A ship driving torque distribution control method and system based on energy efficiency optimization

Abstract

The present invention relates to the field of control technology of non-electric variables, and in particular to a ship drive torque distribution control method and system based on energy efficiency optimization, the method comprising the following steps: system layout; a steering gear angle controller converts a deviation control signal into a rudder speed control signal; a rudder speed controller transmits a total torque control signal to a torque distribution controller; a torque distribution controller maximizes and optimizes the total energy utilization efficiency of two servo electric cylinder drive motors to obtain the electromagnetic torque dynamic distribution value of the two servo electric cylinder drive motors; two servo electric cylinder controllers control the corresponding servo electric cylinder drive motors to work according to the electromagnetic torque dynamic distribution value of the corresponding servo electric cylinder drive motor. The method and system provided by the present invention can maximize the total energy utilization efficiency of the two servo electric cylinder drive motors under any working condition, solving the problem of low steering efficiency of the control power drive system of medium and large ships under medium and low load conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of control of non-electrical variables, and in particular to a ship driving torque distribution control method and system based on energy efficiency optimization. Background Art

[0002] As the core power drive device of the ship's maneuvering control system, the steering power drive system has the basic function of generating a push-rudder torque according to the steering instructions, overcoming the hydrodynamic force, and driving the push-rudder tiller to rotate, so as to maintain or change the ship's heading, depth and trim, so that the ship has the maneuverability necessary for navigation.

[0003] Most traditional medium and large ships use hydraulic drive. The hydraulic system has the advantages of large steering torque and strong impact resistance, and can meet basic operating and control requirements. However, it also has inherent shortcomings such as leakage, high vibration and noise, low overall efficiency and low level of integration.

[0004] In recent years, with the rapid development of multi-electric and all-electric technology, servo motor and its control technology, power electronics technology, and high-precision reduction transmission technology, it has become a development trend for all-electric control power drive systems to replace traditional hydraulic systems. Compared with hydraulic systems, all-electric control power drive systems have the advantages of simple configuration, high degree of system integration, low operating noise, and easy maintenance, and have been widely used.

[0005] At present, the all-electric control power drive system can be divided into single-actuator drive and multi-actuator drive according to the number of drive mechanisms. The single-actuator drive system has the advantages of high control accuracy and simple structure, but its thrust is difficult to meet the heavy-load steering requirements of medium and large ships. The multi-actuator drive system has the advantage of large steering torque in the collaborative working mode, and the difficulty lies in how to achieve efficient operation of the multi-actuator system.

[0006] The coordinated synchronous control methods of multiple cylinders in the control power drive system include mechanical synchronization and electrical synchronization. The traditional mechanical synchronization method has low control accuracy, large equipment size, and occupies more cabin space; the electrical synchronization control mode does not require additional synchronization mechanical structure and is more flexible to use. Electrical synchronization control specifically includes master-slave control mode, cross-coupling control mode, parallel system control mode, force compensation synchronization control mode, etc. At present, both the mechanical synchronization method and the electrical synchronization method have a common problem: the energy efficiency characteristics of the multi-actuator drive unit are not considered, and the torque or thrust distribution between the multiple cylinders is performed according to a fixed proportional relationship. Under conditions far from the rated working conditions, the single-cylinder drive system always works in a low-efficiency area, that is, there is a problem of a big horse pulling a small cart, which makes the overall efficiency of the control power drive system low. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a ship drive torque distribution control method and system based on energy efficiency optimization, which can dynamically distribute the torque of each individual servo electric cylinder drive motor, thereby maximizing the total energy utilization efficiency of the two servo electric cylinder drive motors, and solving the problem of low steering efficiency of medium and large ship control power drive systems under medium and low load conditions.

[0008] The present invention is achieved through the following technical solutions:

[0009] A ship driving torque distribution control method based on energy efficiency optimization comprises the following steps:

[0010] S1: Arrange two servo electric cylinders symmetrically with respect to the push-rudder tiller handle, and the two servo electric cylinders are respectively connected to the push-rudder tiller handle to form a connecting rod mechanism to drive the push-rudder tiller handle to rotate, the steering gear angle controller, the rudder speed controller, and the torque distribution controller are connected in sequence, the torque distribution controller is respectively connected to the two servo electric cylinder controllers, and the two servo electric cylinder controllers are respectively connected to the corresponding servo electric cylinder drive motors;

[0011] S2: detect the actual steering angle signal of the steering gear in real time and transmit it to the steering gear angle controller. The steering gear angle controller converts the steering angle deviation control signal generated by the given steering gear angle command signal and the actual steering gear angle signal into a steering speed control signal, and transmits the steering speed control signal to the steering speed controller;

[0012] S3: Detect the actual rudder speed in real time and transmit it to the rudder speed controller. The rudder speed controller converts the rudder speed deviation control signal between the rudder speed control signal and the actual rudder speed into a total torque control signal of the two servo electric cylinders, and transmits the total torque control signal to the torque distribution controller;

[0013] S4: Real-time detection of the actual rotation speeds of the two servo electric cylinder drive motors and transmission to the torque distribution controller. Under the condition of constant load, the torque distribution controller maximizes and optimizes the total energy utilization efficiency of the two servo electric cylinder drive motors to obtain the torques of the two servo electric cylinders, and according to the relationship between the torque of the servo electric cylinder and the electromagnetic torque of the servo electric cylinder drive motor, obtains the dynamic distribution value of the electromagnetic torque of the two servo electric cylinder drive motors, and transmits them to the corresponding servo electric cylinder controllers respectively;

[0014] S5: The two servo electric cylinder controllers control the corresponding servo electric cylinder drive motors to work according to the dynamic distribution value of the electromagnetic torque of the corresponding servo electric cylinder drive motors, so as to realize the extension and retraction of the servo electric cylinders, and the output thrust acts on the push rudder tiller handle to drive the push rudder tiller handle to rotate.

[0015] Further, in step S2, the steering gear angle controller converts the steering angle deviation control signal into a steering speed control signal according to formula (1):

[0016] (1);

[0017] in: Indicates the rudder speed control signal, Indicates the proportional control gain of the servo angle controller, It indicates the angle deviation control signal generated by the given servo angle command signal and the servo actual angle signal. represents the integral control gain of the servo angle controller, Indicates the cumulative deviation of the servo angle.

[0018] Furthermore, in step S3, the rudder speed controller converts the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed into a total torque control signal of the two servo electric cylinders according to formula (2):

[0019] (2);

[0020] in: Represents the total torque control signal of the two servo electric cylinders, represents the proportional control gain of the rudder speed controller, It represents the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed. represents the integral control gain of the rudder speed controller, represents the differential control gain of the rudder speed controller, Indicates the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed at the previous moment. Indicates the accumulated deviation of rudder speed.

[0021] Furthermore, in step S4, the total energy utilization efficiency of the two servo electric cylinder drive motors is maximized and optimized according to formula (3), and its constraint condition is formula (4):

[0022] (3);

[0023] (4);

[0024] in: Indicates the total energy utilization efficiency of the drive motor, Represents the total torque control signal of the two servo electric cylinders, Represents the torque of the first servo electric cylinder, represents the torque of the second servo electric cylinder, Indicates the maximum torque of the first servo electric cylinder. Indicates the maximum torque of the second servo electric cylinder, Indicates the lead of the first servo electric cylinder screw, represents the efficiency of the first servo electric cylinder screw, Indicates the dynamic distribution value of the electromagnetic torque of the first servo electric cylinder drive motor. Indicates the lead of the second servo electric cylinder screw, represents the efficiency of the second servo electric cylinder screw, Indicates the dynamic distribution value of the electromagnetic torque of the second servo electric cylinder drive motor. Indicates the speed of the first servo electric cylinder drive motor. Indicates the dynamic distribution value of electromagnetic torque of the first servo electric cylinder driving motor , speed The efficiency function under Indicates the power of the first servo electric cylinder drive motor, Indicates the speed of the second servo electric cylinder drive motor. Indicates the dynamic distribution value of electromagnetic torque of the second servo electric cylinder drive motor , speed The efficiency function under Indicates the power of the second servo electric cylinder drive motor.

[0025] Further, in step S4, the following method is used to obtain the dynamic distribution value of the electromagnetic torque of the two servo electric cylinder drive motors:

[0026] S41: Combining equation (3) with equation (4) yields equation (5):

[0027] (5);

[0028] S42: Introduce slack variables to transform the inequality constraint of formula (5) into an equivalent equality constraint. The transformed equality constraint is formula (6):

[0029] (6);

[0030] in: represents the slack variable introduced by the first servo electric cylinder, represents the slack variable introduced by the second servo electric cylinder;

[0031] S43: Simplify equation (6) to obtain equation (7):

[0032] (7);

[0033] S44: Apply the Lagrange multiplier method to introduce equality and inequality constraints into the objective function, and obtain the Lagrangian function of the maximization optimization problem as equation (8):

[0034] (8);

[0035] in: The Lagrangian function representing the maximization optimization problem, Lagrange multipliers representing equality constraints, represents the Lagrange multiplier used by the first servo electric cylinder to handle the equality constraints introduced by its slack variables, represents the Lagrange multiplier used by the second servo electric cylinder to handle the equality constraints introduced by its slack variables;

[0036] S45: Apply the necessary conditions for the optimal solution of nonlinear programming to transform the maximization optimization problem into algebraic equation (9) for solution:

[0037] (9);

[0038] S46: Apply the generalized minimum residual method to solve equation (9) to obtain a solution vector containing the dynamic distribution values ​​of the electromagnetic torque of the two servo electric cylinder drive motors.

[0039] Optimized, the necessary conditions for the optimal solution of the nonlinear programming in step S45 include the stationary point condition, the feasibility condition of the original problem, the dual feasibility condition and the complementary relaxation condition.

[0040] Furthermore, the stationary point condition is formula (10):

[0041] (10).

[0042] Furthermore, the feasibility condition of the original problem, the dual feasibility condition and the complementary relaxation condition are as follows:

[0043] (11).

[0044] Furthermore, in step S5, the two servo electric cylinder controllers calculate the output thrust of the corresponding servo electric cylinder according to equation (12):

[0045] (12);

[0046] in: Indicates the output thrust of the first servo electric cylinder, Represents the proportional control gain of the first servo electric cylinder controller, Indicates the control deviation of the dynamic distribution value of the electromagnetic torque of the first servo electric cylinder drive motor. represents the integral control gain of the first servo electric cylinder controller, Indicates the output thrust of the second servo electric cylinder, represents the proportional control gain of the second servo electric cylinder controller, Indicates the control deviation of the dynamic distribution value of the electromagnetic torque of the second servo electric cylinder drive motor. Represents the integral control gain of the second servo electric cylinder controller.

[0047] A ship drive torque distribution control system based on energy efficiency optimization is used to execute any of the above-mentioned ship drive torque distribution control methods based on energy efficiency optimization, which includes two servo electric cylinders, a push rudder handle, a steering gear angle controller, a rudder speed controller, a torque distribution controller and two servo electric cylinder controllers, the two servo electric cylinders are installed on a base, the push rudder handle is rotatably installed on the base, and the two servo electric cylinders are symmetrically arranged relative to the push rudder handle, the two servo electric cylinders are respectively connected to the push rudder handle to form a connecting rod mechanism to drive the push rudder handle to rotate, the steering gear angle controller, the rudder speed controller, and the torque distribution controller are connected in sequence, the torque distribution controller is respectively connected to the two servo electric cylinder controllers, and the two servo electric cylinder controllers are respectively connected to the corresponding servo electric cylinder drive motors.

[0048] Beneficial effects of the invention:

[0049] The present invention provides a ship driving torque distribution control method and system based on energy efficiency optimization. Based on the energy efficiency characteristics of the single-cylinder drive system and the actual working conditions of the control power drive system, the electromagnetic torque of each single servo electric cylinder drive motor is dynamically distributed, thereby maximizing the total energy utilization efficiency of the two servo electric cylinder drive motors, and solving the problem of low steering efficiency of the control power drive system of medium and large ships under medium and low load conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the process of the present invention.

[0051] Figure 2 It is an assembly diagram of the servo electric cylinder and the push-rudder tiller handle of the present invention.

[0052] Figure 3 It is the flow chart of BP neural network algorithm of the present invention.

[0053] Figure 4 It is a schematic diagram of the control system of the present invention.

[0054] In the figure: 1. base; 2. servo electric cylinder; 3. push rudder tiller; 4. servo angle controller; 5. rudder speed controller; 6. torque distribution controller; 7. servo electric cylinder controller. DETAILED DESCRIPTION

[0055] A ship driving torque distribution control method based on energy efficiency optimization, the flow chart is as follows Figure 1 As shown, the specific steps include:

[0056] S1: Arrange two servo electric cylinders symmetrically with respect to the push-rudder tiller handle, and the two servo electric cylinders are respectively connected to the push-rudder tiller handle to form a connecting rod mechanism to drive the push-rudder tiller handle to rotate, the steering gear angle controller, the rudder speed controller, and the torque distribution controller are connected in sequence, the torque distribution controller is respectively connected to the two servo electric cylinder controllers, and the two servo electric cylinder controllers are respectively connected to the corresponding servo electric cylinder drive motors;

[0057] The two servo electric cylinders can be connected to the pusher tiller handle through a self-aligning sliding bearing. The two servo electric cylinders are arranged in parallel and can promote the pusher tiller handle to rotate by coordinating and controlling their movements, thereby meeting the system's large-load driving requirements.

[0058] Each servo electric cylinder is provided with a screw nut mechanism and a servo electric cylinder drive motor, and the screw nut mechanism is connected to the servo electric cylinder drive motor. The rotation of the servo electric cylinder drive motor is converted into a linear motion of the servo electric cylinder through the screw nut mechanism, and finally drives the push rudder tiller to rotate.

[0059] Two servo electric cylinders and the push-rudder tiller handle form a connecting rod mechanism, which has the function of reducing speed and increasing torque. In the connecting rod mechanism, the connection method of self-aligning sliding bearing is adopted to realize small-scale swing angle adjustment to meet the requirements of spatial low-stress assembly of heavy-loaded and large-scale push-rudder tiller handle.

[0060] The assembly diagram of the servo electric cylinder and the push rudder tiller is as follows: Figure 2 shown.

[0061] S2: detect the actual steering angle signal of the steering gear in real time and transmit it to the steering gear angle controller. The steering gear angle controller converts the steering angle deviation control signal generated by the given steering gear angle command signal and the actual steering gear angle signal into a steering speed control signal, and transmits the steering speed control signal to the steering speed controller;

[0062] Specifically, the steering gear angle controller can convert the steering angle deviation control signal into the steering speed control signal according to formula (1):

[0063] (1);

[0064] in: Indicates the rudder speed control signal, Indicates the proportional control gain of the servo angle controller, Indicates the given servo angle command signal The actual steering angle signal of the servo The generated steering angle deviation control signal, represents the integral control gain of the servo angle controller, Indicates the cumulative deviation of the servo angle.

[0065] S3: Detect the actual rudder speed in real time and transmit it to the rudder speed controller. The rudder speed controller converts the rudder speed deviation control signal between the rudder speed control signal and the actual rudder speed into a total torque control signal of the two servo electric cylinders, and transmits the total torque control signal to the torque distribution controller;

[0066] Specifically, the rudder speed controller can convert the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed into the total torque control signal of the two servo electric cylinders according to formula (2):

[0067] (2);

[0068] in: Represents the total torque control signal of the two servo electric cylinders, represents the proportional control gain of the rudder speed controller, Indicates that the rudder speed control signal Actual rudder speed The rudder speed deviation control signal between represents the integral control gain of the rudder speed controller, represents the differential control gain of the rudder speed controller, Indicates the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed at the previous moment. Indicates the accumulated deviation of rudder speed.

[0069] S4: Real-time detection of the actual rotation speeds of the two servo electric cylinder drive motors and transmission to the torque distribution controller. Under the condition of constant load, the torque distribution controller maximizes and optimizes the total energy utilization efficiency of the two servo electric cylinder drive motors to obtain the torques of the two servo electric cylinders, and according to the relationship between the torque of the servo electric cylinder and the electromagnetic torque of the servo electric cylinder drive motor, obtains the dynamic distribution value of the electromagnetic torque of the two servo electric cylinder drive motors, and transmits them to the corresponding servo electric cylinder controllers respectively;

[0070] Specifically, the total energy utilization efficiency of the two servo electric cylinder drive motors can be maximized and optimized according to formula (3), and its constraint condition is formula (4):

[0071] (3);

[0072] (4);

[0073] in: Indicates the total energy utilization efficiency of the drive motor, Represents the total torque control signal of the two servo electric cylinders, Represents the torque of the first servo electric cylinder, represents the torque of the second servo electric cylinder, Indicates the maximum torque of the first servo electric cylinder. Indicates the maximum torque of the second servo electric cylinder, Indicates the lead of the first servo electric cylinder screw, represents the efficiency of the first servo electric cylinder screw, Indicates the dynamic distribution value of the electromagnetic torque of the first servo electric cylinder drive motor. Indicates the lead of the second servo electric cylinder screw, represents the efficiency of the second servo electric cylinder screw, Indicates the dynamic distribution value of the electromagnetic torque of the second servo electric cylinder drive motor. Indicates the speed of the first servo electric cylinder drive motor. Indicates the dynamic distribution value of electromagnetic torque of the first servo electric cylinder driving motor , speed The efficiency function under Indicates the power of the first servo electric cylinder drive motor, , Indicates the speed of the second servo electric cylinder drive motor. Indicates the dynamic distribution value of electromagnetic torque of the second servo electric cylinder drive motor , speed The efficiency function under Indicates the power of the second servo electric cylinder drive motor, .

[0074] The operating conditions of the servo electric cylinder drive motor include two dimensions: torque and speed. For electric servos, the torque of the rudder handle is determined by the load, and the speed is determined by the control algorithm on the control console. The operating efficiency of the drive system is related to its operating conditions. Generally speaking, the drive motor has the highest efficiency under rated conditions, that is, corresponding to rated torque and rated speed.

[0075] Since the efficiency function of the servo electric cylinder drive motor under the dynamic distribution value of electromagnetic torque and speed is a nonlinear function, the BP neural network fitting can be established through actual test data to obtain the first The efficiency function relationship of a servo electric cylinder drive motor under the dynamic distribution value of electromagnetic torque and speed .

[0076] BP neural network is a multi-layer feedforward network trained by the error back propagation algorithm. It is one of the most widely used neural network models. BP neural network can learn and store a large number of input-output pattern mapping relationships without revealing the mathematical equations describing this mapping relationship in advance. Its learning rule is to use the steepest descent method to continuously adjust the network weights and thresholds through back propagation to minimize the sum of squared errors of the network. The BP neural network algorithm flow chart is as follows Figure 3 As shown, it includes three parts: BP neural network structure determination, genetic algorithm optimization and BP neural network prediction. The BP neural network structure determination part has two input variables and one output parameter. Specifically, the BP neural network structure can be set to 2-5-1, that is, the input layer has 2 nodes, the middle layer has 5 nodes, the output layer has 1 node, the genetic algorithm weights are 15, the threshold is 6, and the individual coding length is 21. Then, the genetic algorithm optimization part uses the genetic algorithm to optimize the genetic algorithm weights and thresholds of the BP neural network. Each individual in the population contains a network-owned weight and threshold. The individual calculates the individual fitness value through the fitness function. The genetic algorithm finds the individual corresponding to the optimal fitness value through selection, crossover and mutation operations. The BP neural network prediction part uses the genetic algorithm to obtain the optimal individual to assign the initial weights and thresholds to the network. After the neural network is trained, the prediction function outputs The fitting function is as follows:

[0077] ;

[0078] in: Represents the efficiency function The constant term of Represents the efficiency function In The linear coefficient of Represents the efficiency function In The linear coefficient of Represents the efficiency function In The quadratic coefficient of Represents the efficiency function In The quadratic coefficient of Represents the efficiency function In The cubic coefficient of Represents the efficiency function In The attenuation coefficient of Represents the efficiency function In The attenuation coefficient of represents a natural constant, Represents the efficiency function In The decay rate coefficient of the exponential decay term, Represents the efficiency function In The decay rate coefficient of the exponential decay term.

[0079] Specifically, the following method can be used to obtain the dynamic distribution value of the electromagnetic torque of the two servo electric cylinder drive motors:

[0080] S41: Combining equation (3) with equation (4) yields equation (5):

[0081] (5);

[0082] S42: Introduce slack variables to transform the inequality constraint of formula (5) into an equivalent equality constraint. The transformed equality constraint is formula (6):

[0083] (6);

[0084] in: represents the slack variable introduced by the first servo electric cylinder, represents the slack variable introduced by the second servo electric cylinder;

[0085] S43: Simplify equation (6) to obtain equation (7):

[0086] (7);

[0087] S44: Apply the Lagrange multiplier method to introduce equality and inequality constraints into the objective function, and obtain the Lagrangian function of the maximization optimization problem as equation (8):

[0088] (8);

[0089] in: The Lagrangian function representing the maximization optimization problem, Lagrange multipliers representing equality constraints, represents the Lagrange multiplier used by the first servo electric cylinder to handle the equality constraints introduced by its slack variables, represents the Lagrange multiplier used by the second servo electric cylinder to handle the equality constraints introduced by its slack variables;

[0090] S45: Apply the necessary conditions for the optimal solution of nonlinear programming to transform the maximization optimization problem into algebraic equation (9) for solution:

[0091] (9);

[0092] S46: Apply the generalized minimum residual method to solve equation (9) to obtain a solution vector containing the dynamic distribution values ​​of the electromagnetic torque of the two servo electric cylinder drive motors.

[0093] The necessary conditions for the optimal solution of nonlinear programming here include stationary point conditions, feasibility conditions of the original problem, dual feasibility conditions and complementary relaxation conditions.

[0094] Specifically, the stationary point condition is formula (10):

[0095] (10).

[0096] Specifically, the feasibility condition of the original problem, the dual feasibility condition and the complementary relaxation condition are as follows:

[0097] (11).

[0098] S5: The two servo electric cylinder controllers control the corresponding servo electric cylinder drive motors to work according to the dynamic distribution value of the electromagnetic torque of the corresponding servo electric cylinder drive motors, so as to realize the extension and retraction of the servo electric cylinders, and the output thrust acts on the push rudder tiller handle to drive the push rudder tiller handle to rotate.

[0099] Specifically, the two servo electric cylinder controllers can calculate the output thrust of the corresponding servo electric cylinders according to equation (12):

[0100] (12);

[0101] in: Indicates the output thrust of the first servo electric cylinder, Represents the proportional control gain of the first servo electric cylinder controller, Indicates the control deviation of the dynamic distribution value of the electromagnetic torque of the first servo electric cylinder drive motor. represents the integral control gain of the first servo electric cylinder controller, Indicates the output thrust of the second servo electric cylinder, represents the proportional control gain of the second servo electric cylinder controller, Indicates the control deviation of the dynamic distribution value of the electromagnetic torque of the second servo electric cylinder drive motor. Represents the integral control gain of the second servo electric cylinder controller.

[0102] By adopting a ship driving torque distribution control method based on energy efficiency optimization provided by the present invention, the torque distribution controller maximizes the total energy utilization efficiency of the two servo electric cylinder drive motors under constant load conditions. , and finally obtain the dynamic distribution value of the electromagnetic torque of the two servo electric cylinder drive motors. The servo electric cylinder controller controls the corresponding servo electric cylinder drive motor according to the dynamic distribution value of the electromagnetic torque of the corresponding servo electric cylinder drive motor, realizes the extension and retraction of the servo electric cylinder, and outputs thrust on the push rudder tiller to drive the push rudder tiller to rotate. It can maximize the total energy utilization efficiency of the two servo electric cylinder drive motors under any working condition, and solves the problem of low steering efficiency of the power drive system of medium and large ships under medium and low load conditions. And because different torque distribution strategies can only affect the torque distribution between the two parallel servo electric cylinder drive motors, it is completed when the total required torque for steering is reached, which improves the overall efficiency of the entire steering gear without affecting the dynamic performance of the operation of the tiller handle.

[0103] A ship driving torque distribution control system based on energy efficiency optimization, the control system schematic diagram is as follows Figure 4 As shown, a ship driving torque distribution control method based on energy efficiency optimization for executing any one of the above-mentioned items comprises two servo electric cylinders 2, a pushing rudder handle 3, a steering gear angle controller 4, a rudder speed controller 5, a torque distribution controller 6 and two servo electric cylinder controllers 7, wherein the two servo electric cylinders are mounted on a base 1, the pushing rudder handle is rotatably mounted on the base, and the two servo electric cylinders are symmetrically arranged relative to the pushing rudder handle, the two servo electric cylinders are respectively connected to the pushing rudder handle to form a connecting rod mechanism to drive the pushing rudder handle to rotate, the steering gear angle controller, the rudder speed controller and the torque distribution controller are connected in sequence, the torque distribution controller is respectively connected to the two servo electric cylinder controllers, and the two servo electric cylinder controllers are respectively connected to the corresponding servo electric cylinder drive motors.

[0104] In summary, the present invention provides a ship drive torque distribution control method and system based on energy efficiency optimization. Based on the energy efficiency characteristics of the single-cylinder drive system and the actual working conditions of the control power drive system, the electromagnetic torque of each single servo electric cylinder drive motor is dynamically distributed, thereby maximizing the total energy utilization efficiency of the two servo electric cylinder drive motors. It can maximize the total energy utilization efficiency of the two servo electric cylinder drive motors under any working conditions, and solve the problem of low steering efficiency of the control power drive system of medium and large ships under medium and low load conditions.

[0105] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A ship driving torque distribution control method based on energy efficiency optimization, characterized in that: The steps include: S1: Arrange two servo electric cylinders symmetrically with respect to the push-rudder tiller handle, and the two servo electric cylinders are respectively connected to the push-rudder tiller handle to form a connecting rod mechanism to drive the push-rudder tiller handle to rotate, the steering gear angle controller, the rudder speed controller, and the torque distribution controller are connected in sequence, the torque distribution controller is respectively connected to the two servo electric cylinder controllers, and the two servo electric cylinder controllers are respectively connected to the corresponding servo electric cylinder drive motors; S2: Real-time detection of the actual steering angle signal of the steering gear and transmission to the steering angle controller. The steering angle controller converts the steering angle deviation control signal generated based on the given steering angle command signal and the actual steering angle signal of the steering gear into a steering speed control signal according to formula (1), and transmits the steering speed control signal to the steering speed controller; （1）； in: Indicates the rudder speed control signal, Indicates the proportional control gain of the servo angle controller, It indicates the angle deviation control signal generated by the given servo angle command signal and the servo actual angle signal. represents the integral control gain of the servo angle controller, Indicates the cumulative deviation value of the servo angle; S3: Detect the actual rudder speed in real time and transmit it to the rudder speed controller. The rudder speed controller converts the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed into a total torque control signal of the two servo electric cylinders according to formula (2), and transmits the total torque control signal to the torque distribution controller; （2）； in: Represents the total torque control signal of the two servo electric cylinders, represents the proportional control gain of the rudder speed controller, It represents the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed. represents the integral control gain of the rudder speed controller, represents the differential control gain of the rudder speed controller, Indicates the rudder speed deviation control signal based on the rudder speed control signal and the actual rudder speed at the previous moment. Indicates the accumulated deviation value of the rudder speed; S4: Real-time detection of the actual rotation speeds of the two servo electric cylinder drive motors and transmission to the torque distribution controller. Under the condition of constant load, the torque distribution controller maximizes and optimizes the total energy utilization efficiency of the two servo electric cylinder drive motors according to formula (3) to obtain the torques of the two servo electric cylinders. The constraint condition is formula (4). Based on the relationship between the torque of the servo electric cylinder and the electromagnetic torque of the servo electric cylinder drive motor, the dynamic distribution value of the electromagnetic torque of the two servo electric cylinder drive motors is obtained and transmitted to the corresponding servo electric cylinder controllers respectively. （3）； （4）； in: Indicates the total energy utilization efficiency of the drive motor, Represents the total torque control signal of the two servo electric cylinders, Represents the torque of the first servo electric cylinder, represents the torque of the second servo electric cylinder, Indicates the maximum torque of the first servo electric cylinder. Indicates the maximum torque of the second servo electric cylinder, Indicates the lead of the first servo electric cylinder screw, represents the efficiency of the first servo electric cylinder screw, Indicates the dynamic distribution value of the electromagnetic torque of the first servo electric cylinder drive motor. Indicates the lead of the second servo electric cylinder screw, represents the efficiency of the second servo electric cylinder screw, Indicates the dynamic distribution value of the electromagnetic torque of the second servo electric cylinder drive motor. Indicates the speed of the first servo electric cylinder drive motor. Indicates the dynamic distribution value of electromagnetic torque of the first servo electric cylinder driving motor , speed The efficiency function under Indicates the power of the first servo electric cylinder drive motor, Indicates the speed of the second servo electric cylinder drive motor. Indicates the dynamic distribution value of electromagnetic torque of the second servo electric cylinder drive motor , speed The efficiency function under Indicates the power of the second servo electric cylinder drive motor; The following method is used to obtain the dynamic distribution value of the electromagnetic torque of the two servo electric cylinder drive motors: S41: Combining equation (3) with equation (4) yields equation (5): (5); S42: Introduce slack variables to transform the inequality constraint of formula (5) into an equivalent equality constraint. The transformed equality constraint is formula (6): （6）； in: represents the slack variable introduced by the first servo electric cylinder, represents the slack variable introduced by the second servo electric cylinder; S43: Simplify equation (6) to obtain equation (7): （7）； S44: Apply the Lagrange multiplier method to introduce equality and inequality constraints into the objective function, and obtain the Lagrangian function of the maximization optimization problem as equation (8): （8）； in: The Lagrangian function representing the maximization optimization problem, Lagrange multipliers representing equality constraints, represents the Lagrange multiplier used by the first servo electric cylinder to handle the equality constraints introduced by its slack variables, represents the Lagrange multiplier used by the second servo electric cylinder to handle the equality constraints introduced by its slack variables; S45: Apply the necessary conditions for the optimal solution of nonlinear programming to transform the maximization optimization problem into algebraic equation (9) for solution: (9)； S46: applying the generalized minimum residual method to solve equation (9) to obtain a solution vector containing dynamic distribution values ​​of electromagnetic torques of two servo electric cylinder drive motors; The necessary conditions for the optimal solution of the nonlinear programming in step S45 include stationary point conditions, original problem feasibility conditions, dual feasibility conditions and complementary relaxation conditions; The stationary point condition is formula (10): (10); S5: The two servo electric cylinder controllers control the corresponding servo electric cylinder drive motors to work according to the dynamic distribution value of the electromagnetic torque of the corresponding servo electric cylinder drive motors, so as to realize the extension and retraction of the servo electric cylinders, and the output thrust acts on the push rudder tiller handle to drive the push rudder tiller handle to rotate.

2. A ship driving torque distribution control method based on energy efficiency optimization according to claim 1, characterized in that: The feasibility condition of the original problem, the dual feasibility condition and the complementary relaxation condition are as follows: （11）。 3. The ship driving torque distribution control method based on energy efficiency optimization according to claim 1 is characterized in that: In step S5, the two servo electric cylinder controllers calculate the output thrust of the corresponding servo electric cylinder according to equation (12): （12）； in: Indicates the output thrust of the first servo electric cylinder, Represents the proportional control gain of the first servo electric cylinder controller, Indicates the control deviation of the dynamic distribution value of the electromagnetic torque of the first servo electric cylinder drive motor. represents the integral control gain of the first servo electric cylinder controller, Indicates the output thrust of the second servo electric cylinder, represents the proportional control gain of the second servo electric cylinder controller, Indicates the control deviation of the dynamic distribution value of the electromagnetic torque of the second servo electric cylinder drive motor. Represents the integral control gain of the second servo electric cylinder controller.

4. A ship driving torque distribution control system based on energy efficiency optimization, characterized in that: Used to execute a ship driving torque distribution control method based on energy efficiency optimization as described in any one of claims 1 to 3, which includes two servo electric cylinders, a push-rudder tiller handle, a steering gear angle controller, a rudder speed controller, a torque distribution controller and two servo electric cylinder controllers, the two servo electric cylinders are installed on a base, the push-rudder tiller handle is rotatably installed on the base, and the two servo electric cylinders are symmetrically arranged relative to the push-rudder tiller handle, the two servo electric cylinders are respectively connected to the push-rudder tiller handle to form a connecting rod mechanism to drive the push-rudder tiller handle to rotate, the steering gear angle controller, the rudder speed controller and the torque distribution controller are connected in sequence, the torque distribution controller is respectively connected to the two servo electric cylinder controllers, and the two servo electric cylinder controllers are respectively connected to the corresponding servo electric cylinder drive motors.

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