CN113525656B - Gas-electric hybrid power ship energy distribution method based on propeller rotating speed closed loop - Google Patents
Gas-electric hybrid power ship energy distribution method based on propeller rotating speed closed loop Download PDFInfo
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- CN113525656B CN113525656B CN202110772084.0A CN202110772084A CN113525656B CN 113525656 B CN113525656 B CN 113525656B CN 202110772084 A CN202110772084 A CN 202110772084A CN 113525656 B CN113525656 B CN 113525656B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/20—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/20—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units
- B63H2021/202—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units of hybrid electric type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
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- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention aims to provide a gas-electric hybrid power ship energy distribution method based on propeller rotating speed closed loop, which comprises the following steps: calculating the adjusting torque T _ T through a PID calculation module; calculating a system target torque T _ target according to the target rotating speed of the propeller; calculating a gas engine target torque N from the propeller target speed and the battery SOC by a fuzzy rule controller e A _ target; distribution of gas engine speed N by means of energy distribution modules e Torque T e And the rotating speed N of the permanent magnet synchronous reversible motor m 、T m Torque; ) And synthesizing the rotating speed and the torque of the reduction gear box. The energy distribution method of the gas-electric hybrid ship is simple, the conventional controller can meet the required calculation speed, the method can effectively coordinate the power output of the gas engine and the permanent magnet reversible motor, and the defect of poor dynamic response of the gas engine can be overcome on the basis of meeting the closed-loop control of the rotating speed of the propeller.
Description
Technical Field
The invention relates to a ship propeller energy distribution method, in particular to a hybrid power ship propeller energy distribution method.
Background
With the aggravation of energy crisis and the stricter emission regulations, hybrid ships become an effective way to face the problem, and the natural gas engine/motor hybrid system becomes a hot research by virtue of the green, economic and efficient advantages of the natural gas engine. The traditional ship propeller is directly mechanically connected with a ship engine through a reduction gearbox, the rotating speed of the propeller can be controlled by controlling the rotating speed of the engine, and the gas-electric hybrid power system has multiple propulsion modes, such as a pure motor propulsion mode, a pure gas engine propulsion mode, a mechanical propulsion charging propulsion mode, a hybrid propulsion mode and the like, wherein different propulsion modes have different power sources, so that the rotating speed of the propeller needs to be controlled, the rotating speeds of a gas engine and a motor need to be coordinately controlled, and the control difficulty is high.
Disclosure of Invention
The invention aims to provide a gas-electric hybrid ship energy distribution method based on a propeller rotating speed closed loop, which controls the rotating speed of a propeller by coordinately controlling the rotating speed and torque output of a gas machine and a motor.
The purpose of the invention is realized as follows:
the invention relates to a gas-electric hybrid power ship energy distribution method based on propeller rotating speed closed loop, which is characterized by comprising the following steps of:
(1) Calculating the adjusting torque T _ T through a PID calculation module;
(2) Calculating a system target torque T _ target according to the target rotating speed of the propeller;
(3) Calculating a gas engine target torque N from the propeller target speed and the battery SOC by a fuzzy rule controller e _target；
(4) Gas engine rotating speed N is distributed through energy distribution module e Torque T e And the rotating speed N of the permanent magnet synchronous reversible motor m 、T m Torque;
(5) And synthesizing the rotating speed and the torque of the reduction gear box.
The present invention may further comprise:
1. calculating gas engine target torque T by fuzzy rule controller e A _ target: the fuzzy rule controller comprises two inputs and a single output, wherein the input is the target rotating speed N of the propeller m_ target, argument is [0,1]According to the target rotating speed of the propeller, the ship load is divided into lower load, low load, medium load, better load and high load, P ref The fuzzy subset is { Lower, low, medium, optimal, high }, the membership function is designed by adopting a trapezoidal and triangular membership function, and the lithium iron phosphate battery pack SOC has a discourse domain of [0,1 ]]The method comprises the steps of dividing the method into a Low part, a High part and a High part according to the influence of SOC on the service life and the efficiency of the lithium iron phosphate battery pack, wherein a fuzzy subset is { Low, optimal and High }, the membership function design is completed by utilizing a trapezoidal membership function, and the output is the target power P of a gas engine e The domain of discourse is [0,1.1]The gas engine is divided into four working conditions of low load, medium load, better load and high load, and the four working conditions are characterized in thatThe fuzzy subset is { Low, medium, optimal, high }, and the design of the membership function is completed by utilizing the membership functions of the trapezoid and the triangle;
the fuzzy rule is designed as follows:
(a) In the sailing process of the tug, the hybrid power system provides power required by the tug at all times, and the dynamic property of the tug is guaranteed;
(b) The driver can always control the rotating speed of the propeller in real time for the input of the acceleration and the deceleration of the ship;
(c) The SOC of the storage battery is kept in a better working area;
(d) The efficiency of the hybrid power system is maximized when the hybrid power system works;
(e) The gas engine works in a higher load area, and the problem of low-load combustion deterioration is avoided.
2. The energy distribution module is used for completing energy distribution and determining the rotating speed of the gas machine and the rotating speed and torque of the torsion permanent magnet reversible motor; the rotating speed of the gas engine is the target rotating speed N of the propeller e = N _ target, gas engine torque equals gas engine target torque, T e ＝T e A _ target; rotational speed N of permanent magnet reversible motor m Is the actual rotational speed N of the gas engine e _act，N m ＝N e Act, torque T of permanent magnet reversible motor m The target torque of the gas engine is subtracted again for the sum of the system target torque T _ target and the actuating torque, T m ＝T_target+T_t-T e _target。
3. Synthesizing the rotating speed and the torque of the reduction gear box: the rotation speed torque input by the first input end and the second input end of the reduction gear box and the rotation speed torque of the output end have the following relation: (M) 1 N 1 +M 2 N 2 )η＝M 3 N 3 ，M 3 ＝(M 1 +M 2 )iη，
Wherein M is 1 、M 2 For torque input of the clutch to the gearbox, M 3 For the torque output from the gearbox to the propeller, N 1 、N 2 Speed of rotation, N, input to the gearbox for gas machines and motors via a clutch 3 The rotating speed output by the gearbox to the propeller, eta is the working efficiency of the gearbox, and i represents the reduction ratio of the gearbox.
The invention has the advantages that: the energy distribution method of the gas-electric hybrid power ship is simple, the existing controller can meet the required calculation speed, the method can effectively coordinate the power output of the gas engine and the permanent magnet reversible motor, and the defect of poor dynamic response of the gas engine can be overcome on the basis of meeting the closed-loop control of the rotating speed of the propeller.
Drawings
FIG. 1 is a control flow diagram of the present invention;
FIG. 2 is a block diagram of the system of the present invention;
FIG. 3 is a Pref membership function of the present invention;
FIG. 4 is a SOC membership function of the present invention;
FIG. 5 is a Pe membership function of the present invention;
FIG. 6 is a fuzzy control rule of the present invention.
Detailed Description
The invention will now be described in more detail by way of example with reference to the accompanying drawings in which:
with reference to fig. 1 to 6, the gas-electric hybrid system based on the method of the present invention includes a natural gas engine, a permanent magnet synchronous reversible motor, a clutch 1, a clutch 2, a storage battery pack, a reduction gear box, a propeller, and the like, wherein the natural gas engine is mechanically connected to the reduction gear box through the clutch 1, the permanent magnet synchronous reversible motor is mechanically connected to the gear box through the clutch 2, the permanent magnet synchronous reversible motor is electrically connected to the storage battery pack, and an output end of the reduction gear box is directly mechanically connected to the propeller.
In order to solve the energy distribution problem of propeller rotation speed control of the gas-electric hybrid power ship, the gas-electric hybrid power ship energy distribution method based on the propeller rotation speed closed loop is provided, and mainly comprises the following steps:
step 1) calculating the adjusting torque T _ T through a PID calculation module.
And 2) calculating a system target torque T _ target according to the target rotating speed of the propeller.
Step 3) calculating the target torque N of the gas engine according to the target rotating speed of the propeller and the SOC of the storage battery through a fuzzy rule controller e _target。
Step 4) distributing the rotating speed N of the gas engine through the energy distribution module e Torque T e And the rotating speed N of the permanent magnet synchronous reversible motor m 、T m Torque.
And 5) synthesizing the rotating speed and the torque of the reduction gear box.
Calculation of the control Torque T _ T
The adjustment torque T _ T is calculated by PID using a deviation of the target rotational speed of the propeller and the actual rotational speed of the propeller.
Calculation of System target Torque T _ target
Under steady-state conditions, the propeller works on a propulsion characteristic curve, the power demand of the propeller is proportional to the third power of the rotating speed, P ref ＝Kn 3 Calculating a system target torque T _ target =9550K (N) according to a torque calculation formula T =9550P/N m _target) 2 。
Calculating gas engine target torque T by fuzzy rule controller e _target
The fuzzy controller comprises two inputs and a single output, wherein the input is the target rotating speed N of the propeller m_ target, argument is [0,1]According to the target rotating speed of the propeller, the ship load is divided into lower load, low load, medium load, better load and high load, P ref The fuzzy subset is { Lower, low, medium, optimal, high }, and the membership function is designed by adopting trapezoidal and triangular membership functions, as shown in fig. 3; SOC of the lithium iron phosphate battery pack is 0,1]Dividing the influence of the SOC on the service life and the efficiency of the lithium iron phosphate battery pack into a Low part, a High part and a High part, wherein the fuzzy subset is { Low, optimal and High }, and the membership function design is completed by utilizing a trapezoidal membership function, as shown in an attached figure 4; the output is the target power P of the gas engine e The domain of discourse is [0,1.1]Considering the load distribution of the gas engine, the gas engine is divided into four working conditions of Low load, medium load, better load and High load, the fuzzy subset is { Low, medium, optimal, high }, and the trapezoidal and triangular membership functions are usedThe design of the membership function is shown in figure 5.
The fuzzy rule is designed as follows:
1) In the sailing process of the tugboat, the hybrid power system supplies power required by the tugboat at all times to ensure the dynamic property of the ship;
2) The driver can always control the rotating speed of the propeller in real time for the input of the acceleration and the deceleration of the ship;
3) The SOC of the storage battery is kept in a better working area, so that the overcharge and the over-discharge of the storage battery are avoided;
4) The efficiency of the system is ensured to be maximized when the hybrid power system works;
5) The gas engine should operate in a higher load region to avoid the problem of low load combustion degradation.
The specific design of the fuzzy rule is shown in figure 6, in the fuzzy reasoning process, the min algorithm is adopted for AND operation, the max algorithm is adopted for conclusion aggregation, AND the gravity center method is adopted for the defuzzification algorithm.
Distribution method of energy distribution module
The energy distribution module completes the final energy distribution and determines the rotating speed of the gas engine and the rotating speed and the torque of the reversible motor. The rotating speed of the gas engine is the target rotating speed N of the propeller e = N _ target, gas engine torque equals gas engine target torque, T e ＝T e A _ target; rotational speed N of permanent magnet reversible motor m Is the actual rotational speed N of the gas engine e _act，N m ＝N e Act, torque T of permanent magnet reversible motor m The target torque of the gas engine is subtracted again for the sum of the system target torque T _ target and the actuating torque, T m ＝T_target+T_t-T e _target。
Speed and torque synthesis of reduction gear box
The speed and torque input by the input end 1 and the input end 2 of the reduction gear box and the speed and torque output by the output end have the following relation (M) 1 N 1 +M 2 N 2 )η＝M 3 N 3 ，M 3 ＝(M 1 +M 2 )iη，
Wherein M is 1 、M 2 For torque input of the clutch to the gearbox, M 3 For the torque output from the gearbox to the propeller, N 1 、N 2 For the speed of the gas engine and motor input to the gearbox via the clutch, N 3 The rotating speed output by the gearbox to the propeller is shown as eta, the working efficiency of the gearbox is shown as eta, and the reduction ratio of the gearbox is shown as i.
Claims (3)
1. The gas-electric hybrid power ship energy distribution method based on the propeller rotating speed closed loop is characterized by comprising the following steps of:
(1) Calculating the adjusting torque T _ T through a PID calculation module;
(2) Calculating a system target torque T _ target according to the target rotating speed of the propeller;
(3) Calculating a gas engine target torque N from the propeller target speed and the battery SOC by a fuzzy rule controller e _target；
(4) Distribution of gas engine speed N by means of energy distribution modules e Torque T e And the rotating speed N of the permanent magnet synchronous reversible motor m 、T m Torque;
(5) Synthesizing the rotating speed and the torque of the reduction gear box;
calculating gas engine target torque T by fuzzy rule controller e A _ target: the fuzzy rule controller comprises two inputs and a single output, wherein the input is the target rotating speed N of the propeller m A target with a domain of [0,1]According to the target rotating speed of the propeller, the ship load is divided into a lower load, a low load, a medium load, a better load and a high load, P ref The fuzzy subset is { Lower, low, medium, optimal, high }, the membership function is designed by adopting a trapezoidal and triangular membership function, and the lithium iron phosphate battery pack SOC has a discourse domain of [0,1 ]]The method comprises the steps of dividing the method into a Low part, a High part and a High part according to the influence of SOC on the service life and the efficiency of the lithium iron phosphate battery pack, wherein a fuzzy subset is { Low, optimal and High }, the membership function design is completed by utilizing a trapezoidal membership function, and the output is the target power P of a gas engine e The domain of discourse is [0,1.1]The gas engine is divided into four working conditions of low load, medium load, better load and high loadThe fuzzy subset is { Low, medium, optimal, high }, and the design of the membership function is completed by utilizing the membership functions of the trapezoid and the triangle;
the fuzzy rule is designed as follows:
(a) In the process of sailing the tug, the hybrid power system constantly provides power required by the tug, so that the dynamic property of the ship is ensured;
(b) The speed of the propeller can be controlled in real time all the time by the input of the driver to the acceleration and deceleration of the ship;
(c) The SOC of the storage battery is kept in a better working area;
(d) The efficiency of the hybrid power system is maximized when the hybrid power system works;
(e) The gas engine works in a higher load area, and the problem of low-load combustion deterioration is avoided.
2. The method for distributing the energy of the gas-electric hybrid ship based on the closed loop of the rotating speed of the propeller as claimed in claim 1, wherein the method comprises the following steps: the energy distribution module completes energy distribution and determines the rotating speed of the gas machine and the rotating speed and torque of the permanent magnet reversible motor; the rotating speed of the gas engine is the target rotating speed N of the propeller e = N _ target, gas engine torque equals gas engine target torque, T e ＝T e A target; rotational speed N of permanent magnet reversible motor m Is the actual rotational speed N of the gas engine e _act，N m ＝N e Act, torque T of permanent magnet reversible motor m The target torque of the gas engine is further reduced for the sum of the system target torque T _ target and the regulating torque, T m ＝T_target+T_t-T e _target。
3. The method for distributing the energy of the gas-electric hybrid ship based on the closed loop of the rotating speed of the propeller as claimed in claim 1, wherein the method comprises the following steps: synthesizing the rotating speed and the torque of the reduction gear box: the rotation speed torque input by the first input end and the second input end of the reduction gear box and the rotation speed torque of the output end have the following relation: (M) 1 N 1 +M 2 N 2 )η＝M 3 N 3 ，M 3 ＝(M 1 +M 2 )iη，
Wherein M is 1 、M 2 For torque input of the clutch to the gearbox, M 3 For the torque output from the gearbox to the propeller, N 1 、N 2 For the speed of the gas engine and motor input to the gearbox via the clutch, N 3 The rotating speed output by the gearbox to the propeller, eta is the working efficiency of the gearbox, and i represents the reduction ratio of the gearbox.
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