CN109946604A - A kind of propeller for vessels load simulating device and its control method based on OPC mechanics of communication - Google Patents
A kind of propeller for vessels load simulating device and its control method based on OPC mechanics of communication Download PDFInfo
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- CN109946604A CN109946604A CN201910253149.3A CN201910253149A CN109946604A CN 109946604 A CN109946604 A CN 109946604A CN 201910253149 A CN201910253149 A CN 201910253149A CN 109946604 A CN109946604 A CN 109946604A
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Abstract
The invention discloses the simulators and its control method of a kind of propeller for vessels load characteristic, motor load analogue technique field, the device include propulsion electric machine, propulsion electric machine frequency converter, load motor, load motor frequency converter, velocity sensor, torque sensor, PLC programmable controller, upper computer control system and MATLAB/Simulink emulator；Upper computer control system includes propeller simulation module, the sea situation analog module being connected with propeller simulation module and the load motor torque arithmetic module that is connected with propeller simulation module.The present invention utilizes OPC mechanics of communication, propulsion electric machine operating condition is uploaded into MATLAB/Simulink emulator in real time, the other influences factor of the parameter of ship, real-time sea conditions and ship is combined, the torque for simulating load motor keeps its torque characteristics and the loading condition of true ship very close.
Description
Technical field
The present invention relates to motor load analogue technique fields, more particularly to a kind of propeller for vessels load simulating device.
Background technique
The continuous development of marine electric power propulsion field technology, but during ship real navigation, the installation position of propeller
It sets, the water sorption of wake and propeller, can all influence the working order of motor, propulsion electric machine practical working situation is than general
Three-way motor is complicated, in order to guarantee that safety, reliability, the performance test of marine electric power propulsion motor control are just asked at an emphasis
Topic, meanwhile, Ship Propeling motor under the conditions of common test as a result, cannot function as evaluation Ship Propeling motor control performance it is good
Bad foundation tests propulsion electric machine so we need to simulate Propeller Load.
When carrying out field investigation to alternating current generator in engineering, since objective condition limits, it is impossible to motor be allowed directly to take
Really load, then motor experiment platform comes into being.The propeller load of ship is related with sea situation and ship parameter, but
Propulsive performance test at sea really can not be carried out to motor, therefore by MATLAB/Simulink emulator, to simulate this
Load condition under a little sea situations.
At present in existing document and data, there are no disclosed in view of under different sea situations, quant interacts
Propeller load simulation can test the device of three-phase and six phase propulsion electric machine performances again simultaneously.
Summary of the invention
According to the prior art exist not yet it is disclosed in view of under different sea situations, the propeller load that quant interacts
Simulation can test the device of three-phase and six phase propulsion electric machine performances again simultaneously, and the present invention discloses a kind of based on OPC mechanics of communication
Propeller for vessels load simulating device, including propulsion electric machine, propulsion electric machine frequency converter, load motor, load motor frequency converter,
Velocity sensor, torque sensor, PLC programmable controller, upper computer control system, MATLAB/Simulink emulator, institute
The revolving speed of propulsion electric machine described in propulsion electric machine Frequency Converter Control is stated, the propulsion electric machine and the load motor pass through shaft coupling phase
Connection, the velocity sensor detect the tach signal of the load motor output, and the torque sensor is mounted on load electricity
The axle portion of machine is used to detect the torque signal of load motor output, and the load motor frequency converter receives velocity sensor transmission
Speed signal and the torque signal of torque sensor transmission, the revolving speed for controlling load motor, the PLC programmable controller pass through
The DP line of Profibus communication protocol and the load motor frequency converter carry out signal communication, and the PLC programmable controller is logical
The Ethernet interface and the upper computer control system for crossing IP/TCP agreement carry out signal transmission, and the upper computer control system is logical
It crosses OPC communications protocol and the MATLAB/Simulink emulator carries out signal transmission；The MATLAB/Simulink emulation
Device includes propeller simulation module, the sea situation analog module that is connected with the propeller simulation module and with the propeller mould
Quasi- module is connected load motor torque arithmetic module, and the sea situation analog module and the load motor torque arithmetic module are logical
It crosses and the calculating that mathematical modeling carries out load motor revolving speed and torque is carried out to propeller for vessels.
Further, the permanent magnet synchronous motor that the propulsion electric machine is switched using three-phase and six phases, the load motor are adopted
Use threephase asynchronous machine.
Further, the propeller simulation module setting parameter has airscrew diameter coefficient, wake factor, hull mass
Coefficient, density of sea water coefficient, airscrew thrust dimensionless coefficient, the dimensionless coefficient thrust coefficient of the moment of resistance, Ship Resistance with
And attached water coefficient, load motor torque arithmetic module control parameter have torque setting value, torque feedback value, speed feedback value and
The control parameter of load motor frequency converter.
Further, the control method of the propeller for vessels load simulating device based on OPC mechanics of communication, including following step
It is rapid:
S1: the signal for the starting propulsion electric machine that propulsion electric machine frequency converter internal receipt user sends, the rotation of propulsion electric machine axis
And load motor axis is driven to rotate with same rotational speed by shaft joint；
S2: speed probe is by the revolving speed of load motor, by load motor frequency converter, PLC programmable controller, upper
Machine is transferred to MATLAB/Simulink emulator；
S3: when the velocity amplitude of load motor reaches MATLAB/Simulink emulator speed setting value, load motor torque
The calculated torque setting value of computing module, passes sequentially through master system, PLC programmable controller, is transferred to load motor
Frequency converter；
S4: after load motor frequency converter receives enabling signal and the torque value of host computer transmission, load motor is controlled
Start simultaneously output torque；
The torque that S5: being arranged ship parameter on the upper computer interface and simulated sea conditions, setting load motor is selected to export
Value tests the requirement of propulsion electric machine performance under different conditions to meet；
S6: by control propulsion electric machine direction of rotation and speed, the simulation of the different operating conditions of propeller simulation module is realized.
By adopting the above-described technical solution, propeller for vessels load simulating device provided by the invention and its control method
The load condition that true ship can be simulated, using the visualization of MATLAB/Simulink emulator and easy to operate,
The agility of OPC mechanics of communication analyzes the mathematical model under different sea situations, true when load motor being made to simulate ship's navigation
Loading condition, to test many-sided performance of propulsion electric machine, at the same time, the function of the energy feedback of load motor frequency converter
Can make the energy consumption of device reduces, and propulsion electric machine is the motor that can be switched with three-phase and six phases, therefore test platform
Control performance of the different number of phases motors under propeller load can be tested.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of propeller for vessels load simulating device principle assumption diagram based on OPC mechanics of communication；
Fig. 2 is the OPC Principle of Communication structure chart of MATLAB/Simulink emulator；
Fig. 3 is that Propeller Load principle builds figure.
In figure: 1, propulsion electric machine, 2, propulsion electric machine frequency converter, 3, load motor, 4, load motor frequency converter, 5, speed biography
Sensor, 6, torque sensor, 7, PLC programmable controller, 8, upper computer control system, 9, MATLAB/Simulink emulator,
10, propeller simulation module, 11, sea situation analog module, 12, load motor torque arithmetic module.
Specific embodiment
To keep technical solution of the present invention and advantage clearer, with reference to the attached drawing in the embodiment of the present invention, to this
Technical solution in inventive embodiments carries out clear and complete description:
The invention discloses a kind of simulator principle assumption diagrams of propeller for vessels load characteristic, as shown in Figure 1.The ship
The simulator of oceangoing ship Propeller Load includes propulsion electric machine 1, propulsion electric machine frequency converter 2, load motor 3, load motor change
Frequency device 4, velocity sensor 5, torque sensor 6, PLC programmable controller 7, upper computer control system 8, MATLAB/
Simulink emulator 9, the propulsion electric machine frequency converter 2 control the revolving speed of the propulsion electric machine 1, the propulsion electric machine 1 and institute
It states load motor 3 to be connected by shaft coupling, the velocity sensor 5 detects the load motor 3 and exports tach signal, described
The axle portion that torque sensor 6 is mounted on load motor 3 is used to detect the torque signal of the output of load motor 3, the load motor
Frequency converter 4 receives torque signal, the control load motor 3 that the speed signal that velocity sensor 5 transmits and torque sensor 6 transmit
Revolving speed, the PLC programmable controller 7 by the DP line of Profibus communication protocol and the load motor frequency converter 4 into
Row signal communication, Ethernet interface and the upper computer control system of the PLC programmable controller 7 by IP/TCP agreement
8 carry out signal transmission, and the upper computer control system 8 passes through OPC communications protocol and the MATLAB/Simulink emulator 9
Carry out signal transmission, the upper computer control system 8 include propeller simulation module 10, with 10 phase of propeller simulation module
The sea situation analog module 11 of connection and the load motor torque arithmetic module 12 that is connected with the propeller simulation module 10, and push away
Into the fixed rack of motor and load motor.The upper computer control system 8, MATLAB/Simulink emulator 9 and
The control software of propulsion electric machine frequency converter is all mounted on a computer.
Velocity sensor 5 is using incremental encoder, 3 speed of real-time testing load motor；Shaft coupling is using elasticity
Type has the function of reducing vibration and improves platform dynamic property；When normal work, work the propulsion electric machine 1 for dragging platform
In electric motor state, load motor 3 is operated under Generator Status, because load motor frequency converter 4 has the function of energy feedback
Can, therefore the present apparatus can be energy saving.
The present invention provides a kind of simulator of propeller for vessels load characteristic, utilizes OPC mechanics of communication, the full name of OPC
It is OLE for Process Control, its major function is to make the equipment or software interface standard of different suppliers
Change, simplify the process of data exchange, MATLAB/Simulink emulator 9 is connected by the communication technology and upper computer control system 8
It connects, load motor frequency converter 4 is transferred to by PLC programmable controller 7, so that it is received torque value and set and control load motor
3 outputs.1 operating condition of propulsion electric machine is uploaded into MATLAB/Simulink emulator 9, then by the parameter of ship, spiral
The other influences factor of paddle analog module 10 and ship combines, and is calculated using load motor torque arithmetic module 12 negative
Carry the torque of motor 3.
Using the motor of different model, motor is can be switched to promote in a three-phase and six phases for propulsion electric machine 1 and load motor 3
Motor 1 can control three-phase motor or six-phase motor using an asynchronous machine as load motor 3 according to control requirement
Performance test processed.
The OPC Principle of Communication structure chart of MATLAB/Simulink emulator 9 is as shown in Figure 2.OPC mechanics of communication is to utilize
What the functional block reserved in MATLAB/Simulink emulator 9 was realized, by establishing MATLAB/Simulink emulator 9, benefit
To the acquisition of propulsion electric machine-load motor axle speed and load motor torque is calculated with OPC mechanics of communication, completes logarithm
According to the functions such as transmitted in both directions, calculating, analysis.
It is as shown in Figure 3 that the simulator principle of the Propeller Load builds figure.OPC mechanics of communication is by propulsion electric machine-
The reading of load motor axle speed comes up, airscrew diameter, the wake factor, hull being arranged then in conjunction with propeller simulation module 10
Quality, density of sea water, airscrew thrust dimensionless coefficient, the dimensionless coefficient thrust coefficient of the moment of resistance, Ship Resistance and attached
The parameters such as water coefficient calculate the torque that load motor torque arithmetic module 12 needs to simulate, then OPC are recycled to communicate skill
Art passes this data onto load motor frequency converter 4 and controls 3 output torque of load motor.
Propeller for vessels load simulating device provided by the invention based on OPC communication, control method working principle are as follows:
Velocity sensor 5 detects propulsion electric machine-load motor axle speed, is used as the defeated of propeller mathematical model
Enter amount, then pass through mathematical computations, calculate torque value, this torque value gives load motor 3 by load motor frequency converter 4
On, while upper computer control system 8 acquires current value during this, bus voltage value, speed, torque and is remembered in real time
Record.During being somebody's turn to do, the response speed of package unit is very fast, while utilizing OPC mechanics of communication, hardware device and MATLAB/
Simulink emulator 9 combines, and can increase the really degree of simulation propeller load torque, to reflect propulsion electricity
Static state and dynamic property of the machine 1 under Propeller Load.
The control method of the simulator of the propeller for vessels load characteristic, comprising the following steps:
S1: writing control program in propulsion electric machine frequency converter 2, and speed command when stable operation is arranged；At the same time,
Ship parameter and selection simulated sea conditions are set at 8 interface of upper computer control system, if do not made an amendment, then all parameters are in silent
Recognize value.Propeller load simulator is in standby at this time, waits enabled instruction.
S2: after propulsion electric machine frequency converter 2 receives enabling signal, propulsion electric machine 1 starts, 1 shaft coupling band of propulsion electric machine
Dynamic load motor 3 starts.
S3: the velocity sensor 5 of load motor 3 detects the revolving speed of 3 axis of load motor, and velocity amplitude is passed sequentially through load
Motor inverter 4, PLC programmable controller 7, upper computer control system 8 finally reach MATLAB/Simulink emulator 9.
S4: when velocity amplitude, which reaches starting, to be required, MATLAB/Simulink emulator 9 is passed sequentially through according to program setting
Upper computer control system 8, PLC programmable controller 7 finally send enabled instruction and calculated to load motor frequency converter 4
Torque setting value.
S5: after load motor frequency converter 4 receives enabled instruction and torque setting value, the starting of control load motor 3 is simultaneously
Output torque acts on propulsion electric machine 1.
S6: user's control upper computer control system 8 at this time can force to control according to 8 interface prompt of upper computer control system
The torque value that load motor 3 exports tests the condition of propulsion electric machine performance under different conditions to meet.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (4)
1. a kind of propeller for vessels load simulating device based on OPC mechanics of communication, it is characterised in that: including propulsion electric machine, push away
Into motor inverter, load motor, load motor frequency converter, velocity sensor, torque sensor, PLC programmable controller, on
Position machine control system, MATLAB/Simulink emulator；
The revolving speed of propulsion electric machine described in the propulsion electric machine Frequency Converter Control；
The propulsion electric machine is connected with the load motor by shaft coupling；
The velocity sensor detects the tach signal of the load motor output；
The axle portion that the torque sensor is mounted on load motor is used to detect the torque signal of load motor output；
The torque signal of speed signal and torque sensor transmission that the load motor frequency converter reception velocity sensor transmits,
Control the revolving speed of load motor；
The PLC programmable controller carries out signal by the DP line of Profibus communication protocol and the load motor frequency converter
Communication；
The PLC programmable controller carries out signal by the Ethernet interface of IP/TCP agreement and the upper computer control system
Transmission；
The upper computer control system carries out signal transmission by OPC communications protocol and the MATLAB/Simulink emulator；
The MATLAB/Simulink emulator includes propeller simulation module, is connected with the propeller simulation module
Sea situation analog module and the load motor torque arithmetic module that is connected with the propeller simulation module, the sea situation analog module
Load motor revolving speed and torque are carried out by carrying out mathematical modeling to propeller for vessels with the load motor torque arithmetic module
Calculating.
2. the propeller for vessels load simulating device according to claim 1 based on OPC mechanics of communication, it is characterised in that:
The permanent magnet synchronous motor that the propulsion electric machine is switched using three-phase and six phases, the load motor use threephase asynchronous machine.
3. the propeller for vessels load simulating device according to claim 1 based on OPC mechanics of communication, it is characterised in that:
The propeller simulation module setting parameter has airscrew diameter coefficient, wake factor, hull mass coefficient, density of sea water system
Number, the dimensionless coefficient thrust coefficient of airscrew thrust dimensionless coefficient, the moment of resistance, Ship Resistance and attached water coefficient, load
Motor torque computing module control parameter has torque setting value, torque feedback value, speed feedback value and load motor frequency converter
Control parameter.
4. the control method of the propeller for vessels load simulating device according to claim 1 based on OPC mechanics of communication,
It is characterized in that: the following steps are included:
S1: the signal for the starting propulsion electric machine that propulsion electric machine frequency converter internal receipt user sends, propulsion electric machine axis rotate and lead to
Crossing shaft joint drives load motor axis to rotate with same rotational speed；
S2: speed probe passes the revolving speed of load motor by load motor frequency converter, PLC programmable controller, host computer
It is defeated on MATLAB/Simulink emulator；
S3: when the velocity amplitude of load motor reaches MATLAB/Simulink emulator speed setting value, load motor torque arithmetic
The calculated torque setting value of module, passes sequentially through master system, PLC programmable controller, is transferred to load motor frequency conversion
Device；
S4: after load motor frequency converter receives enabling signal and the torque value of host computer transmission, control load motor starting
And output torque；
S5: on the upper computer interface be arranged ship parameter and select simulated sea conditions, setting load motor export torque value with
Meet the requirement of test propulsion electric machine performance under different conditions；
S6: by control propulsion electric machine direction of rotation and speed, the simulation of the different operating conditions of propeller simulation module is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910253149.3A CN109946604B (en) | 2019-03-29 | 2019-03-29 | Ship propeller load simulation device based on OPC communication technology and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910253149.3A CN109946604B (en) | 2019-03-29 | 2019-03-29 | Ship propeller load simulation device based on OPC communication technology and control method thereof |
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| CN109946604A true CN109946604A (en) | 2019-06-28 |
| CN109946604B CN109946604B (en) | 2021-06-04 |
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| CN201910253149.3A Expired - Fee Related CN109946604B (en) | 2019-03-29 | 2019-03-29 | Ship propeller load simulation device based on OPC communication technology and control method thereof |
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| CN108343565A (en) * | 2018-04-26 | 2018-07-31 | 中国矿业大学 | Wind turbines permanent magnet direct-drive pitch-variable system dynamic load simulating device and method |
| CN110683017A (en) * | 2019-10-12 | 2020-01-14 | 中船动力有限公司 | AC feedback loading device and control method for marine electric propulsion system |
| CN111007395A (en) * | 2019-11-16 | 2020-04-14 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Test topology and method for comprehensive power system of multifunctional ship direct-current power station |
| CN111143985A (en) * | 2019-12-23 | 2020-05-12 | 哈尔滨工程大学 | Simulation method for dynamic response of electric thruster under propeller load |
| CN111693864A (en) * | 2020-06-15 | 2020-09-22 | 中国科学院电工研究所 | Propeller characteristic simulation experiment device based on permanent magnet synchronous motor |
| CN113252933A (en) * | 2021-05-12 | 2021-08-13 | 北京航空航天大学 | Propeller incoming flow speed detection device and method |
| CN113928590A (en) * | 2021-10-14 | 2022-01-14 | 西北工业大学太仓长三角研究院 | Electric aircraft propulsion system test platform based on modular permanent magnet synchronous motor |
| CN114320772A (en) * | 2021-12-09 | 2022-04-12 | 宁夏银星能源股份有限公司 | Opposite dragging platform for simulating wind generating set |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108343565A (en) * | 2018-04-26 | 2018-07-31 | 中国矿业大学 | Wind turbines permanent magnet direct-drive pitch-variable system dynamic load simulating device and method |
| CN108343565B (en) * | 2018-04-26 | 2023-12-19 | 中国矿业大学 | Dynamic load simulation device and method for permanent magnet direct drive variable pitch system of wind turbine generator |
| CN110683017A (en) * | 2019-10-12 | 2020-01-14 | 中船动力有限公司 | AC feedback loading device and control method for marine electric propulsion system |
| CN111007395B (en) * | 2019-11-16 | 2021-10-22 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Test topology and method for comprehensive power system of multifunctional ship direct-current power station |
| CN111007395A (en) * | 2019-11-16 | 2020-04-14 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Test topology and method for comprehensive power system of multifunctional ship direct-current power station |
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| CN111693864B (en) * | 2020-06-15 | 2022-08-23 | 中国科学院电工研究所 | Propeller characteristic simulation experiment device based on permanent magnet synchronous motor |
| CN111693864A (en) * | 2020-06-15 | 2020-09-22 | 中国科学院电工研究所 | Propeller characteristic simulation experiment device based on permanent magnet synchronous motor |
| CN113252933A (en) * | 2021-05-12 | 2021-08-13 | 北京航空航天大学 | Propeller incoming flow speed detection device and method |
| CN113252933B (en) * | 2021-05-12 | 2022-03-11 | 北京航空航天大学 | Propeller incoming flow speed detection device and method |
| CN113928590A (en) * | 2021-10-14 | 2022-01-14 | 西北工业大学太仓长三角研究院 | Electric aircraft propulsion system test platform based on modular permanent magnet synchronous motor |
| CN114320772A (en) * | 2021-12-09 | 2022-04-12 | 宁夏银星能源股份有限公司 | Opposite dragging platform for simulating wind generating set |
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