Multi-mode switching security joint control method, system, device and storage medium suitable for hybrid system ships

Abstract

The application discloses a multi-mode switching security joint control method, system, device and storage medium suitable for a hybrid system ship, and belongs to the technical field of automatic control of a ship hybrid system. The control method comprises the following steps: when the hybrid system security fails, if the mode switching device operates normally, stopping the mode conversion work of the hybrid system, controlling the main engine remote control system, the motor remote control system and the energy management system to enter the main engine mode, if the main engine also fails, continuing to detect the working state of the shaft motor, if the shaft motor can operate normally, entering the PTH working mode, otherwise, repairing the hybrid system of the ship; after the hybrid system of the ship fails, the application coordinates the main engine remote control system, the motor remote control system and the energy management system, and unifies the switching to the main engine mode or the PTH mode, so that the working modes of various devices of the hybrid system are synchronously matched, and accidents endangering the safety of the hybrid system are avoided.

Description

Technical Field

[0001] The present application relates to the technical field of automated control of hybrid power systems for ships, and in particular to a multi-mode switching security joint control method, system, device and storage medium suitable for hybrid power system ships. Background Art

[0002] The operating modes of hybrid power system ships include main engine mode (main engine direct propulsion mode), PTO mode (Power TakeOut Mode, shaft-driven power generation mode), PTI mode (Power Take In Mode, parallel propulsion mode), and PTH mode (PowerTake me Home Mode, motor propulsion mode). Through the mode switching device, the control authority, control instructions, and status feedback signals are exchanged with the main engine remote control system, motor remote control system, energy management system and other equipment. It can flexibly and reliably switch between main engine mode, PTO mode, PTI mode and PTH mode. The characteristics of multiple working modes can meet the various working conditions of ships. However, since the hybrid power system involves the safety of ship navigation and there are many control systems, it is necessary to uniformly handle the extreme security situations of each control system. Summary of the Invention

[0003] The purpose of this application is to provide a multi-mode switching security joint control method, system, device and storage medium suitable for hybrid power system ships, which can solve the above technical problems.

[0004] In a first aspect, the present invention provides a multi-mode switching safety joint control method applicable to hybrid power system ships.

[0005] The hybrid power system includes a mode switching device, a host remote control system, a motor remote control system, an energy management system, a host, a gearbox, a frequency converter, a shaft motor, a generator set and an energy storage device;

[0006] The mode switching device is connected to the host remote control system, the motor remote control system and the energy management system. The host remote control system is connected to the host and the gearbox. The motor remote control system is connected to the inverter. The inverter is connected to the shaft motor. The energy management system is connected to the generator set and the energy storage device. The energy management system is connected to the inverter. The multi-mode switching security joint control method includes the following steps:

[0007] acquiring operating data of the hybrid power system; if the hybrid power system has a fault, acquiring operating data of the mode switching device; if the mode switching device operates normally, stopping the mode switching operation of the hybrid power system and controlling the hybrid power system to enter a master mode;

[0008] detecting the operating status of the host, and if a fault is detected in the operation of the host, detecting whether the shaft motor is operating normally, and if the shaft motor is operating normally, controlling the hybrid power system to enter a PTH mode;

[0009] If there is a fault in the operation of the shaft motor, it is determined that the hybrid system enters the maintenance state.

[0010] In some embodiments, the hybrid system fault includes:

[0011] Main engine remote control system failure, main engine failure, main engine side control failure, motor remote control system failure, shaft motor failure and energy management system failure.

[0012] In some embodiments, the stop mode transition operation includes:

[0013] The host remote control system exits mode conversion and ignores the control instructions of the mode switching device;

[0014] The motor remote control system exits mode conversion and ignores the control instructions of the mode switching device;

[0015] The energy management system exits the mode conversion and ignores the control instructions of the mode switching device.

[0016] In some embodiments, the host remote control system exiting mode transition includes:

[0017] The host's current speed is kept constant, the gearbox's current clutch state is kept unchanged, and the host remote control system feeds back a host mode completion signal to the mode switching device.

[0018] In some embodiments, the motor remote control system exiting mode conversion includes:

[0019] The shaft belt motor stops, the inverter is set to the default mode, and the stand-alone remote control system feeds back the host mode completion signal to the mode switching device.

[0020] In some embodiments, the energy management system exit mode transition includes:

[0021] The generator set and energy storage device transfer load, and the energy management system sends a host mode completion signal to the mode conversion device.

[0022] In some embodiments, controlling the hybrid power system to enter the master mode includes:

[0023] After receiving the host mode completion signal from the host remote control system, the motor remote control system and the energy management system, the mode switching device controls the hybrid power system to enter the host mode.

[0024] In some embodiments, the multi-mode switching safety joint control method applicable to hybrid power system ships further includes:

[0025] After the hybrid system fails, when the mode switching device fails, the control mode switching device, the host remote control system and the motor remote control system are shut down.

[0026] In some embodiments, the hybrid power system is determined to enter a maintenance state, and the hybrid power system is controlled to enter a master mode.

[0027] In a second aspect, an embodiment of the present application provides a multi-mode switching security joint control system applicable to a hybrid power system ship, wherein the multi-mode switching security joint control system applicable to a hybrid power system ship is configured to execute the multi-mode switching security joint control method applicable to a hybrid power system ship according to any one of the first aspects, and the multi-mode switching security joint control system applicable to a hybrid power system ship includes:

[0028] a host mode determination module, configured to obtain operating data of the hybrid power system, and if a fault occurs in the operation of the hybrid power system, obtain operating data of the mode switching device, and if the mode switching device operates normally, stop the mode switching operation of the hybrid power system and control the hybrid power system to operate in the host mode;

[0029] The PTI mode judgment module is used to detect whether the shaft motor is operating normally if a fault is detected in the main engine operation. If the shaft motor is operating normally, the hybrid system is controlled to enter the PTH mode;

[0030] And the maintenance judgment module is used to determine whether to enter the maintenance state after the main engine and shaft belt motor fail.

[0031] In a third aspect, the present application provides a multi-mode switching security joint control device suitable for hybrid power system ships, comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, it implements any one of the methods described in the first aspect.

[0032] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, executes the steps of the multi-mode switching security joint control method applicable to hybrid power system ships as described in any one of the first aspects.

[0033] The beneficial effect of the present application is that, compared with the prior art, the present application provides a multi-mode switching security joint control method, system, device and storage medium suitable for hybrid power system ships, including that after a hybrid power system fails, when the mode switching device is operating normally, the mode conversion work of the entire hybrid power system is first stopped to avoid deterioration of the working state and more serious consequences; then the main engine remote control system, the motor remote control system and the energy management system are controlled to enter the main engine mode, and only the main engine is used for propulsion. If the main engine also fails, the working state of the shaft motor is continued to be detected. If the shaft motor can operate normally, the hybrid power system is controlled to enter the PTH working mode, and only the shaft motor is used for propulsion. Otherwise, the hybrid power system of the ship is repaired; after a hybrid power system of the ship fails, the present application coordinates the main engine remote control system, the motor remote control system and the energy management system, and uniformly switches to the main engine mode or PTH mode to ensure that the working modes of various devices in the hybrid power system are synchronously matched, and avoid accidents that endanger the safety of the hybrid power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 This is a diagram of the multi-mode switching control architecture of the hybrid system;

[0036] Figure 2 Flowchart of safety joint control for multi-mode switching of hybrid power system. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0038] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0039] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0040] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0041] Example 1:

[0042] This application provides a multi-mode switching security joint control method applicable to hybrid power system ships, such as Figures 1 to 2 As shown, the operating status of the hybrid power system and the operating status of the mode switching device are obtained. After the hybrid power system fails, if the mode switching device operates normally, the mode switching operation of the main engine remote control system, the motor remote control system and the energy management system is cut off, and the main engine remote control system, the motor remote control system and the energy management system do not execute the command received from the mode switching device. At the same time, the main engine remote control system, the motor remote control system and the energy management system are all adjusted to the main engine mode. The mode switching device controls the hybrid power system to enter the main engine mode and then checks whether the main engine has a fault. If the main engine has a fault, it detects whether the shaft motor is operating normally. If the shaft motor is operating normally, the hybrid power system is controlled to enter the PTH mode. Otherwise, it is determined that the ship enters the maintenance state. If the hybrid power system fails, if the mode switching device also fails, to ensure the safety of the ship, the mode switching device, the main engine remote control system and the motor remote control system are controlled to shut down. After the hybrid power system of the ship fails, the present application coordinates the main engine remote control system, the motor remote control system and the energy management system to uniformly switch to the main engine mode or PTH mode, ensuring that the working modes of each device in the hybrid power system are synchronously matched, and avoiding accidents that endanger the safety of the hybrid power system.

[0043] like Figure 1 As shown, the hybrid power system in this application includes a mode switching device, a host remote control system, a motor remote control system, an energy management system, a host, a gearbox, a frequency converter, a shaft motor, a generator set and an energy storage device;

[0044] The mode switching device is connected to the host remote control system, the motor remote control system and the energy management system. The host remote control system is connected to the host and the gearbox, the motor remote control system is connected to the inverter, the inverter is connected to the shaft motor, the energy management system is connected to the generator set and the energy storage device, and the energy management system is connected to the inverter.

[0045] based on Figure 1 The present application provides a multi-mode switching safety joint control method applicable to hybrid power system ships, such as Figure 2 As shown, the specific steps include:

[0046] First, after a hybrid system failure, when the mode switching device operates normally:

[0047] Step 101: Confirm that the mode switching device is operating normally:

[0048] If a malfunction occurs in the operation of the hybrid power system, the hybrid power system needs to be controlled to enter the single-engine propulsion mode. At this time, the mode switching device is needed to control the hybrid power system to switch modes, so the normal operation of the mode switching device must be ensured.

[0049] Step 102: Determine whether the security condition is triggered:

[0050] After determining that the mode switching device is operating normally in step 101, the hybrid system is detected by the mode switching device. If the following faults are detected in the hybrid system, it is determined that the safety condition is triggered and the process proceeds to step 103:

[0051] CPU failure of the host remote control system, host failure shutdown, host machine side control or standby control failure, CPU failure of the motor remote control system, shaft belt motor failure shutdown, CPU failure of the energy management system.

[0052] Otherwise, the mode switching device operates normally.

[0053] Step 103: Security control process.

[0054] After the security control process is triggered, the host remote control system is controlled to enter step 104 to perform emergency control on the host remote control system;

[0055] Control the motor remote control system to enter step 105 to perform emergency control on the motor remote control system;

[0056] The energy management system is controlled to enter step 106 to perform emergency control on the energy management system.

[0057] Step 104: Host Remote Control System:

[0058] After the mode switching device enters the security control process, the mode switching device sends an emergency control instruction to the host remote control system. The host remote control system exits the mode switching and determines that other control instructions of the mode switching device are invalid.

[0059] Step 1041: The host remote control system controls the host to maintain the current speed stable, and controls the gearbox to maintain the current clutch state unchanged. After the host and gearbox actions are completed, the mode of the host remote control system is changed, and the host remote control system feeds back a "host mode completed" signal to the mode switching device.

[0060] Step 105: Motor Remote Control System:

[0061] After the mode switching device enters the security control process, the mode switching device sends an emergency control instruction to the motor remote control system. The motor remote control system exits the mode switching and determines that other control instructions of the mode switching device are invalid.

[0062] Step 1051: The motor remote control system controls the shaft belt motor to stop. After the shaft belt motor stops, the motor remote control system changes the mode of the frequency converter to the default mode. After the shaft belt motor and the frequency converter complete the operation, the motor remote control system mode is changed. The motor remote control system feeds back a "host mode completed" signal to the mode switching device.

[0063] Step 106: Energy Management System:

[0064] After the mode switching device enters the security control process, the mode switching device sends an emergency control instruction to the energy management system. The energy management system exits the mode switching and determines that other control instructions of the mode switching device are invalid.

[0065] Step 1061: The energy management system controls the generator set and the energy storage device to transfer the load. When the load transfer action is completed, the mode of the energy management system is changed, and the energy management system feeds back a "host mode completed" signal to the mode switching device.

[0066] Step 107: Enter Host Mode:

[0067] After the mode switching device obtains the "host mode completed" signal fed back by the host remote control system, motor remote control system and energy management system, it enters the host mode and controls the hybrid power system of the ship to operate in the host mode.

[0068] Step 108 : When the hybrid power system of the ship operates in the main engine mode, the mode switching device detects the operating status of the main engine. If the main engine operates normally, the process proceeds to step 1081 , otherwise, the process proceeds to step 109 .

[0069] Step 1081: After detecting that the host machine is operating normally, the mode switching device controls the hybrid power system to continue operating in the host machine mode, and the mode switching device enters step 111 to operate in a normal control process.

[0070] Step 109 : After detecting that the host has an operating fault, the mode switching device detects whether the shaft motor is operating normally. If the shaft motor is operating normally, the process proceeds to step 1091 ; otherwise, the process proceeds to step 110 .

[0071] Step 1091: After detecting that the shaft motor is operating normally, the mode switching device controls the hybrid power system to switch to the PTH mode to continue operating, and the mode switching device enters step 111 to operate in a normal control process.

[0072] Step 110: After detecting that the shaft belt motor has an operating fault, the mode switching device controls the hybrid power system to remain in the main engine mode and stop the ship, and enters step 1101. After the faulty equipment is repaired, the mode switching device enters step 111 and operates normally.

[0073] Step 1101: Repair the faulty equipment.

[0074] Step 111: Normal control flow.

[0075] When specifically implementing the steps described in Example 1, the working process of automatic control when the mode switching device is working normally is first introduced:

[0076] After the hybrid system has a host emergency stop failure, a host speed reduction failure, a shaft motor emergency stop failure or an energy management system failure, and when the emergency exit button in the cab or the emergency exit button in the control room is triggered, since the automatic control working process requires the control of the mode switching device, it is necessary to first determine whether the mode switching device is operating normally. When the mode switching device is operating normally, the host remote control system determines that the control command of the mode switching device is invalid, the host remote control system does not participate in the mode switching operation, and controls the host speed to maintain a constant speed, and controls the gearbox to maintain the current clutch state. After completing these operations, feedback to the mode switching device is given to the host. Mode completion signal; at the same time, in the motor remote control system, the motor remote control system is controlled to determine that the control command of the mode switching device is invalid, the motor remote control system does not participate in the mode switching operation, stops the operation of the shaft motor through the inverter, and changes the mode of the inverter to the default mode. After completing these operations, the host mode completion signal is fed back to the mode switching device; at the same time, in the energy management system, the energy management system is controlled to determine that the control command of the mode switching device is invalid, the energy management system does not participate in the mode switching operation, and the energy management system starts the generator set or energy storage device according to the needs of the ship's power grid to complete the load transfer, enters the host mode, and feeds back the host mode completion signal to the mode switching device.

[0077] After the mode switching device detects the host mode completion signal fed back by the host remote control system, the motor remote control system and the energy management system, it determines that the hybrid power system enters the host mode. At this time, it is necessary to detect the operating status of the host. When the host is operating normally, the ship is controlled to operate in the host mode; when there is a fault in the host operation, in order to continue the operation and propulsion of the ship, it is detected whether the shaft motor can operate normally. If the shaft motor can operate normally, the host remote control system, the motor remote control system and the energy management system are controlled to enter the PTH working mode, and the shaft motor is used as the output to propel the ship; if the shaft motor also has a fault, the ship will have no output power, and the hybrid power system will be kept in the host mode, the ship will be repaired and the power will be restored.

[0078] If the mode switching device fails, the automatic control process cannot be carried out. At this time, the mode switching device, the host remote control system and the motor remote control system are immediately shut down.

[0079] Example 2:

[0080] Based on the same inventive concept as that of the first embodiment, the second embodiment of the present application provides a multi-mode switching security joint control system applicable to a hybrid power system ship, comprising:

[0081] a host mode determination module, configured to obtain operating data of the hybrid power system. If a fault occurs in the operation of the hybrid power system, the module obtains operating data of the mode switching device. If the mode switching device operates normally, the module stops the mode switching of the hybrid power system and controls the hybrid power system to operate in the host mode.

[0082] The PTI mode judgment module is used to detect whether the shaft motor is operating normally if a fault is detected in the main engine operation. If the shaft motor is operating normally, the hybrid system is controlled to enter the PTH mode;

[0083] And the maintenance judgment module is used to determine whether to enter the maintenance state after the main engine and shaft belt motor fail.

[0084] Example 3:

[0085] Based on the same inventive concept as that of Example 1 and Example 2, Example 3 of the present application provides a multi-mode switching security joint control device suitable for hybrid power system ships, including a processor and a memory, the memory storing a computer program executable by the processor, and the processor implementing any one of the methods in Example 1 when executing the computer program.

[0086] Example 4:

[0087] Based on the same inventive concept as that of Example 1, Example 2 and Example 3, Example 3 of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of the multi-mode switching security joint control method applicable to hybrid power system ships as described in any one of Example 1 are executed.

[0088] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0089] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0091] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0092] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0093] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application.

[0094] The aforementioned storage media include: U disk, mobile hard disk, read only memory (ROM), random access memory (RAM), magnetic disk or optical disk and other media that can store program codes.

[0095] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A multi-mode switching safety joint control method applicable to hybrid power system ships, characterized by: The hybrid power system includes a mode switching device, a host remote control system, a motor remote control system, an energy management system, a host, a gearbox, a frequency converter, a shaft motor, a generator set and an energy storage device; The mode switching device is connected to the host remote control system, the motor remote control system and the energy management system. The host remote control system is connected to the host and the gearbox. The motor remote control system is connected to the inverter. The inverter is connected to the shaft motor. The energy management system is connected to the generator set and the energy storage device. The energy management system is connected to the inverter. The multi-mode switching security joint control method includes the following steps: Acquiring operating data of the hybrid power system; if the hybrid power system has a fault, acquiring operating data of the mode switching device; if the mode switching device is operating normally, stopping the mode switching operation of the hybrid power system and controlling the hybrid power system to enter the host mode operation; stopping the mode switching operation of the hybrid power system includes: the host remote control system exiting the mode switching and ignoring the control instructions of the mode switching device; the motor remote control system exiting the mode switching and ignoring the control instructions of the mode switching device; the energy management system exiting the mode switching and ignoring the control instructions of the mode switching device; when the mode switching device fails, controlling the mode switching device, the host remote control system, and the motor remote control system to shut down; detecting the operating status of the host, and if a fault is detected in the operation of the host, detecting whether the shaft motor is operating normally, and if the shaft motor is operating normally, controlling the hybrid power system to enter a PTH mode; If there is a fault in the operation of the shaft motor, it is determined that the hybrid power system enters a maintenance state.

2. The multi-mode switching safety joint control method applicable to hybrid power system ships according to claim 1, characterized in that: The hybrid system operation faults include: Main engine remote control system failure, main engine failure, main engine side control failure, motor remote control system failure, shaft motor failure and energy management system failure.

3. The multi-mode switching safety joint control method applicable to hybrid power system ships according to claim 1, characterized in that: The host remote control system exit mode conversion includes: The current rotation speed of the host is kept constant, the current clutch state of the gearbox is kept unchanged, and the host remote control system feeds back a host mode completion signal to the mode switching device.

4. The multi-mode switching safety joint control method applicable to hybrid power system ships according to claim 3 is characterized in that: The motor remote control system exit mode conversion includes: The shaft-belt motor is stopped, the frequency converter is set to a default mode, and the motor remote control system feeds back a host mode completion signal to the mode switching device.

5. The multi-mode switching safety joint control method applicable to hybrid power system ships according to claim 4 is characterized in that: The energy management system exit mode conversion includes: The generator set and the energy storage device perform load transfer, and the energy management system sends a host mode completion signal to the mode switching device.

6. The multi-mode switching safety joint control method applicable to hybrid power system ships according to claim 5, characterized in that: Controlling the hybrid power system to enter the host mode includes: After receiving the host mode completion signals from the host remote control system, the motor remote control system and the energy management system, the mode switching device controls the hybrid power system to enter the host mode.

7. The multi-mode switching safety joint control method applicable to hybrid power system ships according to claim 1, characterized in that: The hybrid power system is determined to enter a maintenance state, and the hybrid power system is controlled to enter a host mode.

8. A multi-mode switching security joint control system suitable for hybrid power system ships, characterized by: The multi-mode switching security joint control system applicable to a hybrid power system ship is used to execute the multi-mode switching security joint control method applicable to a hybrid power system ship according to any one of claims 1 to 7, and the multi-mode switching security joint control system applicable to a hybrid power system ship includes: a host mode determination module, configured to obtain operating data of the hybrid power system, and if a fault occurs in the operation of the hybrid power system, obtain operating data of the mode switching device, and if the mode switching device operates normally, stop the mode switching operation of the hybrid power system and control the hybrid power system to operate in the host mode; A PTI mode determination module is configured to detect whether the shaft motor is operating normally if a fault is detected in the operation of the host, and control the hybrid power system to enter the PTH mode if the shaft motor is operating normally; And the maintenance judgment module is used to determine whether to enter the maintenance state after the main engine and shaft belt motor fail.

9. A multi-mode switching safety joint control device suitable for hybrid power system ships, characterized by: The method comprises a processor and a memory, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the multi-mode switching safety joint control method applicable to a hybrid power system ship according to any one of claims 1 to 7.

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