Electricity supply system and electricity supply control method for underwater robot

Abstract

Provided in the present invention are an electricity supply system and an electricity supply control method for an underwater robot. The electricity supply system and the electricity supply control method for an underwater robot comprise a common electricity-supply connection busbar point, wherein the common electricity-supply connection busbar point is connected to a power regulation and startup loop, a load-electricity-consumption main circuit, a first electricity-consumption common connection point, a second electricity-consumption common connection point, and a third electricity-consumption common connection point; and a power regulator is used for performing disconnection, opening and closing control processing on switches on an electricity-consumption main circuit and electricity-consumption branches on the basis of a control mode. The present invention has the beneficial effects of reducing upfront investments in equipment and marine electric supporting generator sets of an underwater robot system, reducing a starting current in an operation stage and loss during operation, improving the electric energy quality of the system, reducing equipment operation costs, and prolonging the service life.

Description

Underwater robot power supply system and power supply control method TECHNICAL FIELD

[0001] The present application relates to the underwater robot and electric power technical field, especially underwater robot power supply system and power supply control method. BACKGROUND

[0002] Deep-sea heavy underwater robot power transmission such as deep-sea ROV, buried plow, trencher and mining car needs to transform the water surface ship power to high voltage and then provide power for the motor and control system of underwater body through umbilical cable because of long distance and large power drop. The underwater high-voltage motor generally adopts contactor to start directly, thyristor soft starter to start soft or frequency converter to start soft. Each starting method has the following advantages and disadvantages: direct starting torque is large, method is simple, but starting current is maximum, which can cause system voltage drop and equipment abnormality, and requires large ship power supply capacity; soft starter can greatly reduce starting current, but still has 2-3 times starting current, and starting torque is greatly reduced, which can cause insufficient starting torque for some loads. The frequency converter has small starting current and large starting torque, but has high cost, no bypass, needs long-term operation, large loss and low reliability.

[0003] The current scheme shown in FIG. 1 still has the following problems:

[0004] 1) The soft starter and the frequency converter soft starting method are one-to-one starting for one underwater motor and one soft starter or frequency converter, which has high cost;

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

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

[0007] 4) The direct starting and soft starting ship power capacity requirement is large, which increases investment and operation cost. SUMMARY

[0008] The main purpose of the embodiment of the present application is to provide an underwater robot power supply system and power supply control method, which reduces the ship generator capacity requirement and equipment cost during underwater robot operation, improves equipment utilization rate and service life.

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

[0010] The common power supply connection bus point is connected with a power regulation and starting circuit, a load power supply main circuit, a first power supply connection point, a second power supply connection point and a third power supply connection point respectively.

[0011] The common power supply connection bus point comprises a first generator and a current transformer set connected in sequence.

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

[0013] The load power supply main circuit comprises a power supply branch circuit, and the power supply branch circuit comprises a third circuit breaker, a second switching switch, a first water surface step-up transformer and an underwater motor connected in sequence, and the power supply branch circuit is connected with the first switching switch.

[0014] The first power supply connection point comprises a third switching switch, a second water surface step-up transformer and an underwater step-down transformer connected in sequence, the second power supply connection point comprises a fourth circuit breaker and a transformer connected in sequence, and the third power supply connection point comprises a fifth circuit breaker.

[0015] The power regulator is used for carrying out opening, tripping 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 a control mode.

[0016] According to the underwater robot power supply system, 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 connected in sequence, an intermediate capacitor is arranged between the incoming line converter and the outgoing line converter, and grid-connected switches are arranged at two ends of the power regulator.

[0017] The starting unit comprises a starting resistor and a bypass switch, and the starting unit is used for charging the intermediate capacitor through the starting resistor after power-on, and the bypass switch is turned on after the charging is completed.

[0018] The incoming line filter and the outgoing line filter comprise a sine filter, the sine filter comprises a series inductor and a parallel capacitor, and the sine filter is used for carrying out grid-connected harmonic and power supply harmonic processing.

[0019] The incoming line converter and the outgoing line converter include three-phase full-bridge IGBT modules, which are connected to the positive and negative poles of the intermediate capacitor through DC bus+ and DC bus- 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 and the outgoing 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] When the control mode is the power regulation mode, the first switching switch, the second switching switch, the third switching switch and the fast switching switch are turned off, the bypass switch is closed, and the incoming line converter and the outgoing line converter are connected to the common power supply connection bus point respectively.

[0023] When the control mode is the reactive mode, the first switching switch, the second switching switch, the third switching switch and the fast switching switch are turned off, the bypass switch is opened, and the incoming line converter is connected to the common power supply connection bus point.

[0024] When the control mode is the soft start mode, the switching switch is closed according to the switching branch, the bypass switch is opened, and the fast switching switch is turned off before soft start.

[0025] When the control mode is the soft stop mode, the switching switch is closed according to the switching branch, the bypass switch is opened, and the fast switching switch is closed before soft stop and the corresponding switching switch is turned off.

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

[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 an anti-parallel thyristor and a voltage transformer connected in parallel, and the fast switching switch is triggered and controlled by the control unit.

[0028] According to the underwater robot power supply system, the power regulator can also use 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, GTO fast switching devices.

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

[0031] obtaining a control mode, the control mode comprising a power regulation mode, a reactive power mode, a soft start mode and a soft stop mode;

[0032] judging whether the underwater robot power supply system meets an execution condition according to the control mode, and if the execution condition is met, performing opening, tripping 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.

[0033] According to the method for powering an underwater robot, before obtaining the control mode, the method further comprises:

[0034] performing power-on initialization, charging the intermediate capacitor, performing closing start unit processing when the intermediate capacitor is fully charged, and starting the line inverter.

[0035] According to the method for powering an underwater robot, the method further comprises:

[0036] acquiring three-phase voltage through the fast switching switch, and comparing the three-phase voltage with a preset closing permission value;

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

[0038] According to the method for powering an underwater robot, the control mode comprises:

[0039] the power regulation mode detects the current transformer current value, analyzes the system reactive power, active power and harmonic conditions, sets the reactive power target, active power target and harmonic target by adjusting the line inverter and the line outverter;

[0040] the reactive power mode detects the current transformer current value, analyzes the reactive power and harmonic conditions, and sets the reactive power target and harmonic target by adjusting the line inverter;

[0041] the soft start mode stabilizes the DC bus voltage through the line inverter, the line outverter 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 a set time, and a soft start completion and fast switching switch closing command is issued, the fast switching switch is closed, the second switching switch is closed, the line outverter is stopped after completion, 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 line converter, the outgoing line converter follows the voltage amplitude, phase and frequency of the soft stop mode, the output voltage is raised from 0 to the phase voltage of the soft stop mode within a set time, a fast switching switch tripping command is sent, the fast switching switch completes tripping, the outgoing line converter lowers the output voltage to 0 within a set time, then the switching switch is cut off, and the outgoing line converter is stopped.

[0043] The present application has the advantages that: multiple underwater motors are started by using a power regulator, a fast switching switch, a thyristor contactor and the like, equipment investment is reduced and equipment utilization is improved; a bypass operation function is used to reduce operation loss and improve equipment service life; through the one-to-many control mode of the fast switching switch, when the power regulator and the fast switching switch are both faulty, direct starting is realized through the bypass switch, without affecting system operation; multiple function modes can be realized through the power regulator and the fast switching switch, so as to simultaneously meet the modes of starting, reactive power compensation, power balance and the like, and the utilization rate of the device is high. BRIEF DESCRIPTION OF DRAWINGS

[0044] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0045] Fig. 1 is a schematic diagram of a direct starting contactor.

[0046] Fig. 2 is a schematic diagram of an underwater robot power supply system according to an embodiment of the present application.

[0047] Fig. 3 is a topology diagram of a power regulator according to an embodiment of the present application.

[0048] Fig. 4 is a topology diagram of a power regulator converter according to an embodiment of the present application.

[0049] Fig. 5 is a topology diagram of a fast switching switch according to an embodiment of the present application.

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

[0051] Fig. 7 is a schematic diagram of an underwater robot power supply process in a multi-control mode according to an embodiment of the present application.

[0052] Fig. 8 is a switching switch closing command control method according to an embodiment of the present application. 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 are by no means intended to indicate or imply that a particular element is of more or less importance than any other element. Therefore, "module," "part," or "unit" can be mixedly used. "First," "second," and so on are used only to distinguish technical features being described, and are not intended to indicate or imply relative importance or a number or an order of the technical features being indicated. In the following description, consecutive reference numerals are used for convenience of examination and understanding, and adjusting the order of implementation between steps does not affect the technical effects of the present application in connection with the overall technical scheme of the present application and the logical relationship between the steps. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present application, and are not intended to limit the present application.

[0054] Referring to FIG. 2, FIG. 2 is a schematic diagram of a power supply system of an underwater robot according to an embodiment of the present application, which includes:

[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 includes 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 includes 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 first switching switches 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 includes a power supply branch, which includes third circuit breakers QF31-QF3n, second switching switches KM31-KM3n, first surface voltage step-up transformers T31-T3n, and underwater motors M31-M3n connected in series, wherein the power supply branch is connected with the first switching switches KM41-KM4n.

[0059] The first power consumption public connection point PCC2 includes a third switching switch KM4, a second water surface booster transformer T41 and an underwater step-down transformer T42 connected in sequence; the second power consumption public connection point PCC3 includes a fourth circuit breaker QF5 and a transformer T5 connected in sequence; and the third power consumption public connection point PCC4 includes a fifth circuit breaker QF6.

[0060] The power regulator is used for controlling the opening, tripping and closing of 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, the first water surface booster transformer T31-T3n and the underwater motor M31-M3n, and the second water surface booster transformer T41 and the underwater step-down transformer T42 are connected and transmit the underwater power consumption through the umbilical cable.

[0062] In some embodiments, the first power consumption public connection point PCC2 is a single-phase control system power consumption branch for underwater power consumption control; the second power consumption public connection point PCC3 is a deck single-phase control system power consumption branch for deck power consumption control on the ship; and the third power consumption public connection point PCC4 is a three-phase power consumption branch.

[0063] In some embodiments, a topology block diagram of a power regulator is shown in FIG. 3. 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 connected in sequence, an intermediate capacitor C is arranged between the incoming line converter 2-3 and the outgoing line converter 2-4, and a grid-connected switch KM1 is arranged at both ends of the power regulator.

[0064] The starting unit 2-1 includes a starting resistor and a bypass switch. After power-on, the starting unit 2-1 charges the intermediate capacitor C through the starting resistor first, and then connects the bypass switch after the charging is completed, thereby reducing 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 including a series inductor and a parallel capacitor. The sine filter is used for grid-connected harmonic and power supply harmonic processing. The outgoing line filter reduces the peak voltage on the long-distance power transmission umbilical cable, thereby affecting the insulation of the umbilical cable and the motor.

[0066] In some embodiments, referring to a topology block diagram of a power regulator shown in FIG. 3. 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 the following switch processing 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 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 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] Referring to Fig. 5, which is a topology diagram of a quick switch of an embodiment of the present application, the quick switch QTS is a three-phase switch, each phase of the quick switch QTS comprising anti-parallel thyristors and a voltage transformer in parallel, and the quick switch QTS being triggered and controlled by a control unit.

[0077] Fig. 6 is a power supply process diagram of an underwater robot of an embodiment of the present application. It comprises but is not limited to steps S610-S620:

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

[0079] S620, judging whether the underwater robot power supply system meets the execution condition according to the control mode, if the execution condition is met, then according to the control mode, the first switching switch, the second switching switch, the third switching switch, the quick 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.

[0080] Fig. 7 is a power supply process diagram of an underwater robot of an embodiment of the present application in a plurality of control modes. Each mode is as follows:

[0081] Power regulation mode: in the power regulation mode, all switching switches are disconnected, the quick switching switch is disconnected, the bypass switch KM1 is closed, and the incoming line converter and the outgoing line converter are connected to the connection point PCC1 respectively. The main control system analyzes the reactive power, active power and harmonic conditions of the system by detecting the current value of the current transformer, and adjusts the incoming line converter and the outgoing line converter to achieve the set reactive power target, active power target and harmonic target.

[0082] Reactive power mode: in this mode, all switching switches are disconnected, the quick switching switch is disconnected, the bypass switch KM1 is tripped, the incoming line converter is connected to the connection point PCC1, and the main control system analyzes the reactive power and harmonic conditions of the system by detecting the current value of the current transformer, and adjusts the incoming line converter to achieve the set reactive power target and harmonic target.

[0083] Soft start mode: in this mode, the switching switch is closed according to the selected branch to be switched, the bypass switch is tripped, and the quick switching switch QTS is disconnected before soft start. The incoming line converter stabilizes the DC bus voltage, the outgoing line converter follows the voltage amplitude, phase and frequency of the PCC1 point, and the output voltage rises from 0 to the PCC1 point voltage in the set time, and a soft start completion command is issued to the quick switching switch QTS. The quick switching switch QTS is closed, and the selected branch is operated by closing the switching switch and the quick switching switch QTS.

[0084] Soft stop mode: in this mode, the switching switch selects the closing according to the branch switched on demand, the bypass switch is open, the fast switching switch QTS is closed before soft stop, and the running switch is disconnected. The incoming line converter will stabilize the DC bus voltage, the outgoing line converter will follow the PCC1 point voltage amplitude, phase and frequency, and the output voltage will rise from 0 to the PCC1 point voltage in the set time, the fast switching switch QTS is sent a trip command, the fast switching switch QTS completes the trip, the outgoing line converter will reduce the output voltage to 0 in the set time, and then the switching switch is cut off, and the outgoing line converter is shut down.

[0085] FIG. 8 is a switching switch closing command control method of an 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 allowable value; when the three-phase voltage is less than the preset closing allowable 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 diagrams 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 with or sometimes 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 a larger operation are independently executed.

[0087] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "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 description of the above terms does not necessarily refer to the same embodiment or example. Moreover, 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 embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

[0089] The above is a specific description of the preferred embodiment 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 replacements without departing from the spirit of the present application, and these equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. An underwater robotic power supply system, comprising: The utility model relates to a power supply system, including: a common power supply connection bus point connected with a power regulation and starting circuit, a load power supply main circuit, a first power supply connection point, a second power supply connection point and a third power supply connection point respectively; the common power supply connection bus point includes a first generator and a current transformer set connected in series; the power regulation and starting circuit includes a power regulation circuit composed of a power regulator and the first circuit breaker connected in series, and a starting circuit composed of a second circuit breaker and a first switching switch connected in series, the power regulation circuit and the starting circuit being connected in parallel; the load power supply main circuit includes a power supply branch circuit, the power supply branch circuit includes a third circuit breaker, a second switching switch, a first water surface step-up transformer and an underwater motor connected in series, and the power supply branch circuit is connected with the first switching switch; the first power supply connection point includes a third switching switch, a second water surface step-up transformer and an underwater step-down transformer connected in series, the second power supply connection point includes a fourth circuit breaker and a transformer connected in series, and the third power supply connection point includes a fifth circuit breaker; the power regulator is used for controlling 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 to be disconnected, tripped and closed according to a control mode.

2. The underwater robotic power supply system of claim 1, wherein, 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 series, an intermediate capacitor is arranged between the incoming line converter and the outgoing line converter, and grid-connected switches are arranged at both ends of the power regulator; the starting unit includes a starting resistor and a bypass switch, and the starting unit is used for charging the intermediate capacitor through the starting resistor after power-on, and connecting the bypass switch after charging is completed; the incoming line filter and the outgoing line filter include a sine filter, the sine filter includes a series inductor and a parallel capacitor, and the sine filter is used for performing grid-connected harmonic and power supply harmonic processing; the incoming line converter and the outgoing line converter include a three-phase full-bridge IGBT module, the three-phase full-bridge IGBT module is connected to the positive electrode and the negative electrode of the intermediate capacitor through DCbus+ and DCbus- of a direct current bus respectively, and UVW three-phase lines on the alternating current output side of the three-phase full-bridge IGBT module are connected to a power grid or a load through the incoming line filter and the outgoing line filter; the power regulator control unit is used for controlling the incoming line converter, the outgoing line converter and the grid-connected switches.

3. The underwater robotic power supply system of claim 2, wherein, the power regulator further includes: the control mode is a power regulation mode, the first switching switch, the second switching switch, the third switching switch and the fast switching switch are disconnected, the bypass switch is closed, and the incoming line converter and the outgoing line converter are connected to the common power supply connection bus point respectively. When the control mode is the reactive mode, the first switching switch, the second switching switch, the third switching switch and the fast switching switch are turned off, and the bypass switch is controlled to be opened. 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 controlled to be opened, and the fast switching switch is controlled to be turned off before the soft start. 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 controlled to be opened, and the fast switching switch is controlled to be closed before the soft stop, and the corresponding switching switch is turned off. In the mode, the switching switch is closed according to the switching branch, the bypass switch is opened, the fast switching switch is closed before the soft stop, and the running switch is turned off.

4. The underwater robotic power supply system of claim 1, wherein, The fast switching switch is a three-phase switch, each phase of the fast switching switch includes an anti-parallel thyristor and a voltage transformer connected in parallel, and the fast switching switch is triggered and controlled by a control unit.

5. The underwater robotic power supply system of claim 1, wherein, The power regulator can also be a general frequency converter or an energy feedback frequency converter.

6. The underwater robotic power supply system of claim 1, wherein, The fast switching switch can also be an IGBT or GTO fast switching device.

7. A method of powering a submersible robot according to any one of claims 1-6, characterized in that, The method comprises: acquiring a control mode, the control mode comprising a power regulation mode, a reactive mode, a soft start mode and a soft stop mode; judging whether the underwater robot power supply system meets the execution condition according to the control mode, and if the execution condition is met, controlling 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 to be turned off, opened and closed according to the control mode.

8. The method of powering a submersible robot of claim 7, wherein, Before acquiring the control mode, the method further comprises: performing power-on initialization, charging the intermediate capacitor, and performing a start-up unit process when the intermediate capacitor is fully charged, and starting the line converter.

9. The method of powering a submersible robot of claim 1, wherein, The method further comprises: collecting three-phase voltages through the fast switching switch, and comparing the three-phase voltages with a preset closing permission value; when the three-phase voltages are less than the preset closing permission value and the control mode includes a closing command, the execution condition is met to trigger the thyristor signal.

10. The method of powering a submersible robot of claim 1, wherein, The control mode comprises: In the power regulation mode, the current value of the current transformer is detected to analyze the reactive power, active power and harmonic conditions of the system, and the no-load target, active target and harmonic target are set by adjusting the line converter and the outgoing line converter. In the reactive mode, the current value of the current transformer is detected to analyze the reactive power and harmonic conditions, and the no-load target and harmonic target are set by adjusting the line converter. In the soft start mode, the line converter stabilizes the DC bus voltage, the outgoing line converter follows the voltage amplitude, phase and frequency of the common power supply connection bus point, the output voltage is raised from 0 to the same voltage of the common power supply connection bus point within a set time, a soft start completion and fast switching switch closing command is issued, the fast switching switch is closed, the second switching switch is closed, the outgoing line converter is stopped, and the second switching switch and the fast switching switch are disconnected. The soft stop mode stabilizes the DC bus voltage through the incoming line converter, the outgoing line converter follows the voltage amplitude, phase and frequency of the soft stop mode, the output voltage is raised from 0 to the phase voltage of the soft stop mode within a set time, a fast switching switch tripping command is sent, the fast switching switch completes tripping, the outgoing line converter lowers the output voltage to 0 within a set time, then the switching switch is cut off, and the outgoing line converter is stopped.

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