CN114312359A - Ship propulsion system and control strategy thereof - Google Patents
Ship propulsion system and control strategy thereof Download PDFInfo
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- CN114312359A CN114312359A CN202111680388.0A CN202111680388A CN114312359A CN 114312359 A CN114312359 A CN 114312359A CN 202111680388 A CN202111680388 A CN 202111680388A CN 114312359 A CN114312359 A CN 114312359A
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- 238000011217 control strategy Methods 0.000 title claims abstract description 15
- 238000003672 processing method Methods 0.000 claims abstract description 7
- 238000005070 sampling Methods 0.000 claims description 45
- 238000012545 processing Methods 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 17
- 239000004606 Fillers/Extenders Substances 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 8
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- 238000004891 communication Methods 0.000 description 4
- 238000007599 discharging Methods 0.000 description 4
- 239000000446 fuel Substances 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention discloses a control strategy of a ship propulsion system, which is divided into an independent power supply mode, an external power supply mode and a parallel power supply mode under the pure electric mode, so that different power supply modes are selected according to different working conditions under the condition of battery power supply, the control strategy is suitable for the condition that a ship propulsion system is provided with a battery pack, is not provided with the battery pack, and is supplied with power by external equipment and a single battery pack in the ship propulsion system together, and meanwhile, a pre-charging processing method is added, so that the damage caused by over-discharge of the battery pack is prevented, and the normal operation of the ship propulsion system is ensured. In addition, the invention also provides a ship propulsion system.
Description
Technical Field
The invention relates to the field of ship propulsion, in particular to a ship propulsion system and a control strategy thereof.
Background
Ships have been widely used as important transportation means, and with the recent emphasis on marine environments, hybrid technologies of ships have been gradually developed.
At present, a ship hybrid propulsion system is a ship propulsion system equipped with two or more power sources, and has multiple operation propulsion modes, wherein the first mode is provided for completely depending on a diesel engine set; the second mode is that the diesel engine set stops working, and the propelling power of the ship is completely provided by the battery pack; the third mode is that the diesel engine set and the battery pack work together to propel the ship to sail together; therefore, the propulsion system can select a proper propulsion mode according to the actual working condition. However, when the propulsion system works, the battery pack is easy to burn due to overlarge current when the battery pack participates in power supply propulsion, so that the work of the propulsion system is influenced, and the propulsion of a ship is influenced even more.
Accordingly, the present inventors have conducted extensive studies and have made the present invention.
Disclosure of Invention
The invention aims to provide a ship propulsion system with high stability and a control strategy thereof.
In order to achieve the above purpose, the solution of the invention is as follows:
a marine propulsion system comprising a system control box, a propeller, a battery pack, and a BMS battery management system, the propeller being bi-directionally connected to the system control box; the BMS battery management system comprises a sampling module and a battery processing module, wherein the power end of the battery pack is connected with the power end of the system control box through the sampling module, the signal output end of the sampling module is respectively connected with the battery processing module and the signal input end of the system control box, and the signal output end of the battery processing module is connected with the signal input end of the system control box.
The sampling module comprises a current sampling module and a voltage sampling module, the positive electrode of the battery pack is connected with the positive electrode end of the power supply of the system control box, and the current sampling module is installed on the positive electrode of the battery pack; the positive electrode of the battery pack is also connected with the positive electrode end of the voltage sampling module, and the negative electrode of the battery pack, the negative electrode end of the voltage sampling module and the power supply negative electrode end of the system control box are all grounded; the signal output end of the current sampling module is electrically connected with the signal input end of the battery processing module and the signal input end of the system control box respectively, the signal output end of the battery processing module is connected with the signal input end of the system control box, and the signal output end of the voltage sampling module is electrically connected with the signal input end of the system control box; wherein, each battery parameter of the battery pack is arranged in the system control box.
Still include the panel assembly, the panel assembly is including the PLC controller that has the display screen, key switch and emergency stop switch, emergency stop switch electric connection the signal input part of PLC controller, key switch electric connection the signal input part of PLC controller, the PLC controller with system control case both way junction.
The accelerator manipulator comprises an accelerator push rod and a pull wire connected with the accelerator push rod, the pull wire is connected with a sampling end of a displacement sensor, a signal output end of the displacement sensor is connected with a signal input end of the system control box, and/or a gear of the accelerator push rod is connected with a signal input end of the system control box.
The system control box is electrically connected with the range extender in a bidirectional mode.
A control strategy of a ship propulsion system adopts a pure electric mode, and any one of the following power supply modes is selected based on different working conditions: an independent power supply mode, an external power supply mode and a parallel power supply mode;
the independent power supply mode comprises: the method comprises the following steps of adopting a battery pack of a ship propulsion system to supply power to the ship propulsion system;
the external power supply mode: powering the marine propulsion system with a battery pack in an external device other than the marine propulsion system;
the parallel power supply mode is as follows: the method comprises the following steps that a battery pack arranged on a ship propulsion system is adopted to respectively supply power to the ship propulsion system and external equipment which is not arranged on the ship propulsion system, or the external equipment which is not arranged on the ship propulsion system and the battery pack arranged on the ship propulsion system supply power to the ship propulsion system;
selecting one of the power supply modes, and simultaneously carrying out propeller control and pre-charging processing on the ship propulsion system, wherein the pre-charging processing comprises the following specific steps:
step A1: pre-charging a main loop of the marine propulsion system with a pre-charging resistor, and then performing step A2;
step A2: judging whether the direct-current voltage of the main loop of the ship propulsion system reaches a preset pre-charging completion value, if so, marking that the pre-charging is completed, and performing step A3, otherwise, returning to step A1;
step A3: judging whether the direct-current voltage of the main loop of the ship propulsion system is lower than a preset pre-charging release value, if so, marking that pre-charging is not finished, and performing step A4, otherwise, keeping marking that pre-charging is finished;
step A4: judging whether the ship propulsion system is stopped, if so, returning to the step A1, and otherwise, re-marking that the pre-charging is not finished;
the propeller control method comprises the following specific steps:
step B1: operating according to the selected power supply mode, and simultaneously pre-charging the main loop by adopting the pre-charging resistor;
step B2: when a start command and pre-charge completion information are received, the marine propulsion system operates in the selected power supply mode;
and when a stop command or pre-charging incomplete information is received, the ship propulsion system stops working until the ship propulsion system operates again in the selected power supply mode when the start command and the pre-charging complete information are received again.
The ship propulsion system comprises first equipment, second equipment and fourth equipment, wherein the positive end of the first equipment is respectively connected with the first end of a normally open auxiliary contact of a contactor K1 and the first end of a normally open auxiliary contact of a contactor K2, the second end of the normally open auxiliary contact of a contactor K1 is connected with the first end of a pre-charging resistor, the second end of the pre-charging resistor is divided into four paths, the first path is connected with the positive end of the second equipment through the normally open auxiliary contact of the contactor K3, the second path is connected with the positive end of the third equipment through the normally open auxiliary contact of the contactor K4, the third path is connected with the fourth equipment through the normally open auxiliary contact of a contactor K5, and the fourth path is connected with the second end of the normally open auxiliary contact of the contactor K2; the negative end of the first device is respectively connected with the negative ends of the second device, the third device and the fourth device;
wherein the dc voltage is a voltage between a second end of the pre-charge resistor and a connection point where negative terminals of the first device, the second device, the third device, and the fourth device are connected to each other.
The first device is the battery pack of the ship propulsion system, the second device is a range extender, the third device is a cooperative system, and the fourth device is a propeller.
The ship propulsion system comprises a system control box, the first equipment, the second equipment and the third equipment, configuration commands are respectively set in the system control box corresponding to the independent power supply mode, the external power supply mode and the parallel power supply mode, the system control box selects the corresponding power supply mode to supply power to the propeller according to the configuration command selected by a user, and the specific propeller control method comprises the following steps:
step B1: reading a configuration command input by a user, and performing step B2 according to the configuration command;
step B2: if the read configuration command corresponds to the independent power supply mode, closing a normally open auxiliary contact of the contactor K5, sending a stop command to the propeller, and then performing the step B3;
if the read configuration command corresponds to the parallel power supply mode, the normally open auxiliary contacts of the contactor K5 and the contactor K4 are closed, and then the step B3 is carried out;
if the read configuration command corresponds to the external power supply mode, closing both normally open auxiliary contacts of the contactor K5 and the contactor K4, then judging whether the third device and the fourth device are connected, after the third device and the fourth device are connected, closing the normally open auxiliary contact of the contactor K1, simultaneously sending a shutdown instruction to the fourth device by a system control box, and then performing step B3;
step B3: when a starting command and pre-charging completion information of the propeller are received, a normally open auxiliary contact of the contactor K1 is opened, and the propeller is enabled to normally operate; sending a shutdown command to the propeller once a stop command or pre-charging completion information is received, stopping the propeller from running until a start command and pre-charging completion information are received again, and starting the propeller again;
when receiving the configuration command change information, sending a stop command to the propeller, and simultaneously opening the normally open auxiliary contacts of the contactor K1, the contactor K2, the contactor K3, the contactor K4 and the contactor K5, and then returning to step B2.
The thruster control method and the pre-charge processing method are two parallel states.
After adopting the structure, the invention has the following beneficial effects: adopt BMS battery management system to monitor the group battery state, when BMS battery management system can't transmit monitoring information for the group battery, the system control case begins to monitor the group battery to ensure real-time supervision group battery state, guarantee that the group battery supplies power steadily.
After the control strategy is adopted, the invention has the following beneficial effects: when the battery pack is used as a main power source of the ship propulsion system, any one of an independent power supply mode, an external power supply mode and a parallel power supply mode is selected to adapt to the situation that the ship propulsion system is provided with the battery pack, the battery pack is not arranged, external equipment and the battery pack in the ship propulsion system supply power to the ship propulsion system, and the battery pack can still supply power to the ship propulsion system when the external equipment or the battery pack in the ship propulsion system fails in the parallel power supply mode, so that the requirement of double-machine power reduction propulsion is met, and the safety and the working stability are ensured; and the ship propulsion system is pre-charged to prevent the battery pack from being damaged due to over-discharge and ensure the normal operation of the ship propulsion system.
Drawings
FIG. 1 is a circuit diagram of a marine propulsion system according to the present invention;
FIG. 2 is a schematic view illustrating monitoring of the state of a battery pack according to the present invention;
FIG. 3 is a circuit diagram of the panel assembly of the present invention;
FIG. 4 is a schematic diagram of the electrical connections of the main loop between the devices of the present invention;
FIG. 5 is a flow diagram of the propeller of the present invention under battery power;
FIG. 6 is a flow chart of the present invention wherein the battery pack pre-charges the marine propulsion system;
fig. 7 is a schematic circuit diagram of a control circuit of the marine propulsion system of the present invention.
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.
A marine propulsion system, as shown in fig. 1, includes a system control box, a propeller, and a battery pack and BMS battery management system; the propeller is electrically connected with the system control box in a bidirectional way so as to realize the starting and stopping of the propeller through the control of the system control box; the BMS battery management system comprises a sampling module and a battery processing module, wherein the sampling module is used for detecting the current parameter and the voltage parameter of a battery pack, the power end of the battery pack is connected with the power end of a system control box through the sampling module, the signal output end of the sampling module is respectively connected with the signal input end of the battery processing module and the signal input end of the system control box, the battery processing module estimates the SOC state of the battery pack according to the current parameter and the voltage parameter, and meanwhile, the system control box can estimate the battery capacity of the battery pack according to the current parameter and the voltage parameter; the signal output end of the battery processing module is connected with the signal input end of the system control box, and the battery processing module transmits the processed SOC state to the system control box.
As shown in fig. 2, the sampling module includes a current sampling module and a voltage sampling module, and the sampling module has the following specific circuit connections: the current sampling module is a current sensor, the positive end (namely Vdc-P end) of a power supply of the system control box is connected with the positive electrode of the battery pack, the current sensor is sleeved on a copper bar of the positive electrode of the battery pack in a conventional mode, and the signal output end of the current sensor is respectively connected with the signal input end of the battery processing module and the bat input end of the system control box;
the positive pole of group battery connects the positive terminal of voltage sampling module, and the negative pole of group battery, the negative pole end of voltage sampling module and the power negative pole end (being Vdc-N end) of system control case all ground connection, and the signal output part of voltage sampling module connects the bat input end of system control case.
Furthermore, the battery processing module is a conventional SOC estimation module, acquires current information detected by the current sampling module, processes the current information to acquire an SOC state, and transmits the calculated SOC state to the system control box; meanwhile, the current sampling module can also transmit detected current information to the system control box, and the voltage sampling module transmits detected voltage information to the system control box. In the present embodiment, a current integration method is employed to calculate the SOC state of the battery pack, that is, the state of charge of the battery pack is calculated by integrating the current with respect to time.
Further, when the system control box determines that the battery pack cannot provide information, the system control box calculates the battery capacity in real time through current information detected by the sampling current module and voltage information detected by the sampling voltage module, and meanwhile, provides battery charging and discharging protection; here, the system control box judges whether information of the BMS battery management system is received as follows: the BMS battery management system is connected with the system control box through the CAN bus, and ports connected with the system control box are respectively matched with the special ID ports, the BMS battery management system CAN send report information to the system control box through the special ID ports at intervals, if the system control box does not receive the report information sent by the corresponding special ID ports within a specified time interval (taking 2s as an example for acquiescence), the system control box judges that the battery pack CAN not provide information.
In the present embodiment, the system control box calculates the battery capacity in the same manner as the battery processing module.
In this embodiment, a battery capacity threshold, a maximum voltage, a minimum voltage, and a maximum charging/discharging current are preset in the system control box, and the system control box performs charging/discharging protection on the battery pack as follows: 1. when the battery pack is discharged, if the voltage of the battery pack is lower than a set minimum voltage, the system control box sends a torque limit command to a propeller in a ship propulsion system to reduce the output power of the propeller, so that the electric power drawn from the battery pack is reduced, and the voltage of the battery pack is restored to be in a normal range; 2. the system control box monitors the current of the battery pack when the battery pack is discharged, and when the current of the battery pack exceeds a set maximum charging and discharging current, the system control box sends a torque limiting command to a propeller to reduce the output power of the propeller, so that the electric power drawn from the battery pack is reduced, and the voltage of the battery pack is restored to a normal range to protect the battery pack from over-discharge.
In this embodiment, the battery pack is a lithium battery pack, and the capacity of the lithium battery pack is selected according to actual conditions such as the power of the propeller, the size of the ship body, and the cruising requirement, and is not limited herein.
As shown in fig. 1-3, the marine propulsion system further includes an assembly panel, an accelerator operator and a range extender, the assembly panel is electrically connected with the system control box in two directions, a signal output end of the accelerator operator is connected with a signal input end of the system control box, and the range extender is electrically connected with the system control box in two directions; therefore, the system control box acquires signals of the assembly panel and the accelerator manipulator, then sends the signals to the propeller to enable the propeller to work according to the required rotating speed and power, and meanwhile, the system control box generally acquires the SOC state of the battery pack from the BMS battery management system and outputs the signals to the propeller or the range extender according to different running modes so as to dynamically limit the output power of the propeller or start and stop the power supplement gap of the range extender; the operation modes in this embodiment are divided into a pure electric mode and a hybrid mode.
Furthermore, the panel assembly comprises a PLC controller with a display screen, a key switch and an emergency stop switch, wherein the emergency stop switch and the key switch are respectively and electrically connected with a signal input end of the PLC controller, and the PLC controller is in bidirectional electrical connection with the system control box; therefore, the PLC acquires the state signals of the key switch and the emergency stop switch, sends the state signals to the system control box, and simultaneously acquires the information uploaded by the system control box and displays the information on the display screen.
Furthermore, the panel assembly is further integrated with a GPS module, the signal output end of the GPS module is connected with the signal input end of the system control box, the GPS module is used for collecting the ship speed and transmitting the collected information to the system control box, and meanwhile, the PLC acquires the speed information in the system control box and displays the speed information on the display screen.
Further, the panel assembly still includes bee calling organ, this bee calling organ is installed on boats and ships, bee calling organ is audible and visual alarm bee calling organ, and the signal input part of bee calling organ connects the signal output part of PLC controller, bee calling organ is used for sending out the effect of alarm in order to play the warning when the trouble, when system controller monitored trouble, system controller sent the warning signal and gives the PLC controller, PLC controller output signal gives bee calling organ to make bee calling organ sound and remind.
The throttle manipulator comprises a throttle push rod and is used for providing a gear signal and a throttle depth signal of the throttle push rod for the system control box; the throttle manipulator further comprises a pull wire, the pull wire is connected with the throttle push rod in a conventional throttle manipulator connection mode, the pull wire is further connected with a collecting end of the displacement sensor, a signal output end of the displacement sensor is connected with a signal input end of the system control box, the pull wire is driven to move when the throttle push rod moves, the displacement sensor obtains mechanical signals, the mechanical signals are converted into electric signals by the displacement sensor, the electric signals are transmitted to the system control box, and the system control box can obtain gear information and throttle depth information of the throttle push rod.
In addition, the system control box in this embodiment CAN also adopt another mode to acquire gear information and throttle depth information, the opening place, the throttle push rod is electron throttle push rod, this electron throttle push rod is current conventional electron throttle push rod, the electron throttle push rod embeds has push rod position sensor and sampling board card, the sampling board card is equipped with communication interface, the signal output part of push rod position sensor connects the signal input part of sampling board card, communication interface connection system control box's communication end, like this, push rod position sensor samples the position signal of electron throttle push rod, sampling board card converts position signal into CAN communication signal, and transmit this system control box, in order to acquire gear information and throttle depth information.
The range extender comprises a range extender controller, a diesel engine and a first direct current motor, a crankshaft of the diesel engine is connected with a rotating shaft of the first direct current motor, and the first direct current motor is used for starting and generating electricity of the diesel engine, so that the first direct current motor can directly drive the diesel engine to start, the diesel engine does not need to be additionally provided with a starter, and the starting process is stable; the signal output end of the system control box is connected with the signal input end of the range extending controller, and the signal output end of the range extending controller is connected with the signal input end of the first direct current motor. In the embodiment, the range extender may be an existing conventional range extender.
Furthermore, a power rotating speed curve is preset in the range-extending controller, an engine test bench is adopted to calibrate each rotating speed power of the diesel engine to obtain a power rotating speed curve, when the system control box outputs a corresponding power demand, the range-extending controller finds out a corresponding rotating speed (namely the most economical rotating speed) which can meet the power of the diesel engine through the power rotating speed curve when receiving the required power, the rotating speed of the diesel engine is controlled to the rotating speed, then the range-extending controller converts the rotating speed to calculate the required torque of the direct current motor, then the range-extending controller controls the direct current motor to output the corresponding torque, the direct current motor applies the torque to a crankshaft of the diesel engine to realize that the diesel engine outputs the required power at the matched optimal rotating speed, and therefore the diesel engine is ensured to work in the optimal fuel efficiency area when the system control box sends different power demands, the economy of use is guaranteed.
The power and rotating speed curve is obtained by adopting the following method: the engine test bench is provided with a torquemeter, can test the crankshaft output power of the diesel engine and can test the real-time fuel consumption of the engine, so that the engine test bench can fix the crankshaft rotating speed of the diesel engine at any rotating speed (within the allowable range of the diesel engine), the corresponding torque of each rotating speed and the corresponding fuel consumption are tested through all rotating speeds and torques of the diesel engine during testing, and the fuel efficiency is calculated, so that the rotating speed-torque-efficiency and rotating speed-power-efficiency curves of the diesel engine are drawn, and the optimal power rotating speed curve can be obtained.
The propeller comprises a direct current motor II and a propeller, an output shaft of the diesel engine is connected with an input shaft of the direct current motor II, an output shaft of the direct current motor II is connected with the propeller through a speed reducer, and a power supply end of the direct current motor II is connected with a power supply end of the system control box, so that the battery pack provides working power supply for the direct current motor II in the pure electric mode; and in the hybrid mode, the battery pack and the diesel engine simultaneously provide working power supply for the direct current motor II. In this embodiment, the second dc motor is a conventional dc motor, and preferably, the second dc motor may be a high-efficiency flat-wire motor, wherein the second dc motor is calibrated by a calibration method commonly used in the art, so that the second dc motor can ensure optimal efficiency in a working range as much as possible.
The invention also provides a control strategy of the ship propulsion system, which is suitable for running the ship in the pure electric mode.
As shown in fig. 4-6, any of the following power modes may be selected based on different operating conditions: an independent power supply mode, an external power supply mode and a parallel power supply mode;
independent power supply mode: a battery pack of the ship propulsion system is adopted to supply power to the propeller;
external power supply mode: a battery pack in external equipment of the non-marine propulsion system is adopted to supply power to the propeller;
a parallel power supply mode; the battery pack arranged in the ship propulsion system is adopted to respectively supply power to the propeller and the external equipment, or the external equipment and the battery pack arranged in the ship propulsion system supply power to the ship propulsion system together;
one power supply mode is selected, and a pre-charging processing method is adopted to pre-charge the ship propulsion system, wherein the pre-charging processing comprises the following specific steps:
step A1: pre-charging a main loop of a ship propulsion system by using a pre-charging resistor;
step A2: judging whether the direct-current voltage of the main loop of the ship propulsion system reaches a preset pre-charging completion value, if so, marking that the pre-charging is completed, and performing step A3, otherwise, returning to step A1;
step A3: judging whether the direct-current voltage of a main loop of the ship propulsion system is lower than a preset pre-charging release value, if so, marking that pre-charging is not finished, and performing step A4, otherwise, continuing to keep marking that pre-charging is finished;
step A4: judging whether the propeller stops, if so, returning to the step A1, otherwise, re-marking that the pre-charging is not finished;
if the system control box obtains a stop command or incomplete pre-charging information, controlling the propeller to stop; and when the system control box acquires the starting command and the pre-charging completion information, the system control box outputs the starting command to start the propeller to work.
Further, the specific connection relationship of the main circuit among the devices in the ship propulsion system is as follows: the positive terminal of the first device is respectively connected with the first end of a normally open auxiliary contact of a contactor K1 and the first end of a normally open auxiliary contact of a contactor K2, the second end of the normally open auxiliary contact of a contactor K1 is connected with the first end of a pre-charging resistor, the second end of the pre-charging resistor is divided into four paths, the first path is connected with the positive terminal of the second device through the normally open auxiliary contact of the contactor K3, the second path is connected with the positive terminal of the third device through the normally open auxiliary contact of a contactor K4, the third path is connected with the positive terminal of the fourth device through the normally open auxiliary contact of a contactor K5, and the fourth path is connected with the second end of the normally open auxiliary contact of a contactor K2; and the negative terminal of the first device is connected to the negative terminals of the second device, the third device and the fourth device, respectively. The connection point led out from the second end of the pre-charging resistor is Vdc +, the connection point where the negative terminals of the first device, the second device, the third device and the fourth device are connected with each other is Vdc-, a voltage sensor is connected between Vdc + and Vdc-, voltage detection is carried out through the voltage sensor, the detected voltage is the direct-current voltage, and the signal output end of the voltage sensor is connected with the signal input end of the system control box, so that the system control box can obtain the direct-current voltage. The second end of the pre-charging resistor is divided into four paths after passing through a current sensor, and the current sensor is used for adopting direct current of a main loop.
It should be noted that the system control box controls the auxiliary contacts of the contactors by controlling the power on or off of the coils of the contactors, wherein the control loop formed by the coils of the contactors is as shown in fig. 7, and the control loop is a conventional control loop in a ship propulsion system, and therefore, the description thereof is omitted.
In this embodiment, a first device is taken as a battery pack of a ship propulsion system, a second device is taken as the range extender, a third device is taken as a cooperative system, a fourth device is taken as the propeller, the third device is also referred to as an external device, and the cooperative system is taken as another ship propulsion system in this embodiment. The cooperative system may also be a system including a range extender and a solar power supply module at the same time, and in addition, the cooperative system may also adopt other power supply systems, which is not limited herein.
Further, before the pre-charging process is carried out, the system control box controls the contactor K3, the contactor K4 and the contactor K5 to be electrified, so that the normally open contacts of the contactor K3, the contactor K4 and the contactor K5 are closed, and the direct current ends of the second equipment, the third equipment and the fourth equipment are connected together in parallel.
Further, configuration commands are respectively set in the system control box, and the independent power supply mode, the external power supply mode, and the parallel power supply mode in the power supply modes respectively correspond to the corresponding configuration commands, in this embodiment, the independent power supply mode is preset as configuration command 0, the parallel power supply mode is preset as configuration command 1, and the external power supply mode is preset as configuration command 2 in the system control box. It should be noted that, the user sets the configuration command, in other words, the user selects a proper power supply mode to supply power to the propeller according to the actual use condition; wherein, the independent power supply mode (namely, the single-machine independent propulsion mode) is adopted under the normal condition, and the external power supply mode and/or the parallel power supply mode are configured only when the battery fails or a user purposely uses only one group of battery packs.
The system control box selects a corresponding power supply mode to supply power to the propeller according to a configuration command selected by a user, and the propeller control comprises the following specific steps:
step B1: the key switch is started, the key switch sends an opening signal to the system control box, the system control box reads the configuration command input by the user, and the step B2 is carried out according to the input configuration command:
step B2: if the system control box reads that the configuration command is 0, the system control box controls the normally open auxiliary contact of the contactor K5 to be electrified and closed, and simultaneously sends a shutdown command to the propeller, and then the step B3 is carried out;
if the system control box reads that the configuration command is 1, the system control box controls the normally open auxiliary contact of the contactor K5 to be electrified and attracted, and simultaneously controls the normally open auxiliary contact of the contactor K4 to be electrified and attracted, and then the step B3 is carried out;
if the system control box reads that the configuration command is 2, the system control box controls a normally open auxiliary contact of a contactor K5 to be electrified and attracted, and simultaneously, a normally open auxiliary contact of a contactor K4 to be electrified and attracted, then the system control box judges whether a propeller and an external joint of the cooperative system are connected or not, if so, the normally open auxiliary contact of the contactor K1 is electrified and attracted, and meanwhile, a stop command is sent to the propeller, otherwise, the system control box continuously judges whether the propeller and the external joint of the cooperative system are connected or not until the propeller and the external joint of the cooperative system are connected, and then the step B3 is carried out;
step B3: when the system control box receives a starting command and pre-charging completion information, the normally open auxiliary contact of the system control box control contactor K1 is disconnected, the system control box sends a propeller starting command to the propeller, meanwhile, the system control box sends the rotating speed and torque limit of the propeller to the propeller, and the propeller normally operates; once the system control box receives a stop command or pre-charging completion information, the system control box sends a stop signal to the propeller, the propeller stops running, and the system control box controls the propeller to start again until the system control box receives a ship propulsion system start command and pre-charging completion information again;
when the system control box acquires the configuration command change information, the system control box sends a propeller stop command, and the system controller controls the normally open auxiliary contacts of the contactors to be disconnected at the same time, and then returns to the step B2.
It should be noted that, in step B3, after the system control box controls the normally open auxiliary contacts of each contactor to be opened, the system control box waits for the dc voltage to be lower than the safety voltage, and then returns to step B2 to ensure personal safety. The safe voltage is a safe voltage defined by a safety standard, and in this embodiment, the safe voltage is 60V.
Further, the system control box is electrically connected with the system control box in the cooperative system in a bidirectional mode, and the system control box in the ship propulsion system and the system control box in the cooperative system can mutually transmit information, so that the system control box in the cooperative system can transmit the state of each contactor to the system control box in the ship propulsion system to acquire the connection state of a propeller and an external connector of the cooperative system.
Further, a pre-charging processing method is adopted to pre-charge the ship propulsion system, and the pre-charging processing method comprises the following specific steps:
step A1: normally open contacts of a system control box control contactor K3, a contactor K4 and a contactor K5 are all closed, then a normally open auxiliary contact of a system control box control contactor K1 is closed, so that a pre-charging resistor is pre-charged for each device of the ship propulsion system, and then the step A2 is carried out;
step A2: the system control box continuously judges whether the direct-current voltage of the main loop of the ship propulsion system reaches a pre-charging completion value, if so, the step A3 is carried out, and if not, the step A1 is returned;
step A3: the normally open auxiliary contact of the contactor K2 is attracted, the system control box judges whether the attraction of the normally open auxiliary contact of the contactor K2 is successful, if so, the step A4 is carried out, otherwise, the system control box continuously judges whether the attraction of the normally open auxiliary contact of the control contactor K2 is successful;
step A4: the normally open auxiliary contact of the contactor K1 is disconnected, and meanwhile, the pre-charging of the system control box mark is completed, and then the step A5 is carried out;
step A5: the system control box judges whether the direct current voltage of the ship propulsion system is lower than a pre-charging release value, if so, the system control box marks that pre-charging is not finished, step A6 is carried out, and if not, the step A4 is returned to;
step A6: and the system control box judges whether the propeller is stopped or not, if so, the normally open auxiliary contact of the control contactor K2 is disconnected, and then the step A1 is returned, otherwise, the step A5 is returned.
When the normally open auxiliary contact of the contactor K1 is engaged, the precharge circuit path precharges the battery pack to the dc voltage through the precharge resistor of the precharge circuit, and the dc voltage increases as the charging time increases.
In this embodiment, the precharge completion value and the precharge release value are preset in the system control box.
The propeller control method and the pre-charging processing method in the control strategy of the ship propulsion system are in a parallel state.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made within the scope of the claims of the present invention should fall within the scope of the claims of the present invention.
Claims (10)
1. A marine propulsion system, characterized by: the system comprises a system control box, a propeller, a battery pack and a BMS battery management system, wherein the propeller is bidirectionally connected with the system control box; the BMS battery management system comprises a sampling module and a battery processing module, wherein the power end of the battery pack is connected with the power end of the system control box through the sampling module, the signal output end of the sampling module is respectively connected with the battery processing module and the signal input end of the system control box, and the signal output end of the battery processing module is connected with the signal input end of the system control box.
2. A marine propulsion system according to claim 1, characterised in that: the sampling module comprises a current sampling module and a voltage sampling module, the positive electrode of the battery pack is connected with the positive electrode end of the power supply of the system control box, and the current sampling module is installed on the positive electrode of the battery pack; the positive electrode of the battery pack is also connected with the positive electrode end of the voltage sampling module, and the negative electrode of the battery pack, the negative electrode end of the voltage sampling module and the power supply negative electrode end of the system control box are all grounded; the signal output end of the current sampling module is electrically connected with the signal input end of the battery processing module and the signal input end of the system control box respectively, the signal output end of the battery processing module is connected with the signal input end of the system control box, and the signal output end of the voltage sampling module is electrically connected with the signal input end of the system control box; wherein, each battery parameter of the battery pack is arranged in the system control box.
3. A marine propulsion system according to claim 2, characterised in that: still include the panel assembly, the panel assembly is including the PLC controller that has the display screen, key switch and emergency stop switch, emergency stop switch electric connection the signal input part of PLC controller, key switch electric connection the signal input part of PLC controller, the PLC controller with system control case both way junction.
4. A marine propulsion system according to claim 3, characterised in that: the accelerator manipulator comprises an accelerator push rod and a pull wire connected with the accelerator push rod, the pull wire is connected with a sampling end of a displacement sensor, a signal output end of the displacement sensor is connected with a signal input end of the system control box, and/or a gear of the accelerator push rod is connected with a signal input end of the system control box.
5. A marine propulsion system according to claim 4, characterised in that: the system control box is electrically connected with the range extender in a bidirectional mode.
6. A control strategy for a marine propulsion system, characterized by: adopting a pure electric mode, and selecting any one of the following power supply modes based on different working conditions: an independent power supply mode, an external power supply mode and a parallel power supply mode;
the independent power supply mode comprises: the method comprises the following steps of adopting a battery pack of a ship propulsion system to supply power to the ship propulsion system;
the external power supply mode: powering the marine propulsion system with a battery pack in an external device other than the marine propulsion system;
the parallel power supply mode is as follows: the method comprises the following steps that a battery pack arranged on a ship propulsion system is adopted to respectively supply power to the ship propulsion system and external equipment which is not arranged on the ship propulsion system, or the external equipment which is not arranged on the ship propulsion system and the battery pack arranged on the ship propulsion system supply power to the ship propulsion system;
selecting one of the power supply modes, and simultaneously carrying out propeller control and pre-charging processing on the ship propulsion system, wherein the pre-charging processing comprises the following specific steps:
step A1: pre-charging a main loop of the marine propulsion system with a pre-charging resistor, and then performing step A2;
step A2: judging whether the direct-current voltage of the main loop of the ship propulsion system reaches a preset pre-charging completion value, if so, marking that the pre-charging is completed, and performing step A3, otherwise, returning to step A1;
step A3: judging whether the direct-current voltage of the main loop of the ship propulsion system is lower than a preset pre-charging release value, if so, marking that pre-charging is not finished, and performing step A4, otherwise, keeping marking that pre-charging is finished;
step A4: judging whether the ship propulsion system is stopped, if so, returning to the step A1, and otherwise, re-marking that the pre-charging is not finished;
the propeller control method comprises the following specific steps:
step B1: operating according to the selected power supply mode, and simultaneously pre-charging the main loop by adopting the pre-charging resistor;
step B2: when a start command and pre-charge completion information are received, the marine propulsion system operates in the selected power supply mode;
and when a stop command or pre-charging incomplete information is received, the ship propulsion system stops working until the ship propulsion system operates again in the selected power supply mode when the start command and the pre-charging complete information are received again.
7. A control strategy for a marine propulsion system according to claim 6, characterised in that: the ship propulsion system comprises first equipment, second equipment and fourth equipment, wherein the positive end of the first equipment is respectively connected with the first end of a normally open auxiliary contact of a contactor K1 and the first end of a normally open auxiliary contact of a contactor K2, the second end of the normally open auxiliary contact of a contactor K1 is connected with the first end of a pre-charging resistor, the second end of the pre-charging resistor is divided into four paths, the first path is connected with the positive end of the second equipment through the normally open auxiliary contact of the contactor K3, the second path is connected with the positive end of the third equipment through the normally open auxiliary contact of the contactor K4, the third path is connected with the fourth equipment through the normally open auxiliary contact of a contactor K5, and the fourth path is connected with the second end of the normally open auxiliary contact of the contactor K2; the negative end of the first device is respectively connected with the negative ends of the second device, the third device and the fourth device;
wherein the dc voltage is a voltage between a second end of the pre-charge resistor and a connection point where negative terminals of the first device, the second device, the third device, and the fourth device are connected to each other.
8. A control strategy for a marine propulsion system according to claim 7, characterised in that: the first device is the battery pack of the ship propulsion system, the second device is a range extender, the third device is a cooperative system, and the fourth device is a propeller.
9. A control strategy for a marine propulsion system according to claim 8, characterised in that: the ship propulsion system comprises a system control box, the first equipment, the second equipment and the third equipment, configuration commands are respectively set in the system control box corresponding to the independent power supply mode, the external power supply mode and the parallel power supply mode, the system control box selects the corresponding power supply mode to supply power to the propeller according to the configuration command selected by a user, and the specific propeller control method comprises the following steps:
step B1: reading a configuration command input by a user, and performing step B2 according to the configuration command;
step B2: if the read configuration command corresponds to the independent power supply mode, closing a normally open auxiliary contact of the contactor K5, sending a stop command to the propeller, and then performing the step B3;
if the read configuration command corresponds to the parallel power supply mode, the normally open auxiliary contacts of the contactor K5 and the contactor K4 are closed, and then the step B3 is carried out;
if the read configuration command corresponds to the external power supply mode, closing both normally open auxiliary contacts of the contactor K5 and the contactor K4, then judging whether the third device and the fourth device are connected, after the third device and the fourth device are connected, closing the normally open auxiliary contact of the contactor K1, simultaneously sending a shutdown instruction to the fourth device by a system control box, and then performing step B3;
step B3: when a starting command and pre-charging completion information of the propeller are received, a normally open auxiliary contact of the contactor K1 is opened, and the propeller is enabled to normally operate; sending a shutdown command to the propeller once a stop command or pre-charging completion information is received, stopping the propeller from running until a start command and pre-charging completion information are received again, and starting the propeller again;
when receiving the configuration command change information, sending a stop command to the propeller, and simultaneously opening the normally open auxiliary contacts of the contactor K1, the contactor K2, the contactor K3, the contactor K4 and the contactor K5, and then returning to step B2.
10. A control strategy for a marine propulsion system according to claim 9, characterised in that: the thruster control method and the pre-charge processing method are two parallel states.
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