CN109956014A - One kind being used for remote-controlled vehicle power distribution unit - Google Patents
One kind being used for remote-controlled vehicle power distribution unit Download PDFInfo
- Publication number
- CN109956014A CN109956014A CN201711402066.3A CN201711402066A CN109956014A CN 109956014 A CN109956014 A CN 109956014A CN 201711402066 A CN201711402066 A CN 201711402066A CN 109956014 A CN109956014 A CN 109956014A
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- Prior art keywords
- distribution unit
- remote
- power distribution
- controlled vehicle
- connect
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Remote Monitoring And Control Of Power-Distribution Networks (AREA)
Abstract
The present invention discloses a kind of power supply supplied on ship for remote-controlled vehicle power distribution unit, the power distribution unit reception of specifically operation type remote-controlled vehicle, and power safety is reasonably distributed to each electrical equipment of whole system.Its main function includes providing the power supply met the requirements to each power unit, the energy of reasonable distribution ship electricity, high voltage power transmission reduce line loss, quality and ground fault to power supply line carry out real-time monitoring, carry out real-time monitoring etc. to parameters such as electrical equipment electric current and voltages.The power distribution unit structure is simple, and easy to operate, high reliablity is at low cost, and defencive function is sound.
Description
Technical field
The present invention relates to underwater robot power supply technique field, specifically a kind of mode of pure hardware is realized and is met
The power distribution unit of operation type remote-controlled vehicle power demands.
Background technique
Operation type remote-controlled vehicle is the Typical Representative of underwater unmanned operation technology, has safety search and rescue, pipe inspection, section
Multiple purposes such as and energy industry are consulted, it is that the mankind realize exploitation deep-sea, an important technological means using ocean,
It is one of the forward position of current deep-sea high technology development.
The power supply of operation type remote-controlled vehicle uses high-voltage transmission, perfect safety protection function design be it is essential,
Power supply guarantee of the drone version submersible power plant allocation unit as whole system, once going wrong, whole system just will appear
State of paralysis, importance as one can imagine.
Summary of the invention
The purpose of the present invention is to provide the power distribution units that a kind of defencive function perfects.The power distribution unit can
Real-time monitoring is each to use electricity condition with electrical circuit, once some circuit, which goes wrong, can disconnect the power supply of current loop, carries out
Inspection and maintenance does not influence the normal operation in other circuits.
The purpose of the present invention is achieved through the following technical solutions:
One kind being used for remote-controlled vehicle power distribution unit, underwater including underwater power circuit switching and series connection with it
Current supply circuit；
The underwater power circuit includes the transformer being linked in sequence, high-voltage coupler, insulating monitor；Power supply is through underwater
Current supply circuit switch is connect with transformer.
The underwater power circuit includes concatenated breaker and A.C. contactor；At the beginning of the A.C. contactor and transformer
Grade coil connection；The control terminal of A.C. contactor is connect with host computer.
When the transformer is three-phase, secondary coil is connected to motor, and middle line is connect with high-voltage coupler input terminal.
When the transformer is two-phase, secondary coil is connect with electronic compartment, and a phase and high-voltage coupler for secondary coil is defeated
Enter end connection.
The high-voltage coupler is connect with megameter, host computer.
When the transformer is three-phase, current transformer, electric current are cased with outside the threephase cable that secondary coil is connected to motor
Mutual inductor is connect through relay with host computer.
Voltage transmitter and current transducer, institute are additionally provided on the route that the secondary coil is connect with motor or electronic compartment
It states voltage transmitter and current transducer is connect with host computer.
The underwater power circuit is multiple.
Further include power distribution cabinet panel, is equipped with scram button, is connect with breaker.
Advantages of the present invention and good effect are as follows:
1. the present invention under the conditions of high-voltage transmission (3000V), devises perfect safety protection function, including ground connection is protected
Shield, insulation monitoring, earth leakage protective, phase sequence and voltage, electric current, power detection and monitoring etc..
2. the present invention can carry out long-range control by console and realize that each underwater start-stop with electrical circuit controls, can also lead to
It crosses console and carries out the operation such as emergency stop.
3. circuit design of the invention is simple, practical and reliable, easy to operate, at low cost and function is complete.
Detailed description of the invention
Fig. 1 is power distribution unit schematic diagram of the invention.
Fig. 2 a is the insulation monitoring figure one of submersible and repeater motor.
Fig. 2 b is the insulation monitoring figure two of submersible and repeater motor.
Fig. 3 is cable quality detection principle diagram.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
The present invention discloses a kind of power distribution unit of operation type remote-controlled vehicle, specifically operation type remote-controlled vehicle
Power distribution unit receive the power supply that supplies on ship, and power safety is reasonably distributed to each use of whole system
Electric equipment.Its main function includes that the power supply met the requirements is provided to each power unit, the energy of reasonable distribution ship electricity, and high pressure is defeated
Electricity reduces line loss, and the quality and ground fault to power supply line carry out real-time monitoring, to electrical equipment electric current and voltage etc.
Parameter carries out real-time monitoring etc..
Pointer voltmeter is mounted on to the input terminal of power distribution unit, can be measured under conditions of not power supply to the device
Input voltage size, Quality analysis of power instrument can the information such as voltage, electric current, frequency to input power be monitored.Electric current
Tested electric current and information of voltage can be sent to Node Controller by transmitter and voltage transmitter, and insulating monitor is opposite underwater
The circuit of equipment power supply carries out real-time monitoring.
One kind being used for operation type remote-controlled vehicle power distribution unit, including submersible oil sources motor current supply circuit, relaying
Device oil sources motor current supply circuit, submersible underwater electronic equipment current supply circuit etc..The power supply and protection in each circuit have independence
Switch control, and per to power all the way all be by two switch series controls of breaker and A.C. contactor device.
Power distribution cabinet panel can show power status and state of insulation of submersible and repeater etc., and be provided with
Scram button.
Power dispensing cabinet is used based on programmable ethernet node controller as central control unit, it receives and comes from
Power distributes the button of cabinet panel and the signal of cabinet inner sensor.
Pointer voltmeter can measure input voltage size under conditions of not power supply to the device, and Quality analysis of power instrument can
It is monitored with information such as voltage, electric current, frequencies to input power.Current transducer and voltage transmitter can be by tested electricity
Stream and information of voltage send Node Controller, the insulation situation of insulating monitor real-time monitoring route to.
As shown in Figure 1, three-phase 380V ship electricity will be examined before entering power distribution unit master switch Q1 by pointer voltmeter
Voltage value is measured, master switch can be opened when voltage value is in normal range (NR), the device power then powered on to needs avoids
It is damaged caused by equipment since the power supply of ship electricity is abnormal.Several current supply circuits of power distribution unit have independent switch
It is controlled, once certain is abnormal all the way, can individually disconnect the road power supply, not influence the normal use in remaining each circuit.
In addition underwater power circuit, which powers on, needs certain condition, equipment is otherwise easily damaged, so underwater power circuit switching is by breaking
Road device and A.C. contactor are used in series (such as Q2 and KO1), open and two switches is needed to simultaneously close off, and prevent from going out in use process
Equipment damage caused by existing maloperation.Since underwater robot needs to carry out operation in a few km depth of waters, electric energy passes at a distance
It is defeated, so reducing line loss using high-voltage transmission.380V electricity is increased in power distribution unit by step-up transformer
3000V is powered underwater equipment, these routes will bring uncertain disaster in case of insulation fault to system.
So tetra- road transmission line of electricity of Dui Zhe will carry out real-time insulation monitoring.Insulating monitor is connected to ungrounded electric net work (IT) and the earth
Between, the ground fault of exchange IT power grid can be monitored in real time, when insulating resistance value is lower than the lower limit of setting value, insulating monitor
Instruction is issued, makes the breaker actuation in the low-pressure section of this route, thus by the dump on this route.If hair
Existing ground fault, and for the degree center line isolated neutral system of this failure, it not will lead to dangerous generation immediately, then
It can be switched by one " bypass ", select Earth Fault Detection invalid, thus allow to continue to complete reclaimer operation, equipment recycling
After on to deck, then power supply line is checked.The network voltage that general monitor can be directly monitored by is no more than 660V, but
It separately plus after coupler can extend to 3000V or more.Such as the insulation monitoring that Fig. 2 a, Fig. 2 b are submersible and repeater motor
Figure.Winding to the transformer coil that two motors are powered is " triangle/star " type connection, and transformer time pole winding is connect using star-like
Method extracts the neutral conductor, this root neutral conductor is not intended for submersible machine, and is served only for insulating monitoring, the advantage of doing so is that
The measurement voltage for reducing insulating monitor, can choose a little bit smaller high-voltage adapter.Voltage transmitter and current transducer
The voltage and current information of real-time monitoring power supply circuit, and this information is transmitted in control system by Node Controller.
Since the power of carrier motor is bigger, every phase is powered for it using 2 conductor in parallel in cable, 3 Xiang Gongxu
Want 6 conducting wires.These arrangement of conductors will bear the deformation such as flexion torsion, so inevitably breaking in armour cable, deck cable and heaving pile
Situations such as line and quality are deteriorated.How such case is detected, it is most important for normal power supply to ensureing.
Here prepare to be measured in real time cable quality using method as shown in Figure 3.6 conducting wires are divided into 2 groups, every group
The inside respectively includes U, V, W three-phase.Add zero sequence current mutual inductor wherein one group of outside, the electric current of mutual inductor output should be
The vector sum of three-phase current, when line quality is intact, the output of mutual inductor is zero, when any one appearance event in 6 lines
After barrier, by the current imbalance of mutual inductor, there is constant current output.Earth-fault relay is given in the output of mutual inductor,
After electric current is more than a certain setting value, the actuating of relay or is sounded an alarm cut-off loop.
The operation principle of the present invention is that:
The power distribution unit of operation type remote-controlled vehicle receives the power supply supplied on ship, according to the use of electrical equipment
The power safety met the requirements is reasonably distributed to each electrical equipment by electricity demanding.During electric energy distribution, to each
The power quality of electrical equipment is detected, and is protected to electrical equipment, prevents electrical equipment from damaging.
In conclusion it has knot The present invention gives a kind of power distribution unit for operation type remote-controlled vehicle
Many advantages, such as structure is simple, easy to operate, and high reliablity is at low cost, and defencive function perfects, provides for operation type remote-controlled vehicle
Reliable and stable power supply.
Claims (9)
1. one kind be used for remote-controlled vehicle power distribution unit, it is characterised in that: including underwater power circuit switching and and its
Concatenated underwater power circuit；
The underwater power circuit includes the transformer being linked in sequence, high-voltage coupler, insulating monitor；Power supply is through underwater power
Circuit switching is connect with transformer.
2. according to claim 1 a kind of for remote-controlled vehicle power distribution unit, it is characterised in that the underwater power
Circuit includes concatenated breaker and A.C. contactor；The A.C. contactor is connect with transformer；Ac contactor
The control terminal of device is connect with host computer.
3. a kind of remote-controlled vehicle power distribution unit to be used for according to claim 1, it is characterised in that the transformer is
When three-phase, secondary coil is connected to motor, and middle line is connect with high-voltage coupler input terminal.
4. a kind of remote-controlled vehicle power distribution unit to be used for according to claim 1, it is characterised in that the transformer is
When two-phase, secondary coil is connect with electronic compartment, and a phase of secondary coil is connect with high-voltage coupler input terminal.
5. according to claim 1 a kind of for remote-controlled vehicle power distribution unit, it is characterised in that the high pressure coupling
Device is connect with megameter, host computer.
6. being used for remote-controlled vehicle power distribution unit by one kind described in claim 3 or 6, it is characterised in that the transformer
When for three-phase, be cased with current transformer outside the threephase cable that secondary coil is connected to motor, current transformer through relay with it is upper
Position machine connection.
7. being used for remote-controlled vehicle power distribution unit by one kind described in claim 3 or 4, it is characterised in that the secondary wire
It encloses on the route being connect with motor or electronic compartment and is additionally provided with voltage transmitter and current transducer, the voltage transmitter and electric current
Transmitter is connect with host computer.
8. according to claim 1 a kind of for remote-controlled vehicle power distribution unit, it is characterised in that the underwater power
Circuit is multiple.
9. according to claim 1 a kind of for remote-controlled vehicle power distribution unit, it is characterised in that further include power point
With cabinet panel, it is equipped with scram button, is connect with breaker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711402066.3A CN109956014A (en) | 2017-12-22 | 2017-12-22 | One kind being used for remote-controlled vehicle power distribution unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711402066.3A CN109956014A (en) | 2017-12-22 | 2017-12-22 | One kind being used for remote-controlled vehicle power distribution unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109956014A true CN109956014A (en) | 2019-07-02 |
Family
ID=67019099
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711402066.3A Pending CN109956014A (en) | 2017-12-22 | 2017-12-22 | One kind being used for remote-controlled vehicle power distribution unit |
Country Status (1)
| Country | Link |
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| CN (1) | CN109956014A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112104059A (en) * | 2020-08-28 | 2020-12-18 | 中国科学院沈阳自动化研究所 | Power management system and management method for small deep-sea exploration operation type submersible |
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| US20030103360A1 (en) * | 2001-12-05 | 2003-06-05 | Tdk Corporation | Switching power supply |
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| CN107487427A (en) * | 2016-06-13 | 2017-12-19 | 韩国海洋科学技术院 | Glass marble pressure vessel and deep-sea detecting multi-joint seafloor robot system |
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Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2269020Y (en) * | 1996-03-25 | 1997-11-26 | 祝保江 | Electric power monitor |
| US20030103360A1 (en) * | 2001-12-05 | 2003-06-05 | Tdk Corporation | Switching power supply |
| WO2008055493A1 (en) * | 2006-11-06 | 2008-05-15 | Siemens Aktiengesellschaft | Submarine direct-current network comprising high-power energy accumulators |
| CN201887431U (en) * | 2010-10-29 | 2011-06-29 | 苏绵朋 | Comprehensive protector of mine flameproof intelligent noncontact coal electric drill |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112104059A (en) * | 2020-08-28 | 2020-12-18 | 中国科学院沈阳自动化研究所 | Power management system and management method for small deep-sea exploration operation type submersible |
| CN112104059B (en) * | 2020-08-28 | 2024-04-16 | 中国科学院沈阳自动化研究所 | Power management system and management method for small-sized deep sea exploration operation type submersible |
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