An underwater motor controller

Abstract

The application discloses an underwater motor controller for a deep-sea unmanned underwater vehicle, adopts a sectional modular design, comprises a fairing assembly, a direct current cabin section and a variable current cabin section, the tail end of the variable current cabin section is connected with a motor body and supplies power to the motor so as to control the rotating speed and torque of the motor, the direct current cabin section is internally provided with EMI filters and other direct current power devices, the variable current cabin section is internally provided with silicon carbide MOSFETs and other alternating current power devices and control boards and other control devices, the internal space of each cabin section shell and the functions of each device are fully utilized for layout, the power density is maximized, meanwhile, the convenience of installation is ensured, the end face sealing and axial sealing composite sealing form is adopted between the variable current cabin section and the direct current cabin section and the motor body, and the possibility of water inflow during underwater work is reduced; the controller has the outstanding advantages of high integration, good assembly, high navigation economy and high navigation reliability.

Description

Technical Field

[0001] This invention belongs to the field of underwater electric propulsion device manufacturing technology, specifically relating to a controller integrated with an underwater motor for adjusting speed and torque. Background Technology

[0002] Unmanned underwater vehicles (UUVs), as a force multiplier at sea, have a wide range of important civilian and military applications, including submarine cable laying, marine exploration, communication relay, reconnaissance, surveillance, and intelligence gathering. The underwater motor is a key propulsion component of UUVs, requiring high levels of reliability, quietness, and torque density. The quality of the controller directly determines the performance of the underwater motor.

[0003] Currently, motor controllers are all integrated inside unmanned underwater vehicles, which has a low degree of integration and is not convenient for overall debugging, installation, maintenance and replacement. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by designing a controller integrated into an underwater motor, which features high integration, good assemblability, high navigation economy, and high navigation reliability.

[0005] The technical solution adopted by this invention to solve its technical problem is as follows: an underwater motor controller, adopting a segmented modular design, including three parts: a fairing assembly, a DC section, and a converter section; the fairing assembly includes a fairing and a clamping cable fixing head installed on the fairing for fixing the DC main power cable, control power supply, and signal cable transmitted from the deep-sea unmanned underwater vehicle; the DC section includes a DC section shell with a cover plate installed at the front end, with two main power watertight sockets and one control watertight socket installed on the cover plate respectively, and an EMI filter is installed in the middle of the inner cavity of the DC section shell and fixed to the upper and lower surfaces of the cavity; the converter section includes a converter section shell, with a control board and an interface board fixed at the front end of the inner cavity of the converter section shell respectively, connected by a circuit board hexagonal isolation post and then through a circuit board support in the converter section, with a shaped support capacitor placed at the end of the inner cavity and fixed to the upper and lower surfaces, and a voltage sensor connected to the shaped support capacitor using a voltage sensor hexagonal isolation post.

[0006] The underwater motor controller described above has a water inlet hole in its fairing.

[0007] The underwater motor controller has a quadrilateral cross-section for the inner cavity of its DC section housing, and the EMI filter is fixed to the upper and lower surfaces of the cavity.

[0008] Furthermore, a pre-charge contactor and a pre-charge resistor are installed in series on the upper surface of the inner cavity of the DC section shell. Control power module one and control power module two are installed on the left and right sides of the inner cavity end, respectively. The two ends of the pre-charge contactor and the pre-charge resistor are connected in parallel to the positive and negative terminals of the main contactor, respectively. The two terminals of the discharge resistor are connected in parallel to the positive and negative terminals of the EMI filter output.

[0009] The underwater motor controller described above has an octagonal cross-section in the inner cavity of its converter section shell.

[0010] Furthermore, six silicon carbide MOSFETs and silicon carbide MOSFET driver boards are respectively installed on the six sides of the inner cavity of the converter section shell. The silicon carbide MOSFETs and irregularly shaped support capacitors are connected through two irregularly shaped stacked busbars. Four current sensors are also installed at the inner cavity of the converter section shell. The signals of the silicon carbide MOSFET driver board, voltage sensor, and current sensor are respectively connected to the control board through cables.

[0011] The beneficial effects of this invention are: 1. The fairing of the present invention adopts a conical streamline design. The DC section shell and the variable flow section shell are also streamlined at the diameter change, which minimizes the flow resistance of the controller and improves the navigation economy.

[0012] 2. The converter section, DC section, and motor body of the present invention adopt a composite sealing method of end face sealing and axial sealing to ensure the reliability of underwater navigation.

[0013] 3. The supporting capacitors, stacked busbars, EMI filters, control boards and other structures in this invention are customized to adapt to the cavity space of each compartment, thereby improving the integration and assemblability of this invention.

[0014] 4. The watertight connector in this invention can be wet-plugged, allowing the electrical channel between the invention and the unmanned underwater vehicle to be disconnected underwater, ultimately achieving the purpose of rapid installation and replacement of the underwater motor. Attached Figure Description

[0015] Figure 1 This is the front view of the present invention; Figure 2 This is a half-sectional front view of the present invention; Figure 3 yes Figure 2 Enlarged view of part A in the middle; Figure 4 yes Figure 2 Enlarged view of part B in the middle; Figure 5 yes Figure 2 Enlarged view of part C; Figure 6 This is a schematic diagram of the structure of the fairing assembly of the present invention; Figure 7 This is an engineering drawing of the DC compartment section of the present invention; Figure 8 This is a half-sectional structural diagram of the DC compartment section of the present invention; Figure 9 This is an engineering drawing of the converter compartment of the present invention; Figure 10 This is a half-sectional structural diagram of the converter compartment of the present invention; Figure 11 This is a schematic diagram of the structure of the stacked busbar of the present invention.

[0016] The reference numerals in the attached figures are as follows: 1—Fairing assembly, 2—DC section, 3—Converter section, 4—Fairing, 5—Emergency cable retainer, 6—Cover plate, 7—DC section housing, 8—Pre-charge contactor, 9—Pre-charge resistor, 10—Control power module one, 11—Main power contactor, 12—Discharge resistor, 13—EMI filter, 14—Main power watertight socket, 15—Control watertight socket, 16—Control power module two, 17—Converter section housing, 18— 19—Silicon carbide MOSFET driver board; 20—Silicon carbide MOSFET; 21—Irregularly shaped stacked busbar; 22—Current sensor; 23—Circuit board support; 24—Interface board; 25—Circuit board hexagonal isolation post; 26—Control board; 27—Irregularly shaped support capacitor; 28—Voltage sensor; 29—Voltage sensor hexagonal isolation post; 30—Cover plate end face sealing ring; 31—Compartment end face sealing ring; 32—Compartment axial sealing ring. Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings.

[0018] Reference Figures 1 to 5 As shown, this invention proposes an underwater motor controller with high integration, high reliability, high navigation economy, and easy installation and maintenance. It adopts a segmented modular design and includes three parts: fairing assembly 1, DC section 2, and converter section 3. The converter section 3 is connected to the motor body. The converter section 3, DC section 2, and motor body adopt a composite sealing method of end face sealing and axial sealing to ensure the reliability of underwater navigation.

[0019] Reference Figure 6As shown, the fairing assembly 1 consists of a fairing 4 and a clamping cable retainer 5. The clamping cable retainer 5 is mounted on the fairing 4 and is used to secure the DC main power cable, control power supply, and signal cable transmitted from the deep-sea unmanned underwater vehicle. The fairing 4 adopts a tapered streamlined design. The diameter change between the DC section shell 7 and the converter section shell 17 is also streamlined to minimize the flow resistance of the controller during underwater navigation. It also has a water inlet, allowing water to enter the fairing assembly 1 to balance the internal and external water pressure of the components.

[0020] The DC compartment houses EMI filters and other DC power devices, while the converter compartment houses silicon carbide MOSFETs and other AC power devices, as well as control boards and other control devices. The layout makes full use of the internal space of each compartment and the functions of each device to maximize power density while ensuring ease of installation.

[0021] Reference Figure 4 , Figure 8 As shown, the DC section 2 includes a DC section shell 7, with a cover plate 6 installed at its front end. A cover plate end face sealing ring 30 is provided between the cover plate 6 and the DC section shell 7. Two main power watertight sockets 14 and one control watertight socket 15 are respectively installed on the cover plate 6. The internal cavity of the DC section shell 7 has a quadrilateral cross-section. An EMI filter 13 is installed in the middle of the cavity and fixed to the upper and lower surfaces of the cavity. A pre-charging contactor 8 and a pre-charging resistor 9 are installed on the upper surface of the end of the cavity; a main power contactor 11 and a discharge resistor 12 are installed on the lower surface of the end of the cavity; and control power module one 10 and control power module two 16 are respectively installed on the left and right sides of the end of the cavity. The DC main power cable from the deep-sea unmanned submersible is connected to the main power watertight socket 14 and then transmits DC power to the input terminal of the EMI filter 13 through the cable. The negative terminal of the EMI filter 13 is transmitted to the converter section 3 through the cable. Its positive terminal is connected to one terminal of the main power contactor 11, while the other terminal is transmitted to the converter section 3 through the cable. The pre-charge contactor 8 and pre-charge resistor 9, connected in series, are respectively connected in parallel to the positive and negative terminals of the main contactor 11. The discharge resistor 12 is connected in parallel to the positive and negative terminals of the output of the EMI filter 13. The control power and signal cables from the deep-sea unmanned submersible are connected to the control watertight socket 15. The signal cables are directly transmitted to the converter section 3, while the control power is connected to control power module one 10 and control power module two 16 for power conversion before being transmitted to the converter section 3. The mounting surfaces of the discharge resistor 12 and pre-charge resistor 9 need to be coated with thermal grease so that they can transfer heat to the DC section shell 7 during operation, and then the DC section shell 7 releases the heat into the seawater.

[0022] The main power watertight socket 14 and the control watertight socket 15 have sealing rings on their mounting surfaces to prevent seawater intrusion. Simultaneously, the watertight connector plug from the unmanned underwater vehicle (UUV) and the watertight connector socket on the controller can be wet-plugged, allowing for very convenient underwater replacement of the UUV's motors. An axial sealing ring 32 is provided on the converter section shell 17, and an end face sealing ring 31 is provided between the converter section shell 17 and the motor body.

[0023] Reference Figure 9 , Figure 10 As shown, the converter section 3 includes a converter section housing 17. The control board 26 and the interface board 24 are connected by a circuit board hexagonal isolation post 25 and then fixed to the front end of the inner cavity of the converter section housing 17 by a circuit board support 23. The inner cavity of the converter section housing 17 has an octagonal cross section. The irregular support capacitor 27 is placed at the end of the inner cavity and fixed to the upper and lower surfaces. The voltage sensor 28 is connected to the irregular support capacitor 27 by a voltage sensor hexagonal isolation post 29. Six silicon carbide MOSFETs 20 and silicon carbide MOSFET driver boards 19 are installed on the other six surfaces respectively. The silicon carbide MOSFET driver boards 19 are installed on the hexagonal isolation posts 18 of the driver board. Two irregular stacked busbars 21 are connected to the silicon carbide MOSFETs 20 and the irregular support capacitors 27 respectively. Four current sensors 22 are installed at the end of the inner cavity. A copper busbar on the output side of the irregular stacked busbar 21 passes through the middle. The signals from the silicon carbide MOSFET driver board 19, voltage sensor 28, and current sensor 22 are connected to the control board 26 via cables. The signal cables from the DC section 2 are connected to the interface board 24. The control power supply provides power to the interface board 24, silicon carbide MOSFET driver board 19, current sensor 22, and voltage sensor 28. DC cables are connected to the DC side copper busbar of the irregularly shaped laminated busbar 21. Figure 11 As shown.

[0024] The mounting surface of the silicon carbide MOSFET 20 needs to be coated with thermally conductive silicone grease so that it can transfer heat to the converter compartment housing 17 during operation, and then the converter compartment housing 17 releases the heat into the seawater. The control board 26 and the interface board 24 are connected by an electrical connector to transmit power and signals, so that the external power lines and signal lines only connect to the interface board 24, reducing the difficulty of wiring and cabling; the control board 26 and the interface board 24 are octagonal in shape, making full use of the radial space inside the converter compartment housing 17.

[0025] The above embodiments are merely illustrative of the principles and effects of the present invention, as well as some of the application examples. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. An underwater motor controller, characterized by: The system is composed of a fairing assembly (1), a DC section (2), and a converter section (3) connected in sequence. The converter section (3) is connected to the motor body. The converter section (3), the DC section (2), and the motor body adopt a composite sealing method of end face sealing and axial sealing. The fairing assembly (1) includes a fairing (4) and a tight-fitting cable fixing head (5) installed on the fairing (4). The DC section (2) includes a DC section housing (7) with a cover plate (6) installed at the front end. Two main power watertight sockets (14) and one control watertight socket (15) are installed on the cover plate (6). The internal cavity of the DC section housing (7) is quadrilateral, and an EMI filter is installed in the middle of the cavity. The filter (13) and the main electrical contactor (11) and discharge resistor (12) are installed on the lower surface of the inner end of the DC section housing (7); the converter section (3) includes a converter section housing (17), the inner cavity of the converter section housing (17) is octagonal, and the front end is fixed with a control board (26) and an interface board (24) connected by a hexagonal isolation post (25) of the circuit board, which are fixed to the front end of the inner cavity of the converter section housing (17) by a circuit board support (23). The inner end of the inner cavity of the converter section housing (17) is provided with a shaped support capacitor (27) and a voltage sensor (28) connected to the shaped support capacitor (27) by a hexagonal isolation post (29) of the voltage sensor.

2. An underwater motor controller according to claim 1, characterized in that The fairing (4) is provided with a water inlet.

3. An underwater motor controller according to claim 1 or 2, characterized in that The EMI filter (13) is fixed to the upper and lower surfaces of the cavity.

4. An underwater motor controller according to claim 3, wherein, The upper surface of the inner end of the DC section shell (7) is equipped with a pre-charge contactor (8) and a pre-charge resistor (9) connected in series. Control power module one (10) and control power module two (16) are installed on the left and right sides of the inner end of the cavity, respectively. The two ends of the pre-charge contactor (8) and the pre-charge resistor (9) are connected in parallel to the positive and negative poles of the main contactor (11), respectively. The two poles of the discharge resistor (12) are connected in parallel to the positive and negative poles of the output terminal of the EMI filter (13).

5. An underwater motor controller according to claim 4, wherein, Six silicon carbide MOSFETs (20) and silicon carbide MOSFET driver boards (19) are installed on the six sides of the inner cavity of the converter section shell (17). The silicon carbide MOSFETs (20) and the irregular support capacitors (27) are connected through two irregular stacked busbars (21). Four current sensors (22) are also installed at the inner cavity of the converter section shell (17). The signals of the silicon carbide MOSFET driver board (19), voltage sensor (28), and current sensor (22) are respectively connected to the control board (26) through cables.

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