit breaker, a second switching switch, a first surface step-up transformer and an underwater motor connected in sequence, and the power branches are all connected to the first switching switch; The first electricity common connection point includes a third switching switch, a second water surface step-up transformer, and an underwater step-down transformer connected in sequence; the second electricity common connection point includes a fourth circuit breaker and a transformer connected thereto; the third electricity common connection point includes a fifth circuit breaker; The power regulator is used to disconnect, open and close the first switching switch, the second switching switch, the third switching switch, the fast switching switch, the first circuit breaker, the second circuit breaker, the third circuit breaker, the fourth circuit breaker and the fifth circuit breaker according to the control mode.

2. The underwater robot power supply system according to claim 1, characterized in that: The power regulator comprises a starting unit, an incoming line filter, an incoming line converter, an outgoing line converter, an outgoing line filter, and a power regulator control unit which are connected in sequence, an intermediate capacitor is provided between the incoming line converter and the outgoing line converter, and grid-connected switches are provided at both ends of the power regulator; The startup unit includes a startup resistor and a bypass switch, and the startup unit is used to charge the intermediate capacitor through the startup resistor after power-on, and turn on the bypass switch after charging is completed; The inlet filter and the outlet filter include a sine filter, the sine filter includes a series inductor and a parallel capacitor, and the sine filter is used to process grid-connected harmonics and power supply harmonics; The in-line converter and the out-line converter include a three-phase fully-controlled bridge IGBT module, which is respectively connected to the positive electrode and the negative electrode of the intermediate capacitor through the DCbus+ and DCbus- of the DC bus, and the UVW three-phase lines on the AC output side of the three-phase fully-controlled bridge IGBT module are connected to the power grid or the load through the in-line filter and the out-line filter; The power regulator control unit is used to control the incoming line converter, the outgoing line converter and the grid-connected switch.

3. The underwater robot power supply system according to claim 2, characterized in that: The power regulator also includes: The control mode is a power regulation mode, which is used to disconnect the first switching switch, the second switching switch, the third switching switch and the fast switching switch, control the bypass switch to close, and control the incoming converter and the outgoing converter to be connected to the public power supply connection bus point respectively; When the control mode is the reactive mode, it is used to disconnect the first switching switch, the second switching switch, the third switching switch and the fast switching switch, control the bypass switch to open, and the incoming converter enters the public power supply connection bus point; When the control mode is the soft start mode, it is used to control the switching switch to close according to the switching branch, control the bypass switch to open, and control the fast switching switch to disconnect before soft start; When the control mode is the soft stop mode, it is used to control the switching switch to close according to the switching branch, control the bypass switch to open, control the fast switching switch to close before the soft stop, and disconnect the corresponding switching switch. In this mode, the switching switch is closed according to the branch to be switched, the bypass switch is opened, the fast switching switch is closed before soft stop, and the running switch is opened.

4. The underwater robot power supply system according to claim 1, characterized in that: The fast switching switch is a three-phase switch. Each phase of the fast switching switch includes a parallel anti-parallel thyristor and a voltage transformer. The fast switching switch is triggered and controlled by a control unit.

5. The underwater robot power supply system according to claim 1, characterized in that: The power regulator may also be a general frequency converter or an energy feedback frequency converter.

6. The underwater robot power supply system according to claim 1, characterized in that: The fast switching switch may also be an IGBT or GTO fast switching device.

7. A method for powering an underwater robot according to any one of claims 1 to 6, characterized in that: include: Acquire a control mode, wherein the control mode includes a power regulation mode, a reactive mode, a soft start mode, and a soft stop mode; According to the control mode, it is judged whether the power supply system of the underwater robot meets the execution conditions. If it meets the execution conditions, the first switching switch, the second switching switch, the third switching switch, the fast switching switch, the first circuit breaker, the second circuit breaker, the third circuit breaker, the fourth circuit breaker and the fifth circuit breaker are disconnected, opened and closed according to the control mode.

8. The underwater robot power supply method according to claim 7, characterized in that: The acquiring control mode also includes: Perform power-on initialization, charge the intermediate capacitor, close the startup unit when the intermediate capacitor is full, and start the incoming line converter.

9. The underwater robot power supply method according to claim 1, characterized in that: The method further comprises: The three-phase voltage is collected by fast switching on and off, and the three-phase voltage is compared with the preset closing allowable value; When the three-phase voltage is less than a preset closing allowable value and the control mode includes a closing command, the execution condition is met to trigger the thyristor signal.

10. The underwater robot power supply method according to claim 1, characterized in that: The control modes include: The power regulation mode analyzes the reactive power, active power and harmonic conditions of the system by detecting the current value of the current transformer, and sets the reactive power target, active power target and harmonic target by adjusting the incoming converter and the outgoing converter; The reactive mode analyzes the reactive and harmonic conditions by detecting the current value of the current transformer, and sets the reactive and harmonic targets by adjusting the incoming line converter; The soft start mode stabilizes the DC bus voltage through the incoming converter, and the outgoing converter follows the voltage amplitude, phase and frequency of the public power supply connection bus point, increases the output voltage from 0 to the same voltage of the public power supply connection bus point within the set time content, and issues a soft start completion and fast switching switch closing command, the fast switching switch completes the closing, and the second switching switch is closed, after completion, the outgoing converter stops, and the second switching switch and the fast switching switch are cut off; The soft stop mode stabilizes the DC bus voltage through the incoming converter, and the outgoing converter follows the voltage amplitude, phase and frequency of the soft stop mode, increases the output voltage from 0 to the phase voltage of the soft stop mode within the set time, sends a fast switching opening command, and the fast switching completes the opening. The outgoing converter reduces the output voltage to 0 within the set time, and then cuts off the switching switch. After completion, the outgoing converter stops.

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