CN113682454A - Control method of vector pump power system with vector translation function - Google Patents

Control method of vector pump power system with vector translation function Download PDF

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CN113682454A
CN113682454A CN202110953395.7A CN202110953395A CN113682454A CN 113682454 A CN113682454 A CN 113682454A CN 202110953395 A CN202110953395 A CN 202110953395A CN 113682454 A CN113682454 A CN 113682454A
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vector
control
pump
displacement
power system
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CN113682454B (en
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吕小文
唐建中
罗珍雄
陈正
聂勇
李贞辉
孙向伟
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Zhejiang University ZJU
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H11/00—Marine propulsion by water jets
    • B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
    • B63H11/04—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/46—Steering or dynamic anchoring by jets or by rudders carrying jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H11/00—Marine propulsion by water jets
    • B63H2011/004—Marine propulsion by water jets using the eductor or injector pump principle, e.g. jets with by-pass fluid paths
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H11/00—Marine propulsion by water jets
    • B63H2011/006—Marine propulsion by water jets with propulsive medium supplied from sources external to propelled vessel, e.g. water from public water supply
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H11/00—Marine propulsion by water jets
    • B63H2011/008—Arrangements of two or more jet units

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  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention discloses a control method of a vector pump power system with a vector translation function. The vector power control system hardware is realized based on a hydraulic principle, displacement drive of a spray pump tipping bucket and a rudder direction is realized by using an LVDT hydraulic oil cylinder and a hydraulic proportional servo valve, linear control of a rudder direction stroke and a forward and reverse stroke in a vector pump power system is realized based on a high-precision displacement closed-loop control method, the vector control effect can be achieved by matching with engine rotating speed regulation and vector combination control of the control quantity besides basic motion forms of forward movement, reverse movement, left rotation, right rotation and the like, and by means of a vector drive control strategy based on a spray pump tipping bucket water flow vector reflection principle, complex maneuvering actions such as in-situ rotation, vector translation and the like are realized.

Description

Control method of vector pump power system with vector translation function
Technical Field
The invention relates to a control method of a vector pump power system with a vector translation function.
Background
The actuator of the ship power system can be divided into a propeller and a jet pump from the form, the propeller advances by using the reaction force of rotating and pushing water, the jet pump is a ship propulsion technology for navigating by using the reaction force of jet water flow, and compared with the former, the latter has been widely applied in recent years due to the advantages of high efficiency, good safety, good maneuverability and the like. The vector nozzle is a propeller with nozzle deflection to different directions to generate thrust in different directions, and is applied to ships and fighters to enable the ship body to obtain extremely high maneuverability and maneuverability.
In order to safely and conveniently enter and exit a port, a medium-sized ship and a large-sized ship are provided with side thrusters to realize left-right translation, but for the small-sized ship, the small-sized ship is limited by displacement and available space in the small-sized ship, and the side thrusters cannot be installed, so the small-sized ship is generally provided with at least two vector jet pumps to realize actions such as transverse movement, oblique movement and the like, vector water flow directions of the two jet pumps are coordinated through a vector control algorithm, and then a tipping bucket is matched to reflect water flow to finally realize a vector translation process of a ship body.
In summary, a high-performance vector pump power control system integrating a vector drive control algorithm is needed, which can respond to the input (angle and amplitude) of a cross rocker and automatically match and cooperatively control the rudder direction and the tipping bucket position of two jet pumps and the rotating speed of two engines, so that a vector translation effect is realized, and a lower control threshold is realized.
Disclosure of Invention
In view of the above, the present invention is directed to a system and a method for controlling a power of a vector pump with a vector translation function.
A control method of a vector pump power system with a vector translation function comprises a duplex oil tank, an LVDT (linear variable differential transformer) oil cylinder, an electromagnetic reversing valve group, oil pumps and a proportional hydraulic valve, wherein a left engine and a right engine on a ship respectively drive one oil pump, the duplex oil tank is simultaneously connected with the two oil pumps, and the oil pumps in a normal working state are selected to drive the whole set of hydraulic system.
The LVDT cylinder, the proportional hydraulic valve and the electromagnetic directional valve are four groups, which respectively correspond to the rudder direction of the left spray pump, the rudder direction of the right spray pump, the forward reversing of the left spray pump and the forward reversing of the right spray pump, and the displacement sensor is used as feedback, independent closed-loop control is carried out on the displacement of the four-way LVDT cylinder by the aid of the logic controller, and the vector driving effect is realized by the combination of the displacement sensor, the feedback sensor, the logic controller and the engine rotating speed regulation.
The control method of the vector pump power system specifically comprises the following steps:
by combining six control quantities of a power system of the vector pump, proportional reflection is carried out on vector water flow output by the spray pump by utilizing the fluid appearance of a skip bucket of the spray pump, and finally required driving force is obtained to realize the vector driving effect; the six control quantities are respectively a left engine rotating speed control quantity s1Right engine speed control quantity s2Left jet pump rudder direction oil cylinder displacement control quantity d1And the displacement control quantity d of the right jet pump rudder direction oil cylinder2Left spray pump tipping bucket oil cylinder displacement control amount b1And the displacement control quantity b of the tipping bucket oil cylinder of the right spray pump2；
The control modes are divided into a port mode and a conventional mode, and the control strategies in the two modes are as follows:
I) under the normal mode, only the forward and backward movement x of the cross-shaped rocker and the rudder direction control quantity z are responded, and the control quantity combination V [ s ] is combined at the moment1s2 d1 d2 b1 b2]The correspondence with the input M (x,0, z) is as follows:
s1＝s2＝|x|
d1＝d2＝z
Figure BDA0003219411610000021
wherein Bmin1, Bmid1 and Bmax1 respectively represent the lower limit value, the middle level amount and the upper limit value of the displacement of the oil cylinder at the dump bucket position of the left spray pump; bmin2, Bmid2 and Bmax2 respectively represent a lower limit value, a middle level amount and an upper limit value of the displacement of the oil cylinder at the dump bucket position of the right spray pump; bmin corresponds to the forward position, Bmax corresponds to the reverse position, and Bmid corresponds to the empty position.
II) simultaneously responding to the front and back movement x, the left and right movement y and the rudder direction control quantity z of the steering wheel in the port mode; at the same time, the engine speed is scaled to 50%, at which time the combination of control variables Vs is1 s2 d1 d2 b1 b2]The correspondence with the input M (x, y, z) is as follows:
Figure BDA0003219411610000022
[d1 d2]＝[z+0.6*y z+0.6*y]
Figure BDA0003219411610000023
the invention has the beneficial effects that:
1. the vector power control system is designed based on a hydraulic principle, and an LVDT (linear variable differential transformer) oil cylinder is used as an actuator, so that compared with a motor driving scheme, the vector power control system has the advantages of stronger anti-jamming capability, longer service life and higher reliability;
2. the oil cylinder displacement closed-loop control strategy is improved in many aspects based on a fuzzy PID control strategy, the response speed is improved on the premise of ensuring the control precision, the adjustment times are reduced, and the stability of an actuator is improved;
3. the vector drive control strategy utilizes a double-vector pump and a water flow reflection principle to realize vector motor action, solves the problem that a small boat cannot be installed and laterally pushed to realize left-right translation due to space limitation, is integrated in a controller, can control a vector pump power system through a control handle or an external communication interface by one key, and realizes the full automation of a vector pump power control system.
Drawings
FIG. 1 is a hydraulic coupling diagram of a vector pump power control system;
FIG. 2 is a closed loop control block diagram of the vector pump power control system;
FIG. 3 is a view of the effect of vector control translation of the hull;
FIG. 4 is a cross-rocker two-dimensional input strategy partition diagram for a vector pump control system.
Detailed Description
The invention relates to a vector pump power control system with a vector translation function and a control method, wherein hardware of the vector power control system is realized on the basis of a hydraulic principle, displacement drive of a spray pump tipping bucket and a steering direction is realized by using an LVDT hydraulic oil cylinder and a hydraulic proportional servo valve, linear control of a steering direction stroke and a forward and reverse stroke in the vector pump power system is realized on the basis of a high-precision displacement closed-loop control method, and the vector control effect is achieved by vector combination control of the control quantities and a vector drive control strategy on the basis of a spray pump tipping bucket water flow vector reflection principle by matching with the regulation of the rotating speed of an engine in order to realize basic motion forms of forward movement, reverse movement, left rotation, right rotation and the like, so that complex maneuvering actions such as in-situ rotation, vector translation and the like are realized.
The invention provides a vector power control system hardware scheme based on a hydraulic system, which comprises the following steps:
the vector power control system consists of a duplex oil tank, an LVDT oil cylinder, an electromagnetic reversing valve group, oil pumps and oil pipes, wherein a left engine and a right engine respectively drive one oil pump A and one oil pump B, the duplex oil tank is simultaneously connected with the two oil pumps A and B, and the oil pumps in normal working states are selected in an A-or-B (or relation) mode to drive the whole set of hydraulic system, so that the single-machine navigation can be met, and the simultaneous operation of the two machines can also be met; the LVDT hydro-cylinders and the electromagnetic directional valves are divided into four groups, which respectively correspond to the steering direction of the left spray pump, the steering direction of the right spray pump, the forward reversing of the left spray pump and the forward reversing of the right spray pump, and the displacement sensors are used as feedback to independently perform closed-loop control on the displacement of the four-way hydro-cylinders by relying on the logic controller, and then are matched with the rotation speed regulation of the engine, so that the vector driving effect is realized by combination.
The invention provides an improved oil cylinder displacement closed-loop control method based on a fuzzy PID control strategy, which comprises the following steps:
improvement 1: because the power system has higher requirement on the real-time performance of control, although the integral link KI in the control frame can eliminate static errors, the integral link KI needs accumulated correction and adjustment for a certain time, and the instantaneous response significance of the integral link KI is not great for an actuator which needs to frequently respond to real-time actions, so that the integral link KI can be cancelled, the number of parameters which need to be set is reduced, and the complexity of the parameter setting process is reduced.
And (3) improvement 2: the oil cylinder as an actuator needs to be matched with a reversing valve and a proportional amplification controller for driving, in the actual use process, due to the influences of friction resistance, actuator response dead zone and the like, hardware cannot respond to a small algorithm output control quantity, therefore, the interval mapping of theoretical control quantity Tv and actual effective execution quantity Ev is completed by setting the actuator dead zone, and the actuator response dead zone, namely (0, Tv), is skippedmax)->(Evmin，Evmax)。
Improvement 3: in a small error state, the closed-loop control quantity is smaller, and the smaller the error is, the smaller the control quantity is, the slower the response of the oil cylinder actuator is, so the minimum closed-loop control quantity is set
Figure BDA0003219411610000031
Ensure that the minimum speed is not lower than V when the oil cylinder movesminAnd setting a braking distance S, and decelerating to the target position in a braking sliding mode when the stroke of the oil cylinder reaches the vicinity of the target position, so as to improve the response speed of the oil cylinder in the process of controlling small errors through the improvement.
The invention provides a vector driving control strategy based on a spray pump tipping bucket water flow vector reflection principle, which comprises the following contents:
the vector pump power system contains 3 operational inputs, M (x, y, z):
the front and back movement amount x of the cross rocker is-100%;
the left and right movement amount y of the cross rocker is-100%;
steering wheel rudder direction input quantity z, the measuring range is 0-100%;
the vector pump power system includes 6 target control quantities (hereinafter referred to as control quantity combination vs)1s2d1d2b1b2]) And the control quantity range is 0-100%:
left engine speed control quantity s1；
Right engine speed control quantity s2；
Left jet pump rudder direction oil cylinder displacement control quantity d1；
Control quantity d of displacement of steering oil cylinder of right jet pump2；
Left spray pump tipping bucket oil cylinder displacement control amount b1；
Displacement control b of skip bucket oil cylinder of right spray pump2。
By combining the six control quantities, vector water flows (controllable in flow speed and direction) output by the two spray pumps can be proportionally reflected by utilizing the fluid appearance of the spray pump tipping bucket, and finally required driving force can be obtained
Figure BDA0003219411610000041
And high-mobility actions such as vector translation, in-situ rotation and the like are realized.
The control modes are divided into two types according to the use requirements: the control system comprises a port mode and a conventional mode, wherein the port mode is used for the process of entering and exiting a ship, the ship can be controlled to translate in any direction by taking a vector cross rocker and a steering wheel as control input, the engine throttle control quantity is zoomed to the maximum 50% in order to ensure safety in the port mode, and the conventional mode is used for sailing in an open water area without the vector translation function, has no limitation on the engine throttle and can realize actions such as high-speed straight running, high-speed backing and turning.
I) Normal mode
In the conventional mode, only the forward and backward movement x of the cross-shaped rocker and the rudder direction control quantity z are responded, and the corresponding relation between the control quantity combination V and the input (x,0, z) is as follows:
s1＝s2＝|x|
d1＝d2＝z
Figure BDA0003219411610000042
wherein Bmin1, Bmid1, Bmax1, Bmin2, Bmid2 and Bmax2 refer to displacement limit values and median values of left and right spray pump tipping bucket positions, wherein 1 and 2 represent left and right, Bmin represents a forward position, Bmax represents a reverse position, Bmid represents an empty position, and a tipping bucket part in an empty state is turned down to reflect water flow to offset forward force, so that resultant force is 0, and the empty position generally cannot be an absolute neutral position of a tipping bucket stroke due to low water flow reflection efficiency, and can be obtained through simulation for a conventional vector spray pump: bmid is approximately equal to 0.68 and Bmax +0.32 and Bmin, for the convenience of operation, the value ranges of Bmin1, Bmid1, Bmax1, Bmin2, Bmid2 and Bmax2 are normalized to 0-100%, the values of Bmin1 and Bmin2 are generally 0%, the values of Bmax1 and Bmax2 are generally 100%, and the values of Bmid1 and Bmid2 are 68%;
II) Port mode
In the port mode, the forward and backward movement x, the leftward and rightward movement y and the steering control amount z of the steering wheel are simultaneously responded, the rotating speed of the engine is zoomed to 50% in order to ensure the safe navigation, and the corresponding relation between the control amount combination V and the input M (x, y, z) is as follows:
Figure BDA0003219411610000051
[d1 d2]＝[z+0.6*y z+0.6*y]
Figure BDA0003219411610000052
the above calculation formula responds to the control quantity input M (x, y, z) of the cross rocker and the steering wheel and automatically calculates the control quantity combination Vs corresponding to the realization of the corresponding vector action1 s2 d1 d2 b1 b2]For engine speed [ s ]1 s2]Steering direction of jet pump[d1 d2]Control amount [ b ] of the dump position of the spray pump in linear correspondence with the actual target execution value1 b2]Since the empty position Bmid is not the absolute neutral position of the skip stroke, the following [ b ] is designed1 b2]To [ B ]1 B2]The segment mapping relationship of (1), namely:
Figure BDA0003219411610000053
wherein B is1For the actual amount of displacement of the left spray pump skip, B2The actual execution quantity of the displacement of the skip bucket of the right spray pump, B is a general term of the actual execution quantity of the displacement of the skip bucket position, the range of the measuring range is 0-100 percent, and B is a general term of the displacement control quantity B1 and B2 of the skip bucket of the spray pump.
Example (b):
fig. 1 is a hydraulic coupling diagram of a vector pump power control system according to this embodiment, which is composed of a duplex oil tank 1, a left oil pump 2, a right oil pump 3, a left steering oil cylinder 4, a left forward and reverse oil cylinder 5, a right forward and reverse oil cylinder 6, a right steering oil cylinder 7, a left cooling device 8, a right cooling device 9, and a proportional valve group 10, wherein a left engine and a right engine respectively drive one oil pump, the duplex oil tank is simultaneously connected with two oil pumps, and one of the oil pumps in a normal working state is selected by a switch valve to drive the whole hydraulic system, so that both single-machine navigation and dual-machine simultaneous operation can be satisfied; the LVDT cylinder and the electromagnetic directional valve are divided into four groups, which respectively correspond to the steering direction of the left spray pump, the steering direction of the right spray pump, the forward reversing of the left spray pump and the forward reversing of the right spray pump, independent closed-loop control is carried out on the displacement of the four paths of cylinders by the aid of a logic controller, and the four paths of cylinders are matched with the engine speed regulation, so that vector driving is realized by combined regulation.
Fig. 2 is a closed-loop control structure diagram of a vector pump power control system, wherein control inputs are a steering wheel and a gear cross rocker, actuators are a left host, a right host, a left forward and reverse oil cylinder, a right forward and reverse oil cylinder, a left rudder direction oil cylinder and a right rudder direction oil cylinder, wherein the engine speed control is open-loop control, and the rudder direction and the forward and reverse oil cylinder displacement are closed-loop control.
FIG. 3 is a diagram of the vector control translation effect of a ship body, wherein hollow arrows indicate the water flow direction of a spray pump, solid arrows indicate the operation direction of a cross rocker and the movement direction of the ship body, if a scene 22 indicates that a steering wheel is centered and a cross rocker of a gear shifter is centered, the state of an empty vehicle is realized, at the moment, the vehicle-forward effect and the vehicle-reversing effect are cancelled, and the ship body is in place and does not move; under the condition that a steering wheel is not operated, the vector pump power system can control the ship body according to the operation direction of the cross rocker of the gear shifter, such as a scene 12, a scene 21, a scene 23 and a scene 32; scene 11, scene 13, scene 31 and scene 33 refer to the effect of reversing when the hull moves forward or backward under the intervention of the steering wheel; when the gear cross rocker is operated obliquely, the ship body can move along the operation direction, such as scene 01, scene 03, scene 41 and scene 43.
FIG. 4 is a two-dimensional coordinate system input partition diagram of a cross rocker of the vector pump control system, wherein an area O represents an empty area, and two-dimensional data X and Y of the rocker at the moment are both 0; the region X + and X-is a longitudinal operation region, only X data is responded in the region, and the ship body can only move forwards and backwards; the Y + and Y-are longitudinal operation areas, only the Y data are responded in the areas, and the ship body can only move left and right; the regions a1, a2, A3 and a4 are diagonal operating regions in which the jet pump controller can steer the hull to move in any direction in response to X, Y data simultaneously.

Claims (6)

1. A control method of a vector pump power system with a vector translation function is characterized in that:
the vector pump power system comprises a duplex oil tank, an LVDT (linear variable differential transformer) oil cylinder, an electromagnetic reversing valve group, oil pumps and a proportional hydraulic valve, wherein a left engine and a right engine on the ship respectively drive one oil pump, the duplex oil tank is simultaneously connected with the two oil pumps, and the oil pumps in a normal working state are selected to drive the whole set of hydraulic system;
the LVDT cylinder, the proportional hydraulic valve and the electromagnetic directional valve are four groups, which respectively correspond to the rudder direction of a left spray pump, the rudder direction of a right spray pump, the forward reversing of the left spray pump and the forward reversing of the right spray pump, and the displacement sensor is used as feedback, independent closed-loop control is carried out on the displacement of the four-way LVDT cylinder by the aid of the logic controller, and the rotation speed of the engine is adjusted in a matched manner, so that the vector driving effect is realized by combination;
the control method of the vector pump power system specifically comprises the following steps:
by combining six control quantities of a power system of the vector pump, proportional reflection is carried out on vector water flow output by the spray pump by utilizing the fluid appearance of a skip bucket of the spray pump, and finally required driving force is obtained to realize the vector driving effect; the six control quantities are respectively a left engine rotating speed control quantity s1Right engine speed control quantity s2Left jet pump rudder direction oil cylinder displacement control quantity d1And the displacement control quantity d of the right jet pump rudder direction oil cylinder2Left spray pump tipping bucket oil cylinder displacement control amount b1And the displacement control quantity b of the tipping bucket oil cylinder of the right spray pump2；
The control modes are divided into a port mode and a conventional mode, and the control strategies in the two modes are as follows:
I) under the normal mode, only the forward and backward movement x of the cross-shaped rocker and the rudder direction control quantity z are responded, and the control quantity combination V [ s ] is combined at the moment1 s2d1 d2 b1 b2]The correspondence with the input M (x,0, z) is as follows:
s1＝s2＝|x|
d1＝d2＝z
Figure FDA0003219411600000011
wherein Bmin1, Bmid1 and Bmax1 respectively represent the lower limit value, the middle level amount and the upper limit value of the displacement of the oil cylinder at the dump bucket position of the left spray pump; bmin2, Bmid2 and Bmax2 respectively represent a lower limit value, a middle level amount and an upper limit value of the displacement of the oil cylinder at the dump bucket position of the right spray pump; bmin corresponds to a forward position, Bmax corresponds to a reverse position, and Bmid corresponds to an empty position;
II) simultaneously responding to the front and back movement x, the left and right movement y and the rudder direction control quantity z of the steering wheel in the port mode; while the engine speed is scaled to 50%, when the control amount isCombination Vs1 s2 d1 d2 b1 b2]The correspondence with the input M (x, y, z) is as follows:
Figure FDA0003219411600000012
[d1 d2]＝[z+0.6*y z+0.6*y]
[b1 b2]＝[x-0.65*y x+0.65*y]。
2. the method for controlling the vector pump power system with the vector translation function according to claim 1, wherein: control quantity of displacement of dump cylinder of jet pump1 b2]Since the empty position Bmid is not the absolute neutral position of the skip stroke, the following [ b ] is designed1 b2]To [ B ]1 B2]The segment mapping relation is as follows:
Figure FDA0003219411600000021
wherein B is1For the actual amount of displacement of the left spray pump skip, B2The actual execution quantity of the displacement of the skip bucket of the right spray pump is B, the actual execution quantity of the displacement of the skip bucket position is B, and the measuring range is 0-100%.
3. The method for controlling the vector pump power system with the vector translation function according to claim 1, wherein: the closed-loop control of the displacement of each oil cylinder is based on fuzzy PID control.
4. The method for controlling the vector pump power system with the vector translation function according to claim 3, wherein: and an integral link in fuzzy PID control is cancelled so as to reduce the number of parameters to be set and reduce the complexity of the parameter setting process.
5. The method for controlling the vector pump power system with the vector translation function according to claim 3, wherein: and (3) finishing the interval mapping of the theoretical control quantity Tv and the actual effective execution quantity Ev by adopting a mode of setting an actuator dead zone, and skipping an actuator response dead zone.
6. The method for controlling the vector pump power system with the vector translation function according to claim 3, wherein: setting a minimum closed-loop control quantity
Figure FDA0003219411600000022
Ensure that the minimum speed is not lower than V when the LVDT cylinder movesminAnd setting a braking distance, and when the stroke of the LVDT cylinder reaches the vicinity of the target position, decelerating to the target position in a braking sliding mode.
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