CN109747802B - Optimization control method of propulsion control system at zero rotating speed - Google Patents
Optimization control method of propulsion control system at zero rotating speed Download PDFInfo
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- CN109747802B CN109747802B CN201910000045.1A CN201910000045A CN109747802B CN 109747802 B CN109747802 B CN 109747802B CN 201910000045 A CN201910000045 A CN 201910000045A CN 109747802 B CN109747802 B CN 109747802B
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Abstract
The invention discloses an optimal control method of a propulsion control system at zero rotating speed.A propulsion handle of a driving console outputs a rotating speed instruction to a propulsion control unit, the propulsion control unit outputs a rotating speed instruction to a propulsion frequency converter, and the propulsion frequency converter outputs exciting current to an induction asynchronous motor; after acquiring a given instruction of a driving console propulsion handle, a propulsion control unit detects the zero-rotation-speed position of the driving console propulsion handle by a low-rotation-speed hysteresis comparison method and performs zero-speed protection delay setting according to parameters of an induction asynchronous motor and the application condition of a ship; after the inversion pulse is blocked, the inversion pulse is pushed to a frequency converter to cut off the exciting current of the induction asynchronous motor; the method can reduce the system loss of the ship under the specific working condition on one hand, and avoids the conditions that the specific ship type is dragged at the same time when the zero rotating speed is given for a long time, and the long-term energy feedback of the propeller is propelled to cause the complexity of system design to be improved and the reliability to be reduced on the other hand.
Description
Technical Field
The invention belongs to the technical field of variable frequency transmission, and particularly relates to an optimal control method of a propulsion control system adopting an alternating current induction motor at a zero rotating speed, which is used for improving the system performance of the alternating current variable frequency propulsion system in a ship propulsion control process.
Background
With the requirements on energy conservation and emission reduction and the requirement on ship comfort, the application requirements of the electric propulsion system on the ship are increasing day by day.
Compared with other types of marine propulsion motors, the alternating current asynchronous motor becomes a main power output device of the electric propulsion system ship due to the mature and reliable technology and the cost advantage of equipment. The working principle of the alternating current asynchronous motor is that an external power supply provides three-phase rotating voltage with required frequency for a stator winding of the motor, exciting current is generated through internal impedance of the motor, an air gap rotating magnetic field with the frequency consistent with that of the external power supply is generated, and electromagnetic torque is generated through interaction of the air gap rotating magnetic field and induction current of a rotor winding, so that electromechanical energy conversion is achieved. Therefore, the field current is an indispensable condition for driving the ac asynchronous machine.
In the motor control technology of the variable frequency driving system, exciting current is output to a motor stator winding through an inversion power unit of a propulsion frequency converter, electric propulsion ship driving can generally carry out linear setting of rotating speed through a set of control handles with stepless speed regulation, the set rotating speed of the motor is in direct proportion to exciting frequency, when the set rotating speed of the motor is zero, the exciting current is changed into direct current, and the direct current is related to identification parameters of the propulsion frequency converter and an induction motor. In addition, in the algorithm design process of the propulsion frequency converter, due to the fact that the parameter identification precision error factor of the induction motor and the consideration of improving the starting torque of the motor at the zero rotating speed, the value of the direct-current exciting current at the zero rotating speed can be improved, and the motor is properly over-excited. In the application occasions of the AC asynchronous propulsion motor for the ship adopting forced air cooling or water cooling, proper over excitation does not have any influence on the motor and the propulsion frequency converter.
However, when the ship stops at a given zero speed for a long time or in a short time, if the inversion power unit of the propulsion frequency converter is always in an operation state, the propulsion frequency converter provides exciting current for the motor for a long time, and because the motor and the propulsion frequency converter are both in energy loss and heat generation under the power-on condition, all the heat dissipation auxiliary devices are also required to be in a working state, and the system loss in the given zero speed process in the ship operation process is improved.
In addition, if the ship propulsion motor gives a given rotating speed and gives a zero rotating speed when the inverter power unit is in an operating state and the ship is in a towed working condition, the propeller propels the frequency converter to feed back energy through the motor, and the fed back energy needs to be absorbed through a device capable of absorbing or losing the energy so as to protect equipment on a direct-current bus of the propulsion frequency converter, and the complexity of the system and the investment cost of the equipment are improved.
Disclosure of Invention
The invention aims to provide an optimal control method of a propulsion control system at zero rotating speed, which optimizes the problem of power loss of an electric propulsion system caused by human factors of long-term zero rotating speed setting of the propulsion system adopting a variable frequency induction motor at the zero rotating speed and can solve the problem of energy feedback of propellers when part of specific ship types are in a towed working condition.
The technical scheme adopted by the invention for solving the technical problems is as follows: an optimization control method of a propulsion control system at zero rotating speed is based on the propulsion control system consisting of a driving console propulsion handle, a propulsion control unit, a propulsion frequency converter and a propulsion induction asynchronous motor, wherein the propulsion control unit is arranged in a remote control unit, and the steps are as follows: the driving console propulsion handle outputs a rotation speed instruction to the propulsion control unit, the propulsion control unit outputs a rotation speed instruction to the propulsion frequency converter, and the propulsion frequency converter outputs exciting current to the induction asynchronous motor; after acquiring a given instruction of a driving console propulsion handle, a propulsion control unit detects the zero-rotation-speed position of the driving console propulsion handle by a low-rotation-speed hysteresis comparison method and performs zero-speed protection delay setting according to parameters of an induction asynchronous motor and the application condition of a ship; after the inversion pulse is blocked, the propulsion frequency converter cuts off the exciting current of the induction asynchronous motor, and the output exciting current output to the propulsion frequency conversion induction motor by the propulsion frequency converter can be reduced or stopped when the ship propulsion control handle is at a given zero speed for a long time or the ship stops for a short time.
According to the optimal control method of the propulsion control system at the zero rotating speed, the propulsion handle of the driving console is provided with the zero rotating speed mechanical lock, so that the propulsion handle is locked when being pushed to the zero rotating speed under the condition that an unlocking button is not pressed by a person, and the stay time at the zero rotating speed can be prolonged from the operation mode under the condition that an induction asynchronous motor is not required to directly switch forward and reverse.
According to the optimization control method of the propulsion control system at the zero rotating speed, the low rotating speed hysteresis comparison needs to be obtained by calculation according to the zero rotating speed power loss of the induction asynchronous motor, the zero rotating speed signal acquisition error of the propulsion handle of the driving control station and other factors, the width of a hysteresis interval is reduced as much as possible, and the propulsion control system carries out judgment of the zero-setting rotating speed instruction by the low rotating speed hysteresis comparison method and serves as the basis for starting an optimization strategy.
The zero-speed protection delay setting is calculated and obtained according to the zero-speed power loss of the induction asynchronous motor, the power loss of auxiliary equipment of the propulsion system and the actual requirement of the ship operation condition, so that the situation that the propulsion control unit is frequently started and stopped due to sampling and wrong operation of the propulsion system is prevented.
The optimized control method of the propulsion control system at the zero rotating speed is characterized in that the propulsion control units and the propulsion frequency converters are communicated by field buses, the remote control unit and the propulsion control units are controlled by hard wires, the propulsion control units are communicated with the cabin monitoring system by redundant buses, and the remote control unit is communicated with the propulsion handle of the driving control station by Ethernet.
The optimized control method of the propulsion control system at the zero rotating speed is characterized in that the propulsion control units and the propulsion frequency converters are communicated by field buses, the remote control unit and the propulsion control units are controlled by hard wires, the propulsion control units are communicated with the cabin monitoring system by redundant buses, and the remote control unit is communicated with the propulsion handle of the driving control station by Ethernet.
The invention has the beneficial effects that: on one hand, the system loss of the ship under the specific working condition can be reduced, and on the other hand, the situations that the design complexity of the system is improved and the reliability is reduced due to the fact that the specific ship type is dragged while giving zero rotating speed for a long time and the long-term energy feedback of the propulsion propeller are avoided.
Drawings
FIG. 1 is a schematic view of the structure of a propulsion section of the present invention;
FIG. 2 is a network diagram illustrating a control method according to the present invention;
FIG. 3 is a schematic diagram of a low speed hysteresis comparison method of the present invention;
fig. 4 is a schematic diagram of zero-speed protection delay according to the present invention.
The respective reference numerals are: the system comprises a driving console, a driving console pushing handle, a remote control unit, a pushing frequency converter and an induction asynchronous motor, wherein the driving console is connected with the driving console through the driving console, the remote control unit is connected with the driving console through the driving console, the pushing control unit is connected with the driving console through the remote control unit, the pushing frequency.
Detailed Description
The invention is specifically explained with reference to the accompanying drawings.
Referring to fig. 1 and 2, the invention discloses an optimized control method of a propulsion control system using an alternating current induction motor under zero rotation speed, a propulsion control system is composed of a driving console propulsion handle 1 positioned in a cab, a propulsion control unit 3 positioned in a frequency conversion chamber, a propulsion frequency converter 4 and a propulsion induction asynchronous motor 5, a cabin monitoring system positioned in a centralized control chamber operates the propulsion control system, the propulsion control unit 3 is installed in a remote control unit 2, wherein the propulsion control units 3 and the propulsion frequency converters 4 are communicated by field buses, the remote control unit 2 and the propulsion control unit 3 are controlled by hard wires, the propulsion control unit 3 is communicated with the cabin monitoring system through a redundant bus, and the remote control unit 2 is communicated with the driving control station propulsion handle 1 through Ethernet.
The control method comprises the following steps:
the driving console propulsion handle 1 outputs a rotation speed instruction to the propulsion control unit 3, the propulsion control unit 3 outputs a rotation speed instruction to the propulsion frequency converter 4, and the propulsion frequency converter 4 outputs exciting current to the induction asynchronous motor 5.
After acquiring a given instruction of the driving console propulsion handle 1, the propulsion control unit 3 detects the zero-rotation-speed position of the driving console propulsion handle 1 by a low-rotation-speed hysteresis comparison method, and performs zero-speed protection delay setting according to parameters of the induction asynchronous motor 5 and the ship application condition.
After the inversion pulse is blocked, the propulsion frequency converter 4 cuts off the exciting current of the induction asynchronous motor 5, and the output exciting current output to the propulsion frequency conversion induction asynchronous motor 5 by the propulsion frequency converter 4 can be reduced or stopped when the ship propulsion control handle is at a given zero speed for a long time or the ship stops for a short time. Because the inversion power unit is a power electronic full-control device, the pulse blocking and starting time is millisecond, and the control of the ship cannot be influenced.
Further, the driving console push handle 1 is configured with a zero-rotation-speed mechanical lock so as to realize that the push handle is locked when being pushed to the zero rotation speed under the condition that an unlocking button is not pressed by a person, and the stay time of the zero rotation speed can be increased from the operation mode under the condition that the induction asynchronous motor 5 is not required to directly switch forward and reverse.
Further, the low-rotation-speed hysteresis comparison needs to be obtained by calculation according to factors such as zero-rotation-speed power loss of the induction asynchronous motor 5, zero-rotation-speed signal acquisition errors of the driving console propulsion handle 1 and the like, the width of a hysteresis interval is reduced as much as possible, an interval coefficient t of the hysteresis comparison is determined, and the propulsion control system performs judgment of a propulsion zero-rotation-speed setting instruction by a low-rotation-speed hysteresis comparison method and serves as a basis for starting an optimization strategy.
Furthermore, the zero-speed protection delay setting needs to be calculated and obtained according to factors such as zero-rotation-speed power loss of the induction asynchronous motor 5, power loss of auxiliary equipment of the propulsion system, actual requirements of the ship operation condition and the like, and the situation that the propulsion control unit is frequently started and stopped due to sampling and misoperation of the propulsion system is prevented.
In a ship application occasion using an energy storage element as a main power supply, in order to improve the endurance mileage of a ship after one-time charging, the power loss of the ship which is not needed in the sailing process is reduced as much as possible, generally speaking, the zero rotating speed given for a long time does not damage system equipment, but unnecessary energy loss is brought to the ship by long-time running of other auxiliary equipment of the ship. By optimizing the automatic response mechanism of the system of the propulsion control system after the zero rotating speed is given, the energy loss of the ship, particularly a pure battery ship, in the full declaration period can be optimized under the condition of no personnel participation, and the energy utilization efficiency is improved.
In ship application occasions such as a wind power installation ship, a sea engineering platform/a life platform and the like, if the ship is towed by the towing ship after sailing to a specific position under the towing working condition, if the given rotating speed of a propeller is zero in the towing process, the propelling frequency converter is not turned off. On the one hand, a constant feedback of the performance of the propeller may occur, which may result in a large amount of heat being generated by the brake resistor, causing damage to the brake resistor. On the other hand, in the towing process of the ship, the propeller cannot rotate along with water flow, so that the propeller becomes a source of ship resistance and increases the towing power.
If the output of the propulsion frequency converter is optimized within the allowable time, and the pulse output is blocked under the condition of continuously pushing the propulsion frequency converter to operate, the above condition can be avoided.
The present invention is not limited to the above-mentioned preferred embodiments, and any person skilled in the art can derive other variants and modifications within the scope of the present invention, however, any variation in shape or structure is within the scope of protection of the present invention, and any technical solution similar or equivalent to the present application is within the scope of protection of the present invention.
Claims (4)
1. The optimal control method of the propulsion control system at the zero rotating speed is based on the propulsion control system consisting of a driving console propulsion handle (1), a propulsion control unit (3), a propulsion frequency converter (4) and a propulsion induction asynchronous motor (5), wherein the propulsion control unit (3) is arranged in a remote control unit (2), and the optimal control method is characterized in that: the steps are as follows
A driving console propulsion handle (1) outputs a rotating speed instruction to a propulsion control unit (3), the propulsion control unit (3) outputs a rotating speed instruction to a propulsion frequency converter (4), and the propulsion frequency converter (4) outputs exciting current to an induction asynchronous motor (5);
after acquiring a given instruction of a driving console propulsion handle (1), a propulsion control unit (3) detects the zero-rotation-speed position of the driving console propulsion handle (1) by a low-rotation-speed hysteresis comparison method, and performs zero-speed protection delay setting according to parameters of an induction asynchronous motor (5) and the application condition of a ship; the low-rotation-speed hysteresis comparison is obtained by calculating according to the zero-rotation-speed power loss of the induction asynchronous motor (5) and the zero-rotation-speed signal acquisition error of the driving console propelling handle (1), and the propelling control system judges a propelling zero-rotation-speed setting instruction by a low-rotation-speed hysteresis comparison method and serves as a basis for starting an optimization strategy;
after the inversion pulse is blocked, the propulsion frequency converter (4) cuts off the exciting current of the induction asynchronous motor (5).
2. The optimal control method at zero speed of a propulsion control system according to claim 1, characterized in that the console propulsion handle (1) is configured with a zero speed mechanical lock to lock the propulsion handle when pushed to zero speed without pressing an unlocking button, and the dwell time at zero speed can be increased from the operation mode when direct forward and reverse rotation switching of the induction asynchronous motor (5) is not required.
3. The optimal control method at zero rotation speed of the propulsion control system according to claim 1, wherein the zero-speed protection delay setting is obtained by calculation according to the zero-rotation-speed power loss of the induction asynchronous motor (5), the power loss of auxiliary equipment of the propulsion system and the actual requirement of the ship operation condition, so that the situation that the propulsion control unit is frequently started and stopped due to sampling and misoperation of the propulsion system is prevented.
4. A method for optimal control of a propulsion control system at zero speed according to claim 1, 2 or 3, characterised in that fieldbus communication is used between the propulsion control units (3) and the propulsion frequency converter (4), hard-wired control is used between the remote control unit (2) and the propulsion control unit (3), the propulsion control unit (3) communicates with the cabin monitoring system via a redundant bus, and ethernet communication is used between the remote control unit (2) and the cockpit propulsion handle (1).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2660941A1 (en) * | 2012-05-04 | 2013-11-06 | Siemens Aktiengesellschaft | Synchronous generator control, generator system and vessel energy system |
| CN102694498B (en) * | 2012-05-31 | 2015-02-25 | 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 |
| CN102882466B (en) * | 2012-10-09 | 2015-03-25 | 南京工业大学 | Energy-saving frequency converter of induction motor direct torque control speed regulating system and construction method |
| US9556806B1 (en) * | 2014-05-16 | 2017-01-31 | Brunswick Corporation | Systems and methods for controlling a rotational speed of a marine internal combustion engine |
| CN104506106B (en) * | 2014-12-30 | 2017-07-28 | 徐州中矿大传动与自动化有限公司 | A kind of double feedback electric engine excitation con-trol and zero-speed start method |
| CN108736789A (en) * | 2017-04-18 | 2018-11-02 | 南京理工大学 | A kind of Direct Torque Control of hybrid exciting synchronous motor |
| CN108964532A (en) * | 2018-05-31 | 2018-12-07 | 南京航空航天大学 | Three-level formula brushless synchronous machine sublevel segmentation start control system and method |
| CN109082756B (en) * | 2018-09-07 | 2024-05-31 | 苏州汇川技术有限公司 | Motor drive control method, motor drive control equipment and loom |
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