A virtual-real integrated ship energy management strategy verification method and platform

Abstract

The present invention discloses a virtual-real integration ship energy management strategy verification method, comprising: performing a joint simulation based on AMESim-Simulink, debugging and correcting model parameters; compiling the ship energy management strategy model into corresponding code and downloading it to a controller; compiling the interface S-function function in Simulink, generating real-time code from the model, downloading the model to dSPACE, and combining it with the controller for real-time simulation; materializing part of the power system simulation model, applying the actual working conditions of the ship to the load simulation system, constructing a virtual test scenario that conforms to reality, and performing hardware-in-the-loop simulation testing that integrates virtual and real; comparing the results of software simulation, real-time simulation, and hardware-in-the-loop simulation, and evaluating and verifying them according to preset indicators. The present invention effectively integrates the software simulation model and the small-scale verification platform, and the verification of the ship energy management strategy can be performed in any virtual model or platform device, with flexible operation, which can effectively reduce costs and improve verification efficiency.

Description

Technical Field

[0001] The present invention belongs to the field of ship energy management, and specifically relates to a virtual-reality integrated ship energy management strategy verification method and platform. Background Art

[0002] Research focuses on the application of new energy sources (LNG, lithium batteries, methanol, photovoltaics) and the supporting energy-efficient intelligent control technologies. Multi-energy hybrid ships feature diverse propulsion systems and power supply structures, and efficient energy management strategies are crucial for energy conservation and stable operation. However, validating the effectiveness of energy management strategies in a safe and economical manner remains a challenge.

[0003] Currently, testing and verification of ship energy management strategies primarily relies on virtual simulation. This involves modeling and simulating the ship's power system and control strategy using simulation software. While this approach offers significant advantages in terms of cost-effectiveness and safety, its accuracy and timing differ from actual performance, resulting in low reliability. Live ship testing, while providing a true reflection of the effectiveness of ship energy management strategies, is costly and suffers from poor safety and repeatability. Furthermore, ship operating conditions are complex, and test scenarios present significant randomness and poor repeatability. Therefore, validating the effectiveness of strategies prior to live ship testing is crucial. Among these, simulation verification research based on real-time simulators is gaining popularity. This approach embeds the ship's energy management strategy into the controller, while other power models, energy storage, and loads are compiled into the real-time simulator. Its characteristic is that, except for the controller containing the algorithm, everything else is a simulation model. This approach enables real-time online parameter adjustment and offers advantages such as flexibility, low cost, and high testing efficiency. However, due to the complexity of multi-energy ship power systems and loads, characterizing their dynamic performance using models alone is difficult, hindering the promotion of strategies. Another approach is to build a full-scale, full-power ship propulsion system simulation platform and apply the control strategy to the platform for effectiveness verification. This verification method is closer to the real situation, but it is more costly and has greater uncertainty. Summary of the Invention

[0004] The purpose of the present invention is to provide a virtual-real integration ship energy management strategy verification method and platform, which effectively integrates the software simulation model and the small-scale verification platform. The verification of the ship energy management strategy can be carried out in any virtual model or platform equipment, which is flexible in operation and can effectively reduce experimental costs and improve verification efficiency.

[0005] To solve the above technical problems, the technical solution of the present invention is: a virtual-real integration ship energy management strategy verification method, applied to a virtual-real integration ship energy management strategy verification platform, the platform comprising: a small-scale verification platform, a power amplifier, a controller, a ship operating condition database, an AMESim power system simulation model based on the platform structure, a ship energy management strategy model based on Simulink, and a virtual test scenario; wherein the small-scale verification platform at least comprises a dSPACE real-time simulator, a load simulation system, and a control device, the dSPACE real-time simulator is used to connect the virtual model and the small-scale verification platform to realize hardware-in-the-loop real-time simulation verification of the ship energy management strategy; the load simulation system is used to realize equivalent simulation of the ship's operating load, and to construct a full-dimensional, multi-dimensional test scenario through the actual operating condition data of the ship; the control device comprises a DC / DC converter, an AC / DC rectifier, and a DC / AC inverter; the method comprises the following steps:

[0006] S1. Build a multi-energy power system simulation model based on a small-scale verification platform in AMESim, build a multi-energy ship energy management strategy model in Simulink, conduct AMESim-Simulink co-simulation, and debug and modify parameters of the power system simulation and ship energy management strategy model;

[0007] S2. In the host computer, the ship energy management strategy model is compiled into corresponding code through Real-time Workshop and downloaded to the controller; the interface S-function function in Simulink is compiled through the power system simulation model built by AMESim, and the power system simulation model is generated into real-time code. The power system simulation model is downloaded to dSPACE through the host computer, and dSPACE runs the entire power system simulation model and combines it with the controller for real-time simulation;

[0008] S3. Connect the I / O interface in dSPACE to the small-scale verification platform to materialize some of the power system simulation models. Apply the actual ship operating conditions to the load simulation system to build a realistic virtual test scenario. Then, connect the controller to the control device through the power amplifier to perform hardware-in-the-loop simulation testing that integrates virtual and real elements.

[0009] S4. Compare the results of software simulation, real-time simulation, and hardware-in-the-loop simulation, and evaluate and verify them based on preset indicators; the preset indicators include battery SOC, grid voltage fluctuation, equipment operating efficiency range, energy conservation and emission reduction effects, and simulation time.

[0010] The ship energy management strategy model includes fuzzy control, model predictive control, equivalent fuel consumption minimum strategy and control based on intelligent optimization algorithm, which is used to allocate power to each power equipment according to the load demand power, so that each power equipment can operate in the high-efficiency range.

[0011] The power system simulation model includes the main engine module, battery module, other new energy equipment modules, shaft motor module and load module, which are used to design the corresponding platform parameters during the test process and perform PID control output according to the results of the ship energy management strategy allocation.

[0012] It also provides a virtual-real integration ship energy management strategy verification platform, including: a small-scale verification platform, power amplifier, controller, ship operating condition database, AMESim power system simulation model based on platform structure, energy management strategy model based on Simulink and virtual test scenario;

[0013] The small-scale verification platform includes:

[0014] The multi-energy power unit, which includes a motor, magnetic powder brake, battery, supercapacitor, clutch, and gearbox, is used to simulate a multi-energy hybrid power system for ships, using low-power equipment to achieve efficient integration and simulation of multiple energy sources;

[0015] The measurement and control system, which includes a host computer, sensors, CAN communication, and control devices, is used for real-time data acquisition and transmission, equipment monitoring, and efficient control of the platform. The host computer is used to monitor the parameters of the power system simulation model and the ship energy management strategy model in real time. The sensors are used to collect the current, speed, and torque of each power device. The CAN communication is used to transmit control signals. The control devices include a DC / DC converter, an AC / DC rectifier, and a DC / AC inverter.

[0016] The load simulation system is used to achieve equivalent simulation of ship operating loads and build a comprehensive and multi-dimensional test scenario based on the actual ship operating data;

[0017] dSPACE real-time simulator, used to connect virtual models with small-scale verification platforms to enable hardware-in-the-loop real-time simulation verification of ship energy management strategies;

[0018] The power amplifier is used to amplify the signal output by the dSPACE real-time simulation to generate a real power signal;

[0019] The controller is used to carry the C code compiled and converted by the ship energy management strategy model;

[0020] The ship operating condition database is used to input ship power-time curves into a power system model or a complex simulation system;

[0021] The AMESim power system simulation model based on the platform structure is used to control and output the operating parameters of each power device according to the allocation results of the ship energy management strategy model to each power device, and feed back to the ship energy management strategy model;

[0022] The Simulink-based ship energy management strategy model is used to allocate power to each power device according to the ship's power-time curve and provide reference power;

[0023] The virtual test scenario is used to simulate the test scenario for platform-based semi-physical simulation verification.

[0024] The ship energy management strategy model includes fuzzy control, model predictive control, equivalent fuel consumption minimum strategy and control based on intelligent optimization algorithm, which is used to allocate power to each power equipment according to the load demand power, so that each power equipment can operate in the high-efficiency range.

[0025] The power system simulation model includes the main engine module, battery module, other new energy equipment modules, shaft motor module and load module, which are used to design the corresponding platform parameters during the test process and perform PID control output according to the results of the ship energy management strategy allocation.

[0026] A computer device is also provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above methods when executing the computer program.

[0027] A computer-readable storage medium is also provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] (1) Conduct joint simulation of virtual software models to verify and debug the parameters of the ship's energy management strategy and power system, providing an accurate model basis for subsequent simulation verification of virtual-reality fusion; analyze the results of joint simulation from multiple perspectives to provide a basis for comparison of energy management strategies.

[0030] (2) Multi-dimensional test scenarios: The actual navigation conditions of the ship are applied to the load simulation system to construct a comprehensive test scenario, which makes up for the shortcomings of the virtual scenario in terms of unreality and ensures the practicality of the test; a method and evaluation indicators combining software simulation, real-time simulation, and semi-physical simulation are proposed, which can perform test verification from multiple dimensions.

[0031] (3) Organic coupling of virtual and real: Based on power amplifiers and real-time simulators, the simulation model and platform are organically integrated to achieve the mutual substitution of equipment and models. When the model is complex, the physical object can be selected as a replacement, or when the physical object is expensive, a virtual model can be selected to carry out the test. In addition, it can also carry out multi-energy coordinated control, grid voltage control, etc. It has the characteristics of flexibility and variability. The verification process can be repeated for a long time, which can save a lot of manpower, material resources and time costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of a flow chart of an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of a small-scale verification platform in an embodiment of the present invention;

[0034] Figure 3 Schematic diagram of the structure of the load simulation system in an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0036] The present invention provides the following technical solutions: a virtual-real integration ship energy management strategy verification platform, comprising: a small-scale verification platform, a power amplifier, a controller, a ship operating condition database, an AMESim power system simulation model based on the platform structure, an energy management strategy model based on Simulink, and a virtual test scenario;

[0037] The small-scale verification platform includes:

[0038] Multi-energy power units, including motors, magnetic powder brakes, batteries, supercapacitors, clutches, gearboxes and other equipment, are used to simulate multi-energy hybrid systems such as ship main engines, propellers, energy storage systems, and clean energy power, and achieve efficient integration and simulation of multiple energy sources using low-power equipment;

[0039] The measurement and control system, including a host computer, sensors, CAN communication, control devices, etc., is used for real-time data acquisition, transmission, equipment monitoring and efficient control of the platform; among them, the host computer is used to monitor the parameters of the power system model and energy management strategy model in real time; the sensors are used to collect parameters such as current, speed, torque, etc. of the power equipment; CAN communication is used for the transmission of control signals; the control devices mainly include DC / DC converters, AC / DC rectifiers, and DC / AC inverters.

[0040] The load simulation system is used to achieve equivalent simulation of ship operating loads and can construct comprehensive and multi-dimensional test scenarios based on the actual ship operating data;

[0041] dSPACE real-time simulator, used to connect virtual models with small-scale verification platforms to enable hardware-in-the-loop real-time simulation verification of ship energy management strategies;

[0042] The power amplifier is used to amplify the signal output by the dSPACE real-time simulation to generate a real power signal to drive the power device of the motor to be tested;

[0043] The controller is used to carry the C code compiled and converted by the energy management strategy model;

[0044] The ship operating condition database is used to input the ship power-time curve into the power system model or complex simulation system.

[0045] The AMESim power system simulation model based on the platform structure is used to control the operating parameters of the output power equipment according to the allocation results of the energy management strategy model to the power equipment, and feed back to the energy management strategy model;

[0046] The energy management strategy model based on Simulink is used to allocate power to each power device according to the power-time curve and provide reference power;

[0047] The virtual test scenario is used to simulate the test scenario for platform-based semi-physical simulation verification.

[0048] The present invention also provides a virtual-real fusion ship energy management strategy verification method, comprising the following steps:

[0049] Step 1: Build a multi-energy hybrid power system simulation model based on a small-scale verification platform in AMESim, design a multi-energy ship energy management control strategy model in Simulink, conduct AMESim-Simulink co-simulation, and debug and modify the model parameters;

[0050] Step 2: On the host computer, the energy management strategy model is compiled into corresponding code using Real-time Workshop and downloaded to the controller. The power system model built by AMESim uses the interface S-function function in Simulink to compile and generate real-time code from the power system simulation model. The power system simulation model is downloaded to dSPACE through the host computer. dSPACE runs the entire power system model and combines it with the controller to carry out real-time simulation.

[0051] Step 3: Connect the I / O interface in dSPACE to the small-scale simulation verification platform to realize the physicalization of part of the simulation model. Apply the actual ship operating conditions to the load simulation system to build a realistic virtual test scenario. Then, connect the controller to the platform's control device through the power amplifier to carry out hardware-in-the-loop simulation testing that integrates virtual and real elements.

[0052] Step 4: Compare the results of software simulation, real-time simulation, and hardware-in-the-loop simulation, and evaluate them from aspects such as battery SOC, grid voltage fluctuation, equipment operating efficiency range, energy conservation and emission reduction effects, and simulation time to demonstrate the superiority of virtual-reality fusion simulation testing.

[0053] Furthermore, the multi-energy hybrid power system simulation model in step 1 includes a host module, a battery module, other new energy equipment modules, a shaft motor module, and a load module, which are used to design the corresponding parameters of the platform during the test process and perform PID control output according to the results of the energy management strategy allocation.

[0054] The multi-energy ship energy management control strategy model in step 1 includes fuzzy control, model predictive control, equivalent fuel consumption minimum strategy and control based on intelligent optimization algorithm, which aims to distribute power to each power equipment according to the load demand power, so that the equipment can operate in the high-efficiency range to achieve energy saving and emission reduction.

[0055] Figure 2The diagram is a schematic diagram of a small-scale verification platform, which consists of four parts: a multi-energy power device, a measurement and control system, a load model system, and a dSPACE real-time simulator. The multi-energy power system includes a motor, a magnetic powder brake, a battery, a supercapacitor, a fuel cell, a gearbox, and a clutch. The battery, supercapacitor, fuel cell, etc. are connected in parallel to the DC bus, and are connected to the gearbox in parallel with the simulation host through a shaft motor to supply energy to the load. This structure integrates multiple power sources and different propulsion forms, and can simulate different types of ship power systems with high versatility. The measurement and control system includes a host computer, sensors, CAN communication, control devices, etc. The sensors are arranged in the above-mentioned power equipment to collect data such as speed, torque, and current, and transmit the data to the host computer in real time through CAN communication. The energy management strategy in the host computer outputs control signals in real time according to the feedback data, which act on the control device to effectively control the power equipment. The load simulation system is as follows: Figure 3 As shown, a machine learning algorithm is used to construct a navigation condition with a time-varying success rate from real-world ship data. This condition is then input into a host computer. Based on the propeller model and scaling factor, control command signals such as torque are output to the control board, which then outputs the corresponding control power to control the magnetic powder brake. Sensors monitor the equipment speed and provide feedback to the host computer, forming a closed-loop control system. This system enables the construction of test scenarios for ship energy management strategies with repeatability and equivalence. The dSPACE real-time simulator is the medium that connects virtual models and platforms. The AMESim power system model is compiled and embedded into the device. ControlDesk is used for online real-time parameter adjustment. Parts of the power model can be connected to the corresponding physical equipment on the platform via I / O interfaces, enabling the alternation of virtual and real power equipment during simulation. Model load devices can be replaced with physical devices, and expensive equipment with virtual models, enhancing the flexibility and cost-effectiveness of testing.

[0056] The energy management strategy model is built based on Simulink. The ship energy management strategy includes fuzzy logic control, model predictive control, equivalent fuel consumption minimum strategy, etc., which aims to distribute power to each power equipment according to the load demand power, and output reference signals to provide reference for the control of the underlying equipment model. The power system model is built based on AMESim software, which is mainly a virtual simulation model corresponding to the platform parameters. It interacts with Simulink through S-funtion functions, takes the output of the strategy model as a reference, and uses PID control to track the power of the power system. The equipment output is fed back to the strategy model to form a virtual joint closed-loop simulation. Figure 1 As shown in the figure, the verification process of the virtual-real integrated ship energy management strategy is as follows:

[0057] 1. The control strategy inputs are the SOC of the energy storage device batteries and supercapacitors, as well as the torque (T) and power (P) of the power equipment in the AMESim multi-energy power system simulation model. Based on these input parameters, appropriate energy management strategies, such as model predictive control and equivalent fuel consumption minimization strategies, are designed. Power is allocated to the power equipment with the goal of minimizing fuel consumption and emissions. The allocation results are fed back to the system model, where PID control is used for power tracking, speed and torque control, and other methods, ensuring that the equipment operates within the high-efficiency range as required by the strategy. The load module of the power system simulation model is designed based on ship operating data.

[0058] 2. The ship energy management strategy model in the host computer can be compiled into executable code using the Real-time Workshop compiler and downloaded to the controller. During verification, the strategy can be selected in either the host computer or the controller based on actual conditions. The power system simulation model is applied to Simulink via S-functions, and then compiled using the compiler to generate real-time code that can be downloaded to dSPACE. The dSPACE device comes with ControlDesk software, which enables real-time online parameter adjustment of the model. The dSPACE device can then be connected to the control strategy model in the controller or host computer to conduct real-time simulation verification of the strategy.

[0059] 3. Considering that the control signal output by the real-time simulation device is subject to the device's own limiting, the controller containing the energy management control strategy is connected to the control device (DC / DC, AC / DC, DC / AC) in the platform through a power amplifier; the power system model is connected to the platform device using the dSPACE I / O interface, allowing the real device and the simulation model to interact or replace each other. Among them, the operating parameters of the device need to be reduced before they can be input into dSPACE and then observed in the host computer. At the same time, by applying the actual working conditions of the ship to the load simulation system, a test scenario that conforms to reality can be constructed on the verification platform, enhancing the reliability of energy management test verification. By running the relevant equipment, hardware-in-the-loop simulation testing that integrates virtual and real can be carried out.

[0060] 4. The aforementioned virtual software simulation, real-time simulation, and hardware-in-the-loop simulation are not separated in sequence, but are organically integrated. Power equipment, loads, and energy management strategies can all be selected in physical or simulated models, greatly improving operational flexibility and economic performance. Furthermore, test results can be compared horizontally (for different control strategies) or vertically (for different test methods under the same control strategy), and finally, a comprehensive and multi-faceted evaluation can be conducted from multiple perspectives, including battery (supercapacitor) SOC changes, energy storage device life (charge and discharge time), grid voltage fluctuations, equipment operating efficiency range, energy conservation and emission reduction effects, and simulation time.

[0061] The above steps can solve a variety of problems before actual ship verification, such as debugging of energy management strategies, observation of the effects of strategies on actual equipment, power distribution of multi-energy hybrid systems, coordinated control of power coupling of different propulsion forms, etc. Carrying out verification of virtual-reality integrated ship energy management strategies has obvious advantages in safety, economy, flexibility and repeatability.

[0062] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A virtual-real fusion ship energy management strategy verification method, characterized by: A virtual-real integration ship energy management strategy verification platform is applied, which includes: a small-scale verification platform, a power amplifier, a controller, a ship operating condition database, an AMESim power system simulation model based on the platform structure, a ship energy management strategy model based on Simulink, and a virtual test scenario. The small-scale verification platform includes at least a dSPACE real-time simulator, a load simulation system, and a control device. The dSPACE real-time simulator is used to connect the virtual model and the small-scale verification platform to realize hardware-in-the-loop real-time simulation verification of the ship energy management strategy. The load simulation system is used to realize equivalent simulation of the ship's operating load and construct a full-scale, multi-dimensional test scenario through the actual ship operating condition data. The control device includes a DC / DC converter, an AC / DC rectifier, and a DC / AC inverter. The method includes the following steps: S1. Build a multi-energy power system simulation model based on a small-scale verification platform in AMESim, build a multi-energy ship energy management strategy model in Simulink, conduct AMESim-Simulink joint simulation, and debug and modify parameters of the power system simulation model and the ship energy management strategy model; S2. In the host computer, the ship energy management strategy model is compiled into corresponding code through Real-time Workshop and downloaded to the controller; the interface S-function function in Simulink is compiled through the power system simulation model built by AMESim, and the power system simulation model is generated into real-time code. The power system simulation model is downloaded to dSPACE through the host computer, and dSPACE runs the entire power system simulation model and combines it with the controller for real-time simulation; S3. Connect the I / O interface in dSPACE to the small-scale verification platform to materialize some of the power system simulation models. Apply the actual ship operating conditions to the load simulation system to build a realistic virtual test scenario. Then, connect the controller to the control device through the power amplifier to perform hardware-in-the-loop simulation testing that integrates virtual and real elements. S4. Compare the results of software simulation, real-time simulation, and hardware-in-the-loop simulation, and evaluate and verify them based on preset indicators; the preset indicators include battery SOC, grid voltage fluctuation, equipment operating efficiency range, energy conservation and emission reduction effects, and simulation time.

2. A method for verifying a ship energy management strategy based on virtual-reality integration according to claim 1, characterized in that: The ship energy management strategy model includes fuzzy control, model predictive control, equivalent fuel consumption minimum strategy and control based on intelligent optimization algorithm, which is used to allocate power to each power equipment according to the load demand power, so that each power equipment can operate in the high-efficiency range.

3. The method for verifying a virtual-real fusion ship energy management strategy according to claim 1 is characterized in that: The power system simulation model includes the main engine module, battery module, other new energy equipment modules, shaft motor module and load module, which are used to design the corresponding platform parameters during the test process and perform PID control output according to the results of the ship energy management strategy allocation.

4. A platform using the virtual-reality fusion ship energy management strategy verification method according to claim 1, characterized in that: The small-scale verification platform also includes: The multi-energy power unit, which includes a motor, magnetic powder brake, battery, supercapacitor, clutch, and gearbox, is used to simulate a multi-energy hybrid power system for ships, using low-power equipment to achieve efficient integration and simulation of multiple energy sources; The measurement and control system, which includes a host computer, sensors, CAN communication, and control devices, is used for real-time data acquisition and transmission, equipment monitoring, and efficient control of the platform. The host computer is used to monitor the parameters of the power system simulation model and the ship energy management strategy model in real time; the sensors are used to collect the current, speed, and torque of each power device; and the CAN communication is used to transmit control signals. The power amplifier is used to amplify the signal output by the dSPACE real-time simulation to generate a real power signal; The controller is used to carry the C code compiled and converted by the ship energy management strategy model; The ship operating condition database is used to input ship power-time curves into a power system model or a complex simulation system; The AMESim power system simulation model based on the platform structure is used to control and output the operating parameters of each power device according to the allocation results of the ship energy management strategy model to each power device, and feed back to the ship energy management strategy model; The Simulink-based ship energy management strategy model is used to allocate power to each power device according to the ship's power-time curve and provide reference power; The virtual test scenario is used to simulate the test scenario for platform-based semi-physical simulation verification.

5. The platform according to claim 4, characterized in that The ship energy management strategy model includes fuzzy control, model predictive control, equivalent fuel consumption minimum strategy and control based on intelligent optimization algorithm, which is used to allocate power to each power equipment according to the load demand power, so that each power equipment can operate in the high-efficiency range.

6. The platform according to claim 4, characterized in that The power system simulation model includes the main engine module, battery module, other new energy equipment modules, shaft motor module and load module, which are used to design the corresponding platform parameters during the test process and perform PID control output according to the results of the ship energy management strategy allocation.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 3 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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