Motor-assisted combined-displacement control method, device and storage medium for hybrid power ship

Abstract

The present invention discloses a motor-assisted shifting control method, device and storage medium for hybrid ships, the method comprising: obtaining the handle position when the system is in the host mode or PTI mode; in the host mode, when the handle position is pushed from the neutral position to the shifting position, controlling the shaft motor to work in a speed-electric manner; in the PTI mode, when the handle position is pushed from the neutral position to the shifting position, controlling the shaft motor to work in a torque-electric manner; when working in the host mode or PTI mode, and the handle position is in the shifting gear, if the shaft motor works for a preset time or the shaft motor speed reaches the target speed, the host clutch is shifted. The technical solution provided by the present invention can greatly reduce the torque impact of the hybrid system ship host shifting process, and effectively reduce the host black smoke generated during the shifting.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control of power systems, and in particular to a motor-assisted combined-displacement control method, device and storage medium for a hybrid power ship. Background Art

[0002] In the prior art, inland river vessels mostly use a power system type of indirect propulsion with two engines and two propellers matched with fixed-pitch propellers. According to the cargo mission profile of the main inland river ship types, due to the complex and changeable hydrological conditions of inland waterways, which are greatly affected by the seasons, the main engine load of ships in rapids, beaching, tides and other working conditions may even reach 100%, but the main engine load is generally small under normal working conditions. The main engine load in the upstream section is 40%~50%, and the main engine load in the downstream section is only 10%~20%. Therefore, during the operation of the ship, the main engine runs in the low-load range for a long time, and there is an obvious phenomenon of "a small horse pulling a big cart", which leads to problems such as high fuel consumption rate and poor emissions of the ship. Especially in the process of ship main engine merging, a large torque shock will be generated, causing the ship to produce extremely thick black smoke. Summary of the invention

[0003] The present invention provides a motor-assisted commutation control method, device and storage medium for a hybrid power ship, which can significantly reduce the torque impact of the commutation process of the main engine of the hybrid power system ship and effectively improve the black smoke situation of the main engine during the commutation process.

[0004] According to one aspect of the present invention, the present invention provides a motor-assisted combined transmission control method for a hybrid ship, the method comprising:

[0005] Determining an operating mode of the hybrid power system, and when the operating mode is a host mode or a PTI mode, acquiring a handle position of a control handle;

[0006] When the working mode is the main engine mode, and the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position, or is pushed from the neutral position to the forward gear position and reaches the forward gear position, the hybrid power system is driven to control the shaft belt motor to work in a speed-electric manner and drive the propeller to rotate;

[0007] When the working mode is the PTI mode, and the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position, or is pushed from the neutral position to the forward gear position and reaches the forward gear position, the hybrid power system is driven to control the shaft motor to work in a torque-electric manner and drive the propeller to rotate;

[0008] When the working mode is the host mode or the PTI mode, and the handle position is the reverse gear position or the forward gear position, the working state of the shaft motor is maintained and the working time and speed of the shaft motor are obtained;

[0009] When the working time reaches a preset time or the shaft motor speed reaches a target speed, the main engine clutch is engaged and disengaged.

[0010] Furthermore, the method further comprises:

[0011] After acquiring the handle position of the control handle, the position interval of the handle position is determined, wherein the position interval is divided into a reverse full gear-reverse engaged gear interval, a reverse engaged gear-neutral interval, a neutral-forward engaged gear interval and a forward engaged gear-forward full gear interval.

[0012] Further, driving the hybrid power system to control the shaft belt motor to work in a speed-electric manner and drive the propeller to rotate includes:

[0013] When the position interval is the neutral-forward gear interval, the host is controlled to run at idle speed;

[0014] When the handle is pushed from the neutral position to the forward gear position and reaches the forward gear position, the frequency converter is driven to control the shaft belt motor to work in the forward direction in a speed-electric manner and drive the propeller to rotate;

[0015] When the position interval is the reverse gear-neutral interval, controlling the main engine to run at idle speed;

[0016] When the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position, the inverter is driven to control the shaft belt motor to work in reverse in a speed-electric manner and drive the propeller to rotate.

[0017] Further, driving the hybrid power system to control the shaft motor to work in a torque-electric manner and drive the propeller to rotate includes:

[0018] The shaft belt motor speed is obtained, the propeller tail shaft speed is calculated according to the shaft belt motor speed and the speed transmission ratio, the target value of the torque output by the inverter is determined based on the propeller tail shaft speed, the shaft belt motor is controlled to work according to the target value of the torque, and the main engine is controlled to maintain idling operation.

[0019] Further, the determining the target value of the torque output by the inverter based on the propeller tail shaft speed includes:

[0020] A target speed interval corresponding to the propeller tail shaft speed is determined in a plurality of speed intervals, and the target value of the torque is determined based on the target speed interval, wherein the plurality of speed intervals include at least two speed intervals, and each of the plurality of speed intervals corresponds to a preset target value of the torque.

[0021] Further, the operation of disengaging the main engine clutch includes:

[0022] If the working mode is the host mode, control the shaft motor to change from the working state to the stopping state, and send a host clutch engaging and disengaging instruction;

[0023] The controller detects a feedback state of the main engine clutch engagement, and when the feedback state indicates that the main engine clutch engagement is completed, controls the main engine speed of the main engine based on the handle position.

[0024] Further, the operation of disengaging the main engine clutch includes:

[0025] If the working mode is the PTI mode, sending a host clutch engagement command;

[0026] The controller detects the feedback state of the main engine clutch engagement, and when the feedback state indicates that the main engine clutch engagement is completed, controls the working state of the shaft motor according to the shaft motor control instruction, and controls the main engine speed of the main engine based on the handle position.

[0027] Furthermore, when the shaft motor is in a working state, the shaft motor actively outputs power, and when the shaft motor is in a stopped state, the shaft motor stops outputting power, and the shaft motor speed is a follow-up speed generated as the main engine or the propeller rotates.

[0028] According to another aspect of the present invention, the present invention further provides a motor-assisted combined-displacement control device for a hybrid ship, the device comprising:

[0029] A working mode determination module, used to determine the working mode of the hybrid power system, and when the working mode is the host mode or the PTI mode, obtain the handle position of the control handle;

[0030] A first shaft-belt motor control module is used to drive the hybrid power system to control the shaft-belt motor to work and drive the propeller to rotate in a speed-electric manner when the working mode is the host mode and the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position or is pushed from the neutral position to the forward gear position and reaches the forward gear position;

[0031] A second shaft-belt motor control module is used to drive the hybrid power system to control the shaft-belt motor to work and drive the propeller to rotate in a torque-electric manner when the working mode is the PTI mode and the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position or is pushed from the neutral position to the forward gear position and reaches the forward gear position;

[0032] A shaft motor information acquisition module, for maintaining the working state of the shaft motor and acquiring the working time and shaft motor speed of the shaft motor when the working mode is the host mode or the PTI mode and the handle position is the reverse gear position or the forward gear position;

[0033] The host clutch engaging module is used to engage the host clutch when the working time reaches a preset time or the shaft motor speed reaches a target speed.

[0034] According to another aspect of the present invention, the present invention further provides a storage medium, wherein a plurality of instructions are stored in the storage medium, and the instructions are suitable for being loaded by a processor to execute any motor-assisted combined-displacement control method for a hybrid ship as described above.

[0035] Through one or more of the above embodiments of the present invention, at least the following technical effects can be achieved:

[0036] In the technical solution disclosed in the present invention, when the hybrid power system is in different working modes, the shaft belt motor is controlled to operate in a speed-electric or torque-electric mode, and the clutch engagement is achieved with the assistance of the shaft belt motor. The motor-assisted engagement control method can effectively reduce the torque impact in the main engine engagement process, thereby reducing the damage to the gearbox of the power system equipment during the main engine engagement process, extending the service life of the gearbox, and indirectly improving the safety and stability of the power system. In addition, compared with the amount of fuel injection required for direct engagement in the prior art, the main engine engagement process of this solution reduces the torque, thereby reducing the amount of main engine fuel injection. Under the condition of the same main engine intake volume, the fuel in the main engine cylinder in this solution burns more fully. When the fuel is fully burned, on the one hand, the particle content of pollutants such as carbon soot in the exhaust gas is greatly reduced, black smoke emissions are reduced, and pollution to the environment is reduced. On the other hand, it has the technical effect of saving energy consumption and reducing the operating costs of ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The technical solutions and other beneficial effects of the present invention will be made apparent by describing in detail the specific embodiments of the present invention in conjunction with the accompanying drawings.

[0038] Figure 1A flowchart of a method for controlling a motor-assisted combined power transmission of a hybrid ship provided by an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of a hybrid power system provided by an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of a motor auxiliary control principle in a host mode provided by an embodiment of the present invention;

[0041] Figure 4 A schematic diagram of a motor auxiliary control in a PTI mode provided by an embodiment of the present invention;

[0042] Figure 5 A schematic structural diagram of a motor-assisted combined-displacement control device for a hybrid ship provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The technical scheme in the embodiment of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0044] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " herein, unless otherwise specified, generally indicates that the associated objects before and after are in an "or" relationship.

[0045] Figure 1 A flow chart of the steps of a motor-assisted combined-displacement control method for a hybrid ship provided by an embodiment of the present invention, Figure 2 A schematic diagram of a hybrid power system provided by an embodiment of the present invention. Figure 2 As shown, the main components of the hybrid power system include the port main engine, the port gearbox, the port shaft motor, the port propeller, the starboard main engine, the starboard gearbox, the starboard shaft motor, the starboard propeller, the power distribution system, etc., wherein the power distribution system includes a DC / AC module, an AC / DC module, a DC / DC module, a DC busbar, an AC busbar, a generator set, a lithium battery pack, etc., wherein each gearbox includes a forward clutch and a reverse clutch.

[0046] The working modes of the hybrid power system are mainly divided into four modes, namely main engine mode, PTO mode, PTI mode, PTH mode, and there is also an unidentified mode which is different from the above normal working modes, among which the port and starboard are identified separately.

[0047] The shaft motor and propeller of the hybrid system involved in the present invention are directly connected in a mechanical connection through a gearbox, without a clutch in between, so the shaft motor speed and the propeller tail shaft speed can be converted through a certain transmission ratio, so only the motor speed is detected in the control method involved in the present invention. If there is a clutch between the shaft motor and the propeller in the hybrid system, the control method involved in the present invention is also applicable after the clutch is engaged in advance.

[0048] The technical solution of the present invention includes a motor-assisted combined-displacement control method in a host mode and a motor-assisted combined-displacement control method in a PTI mode.

[0049] Figure 1 The figure is a flow chart of the steps of the motor-assisted combined transmission control method of a hybrid ship provided by an embodiment of the present invention, the method comprising:

[0050] Step 101: determining the working mode of the hybrid power system, and when the working mode is the host mode or the PTI mode, obtaining the handle position of the control handle;

[0051] Step 102: When the working mode is the host mode, and the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position, or is pushed from the neutral position to the forward gear position and reaches the forward gear position, the hybrid power system is driven to control the shaft belt motor to work in a speed-electric manner and drive the propeller to rotate;

[0052] When the working mode is the PTI mode, and the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position, or is pushed from the neutral position to the forward gear position and reaches the forward gear position, the hybrid power system is driven to control the shaft motor to work in a torque-electric manner and drive the propeller to rotate;

[0053] Step 103: When the working mode is the host mode or the PTI mode, and the handle position is the reverse gear position or the forward gear position, the working state of the shaft motor is maintained and the working time and speed of the shaft motor are obtained;

[0054] Step 104: When the working time reaches a preset time or the shaft motor speed reaches a target speed, the main engine clutch is engaged and disengaged.

[0055] The above steps 101 to 104 are described in detail below.

[0056] In the above step 101, the working mode of the hybrid power system is determined, and when the working mode is the host mode or the PTI mode, the handle position of the control handle is obtained.

[0057] Exemplarily, this solution mainly involves the design of motor-assisted combined shift control strategy in host mode and the design of motor-assisted combined shift control strategy in PTI mode, and the control principle and control logic of the port side and the starboard side are the same. Therefore, it is first necessary to determine whether the working mode of the hybrid power system is the host mode or the PTI mode. When the working mode is the host mode or the PTI mode, determine the handle position of the control handle to determine the combined shift state of the system in the current state.

[0058] In the above step 102, when the working mode is the main engine mode, and the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position or is pushed from the neutral position to the forward gear position and reaches the forward gear position, the hybrid power system is driven to control the shaft belt motor to operate in a speed-electric manner and drive the propeller to rotate.

[0059] For example, from a control perspective, speed control and torque control are independent control functions. The target physical quantity of speed control is the speed of the motor, and the target physical quantity of torque control is the torque of the motor.

[0060] The power of the motor passively follows the load fluctuation, which can be directly seen as the speed change. It cannot change by itself. The output power of the motor is constant when the load is constant, and the power and speed of the internal combustion engine are constant. Speed ​​control is a closed-loop control with the speed as the actual value. The speed regulator is in a closed-loop state, and its output is used to guide the current regulator, which controls the current of the motor, thereby adjusting the torque of the motor in a timely manner so that the motor always tracks the set speed of the motor. The speed mode means that the purpose of the frequency converter is to control the speed of the motor. At this time, the torque of the motor must be adjusted to maintain the speed. When the speed control mode is used, in order to ensure a constant speed, it is necessary to adjust the throttle to adjust the power to ensure stable speed. In this application, in the host mode, when the handle position is pushed from neutral to the engaged gear and reaches the engaged gear, the shaft belt motor works in a speed-electric mode.

[0061] When the working mode is the PTI mode, and the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position, or is pushed from the neutral position to the forward gear position and reaches the forward gear position, the hybrid power system is driven to control the shaft motor to work in a torque-electric manner and drive the propeller to rotate;

[0062] For example, the torque mode means that the inverter is used to control the output torque of the motor. The speed is related to the external load, and the external reference is directly given to the current loop as the torque setting. In the PTI mode, when the handle position is pushed from neutral to the gear and reaches the gear, the shaft motor works in a torque-electric mode.

[0063] In the above step 103, when the working mode is the host mode or the PTI mode, and the handle position is the reverse gear position or the forward gear position, the working state of the shaft motor is maintained and the working time and shaft motor speed of the shaft motor are obtained.

[0064] For example, under different power system operating modes, when the main engine needs to be shifted (forward or reverse gear), the inverter is controlled to be in different operating modes, driving the shaft belt motor, allowing the shaft belt motor to drive the propeller, so that the propeller has an initial speed, thereby reducing the load impact during the main engine shifting process.

[0065] Specifically, if the control handle is in the zero position, the moment when the handle is pushed from the zero position to the engaging gear is detected; if the control handle is in the engaging gear, the shaft belt motor speed is detected when it just reaches the engaging gear position, that is, the propeller tail shaft speed is detected.

[0066] In the above step 104, when the working time reaches a preset time or the shaft motor speed reaches a target speed, the main engine clutch is engaged and disengaged.

[0067] For example, if the shaft motor speed is greater than the target speed, the shaft motor is kept stopped and a clutch closing command is sent. If the shaft motor speed is less than the target value, the inverter controls the shaft motor to start working in a speed-electric manner. When the shaft motor speed rises to the target value or the shaft motor does not rise to the target value but has been working for a certain period of time, if the working mode is the host mode, the shaft motor is stopped and a clutch closing command is sent. Then the clutch closing feedback state is detected. If the clutch closing is completed, the shaft motor is kept stopped, and the host speed changes with the handle position. If the working mode is the PTI mode, the shaft motor keeps the motor working state or changes from the working state to the stopped state according to the control command, which depends on the host speed of the shaft motor when the PTI mode is normal. If the PTI mode is normal, the host speed is much greater than the closing speed when the shaft motor is put into work, the shaft motor needs to change from the working state to the closed state; if the PTI mode is normal, the host speed is close to the closing speed when the shaft motor is put into work, and the shaft motor remains in the working state.

[0068] Furthermore, the method further comprises:

[0069] After acquiring the handle position of the control handle, the position interval of the handle position is determined, wherein the position interval is divided into a reverse full gear-reverse engaged gear interval, a reverse engaged gear-neutral interval, a neutral-forward engaged gear interval and a forward engaged gear-forward full gear interval.

[0070] Exemplarily, when the working mode is the host mode or the PTI mode, the handle position of the control handle is determined, and the position interval of the handle position is further determined. Figure 3 A schematic diagram of a motor auxiliary control principle in a host mode provided by an embodiment of the present invention, such as Figure 3 As shown, this scheme divides the control handle position of the main propulsion remote control system into 4 sections from -100% to 0% to +100%. When the handle position is in the range of -100% to reverse gear, it corresponds to the reverse full gear-reverse gear range; when the handle position is in the range of reverse gear to 0%, it corresponds to the reverse gear-neutral range; when the handle position is in the range of 0% to forward gear, it corresponds to the neutral-forward gear range; when the handle position is in the range of forward gear to 100%, it corresponds to the forward gear-forward full gear range.

[0071] Further, driving the hybrid power system to control the shaft belt motor to work in a speed-electric manner and drive the propeller to rotate includes:

[0072] When the position interval is the neutral-forward gear interval, the host is controlled to run at idle speed;

[0073] When the handle is pushed from the neutral position to the forward gear position and reaches the forward gear position, the frequency converter is driven to control the shaft belt motor to work in the forward direction in a speed-electric manner and drive the propeller to rotate;

[0074] When the position interval is the reverse gear-neutral interval, controlling the main engine to run at idle speed;

[0075] When the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position, the inverter is driven to control the shaft belt motor to work in reverse in a speed-electric manner and drive the propeller to rotate.

[0076] For example, Figure 3As shown in the figure, in the reverse gear-neutral range, the handle position is in the reverse gear~0% range, and the main engine keeps idling; when the handle position is pushed from neutral to reverse gear and reaches the reverse gear, the inverter controls the shaft belt motor to work in the reverse direction in a speed-electric manner. In the neutral-forward gear range, the handle position is in the 0%~forward gear range, and the main engine keeps idling; when the handle position is pushed from neutral to forward gear and reaches the forward gear, the inverter controls the shaft belt motor to work in the forward direction in a speed-electric manner.

[0077] Further, driving the hybrid power system to control the shaft motor to work in a torque-electric manner and drive the propeller to rotate includes:

[0078] The shaft belt motor speed is obtained, the propeller tail shaft speed is calculated according to the shaft belt motor speed and the speed transmission ratio, the target value of the torque output by the inverter is determined based on the propeller tail shaft speed, the shaft belt motor is controlled to work according to the target value of the torque, and the main engine is controlled to maintain idling operation.

[0079] Exemplarily, the shaft belt motor and propeller of the hybrid system are directly connected mechanically through a gearbox without a clutch in between, so the shaft belt motor speed and the propeller tail shaft speed can be converted through a certain transmission ratio, so only the motor speed is detected in the control method involved in the present invention.

[0080] For example, in the PTI mode, the control handle position of the main propulsion remote control system is also divided into 4 sections from -100% to 0% to +100%. When the handle position is in the reverse gear to 0% range, the main engine keeps idling; when the handle position is pushed from neutral to reverse gear and reaches the reverse gear, the inverter controls the shaft belt motor to work in the reverse direction in a torque-electric manner; when the handle position is in the 0% to forward gear range, the main engine keeps idling; when the handle position is pushed from neutral to forward gear and reaches the forward gear, the inverter controls the shaft belt motor to work in the forward direction in a torque-electric manner.

[0081] Further, the determining the target value of the torque output by the inverter based on the propeller tail shaft speed includes:

[0082] A target speed interval corresponding to the propeller tail shaft speed is determined in a plurality of speed intervals, and the target value of the torque is determined based on the target speed interval, wherein the plurality of speed intervals include at least two speed intervals, and each of the plurality of speed intervals corresponds to a preset target value of the torque.

[0083] For example, assuming that the handle position is pushed from neutral to forward gear and reaches forward gear, the inverter controls the shaft belt motor to work in the forward direction in a torque-electric manner, detects the shaft belt motor speed, and calculates the propeller tail shaft speed based on the proportional relationship between the shaft belt motor speed and the propeller tail shaft speed. Among them, the shaft belt motor speed and torque target values ​​can be confirmed based on actual ship tests, the control handle is in the forward gear as the forward target value, and the control handle is in the reverse gear as the reverse target value.

[0084] For example, Figure 4 A PTI mode motor auxiliary control principle diagram provided in an embodiment of the present invention, that is, a relationship diagram between the target value of the propeller tail shaft speed and the torque, such as Figure 4 As shown, the propeller tail shaft speed is divided into four positive speed intervals of 0 to n1, n1 to n2, n2 to n3, and n3 and above. In each interval, the inverter outputs the corresponding positive given torque. If the shaft motor speed n≤n1, the inverter controls the shaft motor to start in a torque-electric manner, and the inverter sets the target torque T1; if the shaft motor speed n1≤n≤n2, the inverter controls the shaft motor to start in a torque-electric manner, and the inverter sets the target torque T2; if the shaft motor speed n2≤n≤n3, the inverter controls the shaft motor to start in a torque-electric manner, and the inverter sets the target torque T3; if the shaft motor speed n>n3, the inverter controls the shaft motor to keep stopping and the control system sends a clutch engagement command.

[0085] Further, the operation of disengaging the main engine clutch includes:

[0086] If the working mode is the host mode, control the shaft motor to change from the working state to the stopping state, and send a host clutch engaging and disengaging instruction;

[0087] The controller detects a feedback state of the main engine clutch engagement, and when the feedback state indicates that the main engine clutch engagement is completed, controls the main engine speed of the main engine based on the handle position.

[0088] Further, the operation of disengaging the main engine clutch includes:

[0089] If the working mode is the PTI mode, sending a host clutch engagement command;

[0090] The controller detects the feedback state of the main engine clutch engagement, and when the feedback state indicates that the main engine clutch engagement is completed, controls the working state of the shaft motor according to the shaft motor control instruction, and controls the main engine speed of the main engine based on the handle position.

[0091] Exemplarily, if there is a clutch between the shaft belt motor and the propeller in the hybrid system, the control method of this scheme is also applicable after the clutch is engaged in advance. Specifically, it is necessary to send a clutch engagement command after the shaft belt power is shut down. After the engagement is completed, the main engine speed of the main engine is controlled based on the handle position. Among them, the clutch engagement command is related to the direction of the engagement gear. If the control handle is in the forward engagement gear, the forward engagement command is sent. If the control handle is in the reverse engagement gear, the reverse engagement command is sent.

[0092] Furthermore, when the shaft motor is in a working state, the shaft motor actively outputs power, and when the shaft motor is in a stopped state, the shaft motor stops outputting power, and the shaft motor speed is a follow-up speed generated as the main engine or the propeller rotates.

[0093] Exemplarily, starting indicates that the shaft motor actively outputs power; stopping indicates that the shaft motor stops outputting power, but because the propeller is directly connected to the shaft motor through the shaft system, the shaft motor has a follow-up speed at this time.

[0094] Through one or more of the above embodiments of the present invention, at least the following technical effects can be achieved:

[0095] In the technical solution disclosed in the present invention, when the hybrid power system is in different working modes, the shaft belt motor is controlled to operate in a speed-electric or torque-electric mode, and the clutch engagement is achieved with the assistance of the shaft belt motor. The motor-assisted engagement control method can effectively reduce the torque impact in the main engine engagement process, thereby reducing the damage to the gearbox of the power system equipment during the main engine engagement process, extending the service life of the gearbox, and indirectly improving the safety and stability of the power system. In addition, compared with the amount of fuel injection required for direct engagement in the prior art, the main engine engagement process of this solution reduces the torque, thereby reducing the amount of main engine fuel injection. Under the condition of the same main engine intake volume, the fuel in the main engine cylinder in this solution burns more fully. When the fuel is fully burned, on the one hand, the particle content of pollutants such as carbon soot in the exhaust gas is greatly reduced, black smoke emissions are reduced, and pollution to the environment is reduced. On the other hand, it has the technical effect of saving energy consumption and reducing the operating costs of ships.

[0096] Figure 5 This is a schematic diagram of the structure of a motor-assisted combined-emission control device for a hybrid ship provided by an embodiment of the present invention. Based on the same inventive concept as a motor-assisted combined-emission control method for a hybrid ship provided by an embodiment of the present invention, an embodiment of the present invention provides a motor-assisted combined-emission control device for a hybrid ship, please refer to Figure 5 , the device comprises:

[0097] The working mode determination module 201 is used to determine the working mode of the hybrid power system, and when the working mode is the host mode or the PTI mode, obtain the handle position of the control handle;

[0098] A first shaft-belt motor control module 202 is used to drive the hybrid power system to control the shaft-belt motor to work and drive the propeller to rotate in a speed-electric manner when the working mode is the host mode and the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position or pushed from the neutral position to the forward gear position and reaches the forward gear position;

[0099] A second shaft-belt motor control module 203 is used to drive the hybrid power system to control the shaft-belt motor to work and drive the propeller to rotate in a torque-electric manner when the working mode is the PTI mode and the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position or is pushed from the neutral position to the forward gear position and reaches the forward gear position;

[0100] The shaft motor information acquisition module 204 is used to maintain the working state of the shaft motor and obtain the working time and shaft motor speed of the shaft motor when the working mode is the host mode or the PTI mode and the handle position is the reverse gear position or the forward gear position;

[0101] The host clutch engaging module 205 is used to engage the host clutch when the working time reaches a preset time or the shaft motor speed reaches a target speed.

[0102] Furthermore, the device is also used for:

[0103] After acquiring the handle position of the control handle, the position interval of the handle position is determined, wherein the position interval is divided into a reverse full gear-reverse engaged gear interval, a reverse engaged gear-neutral interval, a neutral-forward engaged gear interval and a forward engaged gear-forward full gear interval.

[0104] Furthermore, the first axis belt motor control module 202 is also used for:

[0105] When the position interval is the neutral-forward gear interval, the host is controlled to run at idle speed;

[0106] When the handle is pushed from the neutral position to the forward gear position and reaches the forward gear position, the frequency converter is driven to control the shaft belt motor to work in the forward direction in a speed-electric manner and drive the propeller to rotate;

[0107] When the position interval is the reverse gear-neutral interval, controlling the main engine to run at idle speed;

[0108] When the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position, the inverter is driven to control the shaft belt motor to work in reverse in a speed-electric manner and drive the propeller to rotate.

[0109] Furthermore, the second shaft motor control module 203 is also used for:

[0110] The shaft belt motor speed is obtained, the propeller tail shaft speed is calculated according to the shaft belt motor speed and the speed transmission ratio, the target value of the torque output by the inverter is determined based on the propeller tail shaft speed, the shaft belt motor is controlled to work according to the target value of the torque, and the main engine is controlled to maintain idling operation.

[0111] Furthermore, the second shaft motor control module 203 is also used for:

[0112] A target speed interval corresponding to the propeller tail shaft speed is determined in a plurality of speed intervals, and the target value of the torque is determined based on the target speed interval, wherein the plurality of speed intervals include at least two speed intervals, and each of the plurality of speed intervals corresponds to a preset target value of the torque.

[0113] Furthermore, the host clutch disengagement module 205 is also used for:

[0114] If the working mode is the host mode, control the shaft motor to change from the working state to the stopping state, and send a host clutch engaging and disengaging instruction;

[0115] The controller detects a feedback state of the main engine clutch engagement, and when the feedback state indicates that the main engine clutch engagement is completed, controls the main engine speed of the main engine based on the handle position.

[0116] Furthermore, the host clutch disengagement module 205 is also used for:

[0117] If the working mode is the PTI mode, sending a host clutch engagement command;

[0118] The controller detects the feedback state of the main engine clutch engagement, and when the feedback state indicates that the main engine clutch engagement is completed, controls the working state of the shaft motor according to the shaft motor control instruction, and controls the main engine speed of the main engine based on the handle position.

[0119] Furthermore, when the shaft motor is in a working state, the shaft motor actively outputs power, and when the shaft motor is in a stopped state, the shaft motor stops outputting power, and the shaft motor speed is a follow-up speed generated as the main engine or the propeller rotates.

[0120] Among them, other aspects and implementation details of the motor-assisted combined emission control device for a hybrid ship are the same as or similar to the motor-assisted combined emission control method for a hybrid ship described above, and will not be repeated here.

[0121] According to another aspect of the present invention, the present invention further provides a storage medium, wherein a plurality of instructions are stored in the storage medium, and the instructions are suitable for being loaded by a processor to execute any motor-assisted combined-displacement control method for a hybrid ship as described above.

[0122] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A motor-assisted combined-displacement control method for a hybrid ship, characterized in that: The method comprises: Determine an operating mode of the hybrid power system, and when the operating mode is a host mode or a PTI mode, obtain a handle position of a control handle; When the working mode is the main engine mode, and when the gear is pushed from the neutral position to the reverse gear position and reaches the reverse gear position, or when the gear is pushed from the neutral position to the forward gear position and reaches the forward gear position, the hybrid power system is driven to control the shaft belt motor to work in a speed-electric manner and drive the propeller to rotate; When the working mode is the PTI mode, and the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position, or is pushed from the neutral position to the forward gear position and reaches the forward gear position, the hybrid power system is driven to control the shaft motor to work in a torque-electric manner and drive the propeller to rotate; When the working mode is the host mode or the PTI mode, and the handle position is the reverse gear position or the forward gear position, the working state of the shaft motor is maintained and the working time and speed of the shaft motor are obtained; When the working time reaches a preset time or the shaft motor speed reaches a target speed, the main engine clutch is engaged and disengaged.

2. The method according to claim 1, characterized in that The method further comprises: After acquiring the handle position of the control handle, the position interval of the handle position is determined, wherein the position interval is divided into a reverse full gear-reverse engaged gear interval, a reverse engaged gear-neutral interval, a neutral-forward engaged gear interval and a forward engaged gear-forward full gear interval.

3. The method according to claim 2, characterized in that The driving of the hybrid power system to control the shaft belt motor to work in a speed-electric mode and drive the propeller to rotate includes: When the position interval is the neutral-forward gear interval, the host is controlled to run at idle speed; When the handle is pushed from the neutral position to the forward gear position and reaches the forward gear position, the frequency converter is driven to control the shaft belt motor to work in the forward direction in a speed-electric manner and drive the propeller to rotate; When the position interval is the reverse gear-neutral interval, controlling the main engine to run at idle speed; When the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position, the inverter is driven to control the shaft belt motor to work in reverse in a speed-electric manner and drive the propeller to rotate.

4. The method according to claim 2, characterized in that The driving of the hybrid power system to control the shaft motor to work in a torque-electric manner and drive the propeller to rotate comprises: The shaft belt motor speed is obtained, the propeller tail shaft speed is calculated according to the shaft belt motor speed and the speed transmission ratio, the target value of the torque output by the inverter is determined based on the propeller tail shaft speed, the shaft belt motor is controlled to work according to the target value of the torque, and the main engine is controlled to maintain idling operation.

5. The method according to claim 4, characterized in that The step of determining the target value of the torque output by the frequency converter based on the propeller tail shaft speed includes: A target speed interval corresponding to the propeller tail shaft speed is determined in a plurality of speed intervals, and the target value of the torque is determined based on the target speed interval, wherein the plurality of speed intervals include at least two speed intervals, and each of the plurality of speed intervals corresponds to a preset target value of the torque.

6. The method according to claim 1, characterized in that The operation of closing and disengaging the main engine clutch comprises: If the working mode is the host mode, control the shaft motor to change from the working state to the stopping state, and send a host clutch engaging and disengaging instruction; The controller detects a feedback state of the main engine clutch engagement, and when the feedback state indicates that the main engine clutch engagement is completed, controls the main engine speed of the main engine based on the handle position.

7. The method according to claim 1, characterized in that The operation of closing and disengaging the main engine clutch comprises: If the working mode is the PTI mode, sending a host clutch engagement command; The controller detects the feedback state of the main engine clutch engagement, and when the feedback state indicates that the main engine clutch engagement is completed, controls the working state of the shaft motor according to the shaft motor control instruction, and controls the main engine speed of the main engine based on the handle position.

8. The method according to claim 1, characterized in that When the shaft motor is in a working state, the shaft motor actively outputs power. When the shaft motor is in a stopped state, the shaft motor stops outputting power. The shaft motor speed is a follow-up speed generated by the rotation of the main engine or the propeller.

9. A motor-assisted combined-displacement control device for a hybrid ship, characterized in that: The device comprises: A working mode determination module, used to determine the working mode of the hybrid power system, and when the working mode is the host mode or the PTI mode, obtain the handle position of the control handle; A first shaft-belt motor control module is used to drive the hybrid power system to control the shaft-belt motor to work and drive the propeller to rotate in a speed-electric manner when the working mode is the host mode and the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position or is pushed from the neutral position to the forward gear position and reaches the forward gear position; A second shaft-belt motor control module is used to drive the hybrid power system to control the shaft-belt motor to work and drive the propeller to rotate in a torque-electric manner when the working mode is the PTI mode and the handle position is pushed from the neutral position to the reverse gear position and reaches the reverse gear position or is pushed from the neutral position to the forward gear position and reaches the forward gear position; A shaft motor information acquisition module, for maintaining the working state of the shaft motor and acquiring the working time and shaft motor speed of the shaft motor when the working mode is the host mode or the PTI mode and the handle position is the reverse gear position or the forward gear position; The host clutch engaging module is used to engage the host clutch when the working time reaches a preset time or the shaft motor speed reaches a target speed.

10. A storage medium, characterized in that: The storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the method according to any one of claims 1 to 8.

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