CN104129493A - Electric propulsion redundancy control method for ship - Google Patents
Electric propulsion redundancy control method for ship Download PDFInfo
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- CN104129493A CN104129493A CN201410382083.5A CN201410382083A CN104129493A CN 104129493 A CN104129493 A CN 104129493A CN 201410382083 A CN201410382083 A CN 201410382083A CN 104129493 A CN104129493 A CN 104129493A
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Abstract
The invention relates to an electric propulsion redundancy control method for a ship. The method is characterized in that two electric propulsion control systems are arranged, wherein each electric propulsion control system has two control programs. During normal operation, each electric propulsion control system uses one control program to independently work, and at the same time, two programmable logic controllers mutually and regularly receive the operational data of the other control program. When a control failure occurs, normally one programmable logic controller undertakes the control operation of the other programmable logic controller so as to simultaneously operate the two control programs. When the control failure recovers, the programmable logic controller with failure recovery sends a signal to the control system operating normally, the programmable logic controller operating normally sends operational data to the recovered programmable logic controller, and the recovered programmable logic controller takes over the system control. When a control core of any one electric propulsion control system fails, the normal propulsion operation of the ship is not influenced, and the safety and the stability of the ship are improved.
Description
Technical field
The present invention relates to a kind of Ship automatic technique, particularly a kind of marine vessel power advances redundancy control method.
Background technology
Along with greatly developing of boats and ships and ocean engineering, more and more higher for the control requirement of ship power, traditional main frame band screw propeller cannot meet high-precision control requirement.Electrical Propulsion Ship, with its good controller performance, low noise and energy-conservation advantage, is approved by users and crewman.
Marine vessel power propulsion control system, in the specification of classification society and China Classification Society, there is corresponding requirement abroad, each propulsion control system will have relatively independent control function in normal work, when avoiding arbitrary propulsion control system to break down, still have a set of electric propulsion system to move.
Existing marine vessel power propulsion control system design plan mainly contains following characteristics:
1, generally adopt autonomous control system, between two systems, without any contact, once there be a system to go wrong, can only lower power efficiency and only move a set of electric propulsion system.
2, between general FPGA (Field Programmable Gate Array) control and subordinate's equipment, adopt the method for field bus communication.
Summary of the invention
The problem the present invention be directed to, has proposed a kind of marine vessel power and has advanced redundancy control method, under control system failure condition, adopts the method for software program redundancy and hardware interface redundancy to realize the power efficiency that does not reduce propulsion of ship.Employing Industrial Ethernet and standard ModbusTcp agreement have increased the communication speed of equipment room, have ensured the stability of equipment room communication.
Technical scheme of the present invention is: a kind of marine vessel power advances redundancy control method, electric propulsion redundancy control system comprises two cover electric propulsion control systems, and every cover electric propulsion control system comprises a programmable logic controller (PLC), a remote control control unit, local control unit, frequency converter and a propulsion electric machine; Each programmable logic controller (PLC) band two overlaps control program, and while normally work, every cover electric propulsion control system uses a set of control program to work alone, and programmable logic controller (PLC) regularly receives mutually the working data of another set of system simultaneously; When control is broken down, a normal programmable logic controller (PLC) is taken over the control work of another programmable logic controller (PLC), moves two cover control programs simultaneously; While controlling failure recovery, the programmable logic controller (PLC) of failure recovery sends signals to the system of normal work, the programmable logic controller (PLC) of normal work send the data of operation the programmable logic controller (PLC) of recovery, and the programmable logic controller (PLC) of recovery is taken over native system control.
The judgement of described normal and fail operation: adopt fiber optic communications between 1# programmable logic controller (PLC) and 2# programmable logic controller (PLC), agreement is ICP/IP protocol, every 10 milliseconds, two programmable logic controller (PLC)s are sent out heartbeat signal mutually, heartbeat signal is that 0 and 1 numerical value alternately changes, when judgement heartbeat signal is normally carried out normal procedure, when judging that heartbeat signal fault and time exceed 50 milliseconds and carries out malfunction routine.
When described normal work, 1# programmable logic controller (PLC) sends to 2# programmable logic controller (PLC) the variable data of operation in self program 1 every 100 milliseconds, and 2# programmable logic controller (PLC) sends to 1# programmable logic controller (PLC) the operation variable data in self program 2 every 100 milliseconds.
When described fail operation, 1# programmable logic controller (PLC) detects that 2# programmable logic controller (PLC) breaks down, 1# programmable logic controller (PLC) is inserted into program 2 variable data of the 2# programmable logic controller (PLC) that fiber optic communications receives recently in the program 2 of 1# programmable logic controller (PLC) at once, and starting operation procedure 1 and program 2 simultaneously, 1# programmable logic controller (PLC) controls 2# network interface uses the inquiry of ModbusTcp agreement and controls the local control unit of 2# propulsion control system subordinate equipment-2#, 2# remote control control unit and 2# frequency converter.
When described 2# programmable logic controller (PLC) failure recovery, first not executive routine, but send heartbeat signal to 1# programmable logic controller (PLC), 1# programmable logic controller (PLC) detects that 2# programmable logic controller (PLC) recovers normal, its program 2 variablees that send immediately 1# programmable logic controller (PLC) are to 2# programmable logic controller (PLC), stop carrying out the program 2 of self simultaneously, withdraw from use 2# network interface communication function, and send adapter Stop message to 2# programmable logic controller (PLC), 2# programmable logic controller (PLC) is received and is taken over after Stop message, program 2 variablees of sending here are loaded in program, resume work.
Described programmable logic controller (PLC) subordinate equipment-local control unit, remote control control unit and frequency converter all adopt the design of two network interface list IP address, network interface 1 is communication use under normal circumstances, network interface 2 is Redundant Control communication use, and programmable logic controller (PLC) and subordinate's device talk use ModbusTcp agreement.
Beneficial effect of the present invention is: marine vessel power of the present invention advances redundancy control method, in the time that arbitrary propulsion control system control core programmable logic controller (PLC) breaks down, another one programmable logic controller (PLC) can seamless control failure system subordinate equipment, do not reduce the power efficiency of propulsion of ship, increased the safety of boats and ships; Between programmable logic controller (PLC) and subordinate's equipment, adopt 100,000,000 speed Industrial Ethernet communications, use standard ModbusTcp agreement, can increase communication speed and stability between each equipment.
Brief description of the drawings
Fig. 1 is that marine vessel power of the present invention advances redundancy control system structural representation;
Fig. 2 is that marine vessel power of the present invention advances redundancy control system fault decision flow chart.
Detailed description of the invention
Marine vessel power advances redundancy control system structural representation as shown in Figure 1, electric propulsion redundancy control system comprises 1# electric propulsion control system and 2# electric propulsion control system, and every cover electric propulsion control system comprises a programmable logic controller (PLC), a remote control control unit, local control unit, frequency converter and a propulsion electric machine.Each programmable logic controller (PLC) is made up of software and hardware, wherein software application text language is write propelling control program, program needs coding 1 and program 2 for redundancy, program is divided into communication program, IO configurator, control logic program and emergent stopping program by function, and programmable logic controller (PLC) hardware comprises: CPU, power module, 2 Ethernet interfaces and 1 optical cable interface.Remote control control unit comprises propelling handle, indicator lamp, button, buzzer phone, display instrument and light modulation button.Local control unit comprises indicator lamp, button, buzzer phone, display instrument and light modulation button.Frequency converter is general 24 arteries and veins water-cooling frequency converters, can effectively suppress harmonic wave.Motor is phase asynchronous frequency control motor.
The present invention mainly realizes electric propulsion redundancy control system by software redundancy and hardware redundancy.Software redundancy can be divided into function under function, failure condition under normal circumstances and by failure recovery function under normal circumstances.
The judgement of normal and failure condition: adopt fiber optic communications between 1# programmable logic controller (PLC) and 2# programmable logic controller (PLC), agreement is ICP/IP protocol.Every 10 milliseconds, two programmable logic controller (PLC)s are sent out heartbeat signal mutually.Heartbeat signal is that 0 and 1 numerical value alternately changes, and only monitors variation and could illustrate that the other side has " life " feature.Marine vessel power advances redundancy control system fault decision flow chart as shown in Figure 2, when judgement heartbeat signal is normally carried out normal procedure, when judging that heartbeat signal fault and time exceed 50 milliseconds and carries out malfunction routine.
Function under normal circumstances: 1# programmable logic controller (PLC) operation procedure 1 and operation procedure 2 not, 1# programmable logic controller (PLC) uses 1# network interface by running state and the given control command of ModbusTcp agreement inquiry subordinate equipment (the local control unit of 1#, 1# remote control control unit and 1# frequency converter), running state determines control decision, and control command determines the action of frequency converter and propulsion electric machine.2# programmable logic controller (PLC) operation procedure 2 and operation procedure 1 not, 2# programmable logic controller (PLC) is by its 1# network interface connector subordinate equipment, and other function is identical with 1# propulsion control system.Under normal circumstances, 1# programmable logic controller (PLC) sends to 2# programmable logic controller (PLC) the variable data of operation in program 1 every 100 milliseconds, 2# programmable logic controller (PLC) sends to 1# programmable logic controller (PLC) the operation variable data in program 2 every 100 milliseconds, the amount of these data is little, but switches Data Source is provided for redundancy.
Function under failure condition: break down once 1# programmable logic controller (PLC) detects 2# programmable logic controller (PLC), 1# programmable logic controller (PLC) is inserted into program 2 variable data of the 2# programmable logic controller (PLC) that fiber optic communications receives recently in its program 2 at once, and starts operation procedure 1 and program 2 simultaneously.1# programmable logic controller (PLC) controls 2# network interface uses the inquiry of ModbusTcp agreement and controls 2# propulsion control system subordinate equipment (the local control unit of 2#, 2# remote control control unit and 2# frequency converter).Now, 1# programmable logic controller (PLC) is controlled subordinate's equipment of two cover electric propulsion control systems simultaneously.Otherwise when 1# programmable logic controller (PLC) breaks down, process is as above-mentioned identical.
Function in failure recovery situation: when 2# programmable logic controller (PLC) failure recovery, first not executive routine, but send heartbeat signal to 1# programmable logic controller (PLC).1# programmable logic controller (PLC) detects that 2# programmable logic controller (PLC) recovers normal, its variable that sends immediately program 2 is to 2# programmable logic controller (PLC), stop execution procedures 2, withdraw from use 2# network interface communication function, and send adapter Stop message to 2# programmable logic controller (PLC).2# programmable logic controller (PLC) is received and is taken over after Stop message, program 2 variablees is loaded in program, and by 1# network interface control subordinate equipment.Otherwise when 1# programmable logic controller (PLC) failure recovery, process is as above-mentioned identical.
The function of hardware redundancy is mainly realized by network interface, programmable logic controller (PLC) uses the two IP of the two network interfaces address design of 100,000,000 speed, two network interfaces of 1# programmable logic controller (PLC) are made as respectively 192.168.1.10 and 92.168.1.11, and two network interfaces of 2# programmable logic controller (PLC) are made as respectively 192.168.1.20 and 192.168.1.21.Subordinate's equipment (local control unit, remote control control unit and frequency converter) adopts the two network interface list IP of 100,000,000 speed address design, because two controllers can not carry out communication inquiry and control to it simultaneously, so only need an IP address, the local control unit of 1# is made as 192.168.1.12,1# remote control control unit is made as 192.168.1.13,1# frequency converter is made as 192.168.1.14, the local control unit of 2# is made as 192.168.1.22,2# remote control control unit is made as 192.168.1.23,, 2 # frequency converters are made as 192.168.1.24.
Claims (6)
1. a marine vessel power advances redundancy control method, it is characterized in that, electric propulsion redundancy control system comprises two cover electric propulsion control systems, and every cover electric propulsion control system comprises a programmable logic controller (PLC), a remote control control unit, local control unit, frequency converter and a propulsion electric machine; Each programmable logic controller (PLC) band two overlaps control program, and while normally work, every cover electric propulsion control system uses a set of control program to work alone, and programmable logic controller (PLC) regularly receives mutually the working data of another set of system simultaneously; When control is broken down, a normal programmable logic controller (PLC) is taken over the control work of another programmable logic controller (PLC), moves two cover control programs simultaneously; While controlling failure recovery, the programmable logic controller (PLC) of failure recovery sends signals to the system of normal work, the programmable logic controller (PLC) of normal work send the data of operation the programmable logic controller (PLC) of recovery, and the programmable logic controller (PLC) of recovery is taken over native system control.
2. marine vessel power advances redundancy control method according to claim 1, it is characterized in that, the judgement of described normal and fail operation: adopt fiber optic communications between 1# programmable logic controller (PLC) and 2# programmable logic controller (PLC), agreement is ICP/IP protocol, every 10 milliseconds, two programmable logic controller (PLC)s are sent out heartbeat signal mutually, heartbeat signal is that 0 and 1 numerical value alternately changes, when judgement heartbeat signal is normally carried out normal procedure, when judging that heartbeat signal fault and time exceed 50 milliseconds and carries out malfunction routine.
3. marine vessel power advances redundancy control method according to claim 2, it is characterized in that, when described normal work, 1# programmable logic controller (PLC) sends to 2# programmable logic controller (PLC) the variable data of operation in self program 1 every 100 milliseconds, and 2# programmable logic controller (PLC) sends to 1# programmable logic controller (PLC) the operation variable data in self program 2 every 100 milliseconds.
4. marine vessel power advances redundancy control method according to claim 2, it is characterized in that, when described fail operation, 1# programmable logic controller (PLC) detects that 2# programmable logic controller (PLC) breaks down, 1# programmable logic controller (PLC) is inserted into program 2 variable data of the 2# programmable logic controller (PLC) that fiber optic communications receives recently in the program 2 of 1# programmable logic controller (PLC) at once, and beginning operation procedure 1 and program 2 simultaneously, 1# programmable logic controller (PLC) controls 2# network interface uses the inquiry of ModbusTcp agreement and controls the local control unit of 2# propulsion control system subordinate equipment-2#, 2# remote control control unit and 2# frequency converter.
5. marine vessel power advances redundancy control method according to claim 4, it is characterized in that, when described 2# programmable logic controller (PLC) failure recovery, first not executive routine, but send heartbeat signal to 1# programmable logic controller (PLC), 1# programmable logic controller (PLC) detects that 2# programmable logic controller (PLC) recovers normal, its program 2 variablees that send immediately 1# programmable logic controller (PLC) are to 2# programmable logic controller (PLC), stop carrying out the program 2 of self simultaneously, withdraw from use 2# network interface communication function, and send adapter Stop message to 2# programmable logic controller (PLC), 2# programmable logic controller (PLC) is received and is taken over after Stop message, program 2 variablees of sending here are loaded in program, resume work.
6. marine vessel power advances redundancy control method according to claim 1, it is characterized in that, described programmable logic controller (PLC) subordinate equipment-local control unit, remote control control unit and frequency converter all adopt the design of two network interface list IP address, network interface 1 is communication use under normal circumstances, network interface 2 is Redundant Control communication use, and programmable logic controller (PLC) and subordinate's device talk use ModbusTcp agreement.
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| CN106502158A (en) * | 2016-11-16 | 2017-03-15 | 东南大学 | A kind of novel ship propulsion controlling system based on bottom dual redundant structure |
| CN107024889A (en) * | 2017-06-13 | 2017-08-08 | 无锡瑞风船用推进器有限公司 | All-direction propeller dual redundant control system peculiar to vessel |
| CN107196830A (en) * | 2016-09-12 | 2017-09-22 | 上海中车汉格船舶与海洋工程有限公司 | A kind of new pair of medium double-network redundant propulsion control system |
| CN107807607A (en) * | 2017-12-06 | 2018-03-16 | 中国船舶重工集团公司第七0四研究所 | Unmanned boat wireless remote control electric propulsion system and its means of communication |
| CN109976358A (en) * | 2019-05-08 | 2019-07-05 | 佛山职业技术学院 | A kind of work system based on photovoltaic automatic cruising marine whaleboat |
| CN113341807A (en) * | 2021-06-07 | 2021-09-03 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Ship direct-current power distribution system power station control system, method and application |
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| CN107196830A (en) * | 2016-09-12 | 2017-09-22 | 上海中车汉格船舶与海洋工程有限公司 | A kind of new pair of medium double-network redundant propulsion control system |
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| CN107024889A (en) * | 2017-06-13 | 2017-08-08 | 无锡瑞风船用推进器有限公司 | All-direction propeller dual redundant control system peculiar to vessel |
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| CN107807607A (en) * | 2017-12-06 | 2018-03-16 | 中国船舶重工集团公司第七0四研究所 | Unmanned boat wireless remote control electric propulsion system and its means of communication |
| CN107807607B (en) * | 2017-12-06 | 2023-11-17 | 中国船舶重工集团公司第七0四研究所 | Unmanned ship wireless remote control electric propulsion system and communication method thereof |
| CN109976358A (en) * | 2019-05-08 | 2019-07-05 | 佛山职业技术学院 | A kind of work system based on photovoltaic automatic cruising marine whaleboat |
| CN113341807A (en) * | 2021-06-07 | 2021-09-03 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Ship direct-current power distribution system power station control system, method and application |
| CN113341807B (en) * | 2021-06-07 | 2023-03-10 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Ship direct-current power distribution system power station control system and method and application |
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Effective date of registration: 20190812 Address after: 200031 Xuhui District, Hengshan Road, No. 10, Co-patentee after: SHANGHAI CSIC SHIP PROPULSION EQUIPMENT CO., LTD. Patentee after: China Shipbuilding Industry Corp seventh 0 four Institute Address before: 200031 Xuhui District, Hengshan Road, No. 10, Patentee before: China Shipbuilding Industry Corp seventh 0 four Institute |