CN104317993A - Comprehensive electric propulsion virtual simulation platform of ship - Google Patents
Comprehensive electric propulsion virtual simulation platform of ship Download PDFInfo
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Abstract
The invention belongs to the field of electric system simulation analysis and particularly relates to a comprehensive electric propulsion virtual simulation platform of a ship. The comprehensive electric propulsion virtual simulation platform of the ship comprises data source modules, visual three-dimensional modules and a three-dimensional visual virtual simulation display interface module, wherein the data source modules are used for providing simulation data for the visual three-dimensional modules; each visual three-dimensional module is provided with one data source module; each data source module consists of a data initial parameter and an equipment mathematic model. By virtue of adopting the technical scheme, the comprehensive electric propulsion virtual simulation platform is capable of performing related visual virtual simulation on influence of change of a propelled load on a main distribution board and the influence on the propelled load after change of the main distribution board parameters in a ship comprehensive electric system, and is capable of providing reference for researching short circuit calculation of the ship comprehensive electric system, protection on other power utilization loads and generator control strategies.
Description
Technical field
The invention belongs to electric system simulation analysis field, be specifically related to a kind of ship craft integrated electrical propulsion dummy emulation platform.
Background technology
Along with the progress of World Science, the development of shipping industry, ship integrated power system has become the Main way of domestic and international ship domain development, ship integrated power system can be electric propulsion load and other consumer centrally connected power supplies simultaneously, achieves the unified management of electric power energy.But the delivery demand of electric propulsion part accounts for more than 60% of whole vessel powerplant output electricity, sizable impact that whole marine vessel power network brings can be given when advancing load to change, this brings serious impact to the stability of Ship Electrical Power System, meanwhile, the fluctuation of electric power networks also can bring very important impact to propulsive units.Therefore, develop for advancing load will bring active influence to the stability analyzing whole Ship Electrical Power System to the Visual Simulation System that ship craft integrated electric power networks affects.
For license notification number be CN101211512, name is called that the patent of " a kind of watercraft electrical propulsion dummy emulation system " provides ship, machine, the modeling of slurry and the three-dimensional visualization of ship-handling, realize real ship operation platform to the real-time control of virtual watercraft electric propulsion system not relate to and advance the change of load on the impact of Ship Power Station main busbar voltage, frequency etc.For license notification number be CN202013274U, name is called in the patent of " a kind of electric propulsion multi-mode hybrid power system test platform of ship " and gives ship power supply device, drives experimental provision and test console, relevant experimental configuration platform can be given according to different powering modes, propelling pattern, but the mathematical modeling of not being correlated with to transformer, frequency converter, propulsion electric machine, screw propeller, does not more relate to visual emulation.For license notification number be CN202624620U, name is called in the patent of " watercraft electric propulsion system " the signal transmission relation given between ship-handling operation control module, cabin operation control module, speed-regulating control module, annexation between Powered Propulsion module and various piece, the features such as this watercraft electric propulsion system even running, maintenance cost be low can be ensured, but do not relate to the visual simulating that propulsive units affects ship craft integrated electric power networks.
Summary of the invention
The object of the invention is for Marine Synthesize Electric Propulsion System provides a visual virtual emulation platform.
The object of the present invention is achieved like this:
Ship craft integrated electrical propulsion dummy emulation platform, comprises data source modules, visualization of 3 d module, three-dimensional visualization virtual emulation display interface module, data source modules provides emulated data for visualization of 3 d module, and each visualization of 3 d module has data source modules, and data source modules is by data initial parameter, the mathematical model composition of equipment, wherein data initial parameter is transformer, frequency converter, propulsion motor, screw propeller provides the initial parameter of artificial input, and the mathematical model of equipment comprises Transformer Model, frequency converter mathematical model, propulsion motor mathematical model, screw propeller mathematical model, the mathematical model of each equipment is all made up of the nonlinear mathematics differential equation and from screw propeller, propulsion motor, frequency converter, transformer has the direct-coupling relation on mathematic parameter in order successively, the corresponding visualization of 3 d module of mathematical model of each equipment, and visualization of 3 d module is by transformer, frequency converter, main distribution board, propulsion motor, screw propeller, connecting tube model-composing, each model is set up under 3DS MAX environment, the three-dimensional stereo model close to material object formed after 3DS file is called through OpenGL, three-dimensional visualization virtual emulation display interface module shows two parts by dynamic effect display and data constrained input and forms, wherein data constrained input is the output of the input of data initial parameter and main distribution board parameter respectively, and dynamic effect display is the rotation that three-dimensional module embodies dynamically as screw propeller, transformer, frequency converter, propulsion electric machine is according to the change of output power different colours.
Beneficial effect of the present invention is: owing to have employed above-mentioned technical scheme; on advancing the impact of load to make relevant visual virtual emulation after the present invention can change to main distribution board parameter on the impact of main distribution board on advancing in ship integrated power system the change of load, this is the short circuit calculation of ships integrated power system, other protections by electric loading, generator control strategy provide referential virtual emulation platform.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is that the data of data source modules solve and illustrate with parameter couples relation;
Fig. 3 is the invoked procedure signal diagram of different model file.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described further.
The object of the invention is for Marine Synthesize Electric Propulsion System provides a visual virtual emulation platform; the impact that this emulation platform brings main distribution board voltage, electric current, frequency after changing mainly for propulsive units (revolution speed of propeller, ship's speed, propulsion electric machine torque); and the impact that the electric current of main distribution board, voltage, frequency are brought propulsive units after changing, the basis that the control strategy that this emulation platform is whole ship integrated power system power station designs, ship integrated power system protection provides a three-dimensional visualization virtual emulation.
The present invention be setting up three-dimensional model by 3DS MAX, OpenGL calls based on 3DS formatted file, develop software based on VC++6.0, set up 3 d model library, the structural system of the concrete Marine Synthesize Electric Propulsion System that utilized three-dimensional model to build, defines a fairly perfect program frame.Design proposal as shown in Figure 1, is invented and is made up of three parts: data source modules, visualization of 3 d module, three-dimensional visualization virtual emulation display interface module.The major function of data source modules is for visualization of 3 d module provides emulated data to support, and has corresponding mathematical model as the data root of emulation after each visual three-dimensional module.Data source modules is by data initial parameter, the mathematical model composition of equipment, wherein data initial parameter is transformer, frequency converter, propulsion motor, screw propeller provides the initial parameter of artificial input, the mathematical model of equipment comprises Transformer Model, frequency converter mathematical model, propulsion motor mathematical model, screw propeller mathematical model, the mathematical model of each equipment is all made up of the nonlinear mathematics differential equation and from screw propeller, propulsion motor, frequency converter, transformer has the direct-coupling relation on mathematic parameter in order successively, the mathematical model of each equipment correspond to visualization of 3 d model.Visualization of 3 d module is by transformer, frequency converter, main distribution board, propulsion motor, screw propeller, connecting tube model-composing, and each model sets up under 3DS MAX environment, call through OpenGL the three-dimensional stereo model close to material object formed after 3DS file.Three-dimensional visualization virtual emulation display interface module shows two parts by dynamic effect display and data constrained input and forms, wherein data constrained input is the input of data initial parameter and the output (electric current, voltage, frequency) of main distribution board parameter respectively, and dynamic effect display is that three-dimensional module embodies dynamically if the rotation of screw propeller, transformer, frequency converter, propulsion electric machine are according to the change of output power different colours.
The principle of work of design proposal of the present invention: job order flow process is as shown in the structural representation of Fig. 1, first be initial parameter and the setup parameter of input electric power equipment in virtual emulation interface, initial parameter is as transformer applied power, frequency converter rated power, the rated power of propulsion motor, setup parameter is as the ship's speed of boats and ships, revolution speed of propeller etc., then data source modules solves by screw propeller after obtaining basic data parameters, propulsion motor, frequency converter, a series of Nonlinear differential eguations of transformer, obtained by the parameter couples relation between system of equations, the voltage of transformer primary side, electric current, frequency and main distribution board parameter, detailed process as shown in Figure 2.The rotary speed data that wherein in three-dimensional model, the dynamic rotating effect of screw propeller is exported by data source modules controls, and the performance number that the model color of transformer, frequency converter, propulsion motor is tried to achieve by respective differential equation group respectively controls, as shown in Figure 3, if it is red for excessively exceeding rated power to the yellow of rated power by zero energy grey, when setup parameter changes three-dimensional visualization virtual emulation display interface show in real time before change with change after the electric current of main distribution board, voltage, frequency values and dynamic change design sketch.
The foundation of data source modules: this part is mainly according to the accurate mathematical modeling to transformer, frequency converter, propulsion electric machine, screw propeller equipment.Wherein mainly consider screw propeller as a special load to the dynamic response of ship integrated power system for the mathematical modeling of screw propeller, the mathematical formulae mainly considered comprises: screw propeller free running characteristic equation (screw propeller output power and its rotation speed relation), screw propeller reverse speed characterisstic equation (the thrust and drag square of screw propeller, screw propeller open-water performance, screw propeller enter speed ratio, boats and ships drag overall, wake factor, thrust deduction coefficient).Comprehensively above-mentioned relation between these screw propeller and hulls obtains screw propeller mathematical model.Propulsion motor (permasyn morot) mathematical model mainly considers the rotating speed of propulsion electric machine and the relation of load torque and quadrature axis current, the relation of quadrature axis current and direct-axis current and rotating speed, quadrature-axis voltage, the relation of direct-axis current and quadrature axis current and direct-axis voltage, the relation of Driving Torque and ac-dc axis electric current sets up the mathematical model of propulsion electric machine a little louder according to these four.Mainly to the modeling of the speed control strategy of propulsion motor in the foundation of frequency converter mathematical model, two close cycles PI control strategy mainly based on electric current loop and speed ring in the speed control strategy of propulsion motor, in modeling, frequency converter itself is processed into the function playing delayed-action in time.The dynamic translation relation of transformer main outstanding original edge voltage, electric current and secondary voltage, electric current in the foundation of mathematical model.In data source modules, the mathematical model of each power equipment is all differential equation group that is non-linear and strong coupling between parameter, the data initial parameter of runge kutta method and artificial input is utilized to solve the parameter value of each power equipment, enrolling VC++ development platform by C language, is all the whole mathematical model constituting electric propulsion part of getting up against corresponding parameter couples between them.Data as Fig. 2 data source modules solve with shown in parameter couples graph of a relation, when propeller load changes, the torque of propeller value utilizing differential equation group the to solve ac-dc axis current value of obtaining its input end as the solution that the load input value of propulsion motor solves the differential equation group of propulsion motor is further as the output of frequency converter equipment and then solve the input side electric current of frequency conversion, magnitude of voltage it can be used as the secondary side of transformer to export according to frequency converter mathematical model, and then can obtain electric current, voltage, the frequency values of the main distribution board that transformer connects.Accompany the electric current of electroplax with leading, magnitude of voltage after changing also be finally be reflected on screw propeller by the parameter couples relation of each power equipment mathematical model so that have influence on boats and ships its coupled relation of motion state as shown in Figure 2.
The foundation of visualization of 3 d module: the file generating 3DS form after first utilizing 3DS MAX software to set up the three dimensional practicality model of main distribution board, transformer, frequency converter, propulsion motor, screw propeller.Point three steps in the foundation of 3DS MAX model: 1. (department pattern needs to be converted to by element body and can to edit polygon to select according to the feature of power equipment solid model the structure that element body builds (rectangular parallelepiped, right cylinder etc.), the structure (setting-out, Boolean calculation etc.) of compute mode model, amendment can edit polygon implementation model, undertaken stretching, extruding, the operations such as convergent-divergent by selecting summit, limit and polygon).2. power equipment model gives different materials and pinup picture respectively due to the difference of material etc.3. light makes the metal material in the power equipment model of foundation more true to nature.In 3DS MAX, the three-dimensional model of each power equipment (screw propeller only has a kind of grey) is all 10, and wherein the model appearance color of 1-9 is the transition from grey to yellow, and the tenth is red.And in the three-dimension modeling of screw propeller, be included in difformity totally 10 three-dimensional models presented in a visual position rotation process, preserve calling in order to OpenGL with the file of 3DS form after treating the three-dimension modeling of all power equipments.
The foundation of three-dimensional visualization virtual emulation display interface module: in VC++6.0 development platform by the Transformer Model in data source modules, frequency converter mathematical model, propulsion motor mathematical model, screw propeller mathematical model encapsulates in the mode of class, and then the class realization of the api function and encapsulation that utilize MFC to call OpenGL in VC++6.0 development platform is to the visual output of 3DS three-dimensional model file and control, complete call main distribution board in the main frame of VC++6.0 development platform, transformer, frequency converter, propulsion motor, be docking together after screw propeller three-dimensional model, the three-dimensional model of each power equipment has from grey to yellow to different 10 kinds, the color of red appearance totally, called by the three-dimensional model of calculating data to different colours in class when calling 3DS file, data value corresponding relation specifiedly correspond to color from grey to yellow to redness from 0 to being rated to exceed respectively, the difference of the tachometer value provided according to data module is carried out by the api function that MFC calls OpenGL the time delay that control sequence calls these 10 three-dimensional models of screw propeller and is reached shown in the invoked procedure schematic diagram of the dynamic effect model file as different in Fig. 3 of propeller rotational speed, main distribution board electric current after providing the initial parameter input display data sources module real-time with the edit box calculating two parts numeral that data export to calculate is set simultaneously in three-dimensional visualization virtual emulation interface, voltage, frequency data values.
Claims (1)
1. a ship craft integrated electrical propulsion dummy emulation platform, comprises data source modules, visualization of 3 d module, three-dimensional visualization virtual emulation display interface module, is characterized in that: data source modules provides emulated data for visualization of 3 d module, and each visualization of 3 d module has data source modules, and data source modules is by data initial parameter, the mathematical model composition of equipment, wherein data initial parameter is transformer, frequency converter, propulsion motor, screw propeller provides the initial parameter of artificial input, and the mathematical model of equipment comprises Transformer Model, frequency converter mathematical model, propulsion motor mathematical model, screw propeller mathematical model, the mathematical model of each equipment is all made up of the nonlinear mathematics differential equation and from screw propeller, propulsion motor, frequency converter, transformer has the direct-coupling relation on mathematic parameter in order successively, the corresponding visualization of 3 d module of mathematical model of each equipment, and visualization of 3 d module is by transformer, frequency converter, main distribution board, propulsion motor, screw propeller, connecting tube model-composing, each model is set up under 3DS MAX environment, the three-dimensional stereo model close to material object formed after 3DS file is called through OpenGL, three-dimensional visualization virtual emulation display interface module shows two parts by dynamic effect display and data constrained input and forms, wherein data constrained input is the output of the input of data initial parameter and main distribution board parameter respectively, and dynamic effect display is the rotation that three-dimensional module embodies dynamically as screw propeller, transformer, frequency converter, propulsion electric machine is according to the change of output power different colours.
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Cited By (8)
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| CN105363198A (en) * | 2015-10-26 | 2016-03-02 | 陈勇 | Submarine naval battle game implementation method and system based on simulation calculation engine |
| CN105867171A (en) * | 2016-05-23 | 2016-08-17 | 哈尔滨工程大学 | Multi-propeller propulsion simulation system for vessel |
| CN107169245A (en) * | 2017-06-29 | 2017-09-15 | 浙江大学 | A kind of unstability visual analysis method of electric analog data variable pair |
| CN107710154A (en) * | 2015-07-08 | 2018-02-16 | 帝斯贝思数字信号处理和控制工程有限公司 | Computer implemented method for processing data object variable |
| CN107797463A (en) * | 2017-10-27 | 2018-03-13 | 华中科技大学 | A kind of emulation mode of multiaxis electric propulsion semi-physical object simulating test platform |
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| CN111143985A (en) * | 2019-12-23 | 2020-05-12 | 哈尔滨工程大学 | Simulation method for dynamic response of electric thruster under propeller load |
| CN113702692A (en) * | 2021-07-20 | 2021-11-26 | 中国电力科学研究院有限公司 | Method and device for synchronously monitoring current data of power distribution Internet of things |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107710154A (en) * | 2015-07-08 | 2018-02-16 | 帝斯贝思数字信号处理和控制工程有限公司 | Computer implemented method for processing data object variable |
| CN105363198A (en) * | 2015-10-26 | 2016-03-02 | 陈勇 | Submarine naval battle game implementation method and system based on simulation calculation engine |
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| CN107169245A (en) * | 2017-06-29 | 2017-09-15 | 浙江大学 | A kind of unstability visual analysis method of electric analog data variable pair |
| CN107169245B (en) * | 2017-06-29 | 2019-07-09 | 浙江大学 | A kind of unstability visual analysis method of electric analog data variable pair |
| CN107797463A (en) * | 2017-10-27 | 2018-03-13 | 华中科技大学 | A kind of emulation mode of multiaxis electric propulsion semi-physical object simulating test platform |
| CN107902042A (en) * | 2017-10-27 | 2018-04-13 | 华中科技大学 | A kind of ship multiaxis electric propulsion system based on Simulink models |
| CN111143985A (en) * | 2019-12-23 | 2020-05-12 | 哈尔滨工程大学 | Simulation method for dynamic response of electric thruster under propeller load |
| CN111143985B (en) * | 2019-12-23 | 2022-06-21 | 哈尔滨工程大学 | Simulation method for dynamic response of electric thruster under propeller load |
| CN113702692A (en) * | 2021-07-20 | 2021-11-26 | 中国电力科学研究院有限公司 | Method and device for synchronously monitoring current data of power distribution Internet of things |
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