CN114508431A - Control method of ship host remote control system - Google Patents
Control method of ship host remote control system Download PDFInfo
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- CN114508431A CN114508431A CN202210241741.3A CN202210241741A CN114508431A CN 114508431 A CN114508431 A CN 114508431A CN 202210241741 A CN202210241741 A CN 202210241741A CN 114508431 A CN114508431 A CN 114508431A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
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Abstract
The invention discloses a control method of a ship host remote control system, which adopts three control methods of closed-loop control, namely PID control, open-loop control and maneuvering navigation, when the rotating speed detection is abnormal due to a fault, the system automatically changes from the closed-loop control mode to the open-loop control mode, thereby preventing the runaway and the out-of-control of a ship; when the fault is relieved, the system can be automatically converted from the open-loop control mode to the closed-loop control mode. Under the maneuvering navigation mode, the system calculates the rotating speed required by crossing occasions with high real-time requirements through an electronic chart and GPS feedback information, and guides an operator to shift gears. The invention can realize automatic switching when the rotating speed measurement error is overlarge due to faults, strengthen the redundancy control strategy of the host remote control system and improve the reliability and the operation safety of the system.
Description
Technical Field
The invention belongs to the technical field of automation of marine engine rooms, and particularly relates to a control method of a marine main engine remote control system.
Background
The host remote control system is used as a core of cabin automation and ensures the normal and stable operation of the ship host. With the rapid development of computer technology and control technology, the automation technology of the marine engine room is continuously developed and innovated, and higher requirements are put forward on a host remote control system. The existing host remote control system can only meet basic functional requirements of a ship host such as starting, stopping, speed regulation, reversing and the like, and is difficult to deal with complex and variable application environments, for example, once a fault occurs in a navigation process, a redundant control mode of automatic switching or an enough maintenance auxiliary suggestion is not available, a crew is difficult to correctly deal with and only can manually operate beside a ship, the navigation efficiency and operation experience are greatly influenced, and even safety accidents can be caused under emergency conditions.
At present, the existing host remote control system cannot well solve the above problems, for example, the ship host remote control system described in CN207433782U can acquire and analyze data during the operation of a ship, and when a fault occurs, send out alarm information to prompt maintenance personnel to maintain. However, the control mode is single, and once a fault occurs, the control mode cannot be switched to other modes to continue operation, so that the sailing efficiency is reduced.
In addition, in order to achieve the purpose of accurately controlling the rotating speed of the ship engine, the current host remote control system usually adopts a PID rotating speed closed-loop control algorithm, and the rotating speed of the ship engine is obtained by measuring the frequency, so as to perform closed-loop control on the rotating speed. Three methods for measuring the rotating speed are commonly used at present, namely a frequency measurement method, a cycle measurement method and a multi-cycle synchronous frequency measurement method. The frequency measurement method is to add the measured frequency signal to the counting input end of the counter to make the counter count in the standard time, and the error is mainly caused by that the counter can only count in integer to cause error of +/-1. The cycle measurement method is to send a standard frequency signal to the counting input end of a counter, so that the measured frequency signal controls the counting time of the counter to count. The multi-period synchronous frequency measurement method is developed on the basis of the frequency measurement method, and in the multi-period synchronous frequency measurement method, the gate time is not a fixed value but is integral multiple of the period of a measured signal, namely is synchronous with the measured signal. The actual gate time and the set gate time of the multi-period synchronization method are not strictly equal, but the maximum difference value does not exceed one period of the measured signal, the opening and the closing of the counter are synchronous with the measured signal, namely the gate comprises an integral number of periods of the measured signal, and therefore the error of +/-1 generated by counting the measured signal is eliminated.
Within the same time, the error of + -1 of the frequency measurement method increases with the decrease of the measured frequency, and the error of the frequency measurement method increases with the increase of the measured frequency. Therefore, usually, a frequency measurement method is used for measuring a high frequency signal, and a cycle measurement method is used for measuring a low frequency signal. However, in any method, the error can be reduced to some extent and cannot be eliminated. In addition, for the measured signal with a large frequency variation range, neither method can meet the requirement of high-precision measurement. Therefore, under the condition of high requirement on the measurement progress, a multi-period synchronous frequency measurement method is often adopted.
When the sensor is used for measuring the rotating speed, faults such as faults of the rotating speed sensor, installation looseness or cable disconnection and the like can occur, the rotating speed feedback signal is abnormal, so that the host machine cannot carry out speed regulation according to a preset gear, the accelerator can be pulled to the maximum in a short time under partial conditions, the mechanical load and the thermal load of an engine are increased rapidly to cause damage, and the engine can fly even in severe cases. Aiming at the phenomenon, a paper published in wireless interconnection technology (2019, 10 th) by Wu Fumin and the like adopts an improved closed-loop PID control strategy, namely a host remote control technology under abnormal rotating speed acquisition, and can automatically or manually switch speed regulation modes when rotating speed measurement fails. However, the rotating speed measurement by adopting a frequency measurement method and a cycle measurement method cannot achieve high measurement precision, so that deviation is generated in a PID control strategy. Meanwhile, the improved closed-loop PID control strategy firstly limits the maximum and minimum rotating speed before PID control is carried out, although the deviation of the rotating speed caused by faults is limited to be too large or too small, the possibility of treating emergency situations by sailors is also limited, for example, when speed increase treatment is needed in some emergency situations, the ship cannot increase the speed due to the maximum and minimum rotating speed limit, the maximum oil quantity limit, the torque limit and the like, so that accidents are caused. Therefore, the integration of the automatic speed regulation mode switching and the redundant control mechanism in the host remote control system to increase the safety of the ship operation is a problem to be solved by the existing host remote control system.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a control method of a ship host remote control system is provided to improve the safety of ship operation.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the control method of the marine main engine remote control system comprises a clock system, a control system and a diesel engine set, wherein the control system comprises a first rotating speed sensor and a second rotating speed sensor for detecting the rotating speed of a main output shaft of the diesel engine set, a data processing module, a PID (proportion integration differentiation) controller and a judgment module, and the method specifically comprises the following steps:
step 1: and (3) carrying out acceleration load limitation and critical speed avoidance setting on the host remote control system:
(a) and (3) limiting the acceleration load: when accelerating in a low-load region, the acceleration of the diesel engine set is a set value a; when accelerating in a high load area, the acceleration of the diesel engine set is a set value b; a is more than b; when the rotating speed of the diesel engine set is 30-70% of the rated rotating speed, the diesel engine set is determined as a low load region, and when the rotating speed of the diesel engine set is more than 70% of the rated rotating speed, the diesel engine set is determined as a high load region;
(b) and (3) avoiding setting of critical speed: recording a rotating speed interval causing resonance between the diesel engine set and the ship body as a critical rotating speed area [ c, d ], and automatically enabling the diesel engine set to operate at a lower limit value c of the critical rotating speed by the host remote control system when the working rotating speed of the diesel engine set falls in the critical rotating speed area [ c, d ];
step 2: the vehicle clock system sends vehicle order information to the control system; the vehicle order information content comprises a conventional instruction, an unconventional instruction and a shutdown instruction, wherein the conventional instruction comprises that the diesel engine set normally accelerates to a set rotating speed Nr1 or the diesel engine set normally decelerates to a set rotating speed Nr 2; the unconventional command comprises that the diesel set is emergently accelerated to a set rotating speed Nr3 or the diesel set is emergently decelerated to a set rotating speed Nr 4;
and step 3: the judging module judges the content of the vehicle order information: if the content of the vehicle order information is a conventional instruction, executing the step 4; if the vehicle order information content is a stop instruction, stopping the ship, and executing the step 5;
step 4-1: the control system controls the diesel set according to the operating instruction of the vehicle order information and changes the rotating speed of the diesel set 3;
step 4-2: the first rotating speed sensor and the second rotating speed sensor are used for measuring the total rotating speed of an output shaft of the diesel engine set, and the total rotating speed is Nr5 and Nr 6; and transmitting the measurement result to a data processing module;
step 4-3: the data processing module performs the following calculation and transmits the calculation result to the judging module:
in the formula: eta is the rotating speed error measured by the first rotating speed sensor and the second rotating speed sensor;
step 4-4: the judgment module judges whether eta is less than or equal to 10 percent: if yes, carrying out closed-loop control, namely PID control, on the rotating speed of the diesel engine set, and turning to the step 4-5; if the rotation speed is not up, carrying out open-loop control on the rotation speed of the diesel engine set, and turning to the step 4-10;
and 4-5: the control system calculates the measured rotating speed and the preset rotating speed NrnAnd (n is the difference e (k) of 1, 2, 3 and 4), and transmitting the difference e (k) to a PID controller: e (k) { Nr5 Nr6}max-Nrn；
In the formula: e (k) is the difference in rotational speed at time k;
and 4-6: the data processing module calculates the error change rate e of the rotating speedc(k) And transmitting to a PID controller: e.g. of the typec(k) E (k) -e (k-1); in the formula: e (k-1) is the difference of the rotating speeds at the moment of k-1;
and 4-7: the PID controller is based on the input error e (k) and the error change rate ec(k) And an output quantity delta Kp、ΔKiThe rule of correspondence of (1); deriving a corresponding fuzzy tuning Δ Kp、ΔKi、ΔKd(ii) a Wherein the input error e (k) and the error change rate ec(k) And an output quantity delta Kp、ΔKi、ΔKdThe rule of correspondence is obtained in the following manner:
firstly, the traditional PID is used for constructing the rotating speed control variable of the diesel engine set, a two-input three-output framework is adopted, and the input quantity is the error e (k) and the error change rate ec(k) To obtain an output of Kp、KiAnd Kd；
Then, fine tuning is carried out on the constructed PID control parameters by using a fuzzy control rule: the structure of two inputs and three outputs is adopted, and the input quantities are error e (k) and error change rate ec(k) Establishing an output quantity delta K according to the adjustment experience and the error gradual approximation principle of a proportional parameter P, an integral parameter I and a differential parameter D in the PID parametersp、ΔKi、ΔKdThe corresponding rule of (2);
and 4-8: the PID controller obtains an actual PID output parameter value:
of formula (II) k'p、k′i、k′dThe actual PID parameter value at the k-1 moment;
and 4-9: the PID controller calculates a speed value u (k +1) at the moment k +1 and transmits the speed value u (k +1) to a control system: u (k +1) ═ kp+ki+kd
Step 4-10: control system for diesel oilThe unit carries out maximum and minimum rotation speed limitation: when the rotating speed n is less than the lowest stable rotating speed Nr7 set by the diesel engine set, the diesel engine set operates at the lowest stable rotating speed Nr 7; when the rotating speed n is greater than the lowest stable rotating speed Nr7 set by the diesel engine set and is less than the maximum rotating speed Nr8 allowed by the diesel engine set, the diesel engine set operates at the rotating speed n; when the rotating speed n is greater than the maximum rotating speed Nr8 allowed by the diesel set, the diesel set operates at the maximum rotating speed Nr 8; when the rotating speed of the diesel engine set is closed-loop control, namely PID control, the rotating speed n is u (k + 1); when the rotating speed of the diesel engine set is controlled in an open loop mode, the rotating speed n is Nrn(n＝1、2、3、4)；
And 4-11: the data processing module calculates the oil supply quantity delta h of the diesel engine set per 100 cycles according to the rotating speed n:
in the formula: geThe fuel consumption rate of the diesel engine is known when the diesel engine is purchased;
ne is diesel engine power, known when purchasing a diesel engine;
gamma is the specific gravity of fuel oil and is known when purchasing diesel oil;
i is the number of cylinders, known when purchasing the diesel engine;
n is the rotation speed of the diesel engine, and when the rotation speed of the diesel engine set is closed-loop control, namely PID control, n is u (k + 1); when the rotation speed of the diesel engine set is controlled in an open loop mode, n is Nrn(n＝1、2、3、4)；
Delta is a correction coefficient, and delta is 1.1-1.14;
and 4-12: the control system selects a minimum limiting condition from the maximum oil quantity limit, the torque limit and the supercharged air pressure limit, and the minimum limiting condition is used for limiting the oil supply quantity required by the diesel engine set:
(a) limiting the maximum oil quantity: limiting the maximum oil quantity of the diesel engine set to be 50% -100% of the rated oil quantity;
(b) and (3) torque limitation: the mode of limiting the maximum oil supply amount by adopting the set rotating speed is as follows:
wherein h is the maximum fuel supply of the diesel engine set, USSetting a rotating speed value for the diesel engine set, wherein e, f and g are constants, n is the rotating speed of the diesel engine, and when the rotating speed of the diesel engine set is closed-loop control, namely PID control, n is u (k + 1); when the rotating speed of the diesel engine set is controlled in an open loop mode, n is Nrn(n＝1、2、3、4)；
(c) And (3) limitation of the pressure of the pressurized air: the method of limiting the maximum oil supply amount according to the pressure of the pressurized air is as follows:
wherein h is the maximum fuel supply of the diesel engine set, PSThe pressure value is a set value of the pressure of the pressurized air, k, m and s are constants, and p is the pressure value of the pressurized air output by the supercharger and can be measured by a pressure sensor;
step 4-13: the data processing module transmits the calculated oil supply quantity required by the diesel engine set to the control system through the limiting conditions, and the control system controls the diesel engine set to adjust;
and 4-14: the judgment module judges as follows: if the current rotating speed of the diesel engine set is closed-loop control, namely PID control, turning to the step 4-2; if the current rotating speed of the diesel engine set is open-loop control, executing the step 4-10;
and 5: the judgment module judges as follows: whether new vehicle order information is received or not, if the new vehicle order information is received, executing the step 3; otherwise, ending.
As a preferable scheme, in the step 3, if the content of the vehicle order information is an unconventional instruction, the control system predicts the rotating speed required by the running of the ship and sends a prompt to prompt an operator to operate the handle to shift gears by combining information fed back by the electronic chart and the GPS; and (4) after the gear shifting is finished, turning to the step 4.
The invention has the beneficial effects that:
the invention adopts the multi-period synchronous frequency measurement method to replace the frequency measurement method and the cycle measurement method, avoids the condition of inaccurate measurement caused by the defects of the frequency measurement method and the cycle measurement method, improves the measurement precision of the rotating speed, and further improves the control precision of the system;
the control method of the ship host remote control system adopts three control methods of closed-loop control (PID control), open-loop control and maneuvering navigation, wherein the closed-loop control is a default control method. When the rotating speed detection is abnormal due to a fault, the system is automatically switched from a closed-loop control mode to an open-loop control mode, so that the runaway and the out-of-control of the ship are prevented; when the fault is relieved, the system automatically changes from the open-loop control mode to the closed-loop control mode. The maneuvering sailing mode is used for controlling occasions with high real-time requirements, such as a long and narrow water channel or a complex water area, the operating handle is moved to several gears, and the rotating speed can be rapidly increased to several gears. Under the maneuvering navigation mode, the system calculates the rotating speed required by crossing occasions with high real-time requirements through an electronic chart and GPS feedback information, and guides an operator to shift gears. The invention can realize automatic switching when the rotating speed measurement error is overlarge due to faults, strengthen the redundancy control strategy of the host remote control system and improve the reliability and the operation safety of the system.
Drawings
FIG. 1 is a main configuration diagram of a host remote control system of the present invention
FIG. 2 is a control logic diagram of the control method of the present invention
FIG. 3 is a control flow chart of the host remote control system of the present invention
In the figure: the system comprises a vehicle clock system, a control system 2, a diesel engine unit 3, a first speed sensor 4, a second speed sensor 5, a data processing module 6, a PID controller 7 and a judgment module 8.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in figure 1, the host remote control system comprises a clock system 1, a control system 2 and a diesel engine set 3, wherein the control system 2 comprises a first rotating speed sensor 4, a second rotating speed sensor 5, a data processing module 6, a PID controller 7 and a judgment module 8, the first rotating speed sensor 4, the second rotating speed sensor 5, the data processing module 6, the PID controller 7 and the judgment module 8 are used for detecting the rotating speed of a total output shaft of the diesel engine set 3, different components of the modules are connected through CAN buses, and different control units and the modules are communicated through digital signals. In addition, the host system may include devices known to those skilled in the art, such as propellers, remote consoles, pressure boosters, pressure sensors, and the like.
As shown in fig. 2-3, the control method of the remote control system of the marine main engine according to the present invention is as follows:
step 1: and (3) carrying out acceleration load limitation and critical speed avoidance setting on the host remote control system: (a) and (3) limiting the acceleration load: when accelerating in the low load region, the acceleration of the diesel unit 3 is a; when accelerating in the high load region, the acceleration of the diesel engine set 3 is b (a > b); wherein, when the rotating speed of the diesel engine set 3 is 30% -70% of the rated rotating speed, the diesel engine set is determined as a low load region, and when the rotating speed of the diesel engine set 3 is more than 70% of the rated rotating speed, the diesel engine set is determined as a high load region; (b) and (3) avoiding setting of critical speed: when the working rotating speed of the diesel engine set 3 falls in the critical rotating speed area [ c, d ], the host remote control system automatically enables the diesel engine set 3 to operate at the lower limit value (the rotating speed value is c) of the critical rotating speed, wherein the rotating speed interval causing the resonance of the diesel engine set 3 and the ship body is recorded as the critical rotating speed area [ c, d ], the vibration period of the ship body is the inherent property of the ship body, and the vibration period of each ship body is different, so the critical rotating speed area [ c, d ] of each ship is different;
step 2: the traditional PID is used for constructing a rotating speed control variable of a diesel set 3, a two-input three-output framework is adopted, and the input quantity is an error e and an error change rate ecThe output is Kp、KiAnd Kd。
And step 3: the judging module 8 judges the content of the vehicle order information: if the content of the vehicle order information is a conventional instruction, executing the step 4; if the vehicle order information content is a stop instruction, stopping the ship, and executing the step 5; if the information content of the vehicle order is an unconventional instruction, the control system predicts the rotating speed required by the running of the ship and gives a prompt to prompt an operator to operate a handle to shift gears by combining the information fed back by the electronic chart and the GPS; and 4, after the gear shifting is finished, the step is switched to step 4.
Step 4-1: the control system 2 controls the diesel set 3 according to the vehicle order information to change the rotating speed of the diesel set 3;
step 4-2: the first rotation speed sensor 4 and the second rotation speed sensor 5 measure the total output shaft rotation speed of the diesel engine set 3 as Nr5 and Nr6, respectively; and transmits the measurement result to the data processing module 6;
step 4-3: the data processing module 6 performs the following calculation and transmits the calculation result to the judgment module 8:
in the formula: eta is the rotating speed error measured by the first rotating speed sensor 4 and the second rotating speed sensor 5;
step 4-4: the judgment module 8 judges whether eta is less than or equal to 10 percent: if yes, carrying out closed-loop control, namely PID control, on the rotating speed of the diesel engine set 3, and turning to the step 4-5; if the rotation speed is not up, carrying out open-loop control on the rotation speed of the diesel engine set 3, and turning to the step 4-10;
and 4-5: the control system 2 calculates the measured rotating speed and the preset rotating speed NrnThe difference e (k) (n is 1, 2, 3, 4) and is transmitted to the PID controller 7: e (k) { Nr5 Nr6}max-Nrn；
In the formula: e (k) is the difference in rotational speed at time k;
and 4-6: the data processing module 6 calculates the error change rate e of the rotating speedc(k) And transmitted to the PID controller 7: e.g. of the typec(k) E (k) -e (k-1); in the formula: e (k-1) is the difference of the rotating speeds at the moment of k-1;
and 4-7: the PID controller 7 is based on the input error e (k) and the error change rate ec(k) And an output quantity delta Kp、ΔKi、ΔKdThe corresponding rule of (2); deriving a corresponding fuzzy tuning Δ Kp、ΔKi、ΔKd(ii) a Wherein the input error e (k) and the error change rate ec(k) And an output quantity delta Kp、ΔKi、ΔKdThe rule of correspondence is obtained in the following manner:
firstly, the traditional PID is used for constructing a rotating speed control variable of a diesel engine set 3, a two-input three-output framework is adopted, and the input quantity is an error e (k) and an error change rate ec(k) To obtain an output of Kp、KiAnd Kd；
Then, fine tuning is carried out on the constructed PID control parameters by using a fuzzy control rule: the structure of two inputs and three outputs is adopted, and the input quantities are error e (k) and error change rate ec(k) Establishing an output quantity delta K according to the adjustment experience and the error gradual approximation principle of a proportional parameter P, an integral parameter I and a differential parameter D in the PID parametersp、ΔKi、ΔKdThe corresponding rule of (2); as shown in tables 1, 2, and 3, NB represents negative large, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, and PB represents positive large.
TABLE 1. DELTA.KpFuzzy control rule table
TABLE 2. DELTA.KiFuzzy control rule table of module
TABLE 3. DELTA.KdFuzzy control rule table
And 4-8: the PID controller 7 finds the actual PID output parameter value:
of formula (II) k'p、k′i、k′dThe actual PID parameter value at the k-1 moment;
and 4-9: the PID controller 7 calculates the velocity value u (k +1) at the time k +1 and transmits it to the control system 2: u (k +1) ═ kp+ki+kd
Step (ii) of4-10: the control system 2 limits the maximum and minimum rotation speed of the diesel engine set 3: when the rotating speed n is less than the lowest stable rotating speed Nr7 set by the diesel engine set 3, the diesel engine set 3 operates at the lowest stable rotating speed Nr 7; when the rotating speed n is greater than the lowest stable rotating speed Nr7 set by the diesel engine set 3 and is less than the maximum rotating speed Nr8 allowed by the diesel engine set 3, the diesel engine set 3 operates at the rotating speed n; when the speed n is greater than the maximum speed Nr8 allowed by the diesel engine set 3, the diesel engine set 3 operates at the maximum speed Nr 8; wherein, when the rotating speed of the diesel engine set 3 is closed-loop control, namely PID control, the rotating speed n is u (k + 1); when the rotating speed of the diesel engine set 3 is controlled in an open loop mode, the rotating speed n is Nrn(n＝1、2、3、4)；
And 4-11: the data processing module 6 calculates the oil supply quantity delta h of the diesel engine set per 100 cycles according to the rotating speed n:
in the formula: geThe fuel consumption rate (g/kwh) of the diesel engine is known when the diesel engine is purchased;
ne is diesel engine power (kw), known when purchasing a diesel engine;
gamma is the specific gravity of fuel oil and is known when purchasing diesel oil;
i is the number of cylinders, known when purchasing the diesel engine;
n is the rotation speed of the diesel engine, and when the rotation speed of the diesel engine set 3 is closed-loop control, namely PID control, n is u (k + 1); when the rotating speed of the diesel engine set 3 is controlled in an open loop mode, n is Nrn(n＝1、2、3、4)；
Delta is a correction coefficient, and delta is 1.1-1.14;
and 4-12: the control system 2 selects a minimum limiting condition from the maximum fuel limit, the torque limit and the charge air pressure limit for limiting the fuel supply required by the diesel group 3:
(a) maximum oil volume limit: limiting the maximum oil quantity of the diesel engine set 3 to be 50-100% of the rated oil quantity;
(b) and (3) torque limitation: the mode of limiting the maximum oil supply amount by adopting the set rotating speed is as follows:
wherein h is the maximum fuel supply of the diesel engine unit 3, USSetting a rotating speed value for the diesel engine set 3, wherein e, f and g are constants, n is the rotating speed of the diesel engine, and when the rotating speed of the diesel engine set 3 is closed-loop control, namely PID control, n is u (k + 1); when the rotating speed of the diesel engine set 3 is controlled in an open loop mode, n is Nrn(n＝1、2、3、4)；
(c) And (3) limitation of the pressure of the pressurized air: the method of limiting the maximum oil supply amount according to the pressure of the pressurized air is as follows:
wherein h is the maximum fuel supply of the diesel engine set 3, PSThe pressure value is a set value of the pressure of the pressurized air, k, m and s are constants, and p is the pressure value of the pressurized air output by the supercharger and can be measured by a pressure sensor;
step 4-13: the data processing module 6 transmits the calculated oil supply amount required by the diesel engine set 3 to the control system 2 through the limiting conditions, and the control system 2 controls the diesel engine set 3 to adjust;
and 4-14: the judgment module 8 makes the following judgment: if the current rotating speed of the diesel engine set 3 is closed-loop control, namely PID control, turning to the step 4-2; if the current rotating speed of the diesel engine set 3 is open-loop control, executing the step 4-10;
and 5: the judgment module 8 makes the following judgment: whether new vehicle order information is received or not, if the new vehicle order information is received, executing the step 3; otherwise, ending.
The above-mentioned embodiments are merely illustrative of the principles and effects of the present invention, and some embodiments may be used, not restrictive; it should be noted that various changes and modifications can be made by those skilled in the art without departing from the inventive concept, and these changes and modifications fall within the scope of the invention.
Claims (2)
1. A control method of a ship host remote control system comprises a clock system, a control system and a diesel set, wherein the control system comprises a first rotating speed sensor and a second rotating speed sensor for detecting the rotating speed of a total output shaft of the diesel set, a data processing module, a PID controller and a judgment module, and the method specifically comprises the following steps:
step 1: and (3) carrying out acceleration load limitation and critical speed avoidance setting on the host remote control system:
(a) and (3) limiting the acceleration load: when accelerating in a low-load region, the acceleration of the diesel engine set is a set value a; when accelerating in a high load area, the acceleration of the diesel engine set is a set value b; a > b; when the rotating speed of the diesel engine set is 30-70% of the rated rotating speed, the diesel engine set is determined as a low load region, and when the rotating speed of the diesel engine set is more than 70% of the rated rotating speed, the diesel engine set is determined as a high load region;
(b) and (3) avoiding setting of critical speed: recording a rotating speed interval causing resonance between the diesel engine set and the ship body as a critical rotating speed area [ c, d ], and automatically enabling the diesel engine set to operate at a lower limit value c of the critical rotating speed by the host remote control system when the working rotating speed of the diesel engine set falls in the critical rotating speed area [ c, d ];
step 2: the vehicle clock system sends vehicle order information to the control system; the vehicle order information content comprises a conventional instruction, an unconventional instruction and a shutdown instruction, wherein the conventional instruction comprises that the diesel engine set normally accelerates to a set rotating speed Nr1 or the diesel engine set normally decelerates to a set rotating speed Nr 2; the unconventional command comprises that the diesel set is emergently accelerated to a set rotating speed Nr3 or the diesel set is emergently decelerated to a set rotating speed Nr 4;
and step 3: the judging module judges the content of the vehicle order information: if the content of the vehicle order information is a conventional instruction, executing the step 4; if the vehicle order information content is a stop instruction, stopping the ship, and executing the step 5; (ii) a
Step 4-1: the control system controls the diesel set according to the operating instruction of the vehicle order information and changes the rotating speed of the diesel set 3;
step 4-2: the first rotating speed sensor and the second rotating speed sensor are used for measuring the total rotating speed of an output shaft of the diesel engine set, and the total rotating speed is Nr5 and Nr 6; and transmitting the measurement result to a data processing module;
step (ii) of4-3: the data processing module performs the following calculation and transmits the calculation result to the judging module:
in the formula: eta is the rotating speed error measured by the first rotating speed sensor and the second rotating speed sensor;
step 4-4: the judgment module judges whether eta is less than or equal to 10 percent: if yes, carrying out closed-loop control, namely PID control, on the rotating speed of the diesel engine set, and turning to the step 4-5; if the rotation speed is not up, carrying out open-loop control on the rotation speed of the diesel engine set, and turning to the step 4-10;
and 4-5: the control system calculates the measured rotating speed and the preset rotating speed NrnAnd (n is the difference e (k) of 1, 2, 3 and 4), and transmitting the difference e (k) to a PID controller: e (k) { Nr5 Nr6}max-Nrn；
In the formula: e (k) is the difference in rotational speed at time k;
and 4-6: the data processing module calculates the error change rate e of the rotating speedc(k) And transmitting to a PID controller: e.g. of the typec(k) E (k) -e (k-1); in the formula: e (k-1) is the difference of the rotating speeds at the moment of k-1;
and 4-7: the PID controller is based on the input error e (k) and the error change rate ec(k) And an output quantity delta Kp、ΔKiThe rule of correspondence of (1); deriving a corresponding fuzzy tuning Δ Kp、ΔKi、ΔKd(ii) a Wherein the input error e (k) and the error change rate ec(k) And an output quantity delta Kp、ΔKi、ΔKdThe rule of correspondence is obtained in the following manner:
firstly, the traditional PID is used for constructing the rotating speed control variable of the diesel engine set, a two-input three-output framework is adopted, and the input quantity is the error e (k) and the error change rate ec(k) To obtain an output of Kp、KiAnd Kd；
Then, fine tuning is carried out on the constructed PID control parameters by using a fuzzy control rule: the structure of two inputs and three outputs is adopted, and the input quantities are error e (k) and error change rate ec(k) According to the proportional parameter P and integral parameter in the PID parameterAdjusting experience and error gradual approximation principle of number I and differential parameter D to establish output quantity delta Kp、ΔKi、ΔKdThe corresponding rule of (2);
and 4-8: the PID controller obtains an actual PID output parameter value:
of formula (II) k'p、k′i、k′dThe actual PID parameter value at the k-1 moment;
and 4-9: the PID controller calculates a speed value u (k +1) at the moment k +1 and transmits the speed value u (k +1) to a control system: u (k +1) ═ kp+ki+kd
Step 4-10: the control system limits the maximum and minimum rotating speed of the diesel engine set: when the rotating speed n is less than the lowest stable rotating speed Nr7 set by the diesel engine set, the diesel engine set operates at the lowest stable rotating speed Nr 7; when the rotating speed n is greater than the lowest stable rotating speed Nr7 set by the diesel engine set and is less than the maximum rotating speed Nr8 allowed by the diesel engine set, the diesel engine set operates at the rotating speed n; when the rotating speed n is greater than the maximum rotating speed Nr8 allowed by the diesel set, the diesel set operates at the maximum rotating speed Nr 8; when the rotating speed of the diesel engine set is closed-loop control, namely PID control, the rotating speed n is u (k + 1); when the rotating speed of the diesel engine set is controlled in an open loop mode, the rotating speed n is Nrn(n＝1、2、3、4)；
And 4-11: the data processing module calculates the oil supply quantity delta h of the diesel engine set per 100 cycles according to the rotating speed n:
in the formula: geThe fuel consumption rate of the diesel engine is known when the diesel engine is purchased;
ne is diesel engine power, known when purchasing a diesel engine;
gamma is the specific gravity of fuel oil and is known when purchasing diesel oil;
i is the number of cylinders, known when purchasing the diesel engine;
n is the rotation speed of the diesel engine, and when the rotation speed of the diesel engine set is closed-loop control, namely PID control, n is u (k + 1); when the rotating speed of the diesel engine set is controlled in an open loop mode, n is Nrn(n＝1、2、3、4)；
Delta is a correction coefficient, and delta is 1.1-1.14;
and 4-12: the control system selects a minimum limiting condition from the maximum oil quantity limit, the torque limit and the supercharged air pressure limit, and the minimum limiting condition is used for limiting the oil supply quantity required by the diesel engine set:
(a) limiting the maximum oil quantity: limiting the maximum oil quantity of the diesel engine set to be 50% -100% of the rated oil quantity;
(b) and (3) torque limitation: the mode of limiting the maximum oil supply amount by adopting the set rotating speed is as follows:
in the formula, h is the maximum oil supply amount of the diesel engine set, Us is a set rotating speed value of the diesel engine set, e, f and g are constants, n is the rotating speed of the diesel engine, and when the rotating speed of the diesel engine set is closed-loop control, namely PID control, n is u (k + 1); when the rotating speed of the diesel engine set is controlled in an open loop mode, n is Nrn(n＝1、2、3、4)；
(c) And (3) limitation of the pressure of the pressurized air: the method of limiting the maximum oil supply amount according to the pressure of the pressurized air is as follows:
in the formula, h is the maximum oil supply amount of the diesel engine set, Ps is a supercharged air pressure set value, k, m and s are constants, and p is a supercharged air pressure value output by a supercharger and can be measured by a pressure sensor;
step 4-13: the data processing module transmits the calculated oil supply quantity required by the diesel engine set to the control system through the limiting conditions, and the control system controls the diesel engine set to adjust;
and 4-14: the judgment module judges as follows: if the current rotating speed of the diesel engine set is closed-loop control, namely PID control, turning to the step 4-2; if the current rotating speed of the diesel engine set is open-loop control, executing the step 4-10;
and 5: the judgment module judges as follows: whether new vehicle order information is received or not, if the new vehicle order information is received, executing the step 3; otherwise, ending.
2. The control method of a marine vessel host remote control system according to claim 1, wherein: in the step 3, if the content of the vehicle order information is an unconventional instruction, the control system predicts the rotating speed required by the ship to run and sends a prompt to prompt an operator to operate a handle to shift gears by combining the information fed back by the electronic chart and the GPS; and (4) after the gear shifting is finished, turning to the step 4.
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| CN103410619A (en) * | 2013-08-27 | 2013-11-27 | 南车戚墅堰机车有限公司 | Diesel engine closed loop speed regulation system of diesel locomotive and speed regulation method thereof |
| CN207004662U (en) * | 2017-08-08 | 2018-02-13 | 无锡瑞风船用推进器有限公司 | The automatically controlled arrangements for speed regulation of main frame that a kind of long-range rotating speed for marine diesel controls |
| CN111734537A (en) * | 2020-06-12 | 2020-10-02 | 上海尚实能源科技有限公司 | Fuel control system and control method |
| CN112901329A (en) * | 2021-01-15 | 2021-06-04 | 宁波大学 | Method and system for regulating and controlling switching of open-closed loop control of electronic water pump |
| CN113339152A (en) * | 2021-06-18 | 2021-09-03 | 中国北方发动机研究所(天津) | Rail pressure control method of high-pressure common rail diesel engine |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103410619A (en) * | 2013-08-27 | 2013-11-27 | 南车戚墅堰机车有限公司 | Diesel engine closed loop speed regulation system of diesel locomotive and speed regulation method thereof |
| CN207004662U (en) * | 2017-08-08 | 2018-02-13 | 无锡瑞风船用推进器有限公司 | The automatically controlled arrangements for speed regulation of main frame that a kind of long-range rotating speed for marine diesel controls |
| CN111734537A (en) * | 2020-06-12 | 2020-10-02 | 上海尚实能源科技有限公司 | Fuel control system and control method |
| CN112901329A (en) * | 2021-01-15 | 2021-06-04 | 宁波大学 | Method and system for regulating and controlling switching of open-closed loop control of electronic water pump |
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