Underwater robot power supply system and power supply control method

Abstract

The application provides an underwater robot power supply system and a power supply control method, and the underwater robot power supply system and the power supply control method comprise: a common power supply connection bus point, the common power supply connection bus point is respectively connected with a power adjustment and starting loop, a load power main circuit, a first power common connection point, a second power common connection point and a third power common connection point; and the power adjustment device is used for carrying out opening, breaking and closing control processing on the switches of the main power main circuit and the branch circuit according to a control mode. The underwater robot power supply system has the beneficial effects that: the investment of the early-stage equipment and the ship power matching generator set of the underwater robot system is reduced, the starting current and the running loss in the running stage are reduced, the system power quality is improved, the equipment running cost is reduced, and the service life is improved.

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] Heavy-duty underwater vehicles, such as deep-sea ROVs, burrowing plows, trenchers, and mining vehicles, typically require power transmission over long distances and with significant voltage drop under power. This typically requires converting surface ship power to high voltage before supplying power to the underwater motors and control systems via an umbilical cable. Underwater high-voltage motors are typically started directly using a contactor connected to a step-up transformer, using a thyristor soft starter connected to a step-up transformer, or using a frequency converter connected to a step-up transformer. Each starting method has its own advantages and disadvantages: Direct starting offers high torque and simplicity, but also generates the highest starting current, which can easily cause system voltage drop and equipment malfunction, and requires a larger shipboard power supply capacity. Soft starters significantly reduce starting current, but still require 2-3 times the starting current, and significantly reduce starting torque, making starting torque insufficient for some loads. Frequency converters offer lower starting current and higher starting torque, but are more expensive, lack bypass circuitry, require long-term operation, suffer from high losses, and have low reliability.

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

[0004] 1) Both the soft starter and the inverter soft start method are one-to-one starting 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 surface power consumption are single-phase loads, which can easily cause ship power imbalance;

[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, which increases 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 power supply control method, which improves the capacity requirement and equipment cost of marine generators when the underwater robot is working, and improves 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 connected respectively;

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

[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 the 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; and the third electricity common connection point includes a fifth circuit breaker;

[0015] The power regulator is used to perform disconnection, opening and closing control processing on 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 conditioner includes a starting unit, an incoming line filter, an incoming line converter, an outgoing line converter, an outgoing line filter, and a power conditioner 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 conditioner;

[0017] The starting unit includes a starting resistor and a bypass switch, and the starting unit is used to charge the intermediate capacitor through the starting 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 incoming converter and the outgoing 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 DC bus DCbus+ and DCbus-, 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 incoming line filter and the outgoing line filter;

[0020] The power regulator control unit is used to control the incoming converter, the outgoing 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 be closed, and control the incoming converter and the outgoing converter to be connected to the common 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 connect the line converter to 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 open 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 frequency converter or an energy feedback frequency converter.

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

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

[0031] Acquire a control mode, where 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, whether the underwater robot power supply system meets the execution condition is judged, if the execution condition is met, 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 controlled to be disconnected, tripped and closed.

[0033] According to the underwater robot power supply method, before the control mode is obtained, the method further comprises:

[0034] The power-on initialization is performed, the intermediate capacitor is charged, when the intermediate capacitor is fully charged, the start unit processing is performed, and the line inverter is started.

[0035] According to the underwater robot power supply method, the method further comprises:

[0036] The three-phase voltage is collected through the fast switching switch, and the three-phase voltage is compared with the preset closing permission value;

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

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

[0039] The power regulation mode detects the current transformer current value, analyzes the reactive power, active power and harmonic conditions of the system, adjusts the line inverter and the line outflow converter, and sets the reactive power target, active power target and harmonic target;

[0040] The reactive power mode detects the current transformer current value, analyzes the reactive power and harmonic conditions, and adjusts the line inverter to set the reactive power target and harmonic target;

[0041] The soft start mode stabilizes the DC bus voltage through the line inverter, the line outflow converter follows the voltage amplitude, phase and frequency of the common power connection bus point, the output voltage rises from 0 to the same voltage of the common power connection bus point within the set time, and the soft start completion and fast switching switch closing command are sent, the fast switching switch is closed, the second switching switch is closed, and after completion, the line outflow converter is stopped, 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 line inverter, and the line outflow converter follows the voltage amplitude, phase and frequency of the soft stop mode, the output voltage rises from 0 to the phase voltage of the soft stop mode within the set time, sends the fast switching switch tripping command, the fast switching switch is tripped, the line outflow converter reduces the output voltage to 0 within the set time, and then cuts off the switching switch, and after completion, the line outflow converter is stopped.

[0043] The beneficial effects of the present invention are as follows: using a power regulator, a fast-cutting switch, a thyristor contactor and the like to start multiple underwater motors, 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 a fast-cutting switch, when both the power regulator and the fast-cutting switch fail, they can be 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-cutting switch to simultaneously meet the starting, 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 readily understood from the description of the embodiments with reference to the following drawings, in which:

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

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

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

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

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

[0050] Figure 6 1 is a schematic diagram of the power supply process of the underwater robot according to an embodiment of the present invention.

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

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

[0053] Embodiments of the present application are described in detail below with reference to the attached drawings, which show examples of embodiments of the present application. The same or similar components have the same or similar designations throughout the various figures. In the following description, suffixes "module," "part," or "unit" used for elements are merely intended for facilitating description of the present application, and do not have specific meanings or roles. Therefore, "module," "part," or "unit" can be mixedly used. "First," "second," and so on are used only to distinguish technical features for the purpose of description, and cannot be understood to indicate or imply relative importance or to implicitly indicate the number of technical features indicated or the order of technical features indicated. In the following description, consecutive numbers of method steps are intended for convenience of review and understanding, and adjustment of the order of implementation between steps does not affect the technical effects achieved by the overall technical solution of the present application in combination with the logical relationship between the steps. The embodiments described below with reference to the drawings are exemplary and are intended only to explain the present application, and cannot be understood as limiting the present application.

[0054] Reference Figure 2 wherein Figure 2 is a schematic diagram of a power supply system of an underwater robot according to an embodiment of the present application, which comprises:

[0055] A common power supply connection bus point PCC1 is connected with a power regulation and starting circuit, a load power supply main circuit, a first power supply common connection point PCC2, a second power supply common connection point PCC3, and a third power supply common connection point PCC4.

[0056] The common power supply connection bus point PCC1 comprises a first generator G and a current transformer set TA connected in series, wherein the first generator G is a marine generator;

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

[0058] The load power supply main circuit comprises a power supply branch, which comprises a third circuit breaker QF31-QF3n, a second switching switch KM31-KM3n, a first water surface step-up transformer T31-T3n, and an underwater motor M31-M3n connected in series, and the power supply branch is connected with 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 transformers 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 umbilical cables.

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

[0063] In some embodiments, reference Figure 3 The topological block diagram of a power conditioner is shown. The power conditioner 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 conditioner 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 conditioner.

[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, thereby reducing the power-on impact of the converter.

[0065] The incoming filter 2-2 and the outgoing filter 2-5 include sinusoidal filters, which include series inductors and parallel capacitors. The sinusoidal filters are used to process grid-connected harmonics and power supply harmonics. The outgoing 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 topology diagram of a power regulator is shown. The incoming line converter 2-3 and the outgoing line converter 2-4 include three-phase full-bridge IGBT modules, which are connected to the positive and negative poles of the intermediate capacitor C through the DC bus DCbus+ and DCbus- respectively, and the UVW three-phase lines on the AC output side of the three-phase full-bridge IGBT modules are connected to the power grid or the 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 line converter 2-3, the outgoing line converter 2-4 and the grid-connected switch KM1.

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

[0069] When the control mode is the power regulation mode, the first switching switch KM41-KM4n, the second switching switch KM31-KM3n, the third switching switch KM4 and the fast switching switch QTS are turned off, the bypass switch is closed, and the incoming line converter 2-3 and the outgoing line converter 2-4 are connected to the public power connection bus point PCC1 respectively.

[0070] When the control mode is the reactive mode, the first switching switch KM41-KM4n, the second switching switch KM31-KM3n, the third switching switch KM4 and the fast switching switch QTS are turned off, the bypass switch is opened, and the incoming line converter 2-3 is connected to the public power connection bus point PCC1.

[0071] When the control mode is the soft start mode, the switching switch is controlled to be closed according to the switching branch, the bypass switch is opened, and the fast switching switch QTS is turned off before soft start.

[0072] When the control mode is the soft stop mode, the switching switch is controlled to be closed according to the switching branch, the bypass switch is opened, and the fast switching switch QTS is turned on before soft stop and the corresponding switching switch is turned off.

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

[0074] In some embodiments, the power regulator is replaced by a general frequency converter or an energy feedback frequency converter, and the main difference is the control method. The lost effect is that the system power factor regulation and load balancing cannot be realized.

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

[0076] refer to Figure 5 ,in Figure 5 This is a topological block diagram of a fast switching switch in 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 parallel anti-parallel thyristors and voltage transformers. The fast switching switch QTS is triggered and controlled by a control unit.

[0077] Figure 6 This is a schematic diagram of the power supply process of an 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 power mode, a soft start mode, and a soft stop mode;

[0079] S620, judge whether the underwater robot power supply system meets the execution conditions according to the control mode. 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.

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

[0081] Power Regulation Mode: In power regulation mode, all switches are disconnected, the fast-acting switch is open, bypass switch KM1 is closed, and the incoming and outgoing converters are connected to the common point PCC1. The main control system detects the current transformer values, analyzes the system's reactive power, active power, and harmonics, and adjusts the incoming and outgoing converters to achieve the set reactive power, active power, and harmonic targets.

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

[0083] Soft start mode: in this mode, the switching switch is selected to be 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 line converter will stabilize the DC bus voltage, and the outgoing line converter will follow the voltage amplitude, phase and frequency of the PCC1 point, and the output voltage will rise from 0 to the same voltage of the PCC1 point within the set time, and the soft start completion and fast switching switch QTS closing command will be sent. The fast switching switch QTS completes closing, and the operating switch of the selected branch is closed, and after completion, the outgoing line converter is stopped, and the branch switching switch and the fast switching switch QTS.

[0084] Soft stop mode: in this mode, the switching switch is selected to be closed according to the branch to be switched, the bypass switch is opened, and the fast switching switch QTS is connected before soft stop, and the operating switch is disconnected. The incoming line converter will stabilize the DC bus voltage, and the outgoing line converter will follow the voltage amplitude, phase and frequency of the PCC1 point, and the output voltage will rise from 0 to the same voltage of the PCC1 point within the set time, and the fast switching switch QTS opening command will be sent. The fast switching switch QTS completes opening, and the outgoing line converter will reduce the output voltage to 0 within the set time, and then the switching switch is disconnected, and after completion, the outgoing line converter is stopped.

[0085] Figure 8 The switching switch closing command control method of the embodiment of the application. It includes the following steps: acquiring three-phase voltage through the fast switching switch, comparing the three-phase voltage with the preset closing permission value; when the three-phase voltage is less than the preset closing permission value and the control mode includes the closing command, the execution condition is met to trigger the thyristor signal.

[0086] In some alternative embodiments, the functions / operations mentioned in the block diagram can not occur in the order mentioned in the operation diagram. For example, depending on the functions / operations involved, two blocks shown in succession can actually be executed substantially simultaneously or the blocks can sometimes be executed in reverse order. In addition, the embodiments presented and described in the flowcharts of the present application are provided by way of example, with the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operations and logical flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are independently executed.

[0087] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

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

[0089] The above is a specific description of the preferred embodiments of the present application, but the present application is not limited to the described embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present application, and these equivalent modifications or substitutions are included in the scope defined by the claims of the present 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 connected respectively; The public power supply connection bus point includes a first generator and a current transformer group connected thereto; The power regulation and starting circuit includes a power regulation circuit composed of a connected power regulator and a first circuit breaker, and a starting circuit composed of a connected second circuit breaker, a fast switching switch and the 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; and the third electricity common connection point includes a fifth circuit breaker; The power regulator is used to perform disconnection, opening, and closing control processing on 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; The power conditioner includes a starting unit, an incoming line filter, an incoming line converter, an outgoing line converter, an outgoing line filter, and a power conditioner 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 conditioner. The starting unit includes a starting resistor and a bypass switch, and the starting unit is used to charge the intermediate capacitor through the starting 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 incoming converter and the outgoing 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 DC bus DCbus+ and DCbus-, 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 incoming line filter and the outgoing line filter; The power regulator control unit is used to control the incoming converter, the outgoing converter and the grid-connected switch; 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 be closed, and control the incoming converter and the outgoing converter to be connected to the common 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 connect the incoming converter to 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 open 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 open 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 the soft stop, and the corresponding switching switch is opened.

2. 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 parallel anti-parallel thyristors and voltage transformers. The fast switching switch is triggered and controlled by a control unit.

3. 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.

4. 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.

5. A method for powering an underwater robot according to any one of claims 1 to 4, characterized in that: include: Acquire a control mode, where 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 the execution conditions are met, 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.

6. The underwater robot power supply method according to claim 5, characterized in that: Before acquiring the control mode, the following steps are also included: Perform power-on initialization, charge the intermediate capacitor, close the startup unit when the intermediate capacitor is fully charged, and start the incoming converter.

7. The underwater robot power supply method according to claim 5, characterized in that: The method further comprises: The three-phase voltage is collected through the fast switching switch and 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.

8. The underwater robot power supply method according to claim 5, characterized in that: The control modes include: The power regulation mode analyzes the system reactive power, active power and harmonic conditions 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 and outgoing converters; 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 current transformer; 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 as the public power supply connection bus point within a set time, and issues a soft start completion and fast switching switch closing command. The fast switching switch is closed and the second switching switch is closed. After completion, the outgoing converter stops and the second switching switch and the fast switching switch are disconnected; The soft stop mode stabilizes the DC bus voltage through the incoming converter. 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 a 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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