CN109747802A - A kind of optimal control method under propulsion control system zero speed - Google Patents
A kind of optimal control method under propulsion control system zero speed Download PDFInfo
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- CN109747802A CN109747802A CN201910000045.1A CN201910000045A CN109747802A CN 109747802 A CN109747802 A CN 109747802A CN 201910000045 A CN201910000045 A CN 201910000045A CN 109747802 A CN109747802 A CN 109747802A
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Abstract
The invention discloses the optimal control methods under a kind of propulsion control system zero speed, driving platform promotes handle to export rotary speed instruction to Solid rocket engine unit, Solid rocket engine unit promotes frequency converter to export exciting current to induction asynchronous machine to promoting frequency converter to export rotary speed instruction；After the acquisition of Solid rocket engine unit drives the given instruction that platform promotes handle, drive by the stagnant ring comparative approach of the slow-speed of revolution zero speed position detection of platform propulsion handle, and zero-speed protection delay is carried out according to the parameter of induction asynchronous machine and marine vessel applications operating condition and is arranged；Inversion pulse is blocked pusher and will be cut off into frequency converter with the exciting current of induction asynchronous machine；On the one hand the method for the present invention can reduce system loss of the ship under the specific operation, the case where another aspect avoids specific ship type in long-term given zero speed while being pulled, and propelling screws chronic energy feedback leads to the promotion of system design complexity, reliability decrease.
Description
Technical field
The invention belongs to Frequency Conversion Drive Technology fields, and in particular to a kind of propulsion control system using AC induction motor
Optimal control method under zero speed, for promoting systematicness of the AC frequency conversion propulsion system in Ship Propeling control process
Energy.
Background technique
As the requirement of energy-saving and emission-reduction and the demand of ship comfort type are promoted, application of the electric propulsion system on ship
Demand increasingly increases.
Compared to the Marine Propulsion Motor of other patterns, AC induction motor with the mature and reliable of its technology and equipment at
This advantage becomes the main power output device of electric propulsion system ship.The working principle of AC induction motor is external electrical
The three-phase rotational voltage of frequency needed for source is provided to motor stator winding generates exciting current by motor internal driving, thus
Generation and the consistent air-gap rotating magnetic field of external power supply frequency, are interacted by air-gap rotating magnetic field and rotor windings induced current
Electromagnetic torque is generated, to realize energy converting between mechanical.Therefore, exciting current is the driving essential item of AC induction motor
Part.
In the electric machines control technology of frequency changing driving system, exciting current is defeated by promoting the converter module of frequency converter
Out to motor stator winding, Electrical Propulsion Ship drives the line that revolving speed can be generally carried out by the control handle of a set of stepless time adjustment
Property it is given, motor given rotating speed is directly proportional to excitation frequency, and when motor given rotating speed is zero, exciting current becomes direct current,
DC current size and propulsion frequency converter are related with the identification parameter of induction machine.And the algorithm of frequency converter is being promoted to design
Cheng Zhong is examined due to the Precision of Parameters Identification error component of induction machine, and based on detent torque under motor zero speed is improved
Consider, DC excitation current values under zero speed can be improved, appropriate progress motor, which is crossed, encourages.Using the peculiar to vessel of air blast cooling or water cooling
Alternating current asynchronous propulsion electric machine application, overexcitation appropriate is to motor and frequency converter is promoted to have no effect.
But given zero-speed for a long time is in ship or in short-term in docking process, if promoting the converter module of frequency converter
It is constantly in operating status, then frequency converter is promoted to provide exciting current for long-term for motor, due to motor and promotes frequency converter
There is energy loss fever in energization, each heat dissipation auxiliary device is also both needed in running order, improves in ship
Grasp the system loss during the given zero-speed of ship process.
In addition, if converter module lower ship propulsion electric machine given rotating speed in operating status give zero speed, and
Ship is in and is pulled under operating condition, and propeller will promote frequency converter feedback energy by motor, needs through absorbable or loss
The device of energy absorbs feedback energy, to protect the equipment promoted on frequency changer direct current bus, improves the complexity of system
And equipment input cost.
Summary of the invention
The purpose of the present invention is to provide the optimal control methods under a kind of propulsion control system zero speed, and optimization is using change
The propulsion system of frequency induction machine is under zero speed, the electric propulsion system caused by human factor long term zero rotational speed setup
Power dissipation concerns, while can solve the specific ship type in part in being pulled under operating condition, the energy feedback problem of propeller.
The technical solution adopted by the present invention to solve the technical problems is: the optimization under a kind of propulsion control system zero speed
Control method promotes handle, Solid rocket engine unit, propulsion frequency converter and propulsion induction asynchronous machine composition based on platform is driven
Propulsion control system, the Solid rocket engine unit are mounted in remote control unit, and steps are as follows: being driven platform and promoted handle to propulsion
Control unit exports rotary speed instruction, and Solid rocket engine unit promotes frequency converter different to incuding to promoting frequency converter to export rotary speed instruction
It walks motor and exports exciting current；After the acquisition of Solid rocket engine unit drives the given instruction that platform promotes handle, pass through the stagnant ring of the slow-speed of revolution
Comparative approach carries out driving the zero speed position detection that platform promotes handle, and according to the parameter and marine vessel applications of induction asynchronous machine
Operating condition carries out zero-speed protection delay setting；Inversion pulse be blocked pusher into frequency converter by with induction asynchronous machine exciting current
Excision can control handle in Ship Propeling and be in given zero-speed for a long time or ship in short-term in docking process, reduce or stop pushing away
It exports into frequency converter to the output exciting current for promoting variable frequency induction motor.
Optimal control method under a kind of propulsion control system zero speed drives platform and promotes handle configurations zero-turn
Fast mechanical latching, it is locked when handle being promoted to be pushed into zero speed to realize in the case where nobody presses unblock button, when being not required to
When incuding stop when asynchronous machine can increase from operation mode in the case where direct positive and negative rotation switching zero speed
Between.
Optimal control method under a kind of propulsion control system zero speed, the stagnant ring of the slow-speed of revolution compare needs
According to the zero speed power loss of induction asynchronous machine and drive platform promote the factors such as zero-turn velocity signal capturing error of handle into
Row, which calculates, to be obtained, and reduces the width between stagnant ring region as far as possible, propulsion control system is pushed away by the stagnant ring comparative approach of the slow-speed of revolution
The judgement of zero speed instruction, the foundation as starts optimization strategy are determined in feeding.
Optimal control method under a kind of propulsion control system zero speed, the zero-speed protection delay setting root
According to the zero speed power loss of induction asynchronous machine, the power loss of propulsion system ancillary equipment and shipping transport operating condition
Actual demand, which calculates, to be obtained, and is prevented propulsion system due to sampling and faulty operation, is led to Solid rocket engine unit frequent starting, stops
The case where machine.
Optimal control method under a kind of propulsion control system zero speed between Solid rocket engine unit and pushes away
It into control unit and promotes between frequency converter using field bus communication, is adopted between the remote control unit and Solid rocket engine unit
Controlled with rigid line, the Solid rocket engine unit and monitoring and controlling system for engine room are communicated by redundant bus, the remote control unit and
Platform is driven to promote between handle using ethernet communication.
Optimal control method under a kind of propulsion control system zero speed between Solid rocket engine unit and pushes away
It into control unit and promotes between frequency converter using field bus communication, is adopted between the remote control unit and Solid rocket engine unit
Controlled with rigid line, the Solid rocket engine unit and monitoring and controlling system for engine room are communicated by redundant bus, the remote control unit and
Platform is driven to promote between handle using ethernet communication.
The beneficial effects of the present invention are: system loss of the ship under the specific operation, another party on the one hand can be reduced
Face avoids specific ship type in long-term given zero speed while being pulled, and propelling screws chronic energy feedback causes system to design
The case where complexity promotion, reliability decrease.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of propulsive units of the present invention；
Fig. 2 is the network diagram of control method of the present invention；
Fig. 3 is the stagnant ring comparative approach schematic diagram of the slow-speed of revolution of the present invention；
Fig. 4 is zero-speed of the present invention protection delay schematic diagram.
Each mark appended drawing reference are as follows: 1-, which drives platform, promotes handle, and 2-remote control unit, 3-Solid rocket engine units, 4-promote
Frequency converter, 5-induction asynchronous machines.
Specific embodiment
The invention is illustrated in conjunction with attached drawing.
It is shown in reference picture 1, Fig. 2, a kind of propulsion control system zero speed using AC induction motor disclosed by the invention
Under optimal control method, positioned at drive it is indoor drive platform promote handle 1, positioned at the indoor Solid rocket engine unit 3 of frequency conversion, push away
Propulsion control system is formed into frequency converter 4 and propulsion induction asynchronous machine 5, the monitoring system operation in central station of floating dock
The propulsion control system, the Solid rocket engine unit 3 are mounted in remote control unit 2, wherein the Solid rocket engine list
It between member 3 and Solid rocket engine unit 3 and promotes and uses field bus communication between frequency converter 4, the remote control unit 2 and push away
Rigid line is used to control between control unit 3, the Solid rocket engine unit 3 and monitoring and controlling system for engine room are logical by redundant bus
News, the remote control unit 2 and drive platform and promote between handle 1 using ethernet communication.
The step of control method of the present invention, is as follows:
Driving platform promotes handle 1 to export rotary speed instruction to Solid rocket engine unit 3, and Solid rocket engine unit 3 is exported to propulsion frequency converter 4
Rotary speed instruction promotes frequency converter 4 to export exciting current to induction asynchronous machine 5.
Solid rocket engine unit 3 acquire drive platform promote handle 1 given instruction after, by the stagnant ring comparative approach of the slow-speed of revolution into
Row drives the zero speed position detection that platform promotes handle 1, and is carried out according to the parameter and marine vessel applications operating condition of induction asynchronous machine 5
Zero-speed protection delay setting.
Inversion pulse is blocked pusher and will be cut off into frequency converter 4 with the exciting current of induction asynchronous machine 5, can be in ship
Solid rocket engine handle is in given zero-speed for a long time or ship in short-term in docking process, reduces or stops promoting the output of frequency converter 4 extremely
Promote the output exciting current of variable frequency induction asynchronous machine 5.Since converter module is power electronics full-controlled device, pulse
The time of block and starting is Millisecond, does not interfere with the manipulation of ship.
Further, driving platform promotes handle 1 to configure zero speed mechanical latching, presses the feelings of unblock button at nobody to realize
It is locked when handle being promoted to be pushed into zero speed under condition, the case where direct positive and negative rotation switches is carried out when not needing induction asynchronous machine 5
Residence time when zero speed can be increased from operation mode down.
Further, the stagnant ring of the slow-speed of revolution, which compares, needs the zero speed power loss according to induction asynchronous machine 5 and drives platform to push away
The factors such as the zero-turn velocity signal capturing error into handle 1 carry out calculating acquisition, reduce the width between stagnant ring region as far as possible, specify stagnant
The Interval t that ring compares, propulsion control system carry out promoting given zero speed instruction by the stagnant ring comparative approach of the slow-speed of revolution
Judgement, the foundation as starts optimization strategy.
Further, zero-speed protection is delayed to be arranged and needs the zero speed power loss according to induction asynchronous machine 5, promotes system
The factors such as the actual demand of power loss and shipping transport operating condition for ancillary equipment of uniting carry out calculating acquisition, prevent from promoting system
System is due to sampling and faulty operation, the case where leading to Solid rocket engine unit frequent starting, shut down.
In the marine vessel applications occasion using energy-storage travelling wave tube as main power source, to improve in the continuation of the journey after ship once charges
Journey should reduce unwanted vessel power loss during navigation as far as possible, and in general, given zero speed is to system for a long time
Equipment will not damage, but the long-play of ship other ancillary equipments can come to ship with unnecessary energy loss.
By optimization propulsion control system, system automated tos respond to mechanism after given zero speed, can in the feelings participated in without personnel
Optimize the especially pure battery ship of ship under condition and state the energy loss in the period entirely, improves efficiency of energy utilization.
In marine vessel applications occasions such as wind turbine installation vessel, sea dress engineering platform/accommodation platforms, if under traction operating condition, ship
Traction is carried out by towboat after navigating by water to specific position, if propeller given rotating speed is zero during traction, and propulsion is not turned off and becomes
Frequency device.Then on the one hand, it may occur that the duration energy feedback of propeller may result in braking resistor and generate amount of heat, right
Braking resistor damages.On the other hand, during traction, propeller can not rotate ship with water flow, thus become ship
Drag sources increase traction power.
If optimization promotes the output of frequency converter allowing in the time, in the case where not stopping promoting frequency converter operation, envelope
Lock pulse output, then it can be to avoid the generation of above situation.
The present invention is not limited to above-mentioned preferred forms, and anyone skilled in the art all may be used under the inspiration of the present invention
To obtain other deformations and improved products, however, do any variation in its shape or structure, all have and the application
Identical or similar technical solution, is within the scope of the present invention.
Claims (5)
1. the optimal control method under a kind of propulsion control system zero speed promotes handle (1), Solid rocket engine list based on platform is driven
First (3) promote frequency converter (4) and promote the propulsion control system with induction asynchronous machine (5) composition, the Solid rocket engine list
First (3) are mounted in remote control unit (2), it is characterised in that: steps are as follows
Drive platform promote handle (1) to Solid rocket engine unit (3) export rotary speed instruction, Solid rocket engine unit (3) to promote frequency conversion
Device (4) exports rotary speed instruction, and frequency converter (4) is promoted to export exciting current to induction asynchronous machine (5)；
Solid rocket engine unit (3) acquisition drive platform promote handle (1) given instruction after, by the stagnant ring comparative approach of the slow-speed of revolution into
Row drives the zero speed position detection that platform promotes handle (1), and according to the parameter and marine vessel applications operating condition of induction asynchronous machine (5)
Carry out zero-speed protection delay setting；
Inversion pulse is blocked pusher and will be cut off into frequency converter (4) with the exciting current of induction asynchronous machine (5).
2. the optimal control method under a kind of propulsion control system zero speed according to claim 1, which is characterized in that institute
The platform that drives stated promotes handle (1) configuration zero speed mechanical latching to promote to realize in the case where nobody presses unblock button
It is locked when handle is pushed into zero speed, it can be in the case where not needing induction asynchronous machine (5) and carrying out direct positive and negative rotation switching
Increase residence time when zero speed from operation mode.
3. the optimal control method under a kind of propulsion control system zero speed according to claim 1, which is characterized in that institute
The stagnant ring of the slow-speed of revolution stated compare according to induction asynchronous machine (5) zero speed power loss and drive platform promote handle (1) zero
Tach signal Acquisition Error, which calculates, to be obtained, and propulsion control system carries out promoting given zero speed by the stagnant ring comparative approach of the slow-speed of revolution
The judgement of instruction, the foundation as starts optimization strategy.
4. the optimal control method under a kind of propulsion control system zero speed according to claim 1, which is characterized in that institute
The zero-speed protection delay setting stated is according to the zero speed power loss of induction asynchronous machine (5), the function of propulsion system ancillary equipment
Rate loss and the actual demand of shipping transport operating condition, which calculate, to be obtained, and is prevented propulsion system due to sampling and faulty operation, is led
The case where causing Solid rocket engine unit frequent starting, shutting down.
5. the optimal control method under a kind of propulsion control system zero speed according to claim 1 or 2 or 3 or 4, special
Sign is, uses between the Solid rocket engine unit (3) and between Solid rocket engine unit (3) and propulsion frequency converter (4) existing
Field bus communication, is controlled between the remote control unit (2) and Solid rocket engine unit (3) using rigid line, the Solid rocket engine
Unit (3) and monitoring and controlling system for engine room are communicated by redundant bus, the remote control unit (2) and drive platform propulsion handle (1) it
Between use ethernet communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910000045.1A CN109747802B (en) | 2019-01-01 | 2019-01-01 | Optimization control method of propulsion control system at zero rotating speed |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910000045.1A CN109747802B (en) | 2019-01-01 | 2019-01-01 | Optimization control method of propulsion control system at zero rotating speed |
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| CN109747802A true CN109747802A (en) | 2019-05-14 |
| CN109747802B CN109747802B (en) | 2020-09-29 |
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- 2019-01-01 CN CN201910000045.1A patent/CN109747802B/en active Active
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| CN104272581A (en) * | 2012-05-04 | 2015-01-07 | 西门子公司 | Synchronous generator control, generator system and vessel energy system |
| CN102694498A (en) * | 2012-05-31 | 2012-09-26 | 湖南南车时代电动汽车股份有限公司 | Device and method for resisting rotor disturbance of permanent-magnet synchronous motor in zero-speed or extremely-low-speed state |
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| US9556806B1 (en) * | 2014-05-16 | 2017-01-31 | Brunswick Corporation | Systems and methods for controlling a rotational speed of a marine internal combustion engine |
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