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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- CN105932660A CN105932660A CN201610347465.3A CN201610347465A CN105932660A CN 105932660 A CN105932660 A CN 105932660A CN 201610347465 A CN201610347465 A CN 201610347465A CN 105932660 A CN105932660 A CN 105932660A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
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Abstract
The invention provides a direct current bus voltage stabilization control method for a marine comprehensive electric propulsion system. The method comprises the steps of establishing a system model prediction controller according to the structure of the system, wherein the system model prediction controller associates a set value of the torque Te* of an asynchronous propulsion motor with a direct current bus voltage Vdc; acquiring working condition variation/disturbance information of the system; determining candidate control inputs, constraint conditions and a global optimization objective function of the system model controller according to the working condition variation/disturbance information of the system and the system requirements; and reading the current state of the system, and based on the current state and constraint conditions, solving the global optimization objective function, determining the optimal control input from the candidate control inputs, updating the system control input and system state according to the optimal control input, and continuously updating the system state, thus stabilizing the direct current bus voltage at an expected level.
Description
Technical Field
The invention relates to a direct current bus voltage stability control method of a ship comprehensive electric propulsion system.
Background
Comprehensive electric propulsion systems are generally used in ships, and it is important to keep the dc bus voltage of the system relatively stable for the normal operation of the whole system.
At present, in order to eliminate the instability of the voltage of the direct current bus, the method generally adopts a mode of increasing the capacitance of the direct current bus. However, the added capacitor is not only bulky but also heavy, and in a complex integrated electric propulsion system for a ship, the added capacitor often occupies too much limited space in the system, and the ship load is unnecessarily increased, which results in resource waste.
Furthermore, locating a short-circuit capacitor in an electrical distribution network is also quite difficult from a maintenance point of view.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a direct current bus voltage stabilization control method of a ship comprehensive electric propulsion system, so that the direct current bus voltage of the system can be stabilized at an expected level.
In order to solve the technical problem, the invention provides a method for controlling the voltage stability of a direct current bus of a ship integrated electric propulsion system, which comprises the following steps: establishing a system model predictive controller according to the structure of the system, wherein the system model predictive controller sets the torque set value of the asynchronous propulsion motorAnd DC bus voltage VdcAssociating; acquiring system working condition change/disturbance information; determining candidate control input, constraint conditions and an overall optimization objective function of a system model predictive controller according to system working condition change/disturbance information and system requirements; reading the current state of the system and based on the current stateAnd solving an overall optimization objective function through the constraint conditions, determining an optimal control input from the candidate control inputs, updating the system control input and the system state according to the optimal control input, and stabilizing the direct-current bus voltage of the system at an expected level through the continuously updated system state.
Further, in step S1, the torque setting value of the asynchronous propulsion motorAnd DC bus voltage VdcIs related toAnd isWherein, Te desThe desired torque value required for the mechanical load,the direct current bus voltage is filtered by a filter, n and tau are time-varying continuous parameters, and the negative impedance characteristic of the system can be improved by adjusting n and tau.
Further, the transfer function of the filter is
Further, in step S3, the candidate control inputs are n and τ, and the constraint condition is τ ∈ [0,1],n∈[1,10]The global optimization objective function isWherein, Vbus＝F(x,n,τ)，Is a mathematical model of the integrated electric propulsion system of a ship, x is a state variable inside the system,is a DC bus voltage reference value.
Further, in step S4, the overall optimization objective function is solved by using a tree search algorithm.
The invention relates to a direct current bus voltage stabilization control method of a ship comprehensive electric propulsion system, which sets the torque set value of an asynchronous propulsion motorAnd DC bus voltage VdcAnd carrying out correlation and establishing a system model predictive controller on the basis of the correlation. And determining candidate control input, constraint conditions and an overall optimization objective function of the system model predictive controller according to actual system working condition change/disturbance information and the control requirement of the system. Then, after the current state of the system is read, a specific overall optimization function is solved based on the current state to obtain the optimal control input of the system within the range of the known constraint condition, then the optimal control input is corrected to the current control input of the system, and the system state which leads the overall optimization function to reach the optimal state is updated to the current state of the system, namely, state transition is realized. By continuously updating the system state and continuously modifying the system control input, the system DC bus voltage can be stabilized at a desired level in a continuously modified dynamic process.
Therefore, the ship integrated electric propulsion system direct current bus voltage stabilization control method provided by the invention can stabilize the system direct current bus voltage at an expected level.
Drawings
Fig. 1 is a flowchart of a method for stabilizing and controlling a dc bus voltage of a marine integrated electric propulsion system according to an embodiment of the present invention;
FIG. 2 is a block diagram of a conventional integrated electric propulsion system for a marine vessel according to an embodiment of the present invention;
FIG. 3 is a block diagram of an improved structure of the integrated electric propulsion system for a ship according to the embodiment of the present invention;
Detailed Description
The invention is further illustrated by the following specific examples, which, however, are to be construed as merely illustrative, and not limitative of the remainder of the disclosure in any way whatsoever.
With reference to fig. 1, the method for controlling the voltage stability of the dc bus of the marine integrated electric propulsion system according to this embodiment includes the following specific steps:
step S1: establishing a system model predictive controller based on the configuration of the system, wherein the system model predictive controller sets the torque setpoint for the asynchronous propulsion motor 10And DC bus voltage VdcAssociating;
step S2: acquiring system working condition change/disturbance information;
step S3: determining candidate control input, constraint conditions and an overall optimization objective function of a system model predictive controller according to system working condition change/disturbance information and system requirements;
step S4: reading the current state of the system, solving an overall optimization objective function based on the current state and constraint conditions, determining the optimal control input from the candidate control inputs, updating the system control input and the system state according to the optimal control input, and stabilizing the direct-current bus voltage of the system at an expected level by the continuously updated system state.
Referring to fig. 3, the method for controlling the voltage stability of the dc bus of the integrated electric propulsion system of a ship according to the present invention is based on fig. 2, and the asynchronous propulsion motor 10 is rotatedMoment set valueAnd DC bus voltage VdcAnd carrying out correlation and establishing a system model predictive controller on the basis of the correlation. And determining candidate control input, constraint conditions and an overall optimization objective function of the system model predictive controller according to actual system working condition change/disturbance information and the control requirement of the system. Then, after the current state of the system is read, a 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 the known constraint condition, then the optimal control input is corrected to the current control input of the system, and the system state which leads the overall optimization objective function to reach the optimal state is updated to the current state of the system, namely, state transition is realized. By continuously updating the system state and continuously modifying the system control input, the system DC bus voltage can be stabilized within a desired level in a continuously modified dynamic process.
Therefore, the ship integrated electric propulsion system direct current bus voltage stabilization control method provided by the invention can stabilize the system direct current bus voltage at an expected level.
Preferably, and as shown in connection with FIG. 3, in step S1, the torque settings for asynchronous propulsion motor 10And DC bus voltage VdcIs related toAnd isWherein, Te desThe desired torque value required for the mechanical load,is filtered by a filterThe voltage of the direct current bus after the wave, n and tau are time-varying continuous parameters, and the negative impedance characteristic of the system can be improved by adjusting n and tau. In addition, it should be noted that the formulaThe symbol d appearing in (a) is the expression symbol of the differential operator, for example,is toIs known to those skilled in the art.
The present embodiment is implemented by setting the torque of the asynchronous propulsion motor 10And DC bus voltage VdcThe correlation is performed using the correlation equation described above, due to the desired power P of the asynchronous propulsion motor 10des＝ωimTe desWherein ω isimIs the rotational speed of the asynchronous propulsion motor 10, the instantaneous power input value of the asynchronous propulsion motor 10 is then: that is, the instantaneous power of asynchronous propulsion motor 10 will followAnd n, i.e., the instantaneous power of asynchronous propulsion motor 10 varies as n and τ vary. Therefore, the voltage of the direct current bus of the system can be kept stable, the negative impedance characteristic of the constant power load presented by the system can be effectively improved, and the influence of the asynchronous driving motor on the stability of the system is relieved.
Further preferably, the transfer function of the filter isIn this embodiment, the transfer function of the filter isThat is, the dc bus voltage is filtered by a first order filter, which can provide a filtering effect without complicating the problem. In addition, the coefficient in the first-order filter adopts the correlation coefficient tau, and the computational complexity can be reduced to a certain extent. Again, it should be mentioned that the S present in the first order filter is a transfer function expression known to those skilled in the art.
Further preferably, in step S3, the candidate control inputs are a plurality of sets of values of n and τ, and the constraint condition is τ ∈ [0,1],n∈[1,10]The global optimization objective function isWherein, Vbus＝F(x,n,τ)，Is a mathematical model of the integrated electric propulsion system of a ship, x is a state variable inside the system,is a DC bus voltage reference value tau (tau ∈ [0, 1)]) And n (n ∈ [1,10]]) By changing the values of these two control inputs for time varying continuity, the dynamic performance of the system can be continuously modified. It should be noted that the constraints on n and τ may be different according to the actual requirements of the system.
In the whole system operation process, when the system is not recovered or the performance does not meet the requirement through checking, the direct-current bus voltage stability control method of the ship comprehensive electric propulsion system provided by the embodiment of the invention repeatedly carries out updating on the current state of the systemThe values of n and τ in the control inputs are continuously modified until the system meets the requirements. For example, for several sets (e.g., 5 sets) of control inputs n and τ generated using an algorithm that satisfy constraints, the current state of the system and the DC bus voltage reference value are combinedAt this time, by solving the mathematical model of the integrated electric propulsion system of the ship, the 5 sets of control inputs n and τ can be correspondingly solved into 5VbusWherein the set of control inputs n and τ that minimizes the overall optimization objective function will be modified to the current control input and the system state corresponding to the optimal set of control inputs will be updated to the current system state. In addition, when the updated system state still can not meet the requirement, the optimal control input is selected again, the state is updated until the current state of the system reaches the preset requirement, and the updating is stopped temporarily.
Furthermore, it should be noted that the mathematical model of the integrated electric propulsion system of a ship, which is well known to those skilled in the art, is described asWhere x represents the system state variable and u represents the control input. In the embodiment, after the original model is improved, two control variables n and tau are added on the basis of the existing differential equation, namely, the mathematical model is changed into the mathematical modelThat is, the system mathematical model improved by the present embodiment can also be understood asWherein u isnew＝u∪[τ n]。
Further preferably, in step S4, the overall optimization objective function is solved by using a tree search algorithm. At this time, the mathematical model of the ship integrated electric propulsion systemWhere x is the system internal state variable obtained from the tree search algorithm. After the current state of the system is obtained by adopting a tree search algorithm, the system model prediction controller generates all reachable system state trees up to a prediction interval N by taking the obtained current state of the system as a starting point on the basis of meeting constraint conditions, namely, all reachable system state trees are generated on the basis of all feasible control inputs in the prediction interval, and then a state which enables the overall optimization objective function to reach the optimum is selected as the latest state of the system to carry out state transition. It should be noted that, the solution method of the overall optimization objective function is not specifically limited in this embodiment.
Although the present invention has been described to a certain extent, it is apparent that appropriate changes in the respective conditions may be made without departing from the spirit and scope of the present invention. It is to be understood that the invention is not limited to the described embodiments, but is to be accorded the scope consistent with the claims, including equivalents of each element described.
Claims (5)
1. A direct current bus voltage stability control method of a ship comprehensive electric propulsion system is characterized by comprising the following steps:
step S1: establishing a system model predictive controller based on the configuration of the system, wherein the system model predictive controller adjusts the torque setpoint of the asynchronous propulsion motorAnd DC bus voltage VdcAssociating;
step S2: acquiring system working condition change/disturbance information;
step S3: determining candidate control input, constraint conditions and an overall optimization objective function of the system model predictive controller according to the system working condition change/disturbance information and system requirements;
step S4: and reading the current state of the system, solving the overall optimization objective function based on the current state and the constraint condition, determining the optimal control input from the candidate control inputs, updating the system control input and the system state according to the optimal control input, and stabilizing the direct-current bus voltage of the system at an expected level by the continuously updated system state.
2. The method for controlling voltage stabilization of DC bus of marine integrated electric propulsion system according to claim 1, wherein in step S1,
torque setpoint for the asynchronous propulsion motorAnd the DC bus voltage VdcIs related toAnd isWherein,the desired torque value required for the mechanical load,the direct current bus voltage is filtered by a filter, n and tau are time-varying continuous parameters, and the negative impedance characteristic of the system can be improved by adjusting n and tau.
3. The method of claim 2The direct current bus voltage stability control method of the ship comprehensive electric propulsion system is characterized in that the transfer function of the filter is
4. The method for controlling voltage stabilization of DC bus of marine integrated electric propulsion system according to claim 3, wherein in step S3,
the candidate control inputs are a plurality of groups of values of n and tau;
the constraint condition is that tau belongs to [0,1], n belongs to [1,10 ];
the overall optimization objective function is
Wherein, Vbus＝F(x,n,τ)，For the mathematical model of the integrated electric propulsion system of the vessel, x is the system internal state variable,is a DC bus voltage reference value.
5. The method for controlling voltage stabilization of direct current bus of marine integrated electric propulsion system according to claim 4, wherein in step S4, the overall optimization objective function is solved by using a tree search algorithm.
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| CN201610347465.3A CN105932660B (en) | 2016-05-24 | 2016-05-24 | Marine Synthesize Electric Propulsion System DC bus-bar voltage stable control method |
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| CN201610347465.3A CN105932660B (en) | 2016-05-24 | 2016-05-24 | Marine Synthesize Electric Propulsion System DC bus-bar voltage stable control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112953193A (en) * | 2021-03-12 | 2021-06-11 | 联合汽车电子有限公司 | Three-phase PFC soft start current impact suppression 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 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014100050A (en) * | 2012-10-16 | 2014-05-29 | Sharp Corp | Power-feeding system |
| CN103944157A (en) * | 2014-03-27 | 2014-07-23 | 中国科学院电工研究所 | Direct current supply system for drilling machine and control method of direct current supply system |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014100050A (en) * | 2012-10-16 | 2014-05-29 | Sharp Corp | Power-feeding system |
| CN103944157A (en) * | 2014-03-27 | 2014-07-23 | 中国科学院电工研究所 | Direct current supply system for drilling machine and control method of direct current supply system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112953193A (en) * | 2021-03-12 | 2021-06-11 | 联合汽车电子有限公司 | Three-phase PFC soft start current impact suppression method and device, charger and medium |
| 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 |
| CN114142471B (en) * | 2021-11-29 | 2023-08-18 | 江苏科技大学 | Ship comprehensive power system reconstruction method considering communication faults |
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