CN105808847A - Camshaft-containing shafting complex vibration and regulation coupling modeling analysis system for diesel engine and analysis method thereof - Google Patents
Camshaft-containing shafting complex vibration and regulation coupling modeling analysis system for diesel engine and analysis method thereof Download PDFInfo
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Abstract
The invention discloses a camshaft-containing shafting complex vibration and regulation coupling modeling analysis system for a diesel engine and an analysis method thereof. The camshaft-containing shafting complex vibration and regulation coupling modeling analysis system for the diesel engine comprises a PID (Proportion Integration Differentiation) controller, an actuator, an instantaneous fuel injection quantity module, a cylinder pressure module, a load and a transmission elastic shafting module; the actuator is regulated by control parameters to output a control current so as to determine a displacement of a rack bar, the displacement of the rack bar determines a fuel injection quantity output by the instantaneous fuel injection quantity module, the fuel injection quantity is converted into a cylinder pressure by the cylinder pressure module and the cylinder pressure is output to the transmission elastic shafting module; and inputs of the transmission elastic shafting module comprise the cylinder pressure and the load, an output instantaneous rotational speed response of each inertia includes shafting complex vibration characteristics, the instantaneous rotational speed responses of the inertias of a camshaft are used as feedback signals, and difference values of the instantaneous rotational speed responses and a target rotational speed are input into the PID controller to form a closed-loop control system. According to the camshaft-containing shafting complex vibration and regulation coupling modeling analysis system for the diesel engine and the analysis method thereof, which are disclosed by the invention, PID control parameters are successfully predicted, a coupled oscillation fault is avoided, and stability of full-scale ship operation is ensured.
Description
Technical field
The invention belongs to vibration control engineering field, particularly relate to a kind of diesel engine for the prediction of Digital Governor for Diesel Engine pid control parameter axle system complex vibration containing camshaft and analyze system and analysis method thereof with regulation and control Coupling method.
Background technology
Coupled problem about power set shafting vibration Yu regulation and control, rotating machinery such as steam turbine, helicopters etc. earn widespread respect in the higher industry of reliability requirement, theoretical with experimentally the self-oscillation phenomenon in Turbo-generator Set electric power network process is made explanations, and to electromechanical Coupling Model, electrical network couples torsional oscillation phantom etc. with the machine net of shafting torsional oscillation relation analysis model and combustion-steaming Unit erriger all more ripe research, such as, the Xu Yanhui of North China Electric Power University establishes mechanical-electric coupling phantom, analyze steam-electric generating set shafting unstability reason ([1] Xu Yanhui. under large disturbances mechanical-electric coupling cause torsion mode formula destabilization mechanism research [D]. Beijing: North China Electric Power University, 2003.)；The Ren Fuchun of North China Electric Power University elaborates the coupling between shafting torsional vibration of turbo-generator set and speed governing, electrical network, generator excitation, electrical power stabilization device, and point out avoiding measures ([2] Ren Fuchun. Couple Problems in Torsional Vibration ofLarge Turbine-Generator Shaft System [J]. North China Electric Power University's journal, 1996 (7), 30-35.)；North China Electric Power University pays the relation that loyalty extensively summarizes the coupling of machine net and shafting torsional oscillation, and provide analytical model ([3] Fu Zhongguang. the discussion [J] that shaft system of unit torsional oscillation is affected by Power System Disturbances. power equipment, 2007 (10): 5-9.)；The Deng Qiuheng of Shanghai Communications University establishes the phantom of gas-steam combined cycle set machine net coupling torsional oscillation, analyze transient state moment between dissimilar, each quality of diverse location short trouble shaft impact ([4] Deng Qiuheng. machine net coupling torsional oscillation research [D] of Large Gas-Steam Combined Cycle Cycle Unit. master thesis, Shanghai: Shanghai Communications University, 2007.).For helicopter field, existing from driving-chain model to electromotor regulator control system coupling model to people-machine-governing system coupling model, from simple to complicated research process, such as, the Wang Hui of China Helicopter Research and Development Institute, Chen Hua et al., what establish helicopter torsional vibration system and engine control system couples closed loop system mathematical model, analyze stability and stability margin ([5] Wang Hui, Chen Hua, Liu Zhiwen. helicopter engine controls system and rotor/power/transmission torsional vibration system analysis of coupled system's stability. and Helicopter Technology .2002 (4): 19-23.)；Foreign study person MarilenaDP et al. is when studying driving-chain torsional oscillation with engine fuel regulator control system coupled oscillations problem, it is associated with the operation quality of pilot, driving-chain torsional oscillation is a part in Aircraft Pilot Coupling Research closed loop system, provide people-machine-regulation and control coupling theory ([6] MarilenaDP, MichaelJ, BinhD, etal.Adverserotorcraftpilotcouplings-Past, presentandfuturechallenges.ProgressinAerospaceSciences.2 013,62:1 51P.).
But in the reciprocating machines such as diesel engine, it is separate research that the rotating speed of diesel engine controls with torsional oscillation, in ship specification, propose respectively the two to check requirement, but coupled characteristic proposition check is required ([7] CCS, steel seagoing vessel enters level and builds specification, Beijing: People's Transportation Press, 2005,3 (12) .), the coupled problem research in reciprocating machine field is very few.nullThe research that domestic and international researcher regulates and controls in simulation analysis at diesel engine is a lot of，All axle system is processed as single inertia，It is left out the elasticity of axle system itself and the vibration characteristics of axle system，Such as，The Yang Bin and foreign study person FaroukNaeim etc. of the Maritime Affairs University Of Dalian，Establish diesel speed control system simulation model，Advanced PID control algorithm ([8] Yang Bin. [D] is analyzed in diesel speed control system emulation. master thesis，Liaoning: the Maritime Affairs University Of Dalian，2009:32-35P.)、(【9】FaroukNaeim,ShengLiu,SaidLeghmizi.Speedcontrolsystemonmarinedieselenginebasedonaself-tuningfuzzyPIDcontroller.ResearchJournalofAppliedSciences,EngineeringandTechnology.2012,4(6):p686-690.).nullMinority document embodies the research to diesel engine coupled problem，Since this century，The shafting torsional oscillation that the fluid excitation that foreign study person PeyYuenTao etc. cause to reduce propeller produces，The control method adding adaptive neural network in elastic shaft system model for torsional vibration controls the fluctuation of speed of propeller，And carried out simulation study，But shafting torsional oscillation characteristic ([10] PeyYuenTao of propeller part is simply considered，ShuzhiSamGe，TongHengLee.AdaptiveNeuralNetworkControlforMarineShaftingSystemUsingDynamicSurfaceControl.16thIEEEInternationalConferenceonControlApplications，1-3October2007:717-722P.)；The Han Xiao of Harbin Engineering University is for the diesel propulsion system of a Special Work ship, establish shafting torsional oscillation and speed regulating control Coupling Simulation Model, and debugging is reasonably controlled parameter, simulation result and experimental result coincide ([11] Han Xiao .4000 ton workboat Diesel Engine Digital Electronic Speed System and Propulsion Systems torsional oscillation coupled oscillations research [D]. master thesis, Heilungkiang: Harbin Engineering University, 2015.).
In summary, shafting vibration and control system coupled problem, more achievement is had in rotating machinery field, but rarely have research in reciprocating machine fields such as diesel engines, in the research of diesel engine speed regulation stability of control system, many axle system process is single inertia, and is left out the elasticity of axle system itself and the vibration characteristics of axle system.The Han Xiao wherein having Harbin Engineering University establishes Torsional Vibration of Diesel Engine Shafting System and regulates and controls Coupling Simulation Model and analyzed, but only account for the Torsional Vibration Characteristics of axle system, not accounting for axle cording and have torsional oscillation, horizontal, longitudinal complex vibration characteristic, in the stability analysis process estimate pid control parameter, multiple limits of shaft complex vibration do not account for；Its shafting torsional oscillation model does not consider camshaft, timing gear train elastic construction.
Summary of the invention
It is an object of the invention to provide and a kind of can pid control parameter be predicted, the diesel engine axle system complex vibration containing camshaft analyzes system with regulation and control Coupling method.The purpose of the present invention also includes providing a kind of can improve control stability, and the diesel engine axle system complex vibration containing camshaft analyzes method with regulation and control Coupling method.
A kind of diesel engine axle system complex vibration containing camshaft analyzes system with regulation and control Coupling method, including PID controller, executor, instantaneous distributive value module, cylinder pressure module, load, actuating device elastic shaft system module；
PID controller arranges P, I, D tri-by inside and controls parameter；
Executor, instantaneous distributive value module and cylinder modular pressure are fitted with distributive value relation curve, distributive value and cylinder pressure relation curve with tooth bar pull bar displacement relation curve, tooth bar pull bar displacement according to three characteristic curves of diesel engine test data gained and executor's electric current respectively, the controlled parameter of executor regulates output and controls electric current, determine tooth bar pull bar displacement, tooth bar pull bar displacement determines the distributive value of instantaneous distributive value module output, and distributive value is scaled cylinder pressure by cylinder pressure module and exports to actuating device elastic shaft system module；
Actuating device elastic shaft system module be by diesel engine from bent axle to load, timing gear train, the complete power train system of camshaft is reduced to by multiple rotary inertias and what elastic shaft part formed, there is torsion, revolution, the Elastic System Model of extensional vibration complex vibration characteristic, the input of actuating device elastic shaft system module includes cylinder pressure and load, each inertia transient speed response of output comprises axle system complex vibration characteristic, the transient speed taking camshaft inertia responds as feedback signal, PID controller is inputted with the difference of rotating speed of target, constitute closed-loop control system.
A kind of diesel engine axle system complex vibration containing camshaft analyzes method with regulation and control Coupling method, the transient speed taking camshaft inertia responds as feedback signal, inputting PID controller with the difference of rotating speed of target, PID controller arranges P, I, D tri-by inside and controls parameter；
The controlled parameter of executor regulates output and controls electric current, determines tooth bar pull bar displacement, and tooth bar pull bar displacement determines the distributive value of instantaneous distributive value module output, and distributive value is scaled cylinder pressure by cylinder pressure module and exports to actuating device elastic shaft system module；
Cylinder pressure and load are inputted actuating device elastic shaft system module, exports the response of each inertia transient speed.
Beneficial effect:
According to Literature Consult result, in conventional diesel engine speed regulating control stability analysis, axle system is reduced to single inertia thus being left out axle system elasticity and vibration characteristics, Diesel Shafting complex vibration and diesel engine speed regulation are controlled to claim by ship specification respectively, between the two the autonomous system for not coupling；During traditional Diesel Shafting Analysis of Vibration Characteristic, the elastic construction of camshaft, timing gear train is not accounted for.
Therefore, present invention have an advantage that 1, the single inertia axle system model in tradition speed regulating control stability analysis is reduced to many inertia, has the Elastic System Model of the complex vibration characteristics such as torsion, revolution, longitudinal direction；2, axle system model includes timing gears and camshaft elastic construction, takes the Instantaneous Speed Fluctuations feedback signal as closed-loop control system of camshaft inertia；3, in predictive PID Control parameter and system stability analysis, the basis of conventional diesel engine speed-adjusting and control system limit adds the consideration of the limit of shaft complex vibration, thus improving stability when prediction gained pid control parameter is applied to real shipping row.
Accompanying drawing explanation
Fig. 1 is the diesel engine axle system complex vibration containing camshaft and speed regulating control coupled structure schematic diagram；
Fig. 2 is the diesel engine axle system complex vibration containing camshaft and speed regulating control coupled oscillations genesis mechanism figure；
Fig. 3 is 4000 tons of Special Work ship Diesel Shafting vibrations and governing system Coupling Simulation Model；
Fig. 4 is under former pid control parameter, 4000 tons of Special Work ship axle system complex vibrations and speed regulating control coupling model flywheel inertia transient speed simulation result；
Fig. 5 is under former pid control parameter, 4000 tons of Special Work ship flywheel inertia transient speed shiphoard measurement results；
Fig. 6 is after optimizing under pid control parameter, 4000 tons of Special Work ship axle system complex vibrations and speed regulating control coupling model flywheel inertia transient speed simulation result；
Fig. 7 is after optimizing under pid control parameter, 4000 tons of Special Work ship flywheel inertia transient speed shiphoard measurement results.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further details.
It is an object of the invention to provide a kind of diesel engine axle system complex vibration containing camshaft and analyze method with regulation and control Coupling method, for prediction of Diesel Engine electron speed regulator pid control parameter, to improve stability when pid control parameter is applied to real shipping row.
The object of the present invention is achieved like this:
1) by diesel engine speed regulation control stability analysis comprise from bent axle to load, the complete shafting structure of timing gear train, camshaft, it is reduced to by multiple rotary inertias and what elastic shaft part formed, there is the Elastic System Model of the complex vibration characteristics such as torsion, revolution, extensional vibration；
2) diesel engine speed regulation controls process and is fitted with prototype testing data, takes the output cam axle transient speed feedback signal as coupling control system of many inertia axle system complex vibration model；
3) by axle system complex vibration and both regulator control systems are coupled together, when pid control parameter is estimated, not only consider that diesel engine speed regulation controls the system pole impact on system stability, also increasing the impact on system stability of the shaft complex vibration model limit, this improves the reasonability estimating gained pid control parameter and is applied to stability, safety during real shipping row.
In conjunction with Fig. 1, the diesel engine axle system complex vibration containing camshaft and speed regulating control coupling model are closed-loop control system, actuating device therein elastic shaft system module is many inertia, there is torsion, revolution and the complex vibration characteristic such as longitudinally, comprise diesel engine from bent axle to load, the complete power train system of timing gear train, camshaft；The controller of electron speed regulator is PID control, and executor, instantaneous distributive value, cylinder pressure module utilize experimental data: executor's electric current is fitted with distributive value relation curve, distributive value and cylinder pressure relation curve with tooth bar pull bar displacement relation curve, tooth bar pull bar displacement；Take the transient speed signals of camshaft inertia as controller feedback signal, constitute closed-loop control system.
In conjunction with Fig. 2, it is possible to Diesel Shafting vibration and speed regulating control coupled oscillations genesis mechanism are described, electronic governing system receives the transient speed at camshaft inertia place as feedback signal, forms closed-loop control system.The transient speed of camshaft inertia is the first differential of torsional vibration of shafting torsional angle response, containing axle system complex vibration characteristic, when this signal feeds back to PID controller, if failing after via controller to filter axle system therein complex vibration inherent character, axle system therein complex vibration inherent character will be transferred to cylinder pressure module always, as the input of actuating device elastic shaft system module, and cause resonance, this phenomenon constantly circulates, thus forming self-oscillation phenomenon.
In conjunction with real ship case, the diesel propulsion system of one 4000 tons of Special Work ship, diesel engine speed 540r/min operating mode, illustrates that the diesel engine axle system complex vibration containing camshaft and regulation and control Coupling method are analyzed method and be applied to the prediction of Digital Governor for Diesel Engine pid control parameter:
In conjunction with Fig. 3, with the diesel propulsion system of 4000 tons of Special Work ships for object of study, set up the Diesel Shafting complex vibration containing camshaft and speed regulating control Coupling Simulation Model, model middle controller adopts pid parameter to control, the executor of diesel engine, rack displacement, distributive value work process adopt shiphoard measurement data be fitted, Diesel Shafting module is many inertia, has the system of the complex vibration characteristics such as torsion, revolution, longitudinal direction, take camshaft inertia place transient speed signals as feedback, constitute closed loop coupling control system.
In conjunction with Fig. 4, Fig. 5, based on 4000 tons of Special Work ship Diesel Shafting vibrations and speed regulating control Coupling Simulation Model, pid parameter is set to controls parameter with real ship consistent, i.e. P=0.8, I=0.6, D=0.4.Results of model simulation is shown in Fig. 4, and flywheel inertia Instantaneous Speed Fluctuations amount reaches ± 22r/min；Shiphoard measurement flywheel place transient speed result is shown in that Fig. 5, undulate quantity reach ± 21r/min.Visible, simulation result coincide with shiphoard measurement result, and fluctuation of speed amount is big, real ship generation coupled oscillations phenomenon of the failure.Phantom can success inverting reality ship axle system coupled oscillations phenomenon.
In conjunction with Fig. 6, Fig. 7, based on 4000 tons of Special Work ship Diesel Shafting vibrations and speed regulating control Coupling Simulation Model, pid control parameter is optimized, little to obtain Instantaneous Speed Fluctuations, the pid control parameter one group suitable of smooth running, thus avoiding the generation of coupled oscillations phenomenon.
Pid control parameter during optimized rear diesel engine speed 540r/min is P=0.28, I=0.18, D=0.4, and the flywheel inertia place transient speed result of calculation after optimization is shown in that Fig. 6, undulate quantity reach ± 2r/min；Being adjusted to by the controller pid parameter of real ship after this optimization after pid parameter, shiphoard measurement flywheel place transient speed result is shown in that Fig. 7, undulate quantity reach ± 3r/min.Visible, shiphoard measurement result and simulation result coincide, and fluctuation of speed amount is little, the coupled oscillations trouble shooting of real ship axle system, successfully pid control parameter are predicted, it is to avoid the generation of coupled oscillations fault, it is ensured that the stability of real shipping row.
The present invention is to provide a kind of diesel engine for the prediction of Digital Governor for Diesel Engine pid control parameter axle system complex vibration containing camshaft and analyze method with regulation and control Coupling method.
The diesel engine axle system complex vibration containing camshaft includes PID controller with regulation and control coupling model, executor, cylinder pressure, load, several parts such as drive system elastic shaft system are constituted, PID controller arranges P by inside, I, D tri-controls parameter and plays control action, the controlled parameter of executor regulates output and controls electric current, determine tooth bar pull bar displacement, tooth bar pull bar displacement affects distributive value, distributive value is scaled cylinder pressure, thus, three characteristic curves that the simulation of executor is according to diesel engine test data gained are fitted, i.e. executor's electric current and tooth bar pull bar displacement relation curve, tooth bar pull bar displacement and distributive value relation curve, distributive value and cylinder pressure relation curve；Elastic shaft system module be by diesel engine from bent axle to load, timing gear train, the complete power train system of camshaft is reduced to by multiple rotary inertias and what elastic shaft part formed, there is torsion, revolution, the Elastic System Model of the complex vibration characteristics such as extensional vibration, the input stimulus of elastic shaft system module includes cylinder pressure and load, each inertia transient speed response of axle system module output comprises axle system complex vibration characteristic, the transient speed taking camshaft inertia responds as feedback signal, PID controller is inputted with the difference of rotating speed of target, thus constituting closed-loop control system, as shown in Figure 1.
This patent proposed diesel engine axle system complex vibration containing camshaft analyzes method with regulation and control Coupling method, by shiphoard measurement data, working process of diesel engine is fitted, emphasis shaft elastic model carries out refinement modeling simultaneously, it is made to retain the complex vibration characteristics such as the torsion of actual transmission system, revolution, extensional vibration, when the pid control parameter of electron speed regulator is estimated, it is considered to the impact that Diesel Shafting complex vibration couples with regulation and control.Can increase with this and estimate pid control parameter and be applied to the reliability of real ship, it is to avoid because Diesel Shafting complex vibration and the generation regulating and controlling the self-oscillation fault coupled and occur.
Fig. 2 gives the coupled oscillations fault genesis mechanism of the diesel engine axle system complex vibration containing camshaft and speed regulating control, and electronic governing system receives the transient speed at camshaft inertia place as feedback signal, forms closed-loop control system.The transient speed of camshaft inertia is the first differential of torsional vibration of shafting torsional angle response, containing axle system complex vibration characteristic, when this signal feeds back to PID controller, if failing after via controller to filter axle system therein complex vibration inherent character, axle system therein complex vibration inherent character will be transferred to cylinder pressure module always, as the input of actuating device elastic shaft system module, and cause resonance, this phenomenon constantly circulates, thus forming self-oscillation phenomenon.Therefore estimate rational pid control parameter through the coupling model of Diesel Shafting complex vibration Yu speed regulating control, axle system complex vibration inherent character can be avoided to circulate in closed loop system and produce self-oscillation.
Fig. 3-Fig. 7 is real ship case accompanying drawing when operating under rotating speed 540r/min operating mode of the diesel propulsion system with 4000 tons of Special Work ships.The Diesel Shafting complex vibration proposed according to this patent and speed regulating control coupling model, be shown in Fig. 3 to the modeling of this reality ship case；According to phantom, pid control parameter is set to controls parameter with real ship consistent, the transient speed result at emulation and shiphoard measurement gained flywheel place is shown in Fig. 4 and Fig. 5, visible undulate quantity respectively ± 22r/min and ± 21r/min, result is substantially identical, the real ship self-oscillation phenomenon of model success inverting.
Pid control parameter under diesel engine 540r/min operating mode being optimized and estimates, after optimization, gained flywheel transient speed simulation result is shown in Fig. 6, and undulate quantity is ± 2r/min；Being applied and real ship controller by pid control parameter after optimizing, shiphoard measurement gained flywheel transient speed simulation result is shown in Fig. 7, and undulate quantity is ± 3r/min, and result is substantially identical.Now real ship speed oscillation trouble shooting.
Real ship analysis of cases explanation, analyze method according to this patent proposed diesel engine axle system complex vibration containing camshaft with regulation and control Coupling method, it is possible to inverting reality ship phenomenon of the failure, can successfully pid control parameter be predicted, avoid the generation of coupled oscillations fault, it is ensured that the stability of real shipping row.
Claims (2)
1. the diesel engine axle system complex vibration containing camshaft analyzes system with regulation and control Coupling method, it is characterised in that: include PID controller, executor, instantaneous distributive value module, cylinder pressure module, load, actuating device elastic shaft system module；
PID controller arranges P, I, D tri-by inside and controls parameter；
Executor, instantaneous distributive value module and cylinder modular pressure are fitted with distributive value relation curve, distributive value and cylinder pressure relation curve with tooth bar pull bar displacement relation curve, tooth bar pull bar displacement according to three characteristic curves of diesel engine test data gained and executor's electric current respectively, the controlled parameter of executor regulates output and controls electric current, determine tooth bar pull bar displacement, tooth bar pull bar displacement determines the distributive value of instantaneous distributive value module output, and distributive value is scaled cylinder pressure by cylinder pressure module and exports to actuating device elastic shaft system module；
Actuating device elastic shaft system module be by diesel engine from bent axle to load, timing gear train, the complete power train system of camshaft is reduced to by multiple rotary inertias and what elastic shaft part formed, there is torsion, revolution, the Elastic System Model of extensional vibration complex vibration characteristic, the input of actuating device elastic shaft system module includes cylinder pressure and load, each inertia transient speed response of output comprises axle system complex vibration characteristic, the transient speed taking camshaft inertia responds as feedback signal, PID controller is inputted with the difference of rotating speed of target, constitute closed-loop control system.
2. the analysis method analyzing system based on the axle system complex vibration containing camshaft of the diesel engine described in claim 1 and regulation and control Coupling method, it is characterised in that:
Taking the transient speed response of camshaft inertia as feedback signal, input PID controller with the difference of rotating speed of target, PID controller arranges P, I, D tri-by inside and controls parameter；
The controlled parameter of executor regulates output and controls electric current, determines tooth bar pull bar displacement, and tooth bar pull bar displacement determines the distributive value of instantaneous distributive value module output, and distributive value is scaled cylinder pressure by cylinder pressure module and exports to actuating device elastic shaft system module；
Cylinder pressure and load are inputted actuating device elastic shaft system module, exports the response of each inertia transient speed.
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| CN114954829A (en) * | 2022-07-01 | 2022-08-30 | 武汉理工大学 | Ship main propulsion device vibration signal simulation method for diagnosis and verification |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106569407A (en) * | 2016-09-11 | 2017-04-19 | 国网浙江省电力公司电力科学研究院 | Vibration gradient control-based online treatment method for steam flow excited vibration of steam turbine |
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| CN109388907A (en) * | 2018-10-31 | 2019-02-26 | 中船动力研究院有限公司 | A kind of design method of the shafting with default extensional vibration dynamic flexibility |
| CN109388907B (en) * | 2018-10-31 | 2022-10-14 | 中船动力研究院有限公司 | Design method of shafting with preset longitudinal vibration dynamic flexibility |
| CN114954829A (en) * | 2022-07-01 | 2022-08-30 | 武汉理工大学 | Ship main propulsion device vibration signal simulation method for diagnosis and verification |
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