CN102681442B - Intelligent fault-tolerant control system and control method for zonal power distribution of full-electric boat - Google Patents
Intelligent fault-tolerant control system and control method for zonal power distribution of full-electric boat Download PDFInfo
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Abstract
The invention discloses an intelligent fault-tolerant control system and a control method for zonal electric distribution of a full-electric boat. A full-electric boat power system is divided into a generator set control sub-system, an electric propulsion control sub-system, a power grid and a power distribution control sub-system of the power grid by a power distribution system; the control mode of each control sub-system is controlled by adopting an intelligent fault-tolerant control method of reference and model identification based on a neural network model; and the control method has a learning function and can be used for improving the control ability of each sub-system on the fault, so that the fault control ability of the full-electric boat power system is improved. With the adoption of a power supply sub-system and a power utilization sub-system of the designed boat power control system, flexible combination of power configuration of meeting navigation requirement of the boat can be achieved, and fault isolation and fault-tolerant control can be carried out. The power system structure and the fault-tolerant control method disclosed by the invention can adapt to safe and reliable requirements of the electric propulsion boat power system on the fault control.
Description
Technical field
The present invention relates to complete electric ship electric system region distribution control technology, be specifically related to a kind of intelligent fault-tolerance control system for the reliable region distribution of controlling of complete electric ship and corresponding control method.
Background technology
China is world shipping big country and shipbuilding big country, and the gordian technique of Ship Electrical Power System robotization aspect is in great demand.The boats and ships such as modern capital ship, engineering ship, pleasure boat are due to the high request at aspects such as ship manoeuverability, energy-conservation and environmental protection, start to adopt the power of electric propulsion as ship's navigation, change boats and ships and relied on the situation of diesel engine as thrust power, produce the complete electrified revolution of ship power equipment and control thereof, formed taking electric system as boats and ships active force and the complete electrified boats and ships of energy core.
Electrical Propulsion Ship expectation set and constant speed navigation under oceanic winds/current uncertain environment.In the time of bad weather, Ship Swaying is violent, and the hydrodynamic force load variations of propelling screws is large, is subject to the impact of huge uncertain load as the electric system of boats and ships active force, and the probability of fault strengthens.At present, marine ship electric system is in the majority with the electric system of dendritic tie lines form and the electric system of the linear formula of ring junction, and the ability of system control fault is weaker; Also have some Ship Electrical Power Systems to adopt the form of region distribution, its control method mostly is conventional control method, does not have the powerful fault-tolerant control ability for fault; Therefore, Ship Electrical Power System is lower for the control ability of fault at present, mostly relies on hardware device redundancy and relay protection handling failure thereof, and when fault, electric system fluctuating range is large.
Summary of the invention
The present invention is directed to spot ship electric system existing deficiency aspect the fault-tolerant control of fail-safe control, and a kind of region distribution fault-tolerant control system of complete electric ship be provided---region distribution intelligent fault-tolerance control system and the control method implemented based on region distribution system.The present invention, for solving the control problem of complete electric ship electric power system fault, makes system in the time breaking down, still can maintain the continuous power supply to visual plant, and the safe reliability of electric system is greatly improved.Adopt the neural network intelligence multivariate fault tolerant control method based on model reference and Model Distinguish for the control of genset subsystem, electric propulsion subsystem, electrical network and the distribution subsystem thereof of complete electric ship.By fault-tolerant control system and the method for region distribution, realize the safe and reliable control of complete electric ship electric system.
In order to achieve the above object, the present invention adopts following technical scheme:
A kind of complete electric ship region distribution intelligent fault-tolerance control system, this control system matches with the region distribution system of complete electric ship, and this control system comprises:
Fault-tolerant controller: for implementing the unit of intelligent fault-tolerance control algolithm, this controller is realized based on neural network model and control method thereof, described controller, taking the deviation between the subsystem controlled device output of the region distribution system of Neural network model reference output and complete electric ship as according to carrying out Learning and revision, is implemented fault-tolerant control; Fault-tolerant controller completes the calculating of intelligent fault-tolerance control algolithm, exports fault-tolerant control and carries out instruction, to being sent control command by control subsystem, implements fail-safe control;
Control dispenser: make decisions with separating according to fault detect, carry out selectivity distribution for the instruction of fault-tolerant controller, determining of control command determined with the result separating by fault detect;
Actuator: carry out control dispenser and select the fault-tolerant steering order of distributing, change system control amount or system architecture;
Sensor and transmitter: detection subsystem physical quantity, and be converted to unified standard signal, be convenient to transmission and computer acquisition;
Neural network (NN) generalized object model: learn by the neural net method antithetical phrase running course of work, for obtaining the model of the remaining element summation of real system except controller;
Neural network (NN) reference model: with neural net method, subsystem is normally moved to the course of work and carry out off-line learning, the model of the remaining element summation except fault-tolerant controller of acquisition, plays contrast standard for real system while operation;
Intelligent trouble detects and separative element: each subsystem in the region distribution system of actuator, complete electric ship is carried out to data collection and analysis by the I/O of control object and sensor and transmitter, the fault detect that subsystem is carried out in the pattern-recognition of utilization neural network intelligent trouble with separate;
Fault-tolerant control decision unit: the information such as the fault type that provides with separative element, rank, regional extent that detect according to intelligent trouble are carried out decision-making, determine the mode of the fault-tolerant control that adopts one of system reconfiguration, degraded running, Fault Compensation, failover or combination.
In the instantiation of fault-tolerant control system scheme, described intelligent trouble detects with separative element and comprises actuator FDI, control system FDI, sensor transducer FDI, respectively actuator, control subsystem, sensor is completed fault detect and is separated with transmitter.
Further, described fault-tolerant control decision unit comprises system reconfiguration module, degraded running module, Fault Compensation module, fault switch module, respectively the calculating of the fault-tolerant control algolithm of completion system reconstruct, the calculating of the fault-tolerant control algolithm of degraded running, the calculating of the fault-tolerant control algolithm of Fault Compensation, the calculating of the fault-tolerant control algolithm of failover.
As Part II of the present invention, a kind of complete electric ship region distribution intelligent fault-tolerance control method, the method comprises the steps:
1, through path control
Described through path control comprises the control of reference model path and the control of intelligent fault-tolerance control path, and described reference model path control procedure is as follows:
Desired control signal transmits by neural network (NN) reference model, operation for controlled device after output provides standard information, the output of controlled device and this standard information comparison, the deviation of generation reaches fault-tolerant controller and learns, and changes control algolithm;
Described intelligent fault-tolerance control path control procedure is as follows:
The algorithm that fault-tolerant controller is implemented fault-tolerant control calculates, produces steering order; The instruction producing is carried out by actuator, and control subsystem controlled device completes various operating modes; Neural network (NN) generalized object model completes the online generalized model identification of controlled device system simultaneously, its output compares with the output of control subsystem controlled device, the deviation producing is for the study of Model Distinguish unit, make the reality of the control subsystem plant model that obtains and object very approaching, failure condition that can reflection object when fault;
2, backfeed loop fault diagnosis
The input and output of actuator, control subsystem controlled device and sensor and transmitter are input to intelligent trouble by sense channel and detect and separative element, are implemented fault detect and are separated by Intelligent Information Processing;
Fault-tolerant control decision unit obtains fault detect from intelligent trouble detection with separative element and carries out decision-making with the concluding information separating, and provides the resolution policy of fault-tolerant controller selective after decision-making;
3, Model Distinguish process
State under the various abundant excitation operating mode of neural network (NN) reference model off-line identification system in the time of normal operation, completes the Model Distinguish to system normal condition, reflects with this running status that intelligent fault-tolerance control system is desirable.The output of neural network (NN) reference model and control subsystem controlled device compares generation deviation, and with the learning process of this drift correction fault-tolerant controller;
State under the various operating conditions of neural network (NN) generalized object model realization on-line identification system, complete the Model Distinguish to system real time execution, the real-time running state of reflection system, various information when model has comprised the system failure, relatively produce deviation by its output and the output of control subsystem controlled device, deviation signal is for the correction of neural network (NN) generalized object model, and neural network (NN) the generalized object model algorithm of acquisition is the important composition of the algorithm of intelligent fault-tolerance controller.
The present invention reliably controls requirement, the subsystem of the diesel generator set that is complete electric ship by system decomposition, electric propulsion motor and system thereof, electrical network and distribution system three types thereof for adapting to complete electric ship power system security.Diesel generator set, electric propulsion electric system use neural network intelligent fault-tolerance control method to implement to control, and improve reliability; On this basis, complete electric ship electrical network and distribution system thereof are implemented the electrical network intelligent fault-tolerance control with protection in conjunction with comprehensive coordination.
System architecture provided by the invention and control method take into full account the requirement of the safe navigation of boats and ships ocean freestanding environment, be convenient to control the fault of sensor, actuator and the electrical equipment generation of diesel generator set, electric propulsion motor and system, electrical network and the distribution system thereof of complete electric ship, the safe reliability of complete electric ship electric system is improved, complete electric ship electric system still can maintain safe operation while breaking down, has the fault-tolerant control for fault.
Brief description of the drawings
Further illustrate the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 is the structural drawing of complete electric ship electric system of the present invention region distribution system;
Fig. 2 is the block scheme of the intelligent fault-tolerance control system based on neural network of the present invention.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
Complete electric electric propulsion for shipping, using Ship Electrical Power System as boats and ships main power systems, the requirement that electric system has been proposed to keep to high power supply safety and reliability.Electric system is very crucial as the core system safe and reliable operation of complete electric ship Power supply; Automated system is long-time, operation inevitably there will be fault continuously, and therefore, complete electric ship electric system is very important for the control of fault.The region distribution method that adopts electric system, can be decomposed into complicated electric system the combination of some functional subsystems, can be according to the timely isolated fault of the difference in region, and be the method for the complete electric ship reliability of a kind of effective raising.Therefore, improving the continuous power supply of boats and ships qualitatively, the automatic control of complete electric ship electric system is used to the method ACTIVE CONTROL fault of fault-tolerant control, improve safe reliability and have great importance.
Thus, the present invention is the functional subsystem that complete electric ship electric system is divided into genset subsystem, electric propulsion subsystem, electrical network and distribution subsystem three types thereof by complete electric ship electric system various piece by Function Decomposition, then requires subregion to configure whole Ship Electrical Power System according to safety of ship and fail-safe control.
The genset subsystem 11,12,21,22 of Fig. 1, for whole complete electric ship electric system provides electric power, in each genset subsystem, there are two or above diesel generator set 7,8,9,10,17,18,19,20, redundancy is with supplementary mutually, strengthen the fault-tolerant ability for fault, the control of every genset is undertaken by the intelligent fault-tolerance control structure of Fig. 2 and method.
The electric propulsion subsystem 3,5,23 of Fig. 1 provides the power of ship's navigation, and each electric propulsion subsystem has a propulsion electric machine 2,6,24 and propeller propulsion system 1,4,25 thereof.The control of such subsystem is undertaken by the intelligent fault-tolerance control method of Fig. 2 equally; Two ship stern electric propulsion subsystems of large ship configuration (Fig. 13,5) and stem electric propulsion subsystem (Fig. 1 23).
All the other are that General Electric (for example loads subsystem, 13,14,15,16), be divided into several boats and ships loads and can isolate electricity consumption region, the foundation in concrete quantity and region need to be divided configuration according to the importance security of boats and ships power load, electrical equipment; For example, boats and ships navigation electric/electronic device system region, service electrical system district, cabin, electrical system district, deck, crew quarters, various passenger's service areas etc., can set up the electrical load region of independent or several districts associating.
Electrical network and distribution subsystem thereof are the summations of whole controller switching equipments and electrical network and protective device thereof, comprise the distribution of genset subsystem, distribution and electrical network and the protective device thereof of electric propulsion subsystem; Its opertaing device is distributed among genset subsystem (Fig. 1 11,12,21,22), electric propulsion subsystem (Fig. 13,5,23), universal electric power load subsystem (Fig. 1 13,14,15,16) functional module.
The topological structure of the Flexible Power Grid of complete electric ship electric system combination in the present invention meets the needs of ship's navigation power, as follows in conjunction with its fault-tolerant controlling run process of Fig. 1:
(1) genset subsystem 11,12,21,22 can be implemented power supply to any electric propulsion subsystem 3,5,23 and universal electric power load subsystem 13,14,15,16 by supply line arbitrarily.For example, the genset subsystem 11 of Fig. 1 can be respectively by supply line 30 to electric propulsion subsystem 3, by 32 and 31 pairs of electric propulsion subsystems 5, power by 27 and 38 pairs of electric propulsion subsystems 23.
(2) for the power supply of electric propulsion subsystem 3,5,23, generally need two and the grid-connected of above genset subsystem to power, under case of emergency, allow single generator group subsystem to power to electric propulsion subsystem.For example, 3 of Fig. 1 can power by supply line 26 is grid-connected by supply line 30 and 21 by 11; Also can increase again 12,22 carry out grid-connected, participate in power supply; Case of emergency allows 11 to power to 3 by the monomotor systems such as 26 by 30 or 21.
(3) universal electric power load subsystem allows any single generator group subsystem to power, and the grid-connected of one or more genset subsystems can be powered to one or more universal electric power load subsystems.For example, single generator group subsystem powering mode: 11 power by 33 pairs 13, and 11 power, power, power by 42 pairs 16 more again by 41 pairs 15 by 33 and 40 pairs 14; The grid-connected powering mode of multiple generator group subsystem: 21 combine by 27 and 11,12 combine by 32 and 11, form 2 or 3 grid-connected powering modes of genset subsystem, implement power supply.
Therefore, the topological structure of electric of native system is applicable to the power supply combination of different genset subsystems for different power load subsystems, in the time that any one genset subsystem breaks down, other genset subsystem can substitute fault generator group subsystem and implement power supply; In the time that any one power load system breaks down, can isolate this power load system, do not affect the power supply of other power load; The electric propulsion subsystem of ship stern has function for subsequent use each other each other.Therefore, this system electric network composition has formed the topological structure form of system power supply and powered flexible combination, while meeting ship's navigation for the requirement of power configuration.Whole complete electric ship electric system is distributed and is realized with the modular design of subsystem function by subsystem, has the fault tolerance for fault.
The region distribution system of the complete electric ship based on above-mentioned, the intelligent fault-tolerance control method the invention provides based on NN Model Reference and Model Distinguish is implemented fault-tolerant control to each subsystem.
For the subsystem of diesel generator set, electric propulsion motor and system thereof, electrical network and the distribution system three types thereof of complete electric ship, use the control of neural network intelligent fault-tolerance to implement respectively to control, the system module that has formed intelligent fault-tolerance control subsystem taking automatic system of marine diesel-generator pack module as object, form taking marine vessel power propulsion electric machine and screw propeller thereof is the intelligent fault-tolerance control subsystem of object, intelligent fault-tolerance control subsystem taking network of ship and distribution system module thereof as object, and their basic control mode and program phase are roughly the same.
Make subsystem controlled in the time breaking down by corresponding intelligent fault-tolerance control subsystem, system still can maintain continuous operation, makes Ship Electrical Power System keep power supply continuously.The structure of the intelligent fault-tolerance control system based on NN Model Reference and Model Distinguish as shown in Figure 2.
This control system comprises:
Fault-tolerant controller 2, control dispenser 3, actuator 4, sensor and transmitter 6, neural network (NN) generalized object model 13, neural network (NN) reference model 7, intelligent trouble detect and separative element 22, fault-tolerant control decision unit 21.
Wherein, fault-tolerant controller: for implementing the unit of intelligent fault-tolerance control algolithm, this controller is realized based on neural network model and control method thereof, described controller, taking the deviation between the subsystem controlled device output of the region distribution system of Neural network model reference output and complete electric ship as according to carrying out Learning and revision, is implemented fault-tolerant control; Fault-tolerant controller completes the calculating of intelligent fault-tolerance control algolithm, exports fault-tolerant control and carries out instruction, to being sent control command by control subsystem, implements fail-safe control;
Control dispenser: make decisions with separating according to fault detect, carry out selectivity distribution for the instruction of fault-tolerant controller, determining of control command determined with the result separating by fault detect;
Actuator: carry out control dispenser and select the fault-tolerant steering order of distributing, change system control amount or system architecture;
Sensor and transmitter: detection subsystem physical quantity, and be converted to unified standard signal, be convenient to transmission and computer acquisition;
Neural network (NN) generalized object model: learn by the neural net method antithetical phrase running course of work, for obtaining the model of the remaining element summation of real system except controller;
Neural network (NN) reference model: with neural net method, subsystem is normally moved to the course of work and carry out off-line learning, the model of the remaining element summation except fault-tolerant controller of acquisition, plays contrast standard for real system while operation;
Intelligent trouble detects and separative element: each subsystem in the region distribution system of actuator, complete electric ship is carried out to data collection and analysis by the I/O of control object and sensor and transmitter, the fault detect that subsystem is carried out in the pattern-recognition of utilization neural network intelligent trouble with separate;
Intelligent trouble detect with separative element comprise actuator FDI(23), control system FDI(24), sensor transducer FDI(25), wherein FDI is fault detect and separate, and these three unit complete fault detect and separate with transmitter 6 actuator 4, control system, sensor respectively.
In the present invention, FDI intelligent trouble detects and uses network mode to know method for distinguishing to carry out with separating, and first neural network is learnt a large amount of fault cases, obtains the mapping relations between fault and sign, for fault identification lays the first stone; Then the neural network of succeeding in school is used for to online fault detect, the data that collect are carried out to real-time operation, identify out of order feature, determine the source of trouble.
Fault-tolerant control decision unit: the information such as the fault type that provides with separative element, rank, regional extent that detect according to intelligent trouble are carried out decision-making, determine the fault-tolerant control mode with system reconfiguration, degraded running, Fault Compensation, failover.
Fault-tolerant control decision unit comprises system reconfiguration module, degraded running module, Fault Compensation module, fault switch module, respectively the calculating of the fault-tolerant control algolithm of completion system reconstruct, the calculating of the fault-tolerant control algolithm of degraded running, the calculating of the fault-tolerant control algolithm of Fault Compensation, the calculating of the fault-tolerant control algolithm of failover.
Generally, each controlled device in Fig. 1 all adopts the control form of Fig. 2 to implement intelligent fault-tolerance control.In conjunction with Fig. 2 and Fig. 1, illustrate that relation is each other as follows.
In Fig. 25 is controlled devices of controlling, as generator set control subsystem, 5 of Fig. 2 can be 7 in Fig. 1,8,9,10,17,18,19, one of 20, i.e. 7,8,9,10,17,18,19,20 control is to adopt Fig. 2 structure to carry out fault-tolerant control.As propulsion electric machine control subsystem, 5 of Fig. 2 can be 2 in Fig. 1,6, one of 24, i.e. 2,6,24 control is to adopt Fig. 2 structure to carry out fault-tolerant control.As power grid control subsystem, 5 of Fig. 2 is power supply network combinations of 26 to 45, and the power supply network of 26 to 45 compositions is to adopt Fig. 2 structure to carry out fault-tolerant control.For different control subsystem, be all to adopt the control structure of Fig. 2 to carry out fault-tolerant control, but in structure, the content of each unit is different according to different control objects.W in Fig. 2 is the Mean Vector of controlling, and is mainly combined by the electric parameter desired amount of electric system; 5 the position by control subsystem in control loop, by its output signal of 6 detections.In Fig. 22,3,7,13,21,22 composition intelligent fault-tolerance control frameworks; 2,3 as major control device, and 7 provide the whole control system comparative standard of control program, the state of 12 on-line identification objects; 22 pairs 4,5,6 I/O gather and analyze, and implement neural network intelligent trouble and detect and separate; The result of 21 pairs of fault detects judges, fault-tolerant control strategy is provided, and offers 3 and selects, by 2 scheme implementations that carry out intelligent fault-tolerance control by 18.
Different from control subsystem, in Fig. 22,3,5,7,13,21,22 content are different, for example, for diesel-driven generator control subsystem, these unit are all the corresponding units in generator control system, the 5th, diesel-driven generator, the 7th, the Neural network model reference of the diesel-driven generator control subsystem that off-line identification obtains, the 13rd, the model of the gen-set control system of real-time online identification.
The present invention is directed to real system fault and have random uncertainty, the electrical equipment such as actuator, sensor and the transmitter of system, controller, controlled device all likely breaks down.Intelligent fault-tolerance control system provided by the invention comprises neural network (NN) reference model, neural network generalized object model, the fault-tolerant decision-making of neural network, neural network fault-tolerant controller and five unit of control dispenser thereof; The fault-tolerant decision-making of neural network comprises the decision modes such as system on-line reorganization, degraded running, Fault Compensation and failover, select neuron algorithm, learning rules, the network topology structure of neural network fault-tolerant controller to carry out control law intelligent reconstruction by control dispenser, implement fault-tolerant control.The control target of intelligent fault-tolerance control is: make controlled device and each unit thereof in the time there is certain fault, system still has the stable operation characteristics approaching with Neural network model reference.The control procedure of intelligent fault-tolerance control, according to first carrying out fault detect, diagnosis and separating, is then implemented the program of fault-tolerant control and is carried out.Neural network model reference obtains by off-line identification controlled device in advance; Neural network obtains generalized object model by on-line study, model information comprises the whole remaining environment division except controller and reference model in system, for identifying running status and the failure condition of generalized object, the Back ground Information that produces controlled device fault diagnosis, offers the fault detect of fault handling neural network completion system, diagnosis and separates.Quick fault testing, the diagnosis of neural network and separate and comprise fault eigenvalue extraction, fault detect, failure modes and separate five processes with identification, fault diagnosis, intelligent fault.Intelligent fault detects and separates and can carry out respectively fault diagnosis and separating treatment to actuator, sensor and transmitter, control system, also can totally carry out fault diagnosis and separating treatment to each subsystem.
Mainly complete the fault-tolerant control of genset and sensor thereof, actuator, controller failure for the control of complete electric ship diesel generator set; Mainly complete the fault-tolerant control of propulsion electric machine and sensor thereof, actuator, controller failure for complete electric ship electric propulsion motor and system control thereof; Mainly complete the fault-tolerant control of regional power grid and controller switching equipment fault for complete electric ship electrical network and distribution system control thereof, complete electric ship electrical network and distribution system control thereof are carried out the comprehensive coordination of complete electric ship electric system simultaneously and are controlled with protection.
Based on above-mentioned intelligent fault-tolerance control system, the present invention also provides corresponding intelligent fault-tolerance control method, this control method is the basic control method that is applicable to diesel generator set, electric propulsion motor and system thereof, electrical network and three kinds of subsystems of distribution system thereof of complete electric ship, in order to various subsystems are realized to intelligent fault-tolerance control.In complete electric ship electric system, diesel generator set is as feeder ear, electric propulsion motor and system thereof are as load end, electrical network and distribution system thereof couple together them, therefore the fault-tolerant control of complete electric ship electric system is to realize on the fault-tolerant control basis of three class subsystems, when each subsystem has possessed after the function of fault-tolerant control, the fault-tolerant control function of complete electric ship electric system just can be guaranteed.
By reference to the accompanying drawings 2, fault-tolerant control program realizes by through path control, backfeed loop fault diagnosis and three control procedures of Model Distinguish.Through path control, backfeed loop fault diagnosis and three control procedures of Model Distinguish, realized the closed-loop control course of work for " neural network failure of data acquisition → 22 of Unit 2,4,5,6 detects with the control of separate → 21 fault-tolerant decision-making → 3 and distributes the instruction of enforcement intelligent fault-tolerance control → 4 of selecting → 2 to carry out → act on 5 controlled devices " of Fig. 2.
The implementation process of fault-tolerant control action is described as follows.
1. through path control procedure
Through path is the major control passage of system, is divided into two passages in reference model path and intelligent fault-tolerance control path.
(1) reference model path
Desired control signal transmits by 7 of Fig. 2, and the operation for controlled device after output provides standard information, and the output of controlled device 5 and this standard compare, and the deviation of generation, by 8 study for intelligent controller 2, changes control algolithm; Be the unit that embodies the learning functionality of control method, by study, make control algolithm adapt to different controlled devices.
(2) intelligent fault-tolerance control path
The 2,4, the 5th of Fig. 2, the major equipment of system, the flow process by arrow of its signal has formed intelligent fault-tolerance control path.2 of Fig. 2 is fault-tolerant controllers, and the algorithm of implementing fault-tolerant control calculates, instruction produces; The instruction producing is carried out by 4, controls 5 and completes various operating modes.What be worth proposing is 2,4,5 in operational process, all likely to break down, and the safe reliability of system is declined.12 complete the generalized model identification of controlled device system, and its output compares with 5 output, and the deviation of generation, for the study of Model Distinguish unit, makes the reality of 12 models that obtain and object very approaching, the failure condition of reflection object when fault; Be another unit that embodies the learning functionality of control method, by study, make control algolithm adapt to different controlled devices.12 identification result directly affects 2 algorithm formation, is the essential elements of control algolithm composition.
2. backfeed loop failure diagnostic process
The data acquisition that backfeed loop completes information and fault detect with separate.6 of Fig. 2 is sensor and transmitter unit, detects the electric parameter of controlled device 5, converts standard signal to and is input to control module, data acquisition task.6 likely break down in operational process, and the safe reliability of system is declined.The 22nd, intelligent trouble detects and separative element, and 4,5,6 input and output are input to 22 by 14,15,16,19,20 sense channel, are implemented fault detect and are separated by Intelligent Information Processing.The 21st, fault-tolerant control decision unit, obtains fault detect and the concluding information separating from 22, carries out stepped strategy by 21, provides the resolution policy of fault-tolerant control selective after decision-making.22 23,24,25 respectively mapping carry out the fault detect of performance element, control system, sensor unit and the information processing separating, 23,24,25 algorithm mapping designs in different unit, content is different.
The basic controlling process of intelligent fault-tolerance control method interosculates for the ultimate principle of diesel-driven generator subsystem, electric propulsion control subsystem; The present control method of intelligent body of controlling has the learning functionality of multiple unit.For the intelligent fault-tolerance control of universal electric power load subsystem, object can relate to marine vessel power power supply network and distribution thereof, and the control of load can relate to relay protection and control content, and the content of fault-tolerant control will comprise these contents.Intelligent fault-tolerance control is implemented intelligent fault-tolerance control mainly for the fault of Unit 2,4,5,6 of Fig. 2.
3. Model Distinguish process
The identification of system model is mainly completed by Unit 7,13 of Fig. 2, and the 7th, the standard reference model of system, is that neural network off-line carries out identification and the model of learning to produce to control subsystem entirety.State under main identification, the various abundant excitation operating mode of learning system in the time of normal operation, complete the Model Distinguish to system normal condition, reflect the desirable running status of intelligent fault-tolerance control system, when working control, 7 effect is to provide the standard signal of system operation, makes the output of system approach the output of this master pattern; 7 with the deviation of controlled device output by the learning process of 8 amendment fault-tolerant controllers.The 13rd, system generalized object Model Distinguish unit, is that Neural Network Online is carried out identification and the model of learning to produce to control subsystem, and 13 relatively produce deviation by its output and 5 output, and deviation signal is revised model algorithms by 12.13 effect is mainly the state under on-line identification, the various operating conditions of learning system, completes the Model Distinguish to system real time execution, has reflected the real-time running state of system, the various information while having comprised the system failure; With proofreading and correct 13 algorithm with the deviation of controlled device output, the model obtaining is approached with actual, 13 algorithms that obtain form for the algorithm of intelligent fault-tolerance controller 2.System model identification is the key component that intelligent fault-tolerance control program control algolithm forms, and directly affects the quality of system control.
In this method, Neural network model reference obtains by off-line identification controlled device in advance; Neural network obtains generalized object model by on-line study, model information comprises the whole remaining environment division except controller and reference model in system, for identifying running status and the failure condition of generalized object, the Back ground Information that produces controlled device fault diagnosis, offers the fault detect of fault handling neural network completion system, diagnosis and separates.
Quick fault testing, the diagnosis of neural network and separate and comprise fault eigenvalue extraction, fault detect, failure modes and separate five processes with identification, fault diagnosis, intelligent fault.
Intelligent fault detects and separates and can carry out respectively fault diagnosis and separating treatment to actuator, sensor and transmitter, control system, also can totally carry out fault diagnosis and separating treatment to each subsystem.
Mainly complete the fault-tolerant control of genset and sensor thereof, actuator, controller failure for the control of complete electric ship diesel generator set; Mainly complete the fault-tolerant control of propulsion electric machine and sensor thereof, actuator, controller failure for complete electric ship electric propulsion motor and system control thereof; Mainly complete the fault-tolerant control of regional power grid and controller switching equipment fault for complete electric ship electrical network and distribution system control thereof, complete electric ship electrical network and distribution system control thereof are carried out the comprehensive coordination of complete electric ship electric system simultaneously and are controlled with protection.
More than show and described ultimate principle of the present invention, principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that in above-described embodiment and instructions, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (4)
1. a complete electric ship region distribution intelligent fault-tolerance control system, this control system matches with the region distribution system of complete electric ship, it is characterized in that, and this control system comprises:
Fault-tolerant controller: for implementing the unit of intelligent fault-tolerance control algolithm, this fault-tolerant controller is realized based on neural network generalized object model and control method thereof, described fault-tolerant controller, taking the deviation between the subsystem controlled device output of the region distribution system of Neural network model reference output and complete electric ship as according to carrying out Learning and revision, is implemented fault-tolerant control; Fault-tolerant controller completes the calculating of intelligent fault-tolerance control algolithm, exports fault-tolerant control and carries out instruction, to being sent control command by control subsystem, implements fail-safe control;
Control dispenser: make decisions with separating according to fault detect, carry out selectivity distribution for the instruction of fault-tolerant controller, determining of control command determined with the result separating by fault detect;
Actuator: carry out control dispenser and select the fault-tolerant steering order of distributing, change system control amount or system architecture;
Sensor and transmitter: detection subsystem physical quantity, and be converted to unified standard signal, be convenient to transmission and computer acquisition;
Neural network generalized object model: learn by the neural net method antithetical phrase running course of work, for obtaining the model of the remaining element summation of real system except fault-tolerant controller;
Neural network model reference: with neural net method, subsystem is normally moved to the course of work and carry out off-line learning, the model of the remaining element summation except fault-tolerant controller of acquisition, plays contrast standard for real system while operation;
Intelligent trouble detects and separative element: each subsystem in the region distribution system of actuator, complete electric ship is carried out to data collection and analysis by the I/O of control object and sensor and transmitter, the fault detect that subsystem is carried out in the pattern-recognition of utilization neural network intelligent trouble with separate;
Fault-tolerant control decision unit: detect according to intelligent trouble the fault type, rank, the regional extent information that provide with separative element and carry out decision-making, determine the mode of the fault-tolerant control that adopts one of system reconfiguration, degraded running, Fault Compensation, failover or combination; And the result of decision is exported in control dispenser.
2. the complete electric ship of one according to claim 1 region distribution intelligent fault-tolerance control system, it is characterized in that, described intelligent trouble detects with separative element and comprises actuator FDI, control system FDI, sensor transducer FDI, respectively actuator, control subsystem, sensor is completed fault detect and is separated with transmitter.
3. the complete electric ship of one according to claim 1 region distribution intelligent fault-tolerance control system, it is characterized in that, described fault-tolerant control decision unit comprises system reconfiguration module, degraded running module, Fault Compensation module, fault switch module, respectively the calculating of the fault-tolerant control algolithm of completion system reconstruct, the calculating of the fault-tolerant control algolithm of degraded running, the calculating of the fault-tolerant control algolithm of Fault Compensation, the calculating of the fault-tolerant control algolithm of failover.
4. a complete electric ship region distribution intelligent fault-tolerance control method, is characterized in that, described method comprises the steps:
(1) through path control
Described through path control comprises the control of reference model path and the control of intelligent fault-tolerance control path, and described reference model path control procedure is as follows:
Desired control signal transmits by Neural network model reference, and the operation for controlled device after output provides standard information, the output of controlled device and this standard information comparison, and the deviation of generation reaches fault-tolerant controller and learns, and changes fault-tolerant control algolithm;
Described intelligent fault-tolerance control path control procedure is as follows:
Fault-tolerant controller is implemented fault-tolerant control algolithm and is calculated, produces steering order; The instruction producing is carried out by actuator, and control subsystem controlled device completes various operating modes; Neural network generalized object model completes the online generalized model identification of controlled device system simultaneously, its output compares with the output of control subsystem controlled device, the deviation producing is for the study of generalized object Model Distinguish unit, make the reality of control subsystem plant model that neural network generalized object model obtains and object very approaching, failure condition that can reflection object when fault;
(2) backfeed loop fault diagnosis
The input and output of actuator, control subsystem controlled device and sensor and transmitter are input to intelligent trouble by sense channel and detect and separative element, are implemented fault detect and are separated by Intelligent Information Processing;
Fault-tolerant control decision unit obtains fault detect from intelligent trouble detection with separative element and carries out decision-making with the concluding information separating, and provides the resolution policy of fault-tolerant control selective after decision-making;
(3) Model Distinguish process
State under the various abundant excitation operating mode of Neural network model reference off-line identification system in the time of normal operation, complete the Model Distinguish to system normal condition, reflect with this running status that intelligent fault-tolerance control system is desirable, the output of Neural network model reference and control subsystem controlled device compares generation deviation, and with the learning process of this drift correction fault-tolerant controller;
State under the various operating conditions of neural network generalized object model realization on-line identification system, complete the Model Distinguish to system real time execution, the real-time running state of reflection system, various information when model has comprised the system failure, relatively produce deviation by its output and the output of control subsystem controlled device, deviation signal is for the correction of neural network generalized object model, and the neural network generalized object model algorithm of acquisition is the important composition of fault-tolerant control algolithm.
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| EP3112959B1 (en) * | 2015-06-29 | 2021-12-22 | SUEZ Groupe | Method for detecting anomalies in a water distribution system |
| CN105204335B (en) * | 2015-09-15 | 2018-03-02 | 南京航空航天大学 | A kind of fault tolerant control method and control system of drive lacking Rigid-body System |
| CN107491848A (en) * | 2017-09-29 | 2017-12-19 | 集美大学 | Dynamic positioning ship energy management optimization method with automatic fault isolation |
| CN107818205A (en) * | 2017-10-23 | 2018-03-20 | 中国船舶工业集团公司第七0八研究所 | The power supply trouble model and impact analysis method of a kind of naval vessel visual plant |
| CN109407635B (en) * | 2018-11-06 | 2021-07-16 | 哈尔滨工程大学 | Intelligent system structure of comprehensive electric propulsion safety control system of ship |
| CN109800227B (en) * | 2018-12-26 | 2022-04-22 | 贵州电网有限责任公司 | Power grid dispatching operation recording system based on structural design |
| CN109981339B (en) * | 2019-02-14 | 2021-03-30 | 电子科技大学 | Fault-tolerant control method of networked automobile control system |
| CN112947374A (en) * | 2021-02-09 | 2021-06-11 | 上海海事大学 | Intelligent self-healing control method for electric propulsion of regional distribution ship |
| CN113110464A (en) * | 2021-04-22 | 2021-07-13 | 集美大学 | Intelligent full-electric ship path planning method capable of reducing energy consumption |
| CN113562065B (en) * | 2021-07-15 | 2022-06-03 | 东风汽车集团股份有限公司 | Control method and device for preventing data abnormality of electric power steering controller |
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