JP2003182688A - Electric propelling ship simulation device and electric propelling ship simulation method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To verify, in advance, dynamic response of an electric power system of an entire electric propelling ship considering an electric power response of a main machine (propeller) and motion of the electric propelling ship. <P>SOLUTION: This electric propelling ship simulation device is provided with a main machine model part 2 for calculating a first active power as an active power required for a main machine, a first reactive power as a reactive power, a ship speed as a speed of the electric propelling ship, and a navigation distance as a moved distance of the electric propelling ship based on input of the rotation number of a motor of the electric propelling ship, and an in-ship power system part 5 for calculating a voltage and a frequency of an in-ship power of the electric propelling ship based on the first active power, the first reactive power, a second active power as an active power required for a load of the electric propelling ship, a second proactive power as a proactive power, a third active power as an active power generated by a generator of the electric propelling ship and a third proactive power as the proactive power. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric propulsion ship simulation device and an electric propulsion ship simulation method for simulating the operation of an electric propulsion ship.

[0002]

2. Description of the Related Art Electric propulsion ships that use electric power as power are known. The electric propulsion ship is being developed and introduced because it is possible to suppress vibrations / noise to the passenger cabin as much as possible because the engine layout can be arbitrarily selected and it is excellent in maneuverability.

In an electric propulsion ship, power is the only power.
Therefore, when the main engine (propeller) is driven by a motor, fluctuations in the operating status of the main engine based on the operating status of the electric propulsion ship affect the onboard power system as fluctuations in the load. Depending on the operating conditions of the main engine, it is expected that load fluctuations will become large and the voltage and frequency of the inboard system will become unstable. At that time, in the worst case, it may cause a trip of the generator, a power failure in the cabin, a stop of the electric equipment, and the like. Particularly in the case of a passenger ship, if the power supply itself to the passenger cabin is stopped, it may cause a serious problem, and a stable power supply is strongly required.

On the other hand, in passenger ships, the upper limit is set in the distance from the full speed operation state to the stop (stop distance) in the specifications. Therefore, the main engine must be operated so as to satisfy the stopping distance. The stopping distance is, for example, within 15 captains. In order to satisfy this specification while stably supplying electric power to the inside of the ship, it is desirable to examine the power response of the main engine and the motion of the electric propulsion ship by simulation in advance.

At present, there are known simulators for simulating the use of electric power for individual devices. A simulation device that simulates the movement of a ship is known. However, there is no simulation device that includes both elements and accurately simulates the motion of the electric propulsion ship and the electric power system at the same time. Therefore, at present, the operation is performed by operating the main engine while sequentially confirming the voltage / frequency fluctuation of the inboard system.

There is a demand for a tool (simulation device) for pre-verifying the dynamic response of the electric power system of the entire ship in consideration of the electric power response of the main engine. Tools capable of testing specifications and standards of electric propulsion vessels as ships are required. There is a need for a tool that can verify the operation method of a main engine that enables stable supply and control of electric power of an electric propulsion ship.

[0007]

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an electric propulsion ship simulation apparatus and an electric propulsion ship simulation method for pre-verifying the dynamic response of the electric power system of the entire ship in consideration of the electric power response of the main engine. Is to provide.

Another object of the present invention is to provide an electric propulsion ship simulation device and an electric propulsion ship simulation method capable of calculating the power consumption of a motor for driving a main engine.

Still another object of the present invention is to provide an electric propulsion ship simulation apparatus and an electric propulsion ship simulation method capable of calculating the voltage / frequency response of the entire system including the generator and other loads during main engine operation. Is to provide.

Another object of the present invention is to provide an electric propulsion ship simulation apparatus and an electric propulsion ship simulation method capable of verifying a hull stopping distance and a voltage / frequency response in advance.

Still another object of the present invention is to provide an electric propulsion ship simulation apparatus and an electric propulsion ship simulation method capable of pre-verifying tests of specifications and standards of an electric propulsion ship as a ship.

[0012]

[Means for Solving the Problems] Means for solving the problems will be described below by using the numbers and symbols used in the embodiments of the present invention. These numbers and signs are added to clarify the correspondence between the description of [Claims] and the [Embodiment of the Invention]. However, those numbers and signs should not be used for the interpretation of the technical scope of the invention described in [Claims].

Therefore, in order to solve the above-mentioned problems, the electric propulsion ship simulation apparatus of the present invention uses the main engine (1) based on the input of the rotation speed of the motor (12) of the electric propulsion ship.
A main engine model unit (2) for calculating the first active power as the active power required for 1) and the first reactive power as the reactive power
, A first active power, a first reactive power, a second active power as active power required for the load (18) of the electric propulsion ship and a second reactive power as reactive power, and a generator of the electric propulsion ship ( 14, 16) calculates the voltage and frequency of the inboard power of the electric propulsion ship based on the inputs of the third active power as the active power and the third reactive power as the reactive power. ) And.

Further, in the electric propulsion ship simulation apparatus of the present invention, the main engine model section (2) has a main engine model which is an algorithm capable of simulating the main engine (11) of the electric propulsion ship, and the rotation of the motor (12). The first active power and the first reactive power are calculated using the main engine model based on the input of the number.

Further, in the electric propulsion ship simulation apparatus of the present invention, the main engine model section (2) uses the main engine model based on the input of the rotation speed of the motor (12) to determine the speed of the electric propulsion ship. The ship speed and the traveling distance as the moving distance of the electric propulsion ship are calculated.

Further, in the electric propulsion ship simulation apparatus of the present invention, the main engine model includes the Robinson curve as the torque characteristic of the main engine (11).

Further, the electric propulsion ship simulation apparatus of the present invention has a load model which is an algorithm capable of simulating the load (18) of the electric propulsion ship, and uses the load model to determine the second active power and the second reactive power. A load model unit (3) for calculating electric power is further provided.

Further, the electric propulsion ship simulation apparatus of the present invention has a generator model which is an algorithm capable of simulating the generators (14, 16) of the electric propulsion ship, and the third effective model is obtained by using the generator model. A generator model unit (4) for calculating electric power and third reactive power is further provided.

In order to solve the above-mentioned problems, the electric propulsion ship simulation method of the present invention is based on the input of the rotation speed of the motor (12) of the electric propulsion ship as the first effective electric power required for the main engine (11). Calculating a first reactive power as active power and reactive power; calculating a second active power as active power required for the load (18) of the electric propulsion ship and a second reactive power as reactive power;
Calculating the third active power as the active power and the third reactive power as the reactive power generated by the generator (14, 16) of the electric propulsion ship; the first active power and the first reactive power; Calculating the voltage and frequency of the inboard power of the electric propulsion ship based on the inputs of the active power and the second reactive power and the third active power and the third reactive power.

In the electric propulsion ship simulation method of the present invention, the step of calculating the first active power and the first reactive power is based on the input of the rotation speed of the motor (12).
The method further comprises a step of calculating a ship speed as a speed of the electric propulsion ship and a cruising distance as a moving distance of the electric propulsion ship.

Further, in the electric propulsion ship simulation method of the present invention, the step of calculating the first active power and the first reactive power uses the Robinson curve as the torque characteristic of the main engine (11).

In order to solve the above problems, the computer program according to the present invention is based on the input of the rotation speed of the motor (12) of the electric propulsion ship, the first active power as the active power required for the main engine (11), and A step of calculating the first reactive power as the reactive power by referring to the Robinson curve as the torque characteristic of the main engine (11), the second active power and the reactive power as the active power required for the load (18) of the electric propulsion ship. A step of calculating a second reactive power as electric power, a step of calculating a third active power as an active power generated by the generator (14, 16) of the electric propulsion ship, and a third reactive power as a reactive power, Based on the inputs of the first active power and the first reactive power, the second active power and the second reactive power, the third active power and the third reactive power, the inboard power of the electric propulsion ship Executing the method comprising the steps of calculating the pressure and frequency in the computer.

In the computer program according to the present invention, the step of calculating the first active power and the first reactive power is based on the input of the rotation speed of the motor (12),
The computer is caused to execute the method described above, further comprising the step of calculating the ship speed as the speed of the electric propulsion ship and the cruising distance as the movement distance of the electric propulsion ship with reference to the Robinson curve.

The above method further comprising the step of displaying at least one of a ship speed, a mileage, a first active power and a first reactive power, a voltage of the inboard power and a frequency of the inboard power on a display device. Let the computer perform the method.

The order of the steps of the electric propulsion ship simulation method and the program described in the above items can be changed as long as no contradiction occurs.

[0026]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of an electric propulsion ship simulation apparatus and an electric propulsion ship simulation method according to the present invention will be described below with reference to the accompanying drawings. In the present embodiment, the electric propulsion ship simulation device and the electric propulsion ship simulation method used for the electric propulsion ship will be described as an example, but the present invention is also applied to a moving body that operates using other electrically driven rotating equipment. The invention is applicable. (In the respective embodiments, the same or corresponding parts will be described with the same reference numerals.)

FIG. 1 is a diagram showing the configuration of an electric propulsion ship simulation apparatus in an embodiment of an electric propulsion ship simulation apparatus and an electric propulsion ship simulation method according to the present invention.

The electric propulsion ship simulation device 1 is an information processing device exemplified by a workstation. An input unit 6 and an output unit 7 as input / output devices, a main engine model unit 2 as a program, a load model unit 3, a generator model unit 4, and an inboard power system unit 5 are provided.

The electric propulsion ship simulation device 1 performs a simulation on the electric power and motion of the electric propulsion ship based on the input of the rotation speed command (b1), and the speed of the electric propulsion ship (c1), the electric propulsion ship Ship travel distance (c2), which is the distance traveled by the ship, active power and reactive power required by the main engine (propeller) of an electric propulsion ship (hereinafter "first active power", "first reactive power") (c3), electricity The voltage (hereinafter “in-system voltage”) (d1) and frequency (hereinafter “in-system frequency”) (d2) of the inboard power system of the propulsion ship are output.

The input section 6 belongs to the electric propulsion ship simulation apparatus 1. Data required for simulation (a
This is an input device for inputting 1). The input unit 6 is exemplified by a keyboard and a data communication port. The input data is output to the main engine model unit 2, the load model unit 3, the generator model unit 4, and the inboard power system unit 5 based on the command at the time of input. Here, the rotation speed command (time series data) (a1) is input as the rotation speed of the motor for moving the main engine, and is output to the main engine model unit 2 (as (b1)).

The main engine model section 2 belongs to the electric propulsion ship simulation apparatus 1. In the main engine model section 2, a model related to the main engine (hereinafter, “main engine model”) is set. The rotation speed command (time-series data) is input to the main engine model unit 2 as the rotation speed of the motor for moving the main engine. The main engine model unit 2 simulates the motion and power consumption of the main engine using the main engine model based on the rotation speed command (b1). Then, as a result, the ship speed (c1), the cruising distance (c2), the first active power and the first reactive power (c3) are output.

In the simulation, the main engine model unit 2 uses a Robinson curve (relationship between torque applied to the main engine and rotation speed of the main engine) inside. The Robinson curve is a characteristic curve that is determined based on the operating conditions of the electric propulsion ship and the characteristics of the main engine.Specifically, it shows the relationship between the rotational speed of the main engine and the torque that the main engine receives, and is obtained in advance by experiments. . This makes it possible to more accurately simulate the operation of the ship.

The load model section 3 belongs to the electric propulsion ship simulation apparatus 1. In the load model unit 3, a model (hereinafter, “load model”) related to a device that consumes electric power other than the main engine (hereinafter, “board load”) is set. The load model unit 3 simulates the power consumption of the inboard load using the load model. As a result, the active power and the reactive power required by the inboard load (hereinafter, "second active power" and "second reactive power") (c4) are output. Devices other than the main engine that consume electric power are exemplified by electric devices used in passenger cabins, electric devices used in various onboard utilities, bow / stan thrusters, and the like.

The generator model section 4 belongs to the electric propulsion ship simulation apparatus 1. In the generator model section 4, a model (hereinafter, “generator model”) relating to the generator inside the ship is set. The generator model unit 4 uses the generator model to simulate generated power that can be generated by the generator. Then, as a result, active power and reactive power that can be generated by the generator (hereinafter, “third active power” and “third reactive power”) (c5) are output.

The onboard power system section 5 belongs to the electric propulsion ship simulation apparatus 1. A model relating to generation and use of electric power in an electric propulsion ship is set in the inboard power system 5 (hereinafter, “inboard power system model”). The inboard power system unit 5 includes a first active power and a first reactive power (c
3 ′), second active power and second reactive power (c4), third
Active power and third reactive power (c5) are input. The inboard power system unit 5 includes a first active power and a first reactive power (hereinafter, “first active / reactive power”), a second active power and a second reactive power (hereinafter, “second active / reactive power”). ), And the third
Based on inputs of active power and third reactive power (hereinafter, "third active / reactive power"), the first and second active / reactive power and the third active / reactive power are used by using the inboard power system model. Simulate the onboard power system so that and are balanced. Then, as a result, the in-system voltage (d1) and the in-system frequency (d2) are output.

The output unit 7 belongs to the electric propulsion ship simulation apparatus 1. It is an output device that outputs data of simulation results (output values (e1) to (e).
5)). The output unit 7 is exemplified by a display, a memory, a hard disk, a printer, and a data communication port. The data input to the output unit 7 is output to an appropriate output device other than the output unit 7 based on the command at the time of input.
Here, the ship speed (c1), the cruising distance (c2), the first active / reactive power (c3), the system voltage (d1), and the system frequency (d2) are input, and ((e1) to (e5) As))
It is output to an appropriate output device (eg, display and memory). In addition, the output unit 7 itself (e1) to (e5)
It is also possible to display.

FIG. 2 is a diagram showing the relationship between the electric propulsion ship simulation device 1 and the control device of the electric propulsion ship. It comprises an electric propulsion ship simulation device 1 and a control device 9 (of an electric propulsion ship).

The electric propulsion ship simulation apparatus 1 is the same as that described with reference to FIG. The control device 9 is a control device that controls the entire electric propulsion ship. When electric power is used in the electric propulsion ship, first, the rotation speed command (a1) is input to the electric propulsion ship simulation device 1 to perform a simulation. Then, based on the resulting ship speed (e1), cruising distance (e2), first active / reactive power (e3), system voltage (e4), system frequency (e5), the rotation speed command To determine if is appropriate. As a judgment criterion, for example, LRS (Lloy
d'sRegister Shipping, British Classification Society) all of the allowable values are satisfied, and the stopping distance (running distance) at the time of stopping is within 15 captains. When appropriate, the same rotation speed command (a1) is input to the control device 9 of the actual electric propulsion ship. If it is inappropriate, the same procedure is performed for another rotation speed command (a1 ').

Since the behavior of the electric propulsion ship with respect to the rotation speed command can be grasped in advance, an inappropriate rotation speed command can be removed in advance. Then, only an appropriate speed command can be input to the actual electric propulsion ship, and the reliability and safety of its operation can be improved.

The electric propulsion ship simulation device 1
May be disposed on the electric propulsion ship and electrically connected to the control device 9. Actions for various real-world situations can be determined quickly and accurately. The electric propulsion ship simulation device 1 may be included in the control device 9. The device is 1
It only requires a table and is low cost. Further, the electric propulsion ship simulation device 1 is located in another facility, and it is possible to communicate with each other by satellite communication or the like while the electric propulsion ship is in operation. Space can be used effectively without the need to place a simulation device on board. Further, it is easy to deal with the abnormality of the simulation device. Further, it is possible that the electric propulsion ship simulation device 1 performs a simulation in advance based on various rotational speed commands and stores the result (appropriate result) in the storage device inside the control device 9. . The simulation time can be omitted. The control device 9 can select an appropriate rotation speed command from the storage device and perform a good flight operation.

Next, an inboard electric system relating to the embodiments of the electric propulsion ship simulation apparatus and the electric propulsion ship simulation method according to the present invention will be described.

FIG. 3 is a diagram showing a configuration of an inboard electric system relating to an embodiment of the electric propulsion ship simulation apparatus and the electric propulsion ship simulation method according to the present invention.
The inboard electrical system 10 includes a main engine 11, a motor 12, a converter 13, a generator 14, a gas turbine 15, a generator 16,
Diesel engine 17, load A18-1 to load B18
-2, electric wire 19, switch A20-1 to switch D20
-4 is provided.

That is, the onboard electric system 10 includes a power generation facility (generator 14 / gas turbine 15, generator 16 / diesel engine 17) for generating power and a consumption facility (main engine 11 / motor 12 / converter). 13, load A18-1 to load B18-2) and power transmission equipment (electric wire 19, switch A20-1 to switch D20) that connects the two.
-4) is provided.

The main machine 11 is a propeller that rotates with the rotation of a motor 12 (described later). Propulsion can be obtained in water by rotation. The relationship between the torque received by the main engine due to the rotation and the rotation speed of the main engine is stored in the main engine model unit 2 as a Robinson curve. Main machine 11
It is possible to mount more than one. In this embodiment, 1
It is a base.

The motor 12 rotates the main machine 11 at a variable speed. The motor 12 is exemplified by a synchronous motor and an induction motor. One motor 12 for one main machine 11
Correspond to. Therefore, in this embodiment, the motor 12 is
It is one.

The converter 13 can control the magnitude of electric power supplied to the motor 12 and its frequency. By controlling the electric power (current and voltage) and its frequency here, it is possible to control the rotation speed of the motor 12 and thus the main engine 11. The converter 13 is exemplified by a cyclo (registered trademark) converter (synchronous converter). One converter 13 for one motor 12
Correspond to. Therefore, in this embodiment, the converter 13
Is one.

The generator 14 converts (generates) the rotational energy of the gas turbine 15 into electric energy. The generator 14 is exemplified by a synchronous generator and an induction generator. The gas turbine 15 converts the energy of high-temperature and high-pressure combustion gas into rotational energy of the turbine. One gas turbine 15 is associated with one power generator 14. It is possible to install a plurality of each of them, but in this embodiment, each is one.

The generator 16 converts (generates) rotational energy from the diesel engine 17 into electric energy. The generator 16 is exemplified by a synchronous generator and an induction generator. The diesel engine 17 converts combustion energy generated by burning fuel into driving energy for a piston. The driving energy of the piston is mechanically converted into rotational energy. One diesel engine 17 is made to correspond to one generator 16. It is possible to install a plurality of each of them, but in this embodiment,
One for each.

Loads A18-1 to B18-2 are facilities and equipment in the electric propulsion ship that consume electricity other than the main engine 11 (motor 12). Load 18-1 to load B18-2
Are exemplified by bow / stan thrusters, electrical equipment in passenger cabins, engine accessories, and onboard utilities.

The electric wire 19 is stretched around the inside of the electric propulsion ship and supplies the generated electric power to each load including the main engine 11 (motor 12). Switch A20-1 to switch D20
-4 appropriately connects / disconnects the electric wire 19 at an appropriate position. Thereby, distribution of generated power to each load is controlled.

Next, the operation of the embodiment of the electric propulsion ship simulation apparatus and the electric propulsion ship simulation method according to the present invention will be described.

First, the simulation model will be described. (1) Generator System First, a generator model of the generator system will be described. (A) Synchronous generator In this embodiment, a synchronous generator is used as the generator. The active power P (third active power) and the reactive power Q (third reactive power) generated by the synchronous generator are calculated by the following equations using circuit constants.

[Equation 1] However, V: Voltage between terminals of generator (default value) X _d : Direct axis reactance (default value) X _d ': Direct axis transient reactance (default value) X _q : Horizontal axis reactance (default value) X _q ': Horizontal axis transient reactance (default value) E _q ': Horizontal axis transient internal voltage (from equation (3)) δ: Internal phase angle of the generator (from equation (4)).

Here, the horizontal axis transient internal voltage E _q 'is calculated by the following equation using the field voltage E _fd . Field voltage E _fd
Is the output voltage of the automatic voltage regulator (AVR).

[Equation 2] However, T _d0 ': Transient open circuit time constant (default value)

The rotation speed ω of the generator is calculated by the following equation of motion and each equation.

[Equation 3] However, ω _n : Electrical synchronous angular velocity (default value) ω _nm : Mechanical synchronous angular velocity (default value) M: Inertia constant (default value) J: Moment of inertia (default value) S _base : Reference apparent power (default value) P _m : Mechanical input (default value) D _e : Braking coefficient (default value) Here, the relationship between the mechanical angular velocity ω _M and the electrical angular velocity ω (the number of revolutions of the generator) is represented by the following formula.

[Equation 4] However, p is the number of magnetic poles.

From the above equations (1) to (6), the active power P (third active power) and the reactive power Q (third power) of the synchronous generator are calculated.
The reactive power) and the frequency ω (angular velocity) are calculated.

The generator model is not limited to the above.

(B) Speed governor control system Next, a speed governor control system for controlling the speed of the generator to a constant target value (eg, engine rated speed) will be described.

In this embodiment, speed control is performed using the same model (method) in a diesel engine and a gas turbine. FIG. 4 is a block diagram showing a configuration of a governor model for a diesel engine and a gas turbine (hereinafter, referred to as “governor model”). In the governor model 21, the target value N of the speed (rotation speed) of the engine or turbine
_set and actual engine or turbine speed (speed)
N is subtracted (compared) at the addition point 22. The difference is the proportional part 23 (transfer function: P ₁ ), the integrating part 24 (transfer function: I / s) and the first-order lag differentiating part 25 (transfer function: D).
s / (1 + t ₀ s)) respectively. The signals output from the respective units are added together at the addition point 26 and input to the first-order delay unit 27 (transfer function: 1 / (1 + t _a s)) simulating the delay time of the governor response. The output is
The torque is output as the engine or turbine torque T _G.

However, P _{1 is a} proportional gain, I is an integral gain, D is a differential gain, t _{0 is an} approximate differential time constant, and
Control is performed by adjusting these. t _a: governor time constant, is the default value.

The speed governor model is not limited to the above.

(C) Automatic voltage regulator (AVR) Next, an automatic voltage regulator for controlling the frequency for keeping the terminal voltage of the generator constant will be described. Figure 5
FIG. 3 is a block diagram showing a configuration of an automatic voltage regulator model (common to a diesel engine and a gas turbine).
In the automatic voltage regulator device model 30, the set value V _set of the terminal voltage of the generator and the terminal voltage V are subtracted (compared) at the addition point 31. The difference is input to the proportional unit 32 (transfer function: K). The signal output from the proportional unit 32 includes an integrating unit 33 (transfer function: T ₁ / s) and a first-order delay unit 34 (transfer function: K _A that takes into account the delay time of the AVR response).
_{/ (1 + T A s)} ) is outputted to. The signals output from the integrator 33 and the first-order delay unit 34 are added at the addition point 35 and input to the proportional unit 36 (transfer function: 1 / K). The signal output from the proportional portion 36 is output as the field voltage E _fd . However, T _{A is} a time constant of AVR and is a default value. K _A , K: proportional gain, T _I : integral gain, and control is performed by adjusting these.

The automatic voltage regulator model is not limited to the above.

(2) Electric propulsion system Next, a model of the electric propulsion system will be described. (A) Electric propulsion motor (PEM) The torque of the motor is expressed by the following equation.

[Equation 5] However, T _M : Motor torque T _MN : Rated motor torque (default value) p: Number of magnetic poles (default value) K: Coefficient δ _M : Mechanical angle of motor (from equation (8)).

The rotation equation of the electric propulsion system is as follows.

[Equation 6] However, T _M : Motor torque (from equation (7)) T _P : Propeller torque (from Robinson curve (described later)) ω _M : Propeller angular velocity (mechanical angular velocity) J _M : Motor inertia moment (default value) J _P : It is the moment of inertia of the propeller (default).

Here, δ _M in the equation (7): the mechanical angle of the motor is calculated by the following equation.

[Equation 7] However, ω _M : Mechanical angular velocity (from equation (8)) ω _Mn : Machine synchronous angular velocity or target value of mechanical angular velocity (default value) ω _C : Mechanical angular velocity of governor

Motor power (active power, reactive power, apparent power) is given by the following equation.

[Equation 8] However, S _M : apparent motor power P _M : effective motor power Q _M : reactive motor power pf: power factor.

The motor torque limit value T _ML can be calculated by the following equation.

[Equation 9] However, I _L : maximum current V _L : maximum voltage η: efficiency.

The propeller (main engine) model including the synchronous converter is assumed as follows. That is, the power data for synchronization converter (S _C: Synchronization Converter apparent power, P _C: Synchronization Converter active power, Q _C: Synchronization converter reactive power, pf _C: Synchronization converter power factor) is input to the synchronous converter Then, the power data for the motor (S _M : apparent power of the motor, P _M : active power of the motor, Q _M : reactive power of the motor, pf _M : power factor of the motor) is output from the synchronous converter to the motor. However, if the loss in the synchronous converter is not considered, then P _C = P _M.

The active power and the apparent power are expressed by the following equations.

[Equation 10]

(B) Dynamic behavior of propeller The equation of motion of an electric propulsion ship is as follows.

[Equation 11] However, m: mass of electric propulsion ship (default value) m _x : additional mass in the longitudinal direction (default value) v: speed of electric propulsion ship X _M : fluid force on the hull (equations (19), (20), etc.) G): Gravitational constant (default value).

Here, the fluid force X _M applied to the hull is expressed as follows.

[Equation 12] However, R: resistance of the electric propulsion ship (default value) t: thrust deduction coefficient (default value) N: number of propellers (default value) T _P : propeller torque (default value).

Here, the propeller per propeller
Luke Q_PRobinson showing the relationship between the speed and the number of revolutions of the propeller
The curve can be obtained by experiments or simulations.
You can Propeller torque T_PHit one propeller
Rino propeller torque Q_PCan be calculated using
It In this embodiment, since there is one propeller (main engine), T
_P= Q _P,.

(3) Inboard Load Next, a model of the load in the electric propulsion boat excluding the main engine will be described. (A) Guest room It is assumed that the guest room has a fixed load. The active power P _{L of the} power used by the electrical equipment in the cabin is given as a function of time (equation (21)). Alternatively, the voltage V or the frequency f may be given as a function of time (equation (22), (2
3), where N is optional). The power factor pf _L is constant. At that time, the reactive power QL is _calculated by the following equation (Equation (24)).
Given in.

[Equation 13] However, P ₀ : reference power (default value) V _B : rated voltage (default value) f _B : rated frequency (default value) (b) engine room For each device in the engine room, active power P _ER and reactive power Q _{For ER} , fixed values P _ER0 and Q
We will use _ER0 . That is, the electric power required in the engine compartment is collected and handled as follows.

[Equation 14] (C) Others With regard to other conceivable devices, it is possible to use the method used for the simulation that is conventionally used.

The model related to the power consumption of the electric propulsion ship is
It is not limited to the above model. It is also possible to use other models that have been conventionally used as long as there is no contradiction.

Next, the operation of the embodiment of the electric propulsion ship simulation apparatus and the electric propulsion ship simulation method according to the present invention will be described with reference to FIG. Figure 6
FIG. 3 is a diagram showing a flow of an electric propulsion ship simulation method applied to the electric propulsion ship simulation device of the present invention. (1) Step S1 The input unit 6 outputs a command of the rotation speed of the motor for moving the main machine to the main machine model unit 2 in the form of time series data of the rotation speed. (2) Step S2 The main engine model unit 2 simulates the motion of the main engine based on the rotation speed command (time series data) using the internal main engine model. That is, first, the rotation speed command is
It is substituted for the target value ω _Mn of the mechanical angular velocity in Expressions (10) and (11). Then, the mechanical angle of the motor δ _M
Is calculated. Next, using the mechanical angle δ _M of the motor, the motor torque T _M is calculated by the equation (7). continue,
Using the Robinson curve, the current propeller angular velocity ω _M
The propeller torque T _P corresponding to Then, using the propeller torque T _P , equations (18) to (20) are solved. Then, the speed v (t) of the electric propulsion ship is calculated. Further, the speed v (t) is integrated in a certain time range to calculate the running distance within that time. Then, using the motor torque and the propeller torque, the following equations (8)-
By solving (9), the propeller angular velocity ω _M in the next state is calculated. Then, the propeller angular velocity ω _M and the motor torque T
_{Using M} , solve equations (12)-(17). And
Required for synchronous converter (= required for main engine propeller)
The first active power (P _C ) and the first reactive power (Q _C ) are calculated. (3) Step S3 The main engine model unit 2 outputs the calculated boat speed v (t) and the traveling distance in a certain time range to the output unit 7. (4) Step S4 The load model unit 3 simulates the power consumption of the inboard load by using a load model relating to a device that consumes power other than the main engine (hereinafter, “inboard load”). For example, the active / reactive power is calculated using the equations (21) to (24) as the power required in the cabin. Further, regarding the electric power required in the engine compartment, the active / reactive power is calculated using the equations (25) and (26). Then, the second active power and the second reactive power required for the inboard load are calculated as the sum of them. (5) Step S5 The generator model unit 4 simulates the generated electric power that can be generated by the generator using the generator model of the generator inside the ship. That is, equations (1) to (6) are solved. Then, as a result, the third generator capable of generating power
The active power (P) and the third reactive power (Q) are calculated. (6) Step S6 The generator model unit 3 outputs the third active power (P) and the third reactive power (Q) to the onboard power system unit 5. (7) Step S7 The load model unit 3 outputs the second active power and the second reactive power to the inboard power system unit 5. (8) Step S8 The main engine model unit 2 outputs the first active power (P _C ) and the first reactive power (Q _C ) to the inboard power system unit 5. (9) Step S9 The main engine model unit 2 outputs the first active power (P _C ) and the first reactive power (Q _C ) to the output unit 7. (10) Step S10 The inboard power system unit 5 uses the first active power and the first reactive power,
Second active power and second reactive power, third active power and third
Based on the input of the reactive power, a simulation of the inboard power system is performed so as to balance the first and second active / reactive powers and the third active / reactive powers by using an inboard power system model provided inside. That is, in this electric propulsion ship simulation device, a power flow calculation is performed by solving a simultaneous equation for a voltage that satisfies the electric power supplied by all generators in the electric propulsion ship = the electric power consumed by the total load in the electric propulsion ship + the loss component. I am doing it. Then, as a result, the in-system voltage that is the voltage of the electric power in the electric propulsion ship and the in-system frequency that is the frequency of the electric power in the electric propulsion ship are calculated. (11) Step S11 The inboard power grid unit 5 outputs the grid voltage and grid frequency to the output unit 7. Here, on the display (display device) of the output unit 7, the ship speed, the cruising distance, the first active / reactive power, the system voltage and the system frequency (output value (e1) to
At least one of (e5)) may be displayed. (12) Step S12 The output unit 7 outputs the vessel speed, the cruising distance, the first active / reactive power, the grid voltage, and the grid frequency, which are input to the output unit 7, to an appropriate output device (for example, a display and a memory). Output.

However, the above step S6 may be any time after step S5 and before step S10. The step S7 is the step S1 after the step S4.
It can be any time before 0. Step S8 may be any time after step S2 and before step S10. Step S9 is a step S2 after the step S2.
Any time before 12 is okay.

By the operation of the electric propulsion ship simulation apparatus and the electric propulsion ship simulation method of the present invention, the operation of all devices using electric power in the electric propulsion ship,
It is possible to perform a simulation of the entire system considering the power consumption. Then, by inputting the rotation speed command, it becomes possible to verify in advance the hull stopping distance and the voltage / frequency response.

Also, the LRS regulations, required specifications, various safety standards, etc. can be accurately confirmed in a short period of time by pre-verification before manufacturing the electric propulsion ship. It is possible to significantly reduce the time and labor required for designing, test manufacturing, etc., and to reduce costs. In addition, the obtained results (relationship between operation and electric power, etc.) are reflected in the control device of the ship, which enables stable operation.

[0079]

According to the present invention, the dynamic response of the entire electric power system and the motion of the electric propulsion ship in consideration of the electric power response of the main engine (propeller) can be verified in advance.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of an electric propulsion ship simulation device in an embodiment of an electric propulsion ship simulation device and an electric propulsion ship simulation method according to the present invention.

FIG. 2 is a diagram showing the relationship between the electric propulsion ship simulation device and the control device of the electric propulsion ship according to the present invention.

FIG. 3 is a diagram showing a configuration of an inboard electric system relating to an embodiment of an electric propulsion ship simulation apparatus and an electric propulsion ship simulation method according to the present invention.

FIG. 4 is a block diagram showing a configuration of a governor model used for simulation.

FIG. 5 is a block diagram showing a configuration of an automatic voltage regulator device model used for simulation.

FIG. 6 is a diagram showing a flow of an electric propulsion ship simulation method applied to the electric propulsion ship simulation device of the present invention.

[Explanation of symbols]

1 Electric propulsion ship simulation device 2 Main engine model section 3 Load model section 4 Generator model section 5 Onboard power system section 6 Input section 7 Output section 9 Control device 10 Inboard electrical system 11 Main engine 12 motors 13 Converter 14 generator 15 gas turbine 16 generator 17 diesel engine 18-1 Load A 18-2 Load B 19 electric wires 20-1 Switch A 20-2 Switch B 20-3 Switch C 20-4 Switch D 21 Governor model 22 additional points 23 Proportional part 24 Integrator 25 First-order lag differentiation part 26 additional points 27 Primary delay 30 Automatic voltage regulator model 31 additional points 32 Proportional part 33 Integrator 34 First Delay 35 additional points 36 Proportional part

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Masafumi Kajiya             1-1 Satinoura Town, Nagasaki City, Nagasaki Prefecture Mitsubishi Heavy Industries             Nagasaki Shipyard Co., Ltd.

Claims (12)

[Claims] 1. A main engine model unit for calculating a first active power as an active power required for a main engine and a first reactive power as a reactive power based on an input of a rotation speed of a motor of an electric propulsion ship; Active power, the first reactive power, the second active power as the active power required for the load of the electric propulsion ship, the second reactive power as the reactive power, and the active power generated by the generator of the electric propulsion ship. An electric propulsion ship simulation comprising: an inboard electric power system unit that calculates a voltage and a frequency of inboard electric power of the electric propulsion ship based on inputs of a third active power as a power and a third reactive power as a reactive power. apparatus. 2. The main engine model section has a main engine model that is an algorithm capable of simulating the main engine of the electric propulsion ship, and the main engine model is used based on the input of the rotation speed of the motor, The electric propulsion ship simulation apparatus according to claim 1, wherein the first active power and the first reactive power are calculated. 3. The main engine model section uses the main engine model based on the input of the number of rotations of the motor to determine a ship speed as a speed of the electric propulsion ship and a travel distance of the electric propulsion ship. The electric propulsion ship simulation apparatus according to claim 1, wherein the cruising distance is calculated. 4. The electric propulsion ship simulation apparatus according to claim 1, wherein the main engine model includes a Robinson curve as a torque characteristic of the main engine. 5. A load model unit having a load model that is an algorithm capable of simulating the load of the electric propulsion ship, and calculating the second active power and the second reactive power using the load model. The electric propulsion ship simulation apparatus according to any one of claims 1 to 4, further comprising: 6. A generator model, which is an algorithm capable of simulating the generator of the electric propulsion ship,
The third active power and the third active power using the generator model.
The electric propulsion ship simulation device according to claim 1, further comprising a generator model unit that calculates reactive power. 7. A step of calculating first active power as active power required for the main engine and first reactive power as reactive power based on the input of the rotation speed of the motor of the electric propulsion ship, Calculating a second active power as active power required for the load and a second reactive power as reactive power; a third active power as active power generated by the generator of the electric propulsion ship and a second active power as reactive power. Calculating a 3rd reactive power, inputting said 1st active power and said 1st reactive power, said 2nd active power and said 2nd reactive power, said 3rd active power and said 3rd reactive power. Based on the voltage and frequency of the inboard power of the electric propulsion ship, the electric propulsion ship simulation method. 8. The step of calculating the first active power and the first reactive power includes a ship speed as a speed of the electric propulsion ship and a speed of the electric propulsion ship based on an input of a rotation speed of the motor. The electric propulsion ship simulation method according to claim 7, further comprising a step of calculating a travel distance as a travel distance. 9. The electric propulsion ship simulation method according to claim 7, wherein the step of calculating the first active power and the first reactive power uses a Robinson curve as a torque characteristic of the main engine. 10. A Robinson curve as a torque characteristic of the main engine based on a first active power as an active power required for the main engine and a first reactive power as a reactive power based on an input of a rotation speed of a motor of an electric propulsion ship. And a step of calculating the second active power as the active power required for the load of the electric propulsion ship and the second reactive power as the reactive power, which is generated by the generator of the electric propulsion ship. Calculating a third active power as active power and a third reactive power as reactive power; the first active power and the first reactive power; the second active power and the second reactive power; Calculating the voltage and frequency of the inboard power of the electric propulsion ship based on the inputs of the third active power and the third reactive power, and implementing the method in a computer. A program to make you go. 11. The step of calculating the first active power and the first reactive power includes a ship speed as a speed of the electric propulsion ship and a speed of the electric propulsion ship based on an input of a rotation speed of the motor. A program for causing a computer to execute the method according to claim 10, further comprising: calculating a running distance as a moving distance with reference to the Robinson curve. 12. A step of displaying at least one of the ship speed, the cruising distance, the first active power and the first reactive power, the voltage of the inboard power, and the frequency of the inboard power on a display device. A program for causing a computer to execute the method according to claim 10 or 11, further comprising: