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CN205301603U - Ocean controllable source transmitting system - Google Patents

Ocean controllable source transmitting system Download PDF

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Publication number
CN205301603U
CN205301603U CN201521063294.9U CN201521063294U CN205301603U CN 205301603 U CN205301603 U CN 205301603U CN 201521063294 U CN201521063294 U CN 201521063294U CN 205301603 U CN205301603 U CN 205301603U
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subelement
input
control circuit
switch module
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张鸣
张一鸣
刘洁
袁哲
高俊侠
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Beijing University of Technology
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Beijing University of Technology
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02ATECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30Assessment of water resources

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Abstract

The utility model relates to an ocean controllable source transmitting system. This system includes the high -power generator for produce three -phase alternating current, still include: on ship transformer unit, transformer unit and emitting electrode under water, wherein: on the ship transformer unit the input with the high -power generator is connected for convert the three -phase alternating current who imports to a single phase alternating current, under water the transformer unit the input with the output of transformer unit is connected on the ship, be used for with a single phase alternating current electricity converts first direct current to, emitting electrode's input with the output of transformer unit is connected under water for become the first direct current contravariant of inputing the interchange square signal of certain frequency. The utility model has the characteristics of switching loss is low, and power factor is high, and the voltage stress is little, and power is big, and is small, light in weight.

Description

一种海洋可控源发射系统An ocean controllable source launch system

技术领域technical field

本实用新型涉及海洋电磁探测技术领域,尤其涉及一种海洋可控源发射系统。The utility model relates to the technical field of marine electromagnetic detection, in particular to a marine controllable source emission system.

背景技术Background technique

在海洋资源勘探开发过程中,由于钻井成本高、投资风险大,世界上各大石油公司在进行海上钻井前,都要开展地震、重力、磁力等多种海洋地球物理方法的综合勘探工作,以提高钻井成功率。海洋可控源电磁探测具有能够区分圈闭内油水性质、揭露火山岩覆盖下的“高阻体”的特点,已成为降低深水油气资源钻探风险的最重要手段之一。可控源海洋电磁勘探系统通过由拖船拖曳的发射机向海底供电激发,将多分量电磁接收机布设在海底测量电磁场值。通过计算视电阻率和相位,或者直接利用所观测的电场和磁场达到探测地下电性分布特征的目的,揭示底层结构和油气等矿产资源的分布规律。In the process of exploration and development of marine resources, due to high drilling costs and high investment risks, major oil companies in the world must carry out comprehensive exploration work using various marine geophysical methods such as seismic, gravity, and magnetic force before offshore drilling. Improve drilling success rate. Marine controlled-source electromagnetic detection has the characteristics of being able to distinguish the properties of oil and water in traps and reveal "high-resistivity bodies" covered by volcanic rocks, and has become one of the most important means to reduce the drilling risk of deep-water oil and gas resources. The controllable source marine electromagnetic exploration system is excited by the transmitter towed by the tugboat to supply power to the seabed, and the multi-component electromagnetic receiver is placed on the seabed to measure the electromagnetic field value. By calculating the apparent resistivity and phase, or directly using the observed electric field and magnetic field to detect the distribution characteristics of underground electrical properties, reveal the underlying structure and the distribution of mineral resources such as oil and gas.

海洋可控源电磁发射系统作为海洋可控源电磁探测的重要组成部分,为勘探过程提供了人工激励场源。但由于负载对象的特殊性,在进行海洋可控源电磁发射过程中往往面临着各种技术难题:数千米的海底电缆导致了交流输电过程中功率因数低、波形失真严重;水下舱体中的电力变换模块体积大,散热差,大大降低了发射系统的稳定性。功率器件的电应力较低,限制了发射系统的输出功率,影响了勘探效果。As an important part of marine controlled source electromagnetic detection, the marine controlled source electromagnetic launch system provides artificial excitation field sources for the exploration process. However, due to the particularity of the load object, various technical difficulties are often faced in the process of ocean controllable source electromagnetic emission: the submarine cable of several thousand meters leads to low power factor and serious waveform distortion in the process of AC transmission; the underwater cabin The power conversion module in it has a large volume and poor heat dissipation, which greatly reduces the stability of the launch system. The electrical stress of the power device is low, which limits the output power of the transmitting system and affects the exploration effect.

实用新型内容Utility model content

本实用新型的其中一个目的在于提供一种海洋可控源发射系统,以解决现有技术中长距离的交流输电过程中功率因数低、波形失真严重,以及电力变换模块过大且散热差的技术问题。One of the purposes of the present utility model is to provide a marine controllable source launch system to solve the problems of low power factor, serious waveform distortion, oversized power conversion module and poor heat dissipation in the process of long-distance AC power transmission in the prior art question.

为实现上述实用新型目的,本实用新型实施例提供了一种海洋可控源发射系统,包括大功率发电机,用于产生三相交流电,还包括:船上变电单元、水下变电单元和发射电极,其中:In order to achieve the purpose of the above-mentioned utility model, the embodiment of the utility model provides a marine controllable source emission system, which includes a high-power generator for generating three-phase alternating current, and also includes: an on-board substation unit, an underwater substation unit and emitter electrode, where:

所述船上变电单元的输入端与所述大功率发电机相连接,用于将所输入的三相交流电转换成第一单相交流电;The input end of the on-board power conversion unit is connected to the high-power generator for converting the input three-phase alternating current into a first single-phase alternating current;

所述水下变电单元的输入端与所述船上变电单元的输出端相连接,用于将所述第一单相交流电转换成第一直流电;The input end of the underwater power transformation unit is connected to the output end of the onboard power transformation unit, and is used to convert the first single-phase alternating current into a first direct current;

所述发射电极的输入端与所述水下变电单元的输出端相连接,用于将所输入的第一直流电逆变成一定频率的交流方波信号。The input end of the transmitting electrode is connected with the output end of the underwater power transformation unit, and is used for inverting the input first direct current into an alternating current square wave signal of a certain frequency.

可选地,所述船上变电单元包括三相整流电路、逆变桥电路、升压变压器和船上控制电路,其中:Optionally, the onboard power transformation unit includes a three-phase rectifier circuit, an inverter bridge circuit, a step-up transformer and an onboard control circuit, wherein:

所述三相整流电路的输入端与所述大功率发电机相连接,用于将三相交流电转换成第二直流电;The input terminal of the three-phase rectification circuit is connected to the high-power generator, and is used to convert the three-phase alternating current into a second direct current;

所述逆变桥电路的输入端与所述三相整流电路的输出端相连接,控制端与所述船上控制电路的输出端相连接,用于在所述船上控制电路输出信号的控制下将所述第二直流电转换成第二单相交流电;The input end of the inverter bridge circuit is connected to the output end of the three-phase rectifier circuit, and the control end is connected to the output end of the on-board control circuit, which is used to control the output signal of the on-board control circuit. The second direct current is converted into a second single-phase alternating current;

所述升压变压器的输入端与所述逆变桥电路的输出端连接,用于将所述第二单相交流电转换成第一单相交流电;The input end of the step-up transformer is connected to the output end of the inverter bridge circuit, and is used to convert the second single-phase alternating current into the first single-phase alternating current;

可选地,所述船上变电单元还包括载波调制器与上位机,其中:Optionally, the onboard substation unit also includes a carrier modulator and a host computer, wherein:

所述载波调制器的输入端与所述升压变压器的输出端相连接,输出端与所述上位机的输入端相连接;The input end of the carrier modulator is connected to the output end of the step-up transformer, and the output end is connected to the input end of the host computer;

所述上位机的输出端与所述船上控制电路的输入端相连接;The output end of the host computer is connected with the input end of the on-board control circuit;

可选地,所述水下变电单元包括:单相整流电路、波形跟踪控制电路、DC/DC变换器、水下控制电路和发射桥,其中:Optionally, the underwater power transformation unit includes: a single-phase rectification circuit, a waveform tracking control circuit, a DC/DC converter, an underwater control circuit and a transmitting bridge, wherein:

所述单相整流电路的输入端连接第一单相交流电,输出端与所述波形跟踪控制电路相连接,用于将所述第一单相交流电转换成第三直流电;The input end of the single-phase rectification circuit is connected to the first single-phase alternating current, and the output end is connected to the waveform tracking control circuit for converting the first single-phase alternating current into a third direct current;

所述波形跟踪控制电路的输出端与所述DC/DC变换器的输入端相连接,控制端与所述水下控制电路的输出端相连接,用于在所述水下控制电路的控制下对所述第三直流电进行滤波;The output end of the waveform tracking control circuit is connected to the input end of the DC/DC converter, and the control end is connected to the output end of the underwater control circuit for controlling the underwater control circuit. filtering the third direct current;

所述DC/DC变换器的输出端与所述发射桥的输入端相连接,控制端与所述水下控制电路的输出端相连接,用于在所述水下控制电路的控制下将所述第三直流电转换成第四直流电;The output end of the DC/DC converter is connected to the input end of the launch bridge, and the control end is connected to the output end of the underwater control circuit, which is used to control the underwater control circuit. The third direct current is converted into the fourth direct current;

所述发射桥的输出端与所述发射电极相连接,控制端与所述水下控制电路的输出端相连接,用于在所述水下控制电路的控制下将所述第四直流电转换成第一直流电。The output terminal of the transmitting bridge is connected to the transmitting electrode, and the control terminal is connected to the output terminal of the underwater control circuit, which is used to convert the fourth direct current into First DC.

可选地,所述波形跟踪控制电路包括:电感L、开关模块S、二极管D、电容C、电压跟踪子单元和电流跟踪子单元,其中:Optionally, the waveform tracking control circuit includes: an inductor L, a switch module S, a diode D, a capacitor C, a voltage tracking subunit, and a current tracking subunit, wherein:

所述开关模块S的第一端经所述电感L连接所述单相整流电路的第一输出端;第二端连接所述单相整流电路的第二输出端,控制端连接所述电流跟踪子单元的输出端;The first end of the switch module S is connected to the first output end of the single-phase rectification circuit through the inductor L; the second end is connected to the second output end of the single-phase rectification circuit, and the control end is connected to the current tracking the output of the subunit;

所述二极管D的阳极连接所述开关模块S的第一端,阴极连接所述电容C的第一端;所述电容C的第二端连接所述开关模块S的第二端;The anode of the diode D is connected to the first end of the switch module S, and the cathode is connected to the first end of the capacitor C; the second end of the capacitor C is connected to the second end of the switch module S;

所述电压跟踪子单元的第一输入端输入所述电容C的两端电压,第二输入端输入给定电压,其输出端连接所述电流跟踪子单元的第一输入端;The first input terminal of the voltage tracking subunit inputs the voltage across the capacitor C, the second input terminal inputs a given voltage, and its output terminal is connected to the first input terminal of the current tracking subunit;

所述电流跟踪子单元的第二输入端输入所述电感L的输入端的电压,输出端连接所述开关模块S的控制端;The second input terminal of the current tracking subunit inputs the voltage of the input terminal of the inductor L, and the output terminal is connected to the control terminal of the switch module S;

可选地,所述DC/DC变换器包括:第一支路子单元、第二支路子单元、第三支路子单元、隔离子单元、整流桥子单元和滤波子单元,其中:Optionally, the DC/DC converter includes: a first branch subunit, a second branch subunit, a third branch subunit, an isolation subunit, a rectifier bridge subunit, and a filter subunit, wherein:

所述第一支路子单元、所述第二支路子单元和所述第三支路子单元并联于第一并联端与第二并联端;且所述第一并联端连接所述波形跟踪控制电路的第一输出端,所述第二并联端连接所述波形跟踪控制电路的第二输出端;The first branch subunit, the second branch subunit and the third branch subunit are connected in parallel to the first parallel terminal and the second parallel terminal; and the first parallel terminal is connected to the waveform tracking control circuit a first output terminal, the second parallel terminal is connected to the second output terminal of the waveform tracking control circuit;

所述第一支路子单元的输出端分别连接所述第二支路子单元的输入端和所述第三支路子单元的输入端;The output end of the first branch subunit is respectively connected to the input end of the second branch subunit and the input end of the third branch subunit;

所述隔离子单元的第一输入端与所述第二支路子单元的输出端相连接,第二输入端与所述第三支路子单元的输出端相连接;第一输出端与所述整流桥子单元的第一输入端相连接,第二输出端与所述整流桥子单元的第二输入端相连接;The first input end of the isolation subunit is connected to the output end of the second branch subunit, and the second input end is connected to the output end of the third branch subunit; the first output end is connected to the rectifier The first input end of the bridge subunit is connected, and the second output end is connected with the second input end of the rectification bridge subunit;

所述整流桥子单元的第一输出端与所述滤波子单元的第一输入端连接,第二输出端与所述滤波子单元的第二输入端连接。The first output end of the rectifier bridge subunit is connected to the first input end of the filtering subunit, and the second output end is connected to the second input end of the filtering subunit.

可选地,所述第一支路子单元包括电容C1和电容C2,其中:Optionally, the first branch subunit includes a capacitor C1 and a capacitor C2, where:

所述电容C1的第一端与所述波形跟踪控制电路的第一输出端相连接,第二端与所述电容C2的第一端相连接;所述电容C2的第二端与所述波形跟踪控制电路的第二输出端相连接。The first end of the capacitor C1 is connected to the first output end of the waveform tracking control circuit, and the second end is connected to the first end of the capacitor C2; the second end of the capacitor C2 is connected to the waveform tracking control circuit. The second output terminals of the tracking control circuit are connected together.

可选地,所述第二支路子单元和所述第三支路子单元采用相同的电路拓扑结构,所述第二支路子单元包括:开关模块Q1、开关模块Q2、开关模块Q3、开关模块Q4、二极管DC1和二极管DC2,其中:Optionally, the second branch subunit and the third branch subunit adopt the same circuit topology, and the second branch subunit includes: a switch module Q1, a switch module Q2, a switch module Q3, and a switch module Q4 , diode DC1 and diode DC2, where:

所述开关模块Q1的第一端连接所述波形跟踪控制电路的第一输出端,第二端与所述开关模块Q2、所述开关模块Q3和所述开关模块Q4依次串联,且所述开关模块Q4的第二端连接所述波形跟踪控制电路的第二输出端;The first end of the switch module Q1 is connected to the first output end of the waveform tracking control circuit, the second end is connected in series with the switch module Q2, the switch module Q3 and the switch module Q4 in sequence, and the switch The second end of the module Q4 is connected to the second output end of the waveform tracking control circuit;

可选地,所述开关模块Q1、所述开关模块Q2、所述开关模块Q3与所述开关模块Q4采用相同的电路拓扑结构;所述开关模块Q1包括晶体管T1、泄放二极管和泄放电容,其中所述泄放二极管的阴极与所述晶体管T1的第一端连接,阳极与所述晶体管T1的第二端连接;所述泄放电容的第一端与所述晶体管T1的第一端连接,第二端与所述晶体管T1的第二端连接。Optionally, the switch module Q1, the switch module Q2, the switch module Q3 and the switch module Q4 adopt the same circuit topology; the switch module Q1 includes a transistor T1, a bleeder diode and a bleeder capacitor , wherein the cathode of the bleeder diode is connected to the first end of the transistor T1, and the anode is connected to the second end of the transistor T1; the first end of the bleeder capacitor is connected to the first end of the transistor T1 connected, and the second terminal is connected to the second terminal of the transistor T1.

可选地,所述滤波子单元包括电容Cf和电感Lf;所述电感Lf的第一端连接所述整流桥子单元的第一输出端,第二端经过所述电容Cf连接所述整流桥子单元的第二输出端。Optionally, the filter subunit includes a capacitor Cf and an inductor Lf; the first end of the inductor Lf is connected to the first output end of the rectifier bridge subunit, and the second end is connected to the rectifier bridge through the capacitor Cf The second output of the subunit.

本实用新型涉及一种海洋可控源电磁发射系统,船上变电单元将发电机产生的三相交流电整流逆变升压为0-3500V/50Hz幅值可调的单相交流电,为水下部分提供原始电能;水下变电单元对单机交流电进行整流并进行波形跟踪校正后,经过发射桥逆变为频率可调的方波交流电,通过发射桥偶极将电能激发到海水介质中。本实用新型具有开关损耗低,功率因数高,电压应力小,功率大,体积小,重量轻的特点。The utility model relates to a marine controllable source electromagnetic emission system. The substation unit on the ship rectifies and inverts the three-phase alternating current generated by the generator into a single-phase alternating current with adjustable amplitude of 0-3500V/50Hz, which is the underwater part. Provide raw electric energy; after the underwater substation unit rectifies the AC power of the single unit and performs waveform tracking and correction, it is converted into a frequency-adjustable square wave AC through the transmitting bridge, and the electric energy is excited into the seawater medium through the dipole of the transmitting bridge. The utility model has the characteristics of low switching loss, high power factor, small voltage stress, high power, small size and light weight.

附图说明Description of drawings

通过参考附图会更加清楚的理解本实用新型的特征和优点,附图是示意性的而不应理解为对本实用新型进行任何限制,在附图中:The features and advantages of the present utility model can be more clearly understood by referring to the accompanying drawings. The accompanying drawings are schematic and should not be construed as any limitation to the present utility model. In the accompanying drawings:

图1是本实用新型实施例提供的一种海洋可控源发射系统结构框图;Fig. 1 is a structural block diagram of a marine controllable source emission system provided by an embodiment of the present invention;

图2是本实用新型实施例提供的波形跟踪控制电路图;Fig. 2 is the waveform tracking control circuit diagram that the utility model embodiment provides;

图3是本实用新型实施例提供的DC/DC变换器电路图;Fig. 3 is a circuit diagram of a DC/DC converter provided by an embodiment of the present invention;

图4是本实用新型实施例提供的发射桥电路示意图;Fig. 4 is a schematic diagram of a transmitting bridge circuit provided by an embodiment of the present invention;

图5是图4所示发射桥电路的驱动信号和输出波形示意图Fig. 5 is a schematic diagram of the drive signal and output waveform of the transmitting bridge circuit shown in Fig. 4

图6是本实用新型实施例提供的发射桥偶极结构图。Fig. 6 is a structure diagram of the transmitting bridge dipole provided by the embodiment of the present invention.

具体实施方式detailed description

下面结合附图和实施例,对本实用新型的具体实施方式作进一步详细描述。以下实施例用于说明本实用新型,但不用来限制本实用新型的范围。Below in conjunction with accompanying drawing and embodiment, the specific embodiment of the utility model is described in further detail. The following examples are used to illustrate the utility model, but not to limit the scope of the utility model.

本实用新型实施例提供了一种海洋可控源发射系统,如图1所示,包括大功率发电机100,用于产生三相交流电,还包括:船上变电单元200、水下变电单元300和发射电极400,其中:The embodiment of the utility model provides a marine controllable source emission system, as shown in Figure 1, including a high-power generator 100 for generating three-phase alternating current, and also includes: a shipboard power conversion unit 200, an underwater power conversion unit 300 and emitter electrode 400, wherein:

船上变电单元200的输入端与大功率发电机100相连接,用于将所输入的三相交流电转换成第一单相交流电;The input end of the on-board power conversion unit 200 is connected to the high-power generator 100 for converting the input three-phase alternating current into the first single-phase alternating current;

水下变电单元300的输入端与船上变电单元200的输出端相连接,用于将第一单相交流电转换成第一直流电;The input end of the underwater power transformation unit 300 is connected to the output end of the onboard power transformation unit 200, for converting the first single-phase alternating current into the first direct current;

发射电极400的输入端与水下变电单元300的输出端相连接,用于将所输入的第一直流电逆变成一定频率的交流方波信号。The input end of the emitter electrode 400 is connected to the output end of the underwater power transformation unit 300 for inverting the input first direct current into an alternating current square wave signal of a certain frequency.

如图1所示,船上变电单元200包括三相整流电路201、逆变桥电路202、升压变压器203和船上控制电路204,其中:As shown in Figure 1, the on-board power transformation unit 200 includes a three-phase rectifier circuit 201, an inverter bridge circuit 202, a step-up transformer 203 and an on-board control circuit 204, wherein:

三相整流电路201的输入端与大功率发电机100相连接,用于将三相交流电转换成第二直流电;The input terminal of the three-phase rectification circuit 201 is connected with the high-power generator 100, and is used for converting the three-phase alternating current into a second direct current;

逆变桥电路202的输入端与三相整流电路201的输出端相连接,控制端与船上控制电路204的输出端相连接,用于在船上控制电路204输出信号的控制下将第二直流电转换成第二单相交流电;The input end of the inverter bridge circuit 202 is connected to the output end of the three-phase rectifier circuit 201, and the control end is connected to the output end of the onboard control circuit 204, for converting the second direct current under the control of the output signal of the onboard control circuit 204 into the second single-phase alternating current;

升压变压器203的输入端与逆变桥电路202的输出端连接,用于将第二单相交流电转换成第一单相交流电。The input terminal of the step-up transformer 203 is connected to the output terminal of the inverter bridge circuit 202, and is used for converting the second single-phase AC power into the first single-phase AC power.

船上控制电路204需要根据逆变桥电路202输出相对应的触发信号。需要说明的是,该船上控制电路204采用现有技术中的控制电路即可实现,只需要相应改变输入参数以改变输出触发信号的占空比,本领域技术人员可以选择相应的控制电路实现,本实用新型不作限定。The onboard control circuit 204 needs to output a corresponding trigger signal according to the inverter bridge circuit 202 . It should be noted that the on-board control circuit 204 can be realized by using the control circuit in the prior art, and only need to change the input parameters accordingly to change the duty cycle of the output trigger signal, and those skilled in the art can choose the corresponding control circuit to realize, The utility model is not limited.

较优地,船上变电单元200还包括载波调制器205与上位机206,其中:Preferably, the onboard substation unit 200 also includes a carrier modulator 205 and a host computer 206, wherein:

载波调制器205的输入端与升压变压器204的输出端相连接,输出端与上位机206的输入端相连接;The input end of the carrier modulator 205 is connected with the output end of the step-up transformer 204, and the output end is connected with the input end of the upper computer 206;

上位机206的输出端与船上控制电路204的输入端相连接。The output end of the upper computer 206 is connected with the input end of the control circuit 204 on board.

需要说明的是,本实用新型实施例中,载波调制器205将上位机206的相应数据通过深拖电缆传输到水下变电单元300,以调解水下变电单元的输出电压,从而调节发射电极400的交流方波信号。当然,该载波调制器205也可以采集水下变电单元的信号通过深拖电缆传输到船上变电单元。本实用新型实施例能过载波调制器205实现船上变电单元与水下变电单元的通信。实际应用中,该载波调制器205采用现有技术中的通信电路实现,本实用新型不作限定。It should be noted that, in the embodiment of the present utility model, the carrier modulator 205 transmits the corresponding data of the upper computer 206 to the underwater substation unit 300 through the deep towing cable, so as to adjust the output voltage of the underwater substation unit, thereby adjusting the emission The AC square wave signal of the electrode 400. Of course, the carrier modulator 205 can also collect the signal of the underwater substation unit and transmit it to the onboard substation unit through the deep-tow cable. The embodiment of the utility model can realize the communication between the onboard substation unit and the underwater substation unit through the carrier modulator 205 . In practical applications, the carrier modulator 205 is realized by a communication circuit in the prior art, which is not limited in the present invention.

船上变电单元200的工作过程为:The working process of the onboard substation unit 200 is:

大功率发电机100发出380V/50Hz的三相交流电,经三相整流电路201整流后输出第二直流电到逆变桥电路202;通过船上控制电路204控制逆变桥电路204的开关时序,使逆变桥电路204将第二直流电转换成50Hz幅值可调的第二单相交流电;该第二单相交流电经升压变压器203升压后转换成0-3500V/50Hz的幅值可调的第一单相交流电,从而通过深拖电缆为水下变换单元提供电能。船上变电单元200通过上位机206进行参数设置与状态监视,并且通过载波调制器205与水下变电单元进行通信。The high-power generator 100 sends out a three-phase alternating current of 380V/50Hz, and outputs the second direct current to the inverter bridge circuit 202 after being rectified by the three-phase rectifier circuit 201; The variable bridge circuit 204 converts the second direct current into a second single-phase alternating current with an adjustable amplitude of 50 Hz; A single-phase alternating current, so as to provide electric energy for the underwater conversion unit through the deep towing cable. The onboard substation unit 200 performs parameter setting and status monitoring through the host computer 206 , and communicates with the underwater substation unit through the carrier modulator 205 .

如图1所示,水下变电单元300包括:单相整流电路301、波形跟踪控制电路302、DC/DC变换器303、水下控制电路305和发射桥304,其中:As shown in Figure 1, the underwater power transformation unit 300 includes: a single-phase rectification circuit 301, a waveform tracking control circuit 302, a DC/DC converter 303, an underwater control circuit 305 and a transmitting bridge 304, wherein:

单相整流电路301的输入端连接第一单相交流电,输出端与波形跟踪控制电路302相连接,用于将第一单相交流电转换成第三直流电;The input end of the single-phase rectification circuit 301 is connected to the first single-phase alternating current, and the output end is connected to the waveform tracking control circuit 302 for converting the first single-phase alternating current into a third direct current;

波形跟踪控制电路302的输出端与DC/DC变换器303的输入端相连接,控制端与水下控制电路305的输出端相连接,用于在水下控制电路305的控制下对第三直流电进行滤波;The output terminal of the waveform tracking control circuit 302 is connected with the input terminal of the DC/DC converter 303, and the control terminal is connected with the output terminal of the underwater control circuit 305, for controlling the third direct current under the control of the underwater control circuit 305. filter;

DC/DC变换器303的输出端与发射桥304的输入端相连接,控制端与水下控制电路305的输出端相连接,用于在水下控制电路305的控制下将第三直流电转换成第四直流电;The output end of the DC/DC converter 303 is connected with the input end of the launching bridge 304, and the control end is connected with the output end of the underwater control circuit 305, for converting the third direct current into fourth direct current;

发射桥304的输出端与发射电极400相连接,控制端与水下控制电路305的输出端相连接,用于在水下控制电路305的控制下将第四直流电转换成第一直流电。The output terminal of the transmitting bridge 304 is connected to the transmitting electrode 400 , and the control terminal is connected to the output terminal of the underwater control circuit 305 for converting the fourth direct current into the first direct current under the control of the underwater control circuit 305 .

水下控制电路305需要根据滤波跟踪电路302、DC/DC变换器303以及发射桥304输出相对应的触发信号。需要说明的是,该水下控制电路305采用现有技术中的控制电路即可实现,只需要相应改变输入参数以改变输出触发信号的占空比,本领域技术人员可以选择相应的控制电路实现,本实用新型不作限定。The underwater control circuit 305 needs to output corresponding trigger signals according to the filter tracking circuit 302 , the DC/DC converter 303 and the transmitting bridge 304 . It should be noted that the underwater control circuit 305 can be realized by using the control circuit in the prior art, only need to change the input parameters accordingly to change the duty cycle of the output trigger signal, those skilled in the art can choose the corresponding control circuit to realize , the utility model is not limited.

水下变电单元300接收来自深拖电缆的0-3500V/50Hz幅值可调的单相交流电,经过单相整流电路转换为第三直流电。但是由于深拖电缆往往长达数千米,其寄生电感与旁路电容给交流输电来了严重影响,导致整流输出的功率因数较低、波形失真严重,所以需要使用波形跟踪控制电路对水下变电单元进行补偿。The underwater substation unit 300 receives 0-3500V/50Hz amplitude-adjustable single-phase alternating current from the deep-tow cable, and converts it into a third direct current through a single-phase rectification circuit. However, since the deep towing cable is often several thousand meters long, its parasitic inductance and bypass capacitance have a serious impact on the AC transmission, resulting in a low power factor of the rectified output and serious waveform distortion. Therefore, it is necessary to use a waveform tracking control circuit to monitor the underwater The substation unit compensates.

如图2所示,本实用新型中波形跟踪电路302包括电感L、开关模块S、二极管D、电容C、电压跟踪子单元和电流跟踪子单元,其中:As shown in Figure 2, the waveform tracking circuit 302 in the present invention includes an inductor L, a switch module S, a diode D, a capacitor C, a voltage tracking subunit and a current tracking subunit, wherein:

所述开关模块S的第一端经所述电感L连接所述单相整流电路的第一输出端;第二端连接所述单相整流电路的第二输出端,控制端连接所述电流跟踪子单元的输出端;The first end of the switch module S is connected to the first output end of the single-phase rectification circuit through the inductor L; the second end is connected to the second output end of the single-phase rectification circuit, and the control end is connected to the current tracking the output of the subunit;

所述二极管D的阳极连接所述开关模块S的第一端,阴极连接所述电容C的第一端;所述电容C的第二端连接所述开关模块S的第二端;The anode of the diode D is connected to the first end of the switch module S, and the cathode is connected to the first end of the capacitor C; the second end of the capacitor C is connected to the second end of the switch module S;

所述电压跟踪子单元的第一输入端输入所述电容C的两端电压,第二输入端输入给定电压,其输出端连接所述电流跟踪子单元的第一输入端;The first input terminal of the voltage tracking subunit inputs the voltage across the capacitor C, the second input terminal inputs a given voltage, and its output terminal is connected to the first input terminal of the current tracking subunit;

所述电流跟踪子单元的第二输入端输入所述电感L的输入端的电压,输出端连接所述开关模块S的控制端。The voltage of the input terminal of the inductor L is input to the second input terminal of the current tracking subunit, and the output terminal is connected to the control terminal of the switch module S.

深拖缆为水下部分提供了经过整流电路转换为直流电,但由于深拖缆往往长达数千米,其寄生电感与旁路电容给交流输电效果带来了严重影响,导致整流输出的功率因数较低、波形失真严重,所以需要使用波形跟踪控制电路对其进行补偿。The deep towline provides the underwater part with a rectifier circuit to convert it into direct current. However, since the deep towline is often several kilometers long, its parasitic inductance and bypass capacitance have a serious impact on the AC transmission effect, resulting in the rectified output power The factor is low and the waveform distortion is serious, so it is necessary to use a waveform tracking control circuit to compensate it.

需要说明的是,本实用新型中,电流跟踪子单元与电压跟踪子单元采用现有的电路实现,本领域技术人员可以需要使用场景选择合适的上述电路实现,本实用新型不作限定。It should be noted that, in the present utility model, the current tracking subunit and the voltage tracking subunit are realized by using existing circuits, and those skilled in the art can select the appropriate above-mentioned circuit implementation according to the usage scenario, and the utility model is not limited thereto.

本实用新型实施例中,若直接采用电容对第三直流电进行滤波,则功率因数一般为0.5~0.7,总谐波含量THD可达100%~150%;若采用例如LC滤波器的无源滤波器的情况下,功率因数可校正至0.95,总谐波含量THD降至30%左右。为最大程度的提高功率因数以及降低总谐波含量,本实用新型采用上文所述的主动式波形跟踪控制电路,功率因数能高达0.995,总谐波含量可降至5%以下,从而彻底解决整流电路的谐波污染和功率因数低的问题。In the embodiment of the utility model, if the capacitor is directly used to filter the third direct current, the power factor is generally 0.5-0.7, and the total harmonic content THD can reach 100%-150%; if a passive filter such as an LC filter is used In the case of an inverter, the power factor can be corrected to 0.95, and the total harmonic content THD is reduced to about 30%. In order to improve the power factor and reduce the total harmonic content to the greatest extent, the utility model adopts the above-mentioned active waveform tracking control circuit, the power factor can be as high as 0.995, and the total harmonic content can be reduced to below 5%, thus completely solving the problem of Harmonic pollution and low power factor of the rectifier circuit.

实际应用中,发射桥需要低电压大电流,因此需要采用DC/DC变换器303对上述波形跟踪控制电路输出的第四直接电进行变换。如图3所示,本实用新型一实施例中DC/DC变换器303包括:第一支路子单元3031、第二支路子单元3032、第三支路子单元3033、隔离子单元3034、整流桥子单元3035和滤波子单元3036,其中:In practical applications, the transmitting bridge needs low voltage and high current, so the DC/DC converter 303 needs to be used to convert the fourth direct voltage output by the above-mentioned waveform tracking control circuit. As shown in Figure 3, the DC/DC converter 303 in an embodiment of the present invention includes: a first branch subunit 3031, a second branch subunit 3032, a third branch subunit 3033, an isolation subunit 3034, a rectifier bridge Unit 3035 and filtering subunit 3036, wherein:

第一支路子单元3031、第二支路子单元3032和第三支路子单元3033并联于第一并联端P1与第二并联端P2;且该第一并联端P1连接波形跟踪控制电路302的第一输出端,第二并联端P2连接波形跟踪控制电路302的第二输出端;The first branch subunit 3031, the second branch subunit 3032, and the third branch subunit 3033 are connected in parallel to the first parallel terminal P1 and the second parallel terminal P2; and the first parallel terminal P1 is connected to the first terminal of the waveform tracking control circuit 302 output terminal, the second parallel terminal P2 is connected to the second output terminal of the waveform tracking control circuit 302;

第一支路子单元3031的输出端分别连接第二支路子单元3032的输入端和第三支路子单元3033的输入端;The output end of the first branch subunit 3031 is respectively connected to the input end of the second branch subunit 3032 and the input end of the third branch subunit 3033;

隔离子单元3034的第一输入端与第二支路子单元3032的输出端相连接,第二输入端与第三支路子单元3033的输出端相连接;第一输出端与整流桥子单元3035的第一输入端相连接,第二输出端与整流桥子单元3035的第二输入端相连接;The first input end of the isolation subunit 3034 is connected to the output end of the second branch subunit 3032, and the second input end is connected to the output end of the third branch subunit 3033; the first output end is connected to the output end of the rectifier bridge subunit 3035 The first input end is connected, and the second output end is connected with the second input end of the rectifier bridge subunit 3035;

整流桥子单元3035的第一输出端与滤波子单元3036的第一输入端连接,第二输出端与滤波子单元3036的第二输入端连接。The first output terminal of the rectifier bridge subunit 3035 is connected to the first input terminal of the filtering subunit 3036 , and the second output terminal is connected to the second input terminal of the filtering subunit 3036 .

实际应用中,如图3所示,作为第一支路子单元3031的一个具体实施例,该第一支路子单元3031包括电容C1和电容C2,其中:In practical applications, as shown in FIG. 3, as a specific embodiment of the first branch subunit 3031, the first branch subunit 3031 includes a capacitor C1 and a capacitor C2, wherein:

电容C1的第一端与波形跟踪控制电路302的第一输出端相连接,第二端与电容C2的第一端相连接;电容C2的第二端与波形跟踪控制电路302的第二输出端相连接。The first end of the capacitor C1 is connected to the first output end of the waveform tracking control circuit 302, and the second end is connected to the first end of the capacitor C2; the second end of the capacitor C2 is connected to the second output end of the waveform tracking control circuit 302 connected.

实际应用中,如图3所示,作为第二支路子单元3032与第三支路子单元3033的一个具体实施例,该第二支路子单元3032和第三支路子单元3033采用相同的电路拓扑结构。下面以第二支路子单元3032进行说明。该第二支路子单元3032包括:开关模块Q1、开关模块Q2、开关模块Q3、开关模块Q4、二极管DC1和二极管DC2,其中:In practical applications, as shown in FIG. 3, as a specific embodiment of the second branch subunit 3032 and the third branch subunit 3033, the second branch subunit 3032 and the third branch subunit 3033 adopt the same circuit topology . The second branch subunit 3032 is used for description below. The second branch subunit 3032 includes: a switch module Q1, a switch module Q2, a switch module Q3, a switch module Q4, a diode DC1 and a diode DC2, wherein:

开关模块Q1的第一端连接波形跟踪控制电路3032的第一输出端,第二端与开关模块Q2、开关模块Q3和开关模块Q4依次串联,且开关模块Q4的第二端连接所述波形跟踪控制电路的第二输出端。其中,开关模块Q1、开关模块Q2、开关模块Q3与开关模块Q4采用相同的电路拓扑结构。开关模块Q1包括晶体管T1、泄放二极管和泄放电容,其中泄放二极管的阴极与晶体管T1的第一端连接,阳极与晶体管T1的第二端连接;泄放电容的第一端与晶体管T1的第一端连接,第二端与所述晶体管T1的第二端连接。The first end of the switch module Q1 is connected to the first output end of the waveform tracking control circuit 3032, the second end is connected in series with the switch module Q2, the switch module Q3 and the switch module Q4 in sequence, and the second end of the switch module Q4 is connected to the waveform tracking The second output terminal of the control circuit. Wherein, the switch module Q1, the switch module Q2, the switch module Q3 and the switch module Q4 adopt the same circuit topology. The switch module Q1 includes a transistor T1, a bleeder diode and a bleeder capacitor, wherein the cathode of the bleeder diode is connected to the first end of the transistor T1, and the anode is connected to the second end of the transistor T1; the first end of the bleeder capacitor is connected to the transistor T1 connected to the first end of the transistor T1, and the second end is connected to the second end of the transistor T1.

整流桥子单元3035包括二极管DR1、二极管DR2、二极管DR3和二极管DR4。上述四个二极管构成全桥整流桥。需要说明的是,本实用新型实施例中整流桥子单元3035采用常用的全波整流桥实现即可,本领域技术人员也可以根据具体的使用场合,选择合适的整流电路实现,本实用新型不作限定。The rectifier bridge subunit 3035 includes a diode DR1 , a diode DR2 , a diode DR3 and a diode DR4 . The above four diodes form a full-bridge rectifier bridge. It should be noted that the rectifier bridge subunit 3035 in the embodiment of the utility model can be realized by using a commonly used full-wave rectifier bridge, and those skilled in the art can also select a suitable rectifier circuit to realize it according to the specific use occasions. limited.

实际应用中,如图3所示,作为滤波子单元3036的一个具体实施例,该滤波子单元3036包括电容Cf和电感Lf;电感Lf的第一端连接整流桥子单元的第一输出端,第二端经过电容Cf连接整流桥子单元3035的第二输出端。电容Cf和电感Lf的具体参数,本领域技术人员可以根据具体使用场景进行设定,本实用新型不作限定。In practical applications, as shown in Figure 3, as a specific embodiment of the filtering subunit 3036, the filtering subunit 3036 includes a capacitor Cf and an inductor Lf; the first end of the inductor Lf is connected to the first output end of the rectifier bridge subunit, The second terminal is connected to the second output terminal of the rectifier bridge subunit 3035 through the capacitor Cf. The specific parameters of the capacitance Cf and the inductance Lf can be set by those skilled in the art according to specific usage scenarios, which are not limited by the present invention.

实际应用中,本实用新型采用DC/DC变换器后开关模块Q1~Q4中的开关管电压应力为输入第三直流电的一半。该变换器的输出波形所含高频交流分量较小,因而可以减小输出滤波器。同时它的输入电流脉动较小,由此可以减小输入滤波器,进一步减小了体积和重量。In practical application, the voltage stress of the switch tubes in the switch modules Q1-Q4 after the DC/DC converter is adopted in the utility model is half of that of the input third direct current. The output waveform of the converter contains less high-frequency AC components, so the output filter can be reduced. At the same time, its input current pulsation is small, so the input filter can be reduced, and the volume and weight can be further reduced.

实际应用中,本实用新型一实施例中,发射桥304采用如图4所示的电路结构,包括开关模块S1、开关模块S2、开关模块S3和开关模块S4。其中开关模块S1、开关模块S2、开关模块S3和开关模块S4采用相同的电路拓扑结构,且与开关模块Q1采用相同的电路拓扑结构,在此本实用新型不再一一赘述。并且该发射桥的输入信号与输出信号如图5所示。In practical applications, in an embodiment of the present invention, the transmitting bridge 304 adopts a circuit structure as shown in FIG. 4 , including a switch module S1 , a switch module S2 , a switch module S3 and a switch module S4 . The switch module S1, the switch module S2, the switch module S3 and the switch module S4 adopt the same circuit topology structure, and adopt the same circuit topology structure as the switch module Q1, which will not be repeated in this utility model. And the input signal and output signal of the transmitting bridge are shown in FIG. 5 .

最后发射桥电极将发射桥3036所发出的交流方波信号激发到海水介质中。如图6所示,发射桥电极一般包含两根电极,分别为近端电极与远端电极,相距200米。Finally, the transmitting bridge electrode excites the AC square wave signal sent by the transmitting bridge 3036 into the seawater medium. As shown in FIG. 6 , the transmitting bridge electrode generally includes two electrodes, namely a proximal electrode and a distal electrode, which are 200 meters apart.

综上所述,本实用新型实施例提供的海洋可控源发射系统,船上变电单元将发电机产生的三相交流电整流逆变升压为0-3500V/50Hz幅值可调的单相交流电,为水下部分提供原始电能;水下变电单元对单机交流电进行整流并进行波形跟踪校正后,经过发射桥逆变为频率可调的方波交流电,通过发射桥偶极将电能激发到海水介质中。本实用新型具有开关损耗低,功率因数高,电压应力小,功率大,体积小,重量轻的特点。To sum up, in the marine controllable source emission system provided by the embodiment of the utility model, the on-board substation unit rectifies, inverts and boosts the three-phase AC generated by the generator into a single-phase AC with adjustable amplitude of 0-3500V/50Hz , to provide raw electric energy for the underwater part; after the underwater substation unit rectifies the AC power of the single machine and performs waveform tracking and correction, it is converted into a frequency-adjustable square wave alternating current through the transmitting bridge, and the electric energy is excited to the seawater through the dipole of the transmitting bridge medium. The utility model has the characteristics of low switching loss, high power factor, small voltage stress, high power, small size and light weight.

在本实用新型中,术语“第一”、“第二”、“第三”仅用于描述目的,而不能理解为指示或暗示相对重要性。术语“多个”指两个或两个以上,除非另有明确的限定。In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance. The term "plurality" means two or more, unless otherwise clearly defined.

虽然结合附图描述了本实用新型的实施方式,但是本领域技术人员可以在不脱离本实用新型的精神和范围的情况下做出各种修改和变型,这样的修改和变型均落入由所附权利要求所限定的范围之内。Although the embodiment of the utility model has been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the utility model, and such modifications and variations all fall into the scope of the present utility model. within the scope of the appended claims.

Claims (10)

1. an ocean controllable source emission system, comprises high-power generator, for generation of three-phase alternating current, it is characterized in that, also comprises: power transformation unit on ship, power transformation unit and emission electrode under water, wherein:
On described ship, the input of power transformation unit is connected with described high-power generator, for converting inputted three-phase alternating current to first single-phase alternating current;
The input of described power transformation under water unit is connected with the output of power transformation unit on described ship, for converting described the first single-phase alternating current to first direct current;
The input of described emission electrode is connected with the output of described power transformation under water unit, for the first inputted DC inverter being become to the ac square wave signal of certain frequency.
2. ocean according to claim 1 controllable source emission system, is characterized in that, on described ship, power transformation unit comprises control circuit on rectified three-phase circuit, inverter bridge circuit, step-up transformer and ship, wherein:
The input of described rectified three-phase circuit is connected with described high-power generator, for three-phase alternating current being converted to the second direct current;
The input of described inverter bridge circuit is connected with the output of described rectified three-phase circuit, control end is connected with the output of control circuit on described ship, for converting described the second direct current to second single-phase alternating current under the control of control circuit output signal on described ship;
The input of described step-up transformer is connected with the output of described inverter bridge circuit, for converting described the second single-phase alternating current to first single-phase alternating current.
3. ocean according to claim 2 controllable source emission system, is characterized in that, on described ship, power transformation unit also comprises carrier modulator and host computer, wherein:
The input of described carrier modulator is connected with the output of described step-up transformer, and output is connected with the input of described host computer;
The output of described host computer is connected with the input of control circuit on described ship.
4. according to the ocean controllable source emission system described in claim 1~3 any one, it is characterized in that, described power transformation under water unit comprises: single phase rectifier circuit, waveform tracking control circuit, DC/DC converter, under water control circuit and transmitting bridge, wherein:
The input of described single phase rectifier circuit connects the first single-phase alternating current, and output is connected with described waveform tracking control circuit, for converting described the first single-phase alternating current to the 3rd direct current;
The output of described waveform tracking control circuit is connected with the input of described DC/DC converter, and control end is connected with the output of described control circuit under water, for described the 3rd direct current being carried out to filtering under the control at described control circuit under water;
The output of described DC/DC converter is connected with the input of described transmitting bridge, and control end is connected with the output of described control circuit under water, for converting described the 3rd direct current to the 4th direct current under the control at described control circuit under water;
The output of described transmitting bridge is connected with described emission electrode, and control end is connected with the output of described control circuit under water, for converting described the 4th direct current to first direct current under the control at described control circuit under water.
5. ocean according to claim 4 controllable source emission system, is characterized in that, described waveform tracking control circuit comprises: inductance L, switch module S, diode D, capacitor C, voltage-tracing subelement and current tracking subelement, wherein:
The first end of described switch module S connects the first output of described single phase rectifier circuit through described inductance L; The second end connects the second output of described single phase rectifier circuit, and control end connects the output of described current tracking subelement;
The first end of switch module S described in the anodic bonding of described diode D, negative electrode connects the first end of described capacitor C; The second end of described capacitor C connects the second end of described switch module S;
The first input end of described voltage-tracing subelement is inputted the both end voltage of described capacitor C, and the second input is inputted given voltage, and its output connects the first input end of described current tracking subelement;
The second input of described current tracking subelement is inputted the voltage of the input of described inductance L, and output connects the control end of described switch module S.
6. ocean according to claim 4 controllable source emission system, it is characterized in that, described DC/DC converter comprises: the first branch road subelement, the second branch road subelement, the 3rd branch road subelement, separaant unit, rectifier bridge subelement and filtering subelement, wherein:
Described the first branch road subelement, described the second branch road subelement and described the 3rd branch road subelement are parallel to the first parallel connected end and the second parallel connected end; And described the first parallel connected end connects the first output of described waveform tracking control circuit, described the second parallel connected end connects the second output of described waveform tracking control circuit;
The output of described the first branch road subelement connects respectively the input of described the second branch road subelement and the input of described the 3rd branch road subelement;
The first input end of described separaant unit is connected with the output of described the second branch road subelement, and the second input is connected with the output of described the 3rd branch road subelement; The first output is connected with the first input end of described rectifier bridge subelement, and the second output is connected with the second input of described rectifier bridge subelement;
The first output of described rectifier bridge subelement is connected with the first input end of described filtering subelement, and the second output is connected with the second input of described filtering subelement.
7. ocean according to claim 6 controllable source emission system, is characterized in that, described the first branch road subelement comprises capacitor C 1 and capacitor C 2, wherein:
The first end of described capacitor C 1 is connected with the first output of described waveform tracking control circuit, and the second end is connected with the first end of described capacitor C 2; The second end of described capacitor C 2 is connected with the second output of described waveform tracking control circuit.
8. ocean according to claim 6 controllable source emission system, it is characterized in that, described the second branch road subelement and described the 3rd branch road subelement adopt identical circuit topological structure, described the second branch road subelement comprises: switch module Q1, switch module Q2, switch module Q3, switch module Q4, diode DC1 and diode DC2, wherein:
The first end of described switch module Q1 connects the first output of described waveform tracking control circuit, the second end is connected successively with described switch module Q2, described switch module Q3 and described switch module Q4, and the second end of described switch module Q4 connects the second output of described waveform tracking control circuit.
9. ocean according to claim 8 controllable source emission system, is characterized in that, described switch module Q1, described switch module Q2, described switch module Q3 adopt identical circuit topological structure with described switch module Q4; Described switch module Q1 comprises transistor T 1, release diode and the electric capacity of releasing, and the negative electrode of the wherein said diode of releasing is connected with the first end of described transistor T 1, and anode is connected with the second end of described transistor T 1; The first end of the described electric capacity of releasing is connected with the first end of described transistor T 1, and the second end is connected with the second end of described transistor T 1.
10. according to the ocean controllable source emission system described in claim 6~9 any one, it is characterized in that, described filtering subelement comprises capacitor C f and inductance L f; The first end of described inductance L f connects the first output of described rectifier bridge subelement, and the second end connects the second output of described rectifier bridge subelement through described capacitor C f.
CN201521063294.9U 2015-12-17 2015-12-17 Ocean controllable source transmitting system Expired - Fee Related CN205301603U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109904874A (en) * 2019-04-04 2019-06-18 中国地质大学(北京) A marine controllable source electromagnetic ultra-high voltage direct current remote transmission and distribution method
CN109941124A (en) * 2019-02-14 2019-06-28 深圳市永联科技股份有限公司 Charging pile and its charging module and charging voltage regulation control method
CN111865127A (en) * 2019-04-29 2020-10-30 株洲中车时代电气股份有限公司 Water surface power supply for underwater remote control robot and underwater remote control robot
CN114460651A (en) * 2021-12-29 2022-05-10 宜昌测试技术研究所 Modular combined expansion type deep-sea controllable source electromagnetic emission system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109941124A (en) * 2019-02-14 2019-06-28 深圳市永联科技股份有限公司 Charging pile and its charging module and charging voltage regulation control method
CN109904874A (en) * 2019-04-04 2019-06-18 中国地质大学(北京) A marine controllable source electromagnetic ultra-high voltage direct current remote transmission and distribution method
CN111865127A (en) * 2019-04-29 2020-10-30 株洲中车时代电气股份有限公司 Water surface power supply for underwater remote control robot and underwater remote control robot
CN111865127B (en) * 2019-04-29 2023-01-31 株洲中车时代电气股份有限公司 Water surface power supply for underwater remote control robot and underwater remote control robot
CN114460651A (en) * 2021-12-29 2022-05-10 宜昌测试技术研究所 Modular combined expansion type deep-sea controllable source electromagnetic emission system

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