CN105932660A - Direct current bus voltage stabilization control method for marine comprehensive electric propulsion system - Google Patents
Direct current bus voltage stabilization control method for marine comprehensive electric propulsion system Download PDFInfo
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Abstract
本发明提供一种船舶综合电力推进系统直流母线电压稳定控制方法，该方法包括：根据系统的结构建立系统模型预测控制器，其中，系统模型预测控制器将异步推进电机的转矩设定值Te *与直流母线电压Vdc相关联；获取系统工况变化/扰动信息；根据系统工况变化/扰动信息以及系统要求，确定出系统模型预测控制器的候选控制输入、约束条件、以及整体优化目标函数；读取系统当前状态，并基于当前状态和约束条件求解整体优化目标函数，从候选控制输入中确定最优控制输入，根据最优控制输入更新系统控制输入和系统状态，不断更新的系统状态能够使系统的直流母线电压稳定在预期水平。
The invention provides a DC bus voltage stability control method for a ship's integrated electric propulsion system. The method includes: establishing a system model predictive controller according to the structure of the system, wherein the system model predictive controller sets the torque setting value T of the asynchronous propulsion motor e * is associated with the DC bus voltage V dc ; obtain the system operating condition change/disturbance information; determine the candidate control input, constraint conditions, and overall optimization of the system model predictive controller according to the system operating condition change/disturbance information and system requirements Objective function; read the current state of the system, and solve the overall optimization objective function based on the current state and constraints, determine the optimal control input from the candidate control input, update the system control input and system state according to the optimal control input, and continuously update the system The state enables the DC bus voltage of the system to stabilize at the expected level.
Description
技术领域technical field
本发明涉及一种船舶综合电力推进系统直流母线电压稳定控制方法。The invention relates to a method for stabilizing the DC bus voltage of a comprehensive electric propulsion system of a ship.
背景技术Background technique
船舶中通常使用综合电力推进系统，保持系统的直流母线电压的相对稳定对整个系统的正常运行十分重要。Integrated electric propulsion systems are usually used in ships, and maintaining the relative stability of the DC bus voltage of the system is very important for the normal operation of the entire system.
目前，为了消除直流母线电压的不稳定，一般采用的方式是增加直流母线的电容。但是，增加的电容不仅体积大、而且重量大，在复杂的船舶综合电力推进系统中，增加电容往往会过多占用系统中有限的空间，并且会徒增船舶负重，导致资源浪费。At present, in order to eliminate the instability of the DC bus voltage, the general method is to increase the capacitance of the DC bus. However, the added capacitor is not only large in size but also heavy in weight. In a complex ship integrated electric propulsion system, increasing the capacitor will often occupy too much limited space in the system, and will only increase the load of the ship, resulting in a waste of resources.
此外，从维护的角度来说，在配电网中定位一个短路电容也是相当困难。Furthermore, locating a short-circuit capacitor in the distribution network is quite difficult from a maintenance point of view.
发明内容Contents of the invention
本发明要解决的技术问题是提供一种船舶综合电力推进系统直流母线电压稳定控制方法，使得系统直流母线电压能够稳定在预期水平。The technical problem to be solved by the present invention is to provide a method for stabilizing the DC bus voltage of a ship's integrated electric propulsion system, so that the DC bus voltage of the system can be stabilized at an expected level.
为解决上述技术问题，本发明提供一种船舶综合电力推进系统直流母线电压稳定控制方法，包括：根据系统的结构建立系统模型预测控制器，其中，系统模型预测控制器将异步推进电机的转矩设定值与直流母线电压Vdc相关联；获取系统工况变化/扰动信息；根据系统工况变化/扰动信息以及系统要求，确定出系统模型预测控制器的候选控制输入、约束条件、以及整体优化目标函数；读取系统当前状态，并基于当前状态和约束条件求解整体优化目标函数，从候选控制输入中确定最优控制输入，根据最优控制输入更新系统控制输入和系统状态，不断更新的系统状态能够使系统的直流母线电压稳定在预期水平。In order to solve the above-mentioned technical problems, the present invention provides a DC bus voltage stabilization control method for a marine integrated electric propulsion system, including: establishing a system model predictive controller according to the structure of the system, wherein the system model predictive controller converts the torque of the asynchronous propulsion motor set value Associated with the DC bus voltage V dc ; obtain system operating condition change/disturbance information; determine the candidate control input, constraint conditions, and overall optimization objective function of the system model predictive controller according to the system operating condition change/disturbance information and system requirements ; read the current state of the system, and solve the overall optimization objective function based on the current state and constraints, determine the optimal control input from the candidate control input, and update the system control input and system state according to the optimal control input. The continuously updated system state can Stabilize the DC bus voltage of the system at the expected level.
进一步地，步骤S1中，异步推进电机的转矩设定值与直流母线电压Vdc的关联关系式为且其中，Te des为机械负载所需的理想转矩值，是经过滤波器进行滤波后的直流母线电压，n和τ为时变连续参数，通过调节n和τ可改善系统负阻抗特性。Further, in step S1, the torque setting value of the asynchronous propulsion motor The relationship between it and the DC bus voltage V dc is and Among them, T e des is the ideal torque value required by the mechanical load, is the DC bus voltage filtered by the filter, n and τ are time-varying continuous parameters, and the negative impedance characteristics of the system can be improved by adjusting n and τ.
进一步地，滤波器的传递函数为 Further, the transfer function of the filter is
进一步地，步骤S3中，候选控制输入为n和τ，约束条件为τ∈[0,1],n∈[1,10]，整体优化目标函数为其中，Vbus＝F(x,n,τ)，为船舶综合电力推进系统的数学模型，x是系统内部状态变量，为直流母线电压参考值。Further, in step S3, the candidate control inputs are n and τ, the constraints are τ∈[0,1],n∈[1,10], and the overall optimization objective function is where, V bus =F(x,n,τ), is the mathematical model of the ship's integrated electric propulsion system, x is the internal state variable of the system, It is the reference value of DC bus voltage.
进一步地，步骤S4中，采用树搜索算法对整体优化目标函数进行求解。Further, in step S4, a tree search algorithm is used to solve the overall optimization objective function.
本发明的船舶综合电力推进系统直流母线电压稳定控制方法，将异步推进电机的转矩设定值与直流母线电压Vdc进行关联，并在此基础上建立系统模型预测控制器。针对实际的系统工况变化/扰动信息，再结合系统的控制要求，可确定出系统模型预测控制器的候选控制输入、约束条件以及整体优化目标函数。继而，在读取到系统当前状态后，基于该当前状态对具体的整体优化函数进行求解，以获得系统在已知约束条件范围内的最优控制输入，之后，将该最优控制输入修正为系统当前控制输入，且将致使整体优化函数达到最优的系统状态更新为系统当前状态，即，实现状态转移。通过不断地更新系统状态，以及不断地对系统控制输入进行修正，使得系统直流母线电压能够在一个不断修正的动态过程中稳定在预期水平。The DC bus voltage stability control method of the integrated ship electric propulsion system of the present invention sets the torque setting value of the asynchronous propulsion motor It is associated with the DC bus voltage V dc , and a system model predictive controller is established on this basis. According to the actual system operating condition change/disturbance information, combined with the control requirements of the system, the candidate control input, constraint conditions and overall optimization objective function of the system model predictive controller can be determined. Then, after reading the current state of the system, the specific overall optimization function is solved based on the current state to obtain the optimal control input of the system within the range of known constraints, and then the optimal control input is modified as The system currently controls the input, and updates the system state that causes the overall optimization function to be optimal as the current state of the system, that is, realizes state transition. By continuously updating the system state and continuously correcting the system control input, the system DC bus voltage can be stabilized at the expected level in a dynamic process of continuous correction.
因此，本发明提供的船舶综合电力推进系统直流母线电压稳定控制方法，能够使得系统直流母线电压能够稳定在预期水平。Therefore, the DC bus voltage stabilization control method of the integrated ship electric propulsion system provided by the present invention can stabilize the DC bus voltage of the system at an expected level.
附图说明Description of drawings
图1是本发明实施例提供的船舶综合电力推进系统直流母线电压稳定控制方法流程图；Fig. 1 is a flow chart of a method for controlling DC bus voltage stability of a ship's integrated electric propulsion system provided by an embodiment of the present invention;
图2是本发明实施例提供的船舶综合电力推进系统的传统结构框图；Fig. 2 is a traditional structural block diagram of a ship integrated electric propulsion system provided by an embodiment of the present invention;
图3是本发明实施例提供的船舶综合电力推进系统的改进结构框图；Fig. 3 is an improved structural block diagram of the ship integrated electric propulsion system provided by the embodiment of the present invention;
具体实施方式detailed description
下面通过具体的实施例进一步说明本发明，但是，应当理解为，这些实施例仅仅是用于更详细具体地说明之用，而不应理解为用于以任何形式限制本发明。The present invention will be further illustrated by specific examples below, but it should be understood that these examples are only used for more detailed description, and should not be construed as limiting the present invention in any form.
结合图1，本实施例提供的船舶综合电力推进系统直流母线电压稳定控制方法，具体步骤包括：In conjunction with Fig. 1, the DC bus voltage stability control method of the ship's integrated electric propulsion system provided by this embodiment, the specific steps include:
步骤S1：根据系统的结构建立系统模型预测控制器，其中，系统模型预测控制器将异步推进电机10的转矩设定值与直流母线电压Vdc相关联；Step S1: Establish a system model predictive controller according to the structure of the system, wherein the system model predictive controller will set the torque setting value of the asynchronous propulsion motor 10 Associated with the DC bus voltage V dc ;
步骤S2：获取系统工况变化/扰动信息；Step S2: Acquiring system working condition change/disturbance information;
步骤S3：根据系统工况变化/扰动信息以及系统要求，确定出系统模型预测控制器的候选控制输入、约束条件、以及整体优化目标函数；Step S3: According to the system operating condition change/disturbance information and system requirements, determine the candidate control input, constraint conditions, and overall optimization objective function of the system model predictive controller;
步骤S4：读取系统当前状态，并基于当前状态和约束条件求解整体优化目标函数，从候选控制输入中确定最优控制输入，根据最优控制输入更新系统控制输入和系统状态，不断更新的系统状态能够使系统的直流母线电压稳定在预期水平。Step S4: Read the current state of the system, and solve the overall optimization objective function based on the current state and constraints, determine the optimal control input from the candidate control input, update the system control input and system state according to the optimal control input, and continuously update the system The state enables the DC bus voltage of the system to stabilize at the expected level.
结合图3，本发明的船舶综合电力推进系统直流母线电压稳定控制方法，在图2的基础上，将异步推进电机10的转矩设定值与直流母线电压Vdc进行关联，并在此基础上建立系统模型预测控制器。针对实际的系统工况变化/扰动信息，再结合系统的控制要求，可确定出系统模型预测控制器的候选控制输入、约束条件以及整体优化目标函数。继而，在读取到系统当前状态后，基于该当前状态对具体的整体优化目标函数进行求解，以获得系统在已知约束条件范围内的最优控制输入，之后，将该最优控制输入修正为系统当前控制输入，且将致使整体优化目标函数达到最优的系统状态更新为系统当前状态，即，实现状态转移。通过不断地更新系统状态，以及不断地对系统控制输入进行修正，使得系统直流母线电压能够在一个不断修正的动态过程中稳定在预期水平内。In conjunction with Fig. 3, the DC bus voltage stabilization control method of the ship's integrated electric propulsion system of the present invention, on the basis of Fig. 2, the torque setting value of the asynchronous propulsion motor 10 It is associated with the DC bus voltage V dc , and a system model predictive controller is established on this basis. According to the actual system operating condition change/disturbance information, combined with the control requirements of the system, the candidate control input, constraint conditions and overall optimization objective function of the system model predictive controller can be determined. Then, after reading the current state of the system, the specific overall optimization objective function is solved based on the current state to obtain the optimal control input of the system within the range of known constraints, and then the optimal control input is corrected is the current control input of the system, and updates the system state that causes the overall optimization objective function to be optimal as the current state of the system, that is, realizes state transition. By continuously updating the system state and continuously correcting the system control input, the system DC bus voltage can be stabilized within the expected level in a dynamic process of continuous correction.
因此，本发明提供的船舶综合电力推进系统直流母线电压稳定控制方法，能够使得系统直流母线电压能够稳定在预期水平。Therefore, the DC bus voltage stabilization control method of the integrated ship electric propulsion system provided by the present invention can stabilize the DC bus voltage of the system at an expected level.
优选地，结合图3所示，步骤S1中，异步推进电机10的转矩设定值与直流母线电压Vdc的关联关系式为且其中，Te des为机械负载所需的理想转矩值，是经过滤波器进行滤波后的直流母线电压，n和τ为时变连续参数，通过调节n和τ可改善系统负阻抗特性。此外，需要说明的是，公式中所出现的符号d为微分算子的表示符号，例如，是对的微分表述，此为本领域技术人员所公知的表述方式。Preferably, as shown in FIG. 3 , in step S1, the torque setting value of the asynchronous propulsion motor 10 The relationship between it and the DC bus voltage V dc is and Among them, T e des is the ideal torque value required by the mechanical load, is the DC bus voltage filtered by the filter, n and τ are time-varying continuous parameters, and the negative impedance characteristics of the system can be improved by adjusting n and τ. In addition, it should be noted that the formula The symbol d appearing in is the symbol of the differential operator, for example, is true The differential expression of , which is well known to those skilled in the art.
本实施例通过将异步推进电机10的转矩设定值与直流母线电压Vdc采用上述的关联关系式进行关联，由于异步推进电机10的理想功率Pdes＝ωimTe des，其中ωim是异步推进电机10的转速，于是异步推进电机10的瞬时功率输入值为： 也就是说，异步推进电机10的瞬时功率会随着和n的变化而发生变化，也即是，异步推进电机10的瞬时功率会随着n和τ的变化而有所变化。如此，既可以确保系统的直流母线电压保持稳定，又可以有效改善系统所呈现出的恒功率负载的负阻抗特性，从而减缓了异步推动电机对系统稳定性造成的影响。In this embodiment, the torque setting value of the asynchronous propulsion motor 10 It is associated with the DC bus voltage V dc using the above-mentioned relational formula. Since the ideal power P des of the asynchronous propulsion motor 10 =ω im T e des , where ω im is the rotational speed of the asynchronous propulsion motor 10 , the instantaneous power of the asynchronous propulsion motor 10 The power input values are: That is to say, the instantaneous power of the asynchronous propulsion motor 10 will follow and n change, that is, the instantaneous power of the asynchronous propulsion motor 10 will change with the change of n and τ. In this way, it can not only ensure that the DC bus voltage of the system remains stable, but also effectively improve the negative impedance characteristics of the constant power load presented by the system, thereby slowing down the impact of the asynchronous drive motor on the system stability.
进一步优选地，滤波器的传递函数为本实施例中，滤波器的传递函数为也即是说，是采用一阶滤波器对直流母线电压进行滤波，这样，一方面可以起到滤波效果，另一方面又不至于使得问题变得太复杂。此外，一阶滤波器中的系数采用的是关联系数τ，可以在一定程度上减少计算复杂度。再者，需要提及的是，该一阶滤波器中出现的S是本领域技术人员公知的传递函数表述符号。Further preferably, the transfer function of the filter is In this embodiment, the transfer function of the filter is That is to say, the first-order filter is used to filter the DC bus voltage. In this way, on the one hand, the filtering effect can be achieved, and on the other hand, the problem will not become too complicated. In addition, the coefficients in the first-order filter use the correlation coefficient τ, which can reduce the computational complexity to a certain extent. Furthermore, it should be mentioned that the S appearing in the first-order filter is a transfer function expression symbol well known to those skilled in the art.
进一步优选地，步骤S3中，候选控制输入为n和τ的若干组取值，约束条件为τ∈[0,1],n∈[1,10]，整体优化目标函数为其中，Vbus＝F(x,n,τ)，为船舶综合电力推进系统的数学模型，x是系统内部状态变量，为直流母线电压参考值。τ(τ∈[0,1])及n(n∈[1,10])为时变连续，通过改变这两个控制输入的值，可以不断修正系统的动态性能。需要说明的是，关于n和τ的约束条件可以根据系统的实际需求而有所不同。Further preferably, in step S3, the candidate control inputs are several sets of values of n and τ, the constraint conditions are τ∈[0,1],n∈[1,10], and the overall optimization objective function is where, V bus =F(x,n,τ), is the mathematical model of the ship's integrated electric propulsion system, x is the internal state variable of the system, It is the reference value of DC bus voltage. τ(τ∈[0,1]) and n(n∈[1,10]) are time-varying and continuous, and the dynamic performance of the system can be continuously modified by changing the values of these two control inputs. It should be noted that the constraint conditions on n and τ may be different according to the actual requirements of the system.
在整个系统运行过程中，当检查到系统没有恢复或性能未达到要求时，本发明实施例提供的船舶综合电力推进系统直流母线电压稳定控制方法将反复对系统当前状态进行更新，并不断修正控制输入中n和τ的值，直到系统达到要求。例如，对于使用某个算法生成的满足约束条件的若干组(例如5组)控制输入n和τ，结合系统当前状态以及直流母线电压参考值此时，通过对船舶综合电力推进系统的数学模型的求解，这5组控制输入n和τ可以对应求解出5个Vbus的值，其中，使得整体优化目标函数最小的那一组控制输入n和τ将被修正为当前控制输入，且这一组最优的控制输入所对应的系统状态将被更新为当前系统状态。此外，当这个更新过的系统状态依旧不能满足要求时，将又一次进行最优控制输入的选择，并将状态进行更新，直到系统当前状态达到预定要求，则暂时停止更新。During the operation of the entire system, when it is detected that the system has not recovered or the performance has not met the requirements, the DC bus voltage stability control method of the ship's integrated electric propulsion system provided by the embodiment of the present invention will repeatedly update the current state of the system and continuously correct the control Enter the values of n and τ in the input until the system meets the requirements. For example, for several groups (such as 5 groups) of control inputs n and τ that meet the constraints generated by an algorithm, combined with the current state of the system and the reference value of the DC bus voltage At this time, by solving the mathematical model of the ship's integrated electric propulsion system, the five sets of control inputs n and τ can be solved for five values of V bus , among which, the set of control inputs n that minimizes the overall optimization objective function and τ will be corrected as the current control inputs, and the system state corresponding to this group of optimal control inputs will be updated as the current system state. In addition, when the updated system state still cannot meet the requirements, the selection of the optimal control input will be carried out again, and the state will be updated until the current state of the system meets the predetermined requirements, then the update will be temporarily stopped.
此外，需要说明的是，本领域技术人员公知的船舶综合电力推进系统的数学模型描述为其中，x表示系统状态变量，u表示控制输入。本实施例对原有模型进行改进后，在已有微分方程的基础上加入两个控制变量n和τ，即，将数学模型变成也就是说，经过本实施例改进后的系统数学模型也可以理解为其中unew＝u∪[τ n]。In addition, it should be noted that the mathematical model of the ship's integrated electric propulsion system known to those skilled in the art is described as Among them, x represents the system state variable, u represents the control input. After this embodiment improves the original model, two control variables n and τ are added on the basis of the existing differential equation, that is, the mathematical model becomes That is to say, the system mathematical model improved by this embodiment can also be understood as where u new = u∪[τ n].
进一步优选地，步骤S4中，采用树搜索算法对整体优化目标函数进行求解。此时，船舶综合电力推进系统的数学模型中，x是根据树搜索算法获得的系统内部状态变量。采用树搜索算法，在得到系统当前状态后，系统模型预测控制器以所获得的系统当前状态作为起始点，在满足约束条件的基础上，生成直到预测区间N为止的所有可达的系统状态树，也就是说，基于预测区间内所有可行的控制输入，生成所有可达的系统状态树，再从中选出使得整体优化目标函数达到最优的状态作为系统最新状态，进行状态转移。需要说明的是，本实施例对整体优化目标函数的求解方法不做具体限定。Further preferably, in step S4, a tree search algorithm is used to solve the overall optimization objective function. At this time, the mathematical model of the ship's integrated electric propulsion system Among them, x is the internal state variable of the system obtained according to the tree search algorithm. Using the tree search algorithm, after obtaining the current state of the system, the system model predictive controller takes the obtained current state of the system as the starting point, and generates all reachable system state trees up to the prediction interval N on the basis of satisfying the constraint conditions , that is to say, based on all feasible control inputs in the prediction interval, all reachable system state trees are generated, and then the state that makes the overall optimization objective function reach the optimal state is selected as the latest state of the system, and the state transition is performed. It should be noted that this embodiment does not specifically limit the method for solving the overall optimization objective function.
尽管本发明已进行了一定程度的描述，明显地，在不脱离本发明的精神和范围的条件下，可进行各个条件的适当变化。可以理解，本发明不限于所述实施方案，而归于权利要求的范围，其包括所述每个因素的等同替换。While the invention has been described to a certain extent, it will be obvious that various changes may be made in various conditions without departing from the spirit and scope of the invention. It is to be understood that the invention is not limited to the described embodiments, but rather falls within the scope of the claims, which include equivalents to each of the elements described.
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| CN114142471A (en) * | 2021-11-29 | 2022-03-04 | 江苏科技大学 | Ship integrated power system reconstruction method considering communication faults |
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| CN112953193B (en) * | 2021-03-12 | 2024-04-26 | 联合汽车电子有限公司 | Three-phase PFC soft start current impact inhibition method and device, charger and medium |
| CN114142471A (en) * | 2021-11-29 | 2022-03-04 | 江苏科技大学 | Ship integrated power system reconstruction method considering communication faults |
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