A control system and method for controlling pitch propeller propulsion balance

Abstract

The present invention proposes a control system and method for adjusting pitch propulsion balance, comprising a ship propulsion device, a speed regulating module and a pitch regulating module, wherein the ship propulsion device comprises a train clock, a propulsion center control box, a diesel engine and an adjustable pitch propeller, and the propulsion center control box is respectively connected to the train clock, the diesel engine and the adjustable pitch propeller by signal; the train clock has two control modes: collaborative control and independent control; the ship propulsion device is arranged in pairs to form a left propulsion device and a right propulsion device, and the two are connected by signal transmission to realize the linkage operation of the train clock and the collaborative control of the double-engine and double-propeller propulsion system, so that the speed and pitch are automatically synchronized, the ship load is automatically balanced, and the ship yaw is avoided; the present invention realizes load balancing of the left and right diesel engines and pitch balancing of the left and right adjustable pitch propellers by synchronously connecting the left and right propulsion devices to the speed regulating module and the pitch regulating module respectively in the collaborative control mode, so as to avoid frequent operation, prevent the ship from deviating from the given route and frequently steering.

Description

Technical Field

[0001] The present invention relates to the field of ship propulsion technology, and in particular to a controllable pitch propeller propulsion balancing control system and method. Background Art

[0002] The ship's adjustable pitch twin-engine twin-propeller propulsion system is a propulsion device consisting of two main engines and two sets of variable pitch propellers. On the one hand, this propulsion system can fully utilize the main engine power under various navigation conditions by changing the pitch, thereby improving the ship's efficiency and maneuverability. On the other hand, because the ship is equipped with two sets of propulsion devices, when one device fails, the ship can still continue to operate, thereby improving the ship's safety and reliability. Based on the above characteristics, ships with adjustable pitch twin-engine twin-propeller propulsion systems are widely used in tugboats, icebreakers, warships, large passenger ships and other types of ships.

[0003] In the traditional dual-engine dual-propeller propulsion system, when the ship operates the engine bell, it is necessary to operate two engine bell handles at the same time to control the respective main engine speed and adjustable pitch propeller pitch, which brings certain inconvenience to the ship operation; in addition, during the navigation process of the ship, it is impossible to ensure that the fuel rack scales of the left and right main engines and the pitch sizes of the left and right adjustable pitch propellers are consistent, resulting in unbalanced propulsion load of the ship, ship yaw, frequent operation, steering and other problems. Summary of the invention

[0004] The purpose of the present invention is to solve the above problems and to propose a balancing control method that can coordinately control the main engine speed and the adjustable pitch propeller pitch, so that the ship load is automatically balanced and the ship's yaw and frequent maneuvering and steering are avoided.

[0005] To achieve the above object, the present invention proposes a controllable pitch propeller propulsion balance control system, including a ship propulsion device, a speed adjustment module and a pitch adjustment module:

[0006] The ship propulsion device comprises a ship clock, a propulsion center control box, a diesel engine and a pitch-adjustable propeller, and the propulsion center control box is respectively connected to the ship clock, the diesel engine and the pitch-adjustable propeller by signal;

[0007] When the ship propulsion device is working, the bell handle is pushed, and the diesel engine load is transmitted to the adjustable pitch propeller through the transmission shaft system and the gear box; the diesel engine speed is adjusted by adjusting its throttle scale; the adjustable pitch propeller pitch is adjusted by adjusting the hydraulic system and the oil distributor; by adjusting the speed and pitch size, different propulsion conditions of the ship are met, the best matching of ship-engine-propeller characteristics is achieved, the ship propulsion performance is optimized, and the fuel consumption rate is reduced.

[0008] The car clock has two control modes: coordinated control and independent control;

[0009] The speed regulating module is used to perform speed regulation correction on the load characteristics of the diesel engine and output a speed regulation signal; the pitch regulating module is used to compensate for the pitch setting of the adjustable pitch propeller and output a pitch fine-tuning signal;

[0010] The ship propulsion devices are arranged in pairs to form a left propulsion device and a right propulsion device, and the left propulsion device and the right propulsion device are connected by signal transmission to achieve coordinated control;

[0011] In the collaborative control mode, the left propulsion device and the right propulsion device are synchronously connected to the speed regulation module to achieve load balancing of the left diesel engine and the right diesel engine; the left propulsion device and the right propulsion device are synchronously connected to the pitch regulation module to achieve pitch balancing of the left adjustable pitch propeller and the right adjustable pitch propeller.

[0012] Furthermore, the left propulsion device includes a left diesel engine, a left adjustable pitch propeller, a left propulsion center control box and a left car clock:

[0013] The handle of the left car clock has two control modes: coordinated control and independent control;

[0014] The left diesel engine is connected to the left controllable pitch propeller through the left transmission shaft system and the left speed change gear box;

[0015] The left propulsion device detects the shaft speed of the left controllable pitch propeller in real time through a left shaft speed detection unit;

[0016] The left propulsion device detects the left diesel engine speed in real time through the left speed detection unit, and the left diesel engine adjusts the left diesel engine speed by adjusting its throttle scale;

[0017] The left propulsion device detects the pitch value of the left adjustable pitch propeller in real time through the left pitch detection unit; the pitch value of the left adjustable pitch propeller is transmitted to the left propulsion center control box through the pitch transmitter;

[0018] The left adjustable pitch propeller adjusts the pitch of the adjustable pitch propeller through the left hydraulic system and the left oil distributor; the left hydraulic system and the left oil distributor are connected to the left propulsion center control box by signal;

[0019] The left propulsion center control box is also respectively connected with the left car clock handle, the left diesel engine, the left adjustable pitch propeller, and the left speed change gear box by signals.

[0020] Furthermore, the right propulsion device includes a right diesel engine, a right adjustable pitch propeller, a right propulsion center control box and a right car clock:

[0021] The right propulsion center control box is connected with the left propulsion center control box through a CAN bus for signal transmission to achieve real-time information sharing;

[0022] The handle of the right car clock has two control modes: coordinated control and independent control;

[0023] The right diesel engine is connected to the right controllable pitch propeller through the right transmission shaft system and the right speed change gear box;

[0024] The right propulsion device detects the shaft speed of the right controllable pitch propeller in real time through a right shaft speed detection unit;

[0025] The right propulsion device detects the speed of the right diesel engine in real time through the right speed detection unit, and the right diesel engine adjusts the speed of the right diesel engine by adjusting its throttle scale;

[0026] The right propulsion device detects the pitch value of the right adjustable pitch propeller in real time through the right pitch detection unit; the pitch value of the right adjustable pitch propeller is transmitted to the right propulsion center control box through the pitch transmitter;

[0027] The right adjustable pitch propeller adjusts the pitch of the adjustable pitch propeller through the right hydraulic system and the right oil distributor; the right hydraulic system and the right oil distributor are connected to the right propulsion center control box by signal;

[0028] The right propulsion center control box is also respectively connected with the right car clock handle, the right diesel engine, the right adjustable pitch propeller, and the right speed change gear box by signal.

[0029] Furthermore, when the car clock is in the coordinated control mode, the left car clock is pushed to a certain car command position, the car command transmitter will automatically send out a current signal, and the left diesel engine automatically increases or decreases the throttle to adjust the speed and pitch according to the car command signal. At the same time, the left car command signal is transmitted to the right propulsion center control box via the CAN bus, and the right propulsion center control box sends the same car command signal to the right car clock, so that the right car clock automatically follows the left car type synchronously, realizing the coordinated control of the left and right car clocks, and the right diesel engine automatically increases or decreases the throttle to adjust the speed and pitch according to the car command signal; similarly, when the car clock is in the coordinated control mode, the right car clock is pushed to a certain car command position, and the left car clock realizes the synchronous following action in the same way; when the car clock is in the coordinated control mode, one of the left car clock or the right car clock is pushed, and the left diesel engine and the right diesel engine synchronously automatically increase or decrease the throttle to adjust the speed and pitch according to the car command signal. In the coordinated control mode, only one car clock needs to be adjusted to achieve the goal of coordinated control of the two car clocks, thereby improving the maneuverability of the ship. When a propulsion system fails or the two propulsion systems need to be controlled separately, the clock can be put into independent control mode, which has the same function as the traditional twin-engine, twin-propeller propulsion mode.

[0030] Furthermore, the left and right propulsion center control boxes share real-time information through the CAN bus, ensuring that the throttle scale and pitch of the left and right propulsion systems of the pitch-adjustable propellers are always consistent during ship operation or ocean-going automatic driving mode, and the ship's propulsion speed and pitch are automatically balanced, ensuring that the load of the two engines and two propellers of the same capacity and model is automatically balanced, avoiding frequent operation of the engine clock, ship yaw and frequent steering. When it is necessary to manually adjust the speed or pitch, you can press the manual button respectively to manually adjust the speed or pitch of the two diesel engines.

[0031] Furthermore, the speed regulating module includes:

[0032] Throttle limit submodule: includes maximum throttle limit MAX and minimum throttle limit MIN, which are used to limit the throttle signal;

[0033] Speed-throttle generator: converts the throttle signal into a speed signal according to the diesel engine load characteristic curve;

[0034] Speed ​​limit submodule: outputs the speed correction signal of the diesel engine through speed limit processing;

[0035] Speed ​​calibration submodule: compares the set speed of the diesel engine with the speed correction signal and outputs a speed adjustment signal.

[0036] Furthermore, the maximum throttle limit includes torque limit, boost air pressure limit and maximum fuel injection amount limit. The throttle signal outputs a minimum value through a selector to prevent the diesel engine from overloading; the minimum throttle limit includes a minimum fuel injection amount limit. When the throttle output signal should exceed this limit value, the selector outputs the minimum throttle limit value.

[0037] Furthermore, the pitch adjustment module includes:

[0038] Comparator: calculates the pitch deviation values ​​of the left and right controllable pitch propellers, and outputs the pitch deviation signal between the left and right propellers;

[0039] The pitch limiting submodule performs pitch limiting processing on the pitch deviation signal, and outputs pitch correction values ​​of the left and right controllable pitch propellers respectively;

[0040] The pitch correction submodule compares the pitch correction value with the set pitch and outputs pitch fine-tuning signals for the left and right controllable pitch propellers respectively.

[0041] A controllable pitch propeller propulsion balancing control method, based on the above controllable pitch propeller propulsion balancing control system, including a diesel engine load balancing control method and a controllable pitch propeller pitch balancing control method;

[0042] The diesel engine load balancing control method comprises: detecting the rotation speed or throttle scale of the left diesel engine and the right diesel engine in real time through the left propulsion device and the right propulsion device respectively; performing secondary speed regulation correction on the diesel engine load characteristics according to the throttle scale difference between the left and right diesel engines through the speed regulation module, so as to realize the diesel engine load balancing function;

[0043] The control method for controlling the pitch balancing of the adjustable pitch propeller is as follows: the pitch values ​​of the left adjustable pitch propeller and the right adjustable pitch propeller are detected in real time by the left propulsion device and the right propulsion device respectively, and the pitch setting is compensated according to the pitch difference between the left and right adjustable pitch propellers by using the pitch adjustment module, so as to realize the function of adjusting the pitch balancing of the adjustable pitch propeller.

[0044] Furthermore, the diesel engine load balancing control method specifically includes the following steps:

[0045] S1: Detect the speed or throttle scale of the left diesel engine and the right diesel engine respectively;

[0046] S2: The detected left diesel engine speed or throttle scale signal is transmitted to the left propulsion center control box; the right diesel engine speed or throttle scale signal is transmitted to the right propulsion center control box;

[0047] S3: The left center control box and the right center control box synchronously transmit the throttle feedback signal to the speed regulation module for throttle limiting processing;

[0048] S4: The output throttle signal after throttle limitation enters the speed-throttle generator and the diesel engine load characteristic curve, and then after speed limitation, the speed correction signals of the left and right diesel engines are output;

[0049] S5: After comparing the set speed of the left and right diesel engines with the speed correction signal, the left engine speed adjustment signal and the right engine speed adjustment signal are output respectively;

[0050] S6: The left engine speed adjustment signal is transmitted to the left propulsion center control box, and the right engine speed adjustment signal is transmitted to the right propulsion center control box for processing. The left and right diesel engines adjust the speed by increasing or decreasing the throttle respectively, and finally the load balance of the two diesel engines is achieved.

[0051] Furthermore, the pitch balancing control method of the controllable pitch propeller is specifically as follows:

[0052] S1: Detect the pitch values ​​of the left and right controllable pitch propellers respectively;

[0053] S2: transmitting the pitch value signal of the left adjustable pitch propeller to the left propulsion center control box, transmitting the pitch value signal of the right adjustable pitch propeller to the right propulsion center control box, and outputting the left propeller pitch feedback signal and the right propeller pitch feedback signal;

[0054] S3: Calculate the left and right propeller pitch deviation values ​​according to the left propeller pitch feedback signal and the right propeller pitch feedback signal, and output the left and right propeller pitch deviation signals;

[0055] S4: After performing pitch limiting processing on the left and right propeller pitch deviation signals, the left and right propeller pitch correction values ​​are output respectively;

[0056] S5: After comparing the corrected pitches of the left and right propellers with the set pitches of the left and right propellers, a left propeller pitch fine-tuning signal and a right propeller pitch fine-tuning signal are output respectively;

[0057] S6: The left propeller pitch fine-tuning signal is transmitted to the left propulsion center control box for processing, and a left pitch adjustment command is issued; at the same time, the right propeller pitch fine-tuning signal is transmitted to the right propulsion center control box for processing, and a right pitch adjustment command is issued.

[0058] S7: According to the left pitch adjustment instruction and the right pitch adjustment instruction, the pitches of the left and right adjustable pitch propellers are adjusted to achieve pitch balance of the two adjustable pitch propellers.

[0059] Compared with the prior art, the advantages of the present invention are:

[0060] The present invention adds a collaborative control mode to the traditional dual-engine dual-propeller propulsion mode through a bell handle with a collaborative control mode and an independent control mode. Through the synchronous linkage of the paired propulsion devices in the collaborative mode, when any one bell handle is manipulated, the other bell will automatically follow the action, so that the main engine fuel rack scale and the adjustable pitch propeller pitch in the two propulsion devices are automatically consistent, thereby realizing bell linkage manipulation, collaborative control, automatic synchronization of rotation speed and pitch in the dual-engine dual-propeller propulsion system, automatic balancing of the ship load, and avoiding ship yaw and frequent steering.

[0061] The present invention detects the throttle scales and pitch values ​​of the left and right main engines of a ship when the ship is automatically navigating at sea in real time, and uses a speed adjustment module and a pitch adjustment module to perform secondary corrections on the main engine load and the pitch of the adjustable pitch propeller, thereby avoiding frequent operation and steering. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 Schematic diagram of a controllable pitch propeller propulsion balancing control system and method in an embodiment of the present invention;

[0063] Figure 2 This is a schematic diagram of a controllable pitch propeller propulsion balancing control system according to an embodiment of the present invention;

[0064] Figure 3 Schematic diagram of a ship propulsion device in an embodiment of the present invention. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further described below.

[0066] This embodiment proposes a controllable pitch propeller propulsion balance control system, such as Figure 2 As shown, the system includes a ship propulsion device, a speed adjustment module and a pitch adjustment module, wherein the ship propulsion device includes a clock 2, a propulsion center control box 1, a diesel engine 5 and a pitch control propeller 3, as shown in FIG. Figure 3 As shown, the diesel engine 5 is connected to the adjustable pitch propeller 3 through the transmission shaft system and the gear box 4, the engine clock 2 has two control modes: coordinated control and independent control, and the propulsion center control box 1 is respectively connected with the engine clock 2, the diesel engine 5 and the adjustable pitch propeller 3 by signal; when the ship propulsion device is started, the handle of the engine clock 2 is pushed, and the load of the diesel engine 5 is transmitted to the adjustable pitch propeller 3 through the transmission shaft system and the gear box 4; the main engine speed is adjusted by adjusting the main engine throttle scale; the adjustable pitch propeller pitch is adjusted by adjusting the hydraulic system and the oil distributor; by adjusting the speed and pitch size, different propulsion conditions of the ship are met, and the best matching of the ship-engine-propeller characteristics is achieved.

[0067] The above-mentioned ship propulsion device is arranged in pairs to form a left propulsion device and a right propulsion device, such as Figure 1 As shown, the left propulsion device includes a left diesel engine, a left adjustable pitch propeller, a left propulsion center control box and a left car clock, wherein the handle of the left car clock has two control modes: coordinated control and independent control; the left diesel engine is connected to the left adjustable pitch propeller through the left transmission shaft system and the left speed change gear box; in the left propulsion device, the shaft speed of the left adjustable pitch propeller is detected in real time through the left shaft speed detection unit; the left diesel engine speed is detected in real time through the left speed detection unit, and the main engine speed is adjusted by adjusting the main engine throttle scale; the left pitch detection unit detects the pitch of the left adjustable pitch propeller in real time value; the left adjustable pitch propeller pitch value is transmitted to the left propulsion center control box through the pitch transmitter; the left adjustable pitch propeller adjusts the adjustable pitch propeller pitch through the left hydraulic system and the left oil distributor; the left hydraulic system and the left oil distributor are connected with the left propulsion center control box signal; the left propulsion center control box is also connected with the left car bell handle, the left diesel engine, the left adjustable pitch propeller, and the left speed gear box signal respectively, so that the left propulsion center control box can receive the car command signal of the left car bell handle, the speed (throttle) signal of the left diesel engine, the shaft speed signal of the left adjustable pitch propeller, and the pitch signal of the left adjustable pitch propeller.

[0068] like Figure 1As shown, the right propulsion device is the same as the above-mentioned left propulsion device, which includes a right diesel engine, a right adjustable pitch propeller, a right propulsion center control box and a right car clock. The handle of the right car clock also has two control modes: coordinated control and independent control. The right diesel engine is connected to the right adjustable pitch propeller through the right transmission shaft system and the right speed change gear box. In the right propulsion device, the shaft speed of the right adjustable pitch propeller is detected in real time through the right shaft speed detection unit. The right speed detection unit detects the speed of the right diesel engine in real time. The right diesel engine adjusts the main engine speed by adjusting the main engine throttle scale. The right pitch detection unit detects the speed of the right diesel engine in real time. The pitch value of the right adjustable pitch propeller is measured; the pitch value of the right adjustable pitch propeller is transmitted to the right propulsion center control box through the pitch transmitter; the right adjustable pitch propeller adjusts the pitch of the adjustable pitch propeller through the right hydraulic system and the right oil distributor; the right hydraulic system and the right oil distributor are connected with the right propulsion center control box by signal; the right propulsion center control box is also connected with the right car bell handle, the right diesel engine, the right adjustable pitch propeller, and the right speed gear box by signal, so that the right propulsion center control box can receive the car command signal of the right car bell handle, the speed (throttle) signal of the right diesel engine, the shaft speed signal of the right adjustable pitch propeller, and the pitch signal of the right adjustable pitch propeller.

[0069] In the above-mentioned left propulsion control device and right propulsion device, the left propulsion central control box is connected with the right propulsion central control box through the CAN bus for signal transmission, so as to realize real-time information sharing; when the car clock is in the collaborative control mode, the left car clock is pushed to a certain car order position, and the car order transmitter will automatically send out a 4-20mA current signal, and the left diesel engine will automatically increase or decrease the throttle to adjust the speed and pitch according to the car order signal. At the same time, the left car order signal is transmitted from the left propulsion central control box to the right propulsion central control box through the CAN bus. At this time, the right propulsion central control The control box sends the same car command signal to the right car clock, so that the right car clock automatically follows the left car clock synchronously, thereby realizing the coordinated control of the left and right car clocks. The right diesel engine automatically increases or decreases the throttle to adjust the speed and pitch according to the car command signal; similarly, when the car clock is in the coordinated control mode, when the right car clock is pushed to a certain car command position, the left car clock will achieve synchronous following action in the same way; when the car clock is in the coordinated control mode, push one of the left car clock or the right car clock, and the left diesel engine and the right diesel engine will automatically increase or decrease the throttle to adjust the speed and pitch according to the car command signal. Therefore, it can be seen that in this coordinated control mode, only one car clock needs to be adjusted to achieve the goal of coordinated control of the two car clocks, which effectively improves the ship's maneuverability. In addition, when a propulsion system fails or two propulsion systems need to be controlled separately, the car clock can be selected in the independent control mode. At this time, its function is the same as the traditional dual-engine dual-propeller propulsion mode.

[0070] In this embodiment, the speed regulation module is used to perform speed regulation correction on the load characteristics of the diesel engine and output a speed regulation signal; the pitch regulation module is used to compensate for the pitch setting of the adjustable pitch propeller and output a pitch fine-tuning signal; Figure 1As shown, the speed regulation module includes a throttle limit submodule, a speed-throttle generator, a speed limit submodule and a speed calibration submodule, wherein the throttle limit submodule is used to limit the throttle signal, which includes a maximum throttle limit MAX and a minimum throttle limit MIN, wherein the maximum throttle limit MAX includes a torque limit, a charge air pressure limit and a maximum fuel injection amount limit, and the throttle signal outputs a minimum value through a selector to prevent the diesel engine from being overloaded; the minimum throttle limit MIN includes a minimum fuel injection amount limit, and when the throttle output signal should exceed the limit value, the selector outputs the minimum throttle limit value; the speed-throttle generator converts the throttle signal into a speed signal according to the diesel engine load characteristic curve; the speed limit submodule is used to output a speed correction signal of the diesel engine through speed limit processing; the speed calibration submodule is used to compare the set speed of the diesel engine with the speed correction signal and output a speed regulation signal.

[0071] In this embodiment, the pitch adjustment module includes a comparator, a pitch limiting submodule and a pitch correction submodule, wherein the comparator is used to calculate the pitch deviation value of the left adjustable pitch propeller and the right adjustable pitch propeller, and output the pitch deviation signal between the left and right propellers; the pitch limiting submodule is used to perform pitch limiting processing on the pitch deviation signal, and output the pitch correction values ​​of the left adjustable pitch propeller and the right adjustable pitch propeller respectively; the pitch correction submodule is used to compare the pitch correction value with the set pitch, and output the pitch fine-tuning signals of the left adjustable pitch propeller and the right adjustable pitch propeller respectively.

[0072] In this embodiment, based on the above-mentioned adjustable pitch propeller propulsion balancing control system, a adjustable pitch propeller propulsion balancing control method is used, so that the left propulsion device and the right propulsion device can achieve load balancing of the left diesel engine and the right diesel engine by synchronously connecting the speed adjustment module in the collaborative control mode; and can also achieve pitch balancing of the left adjustable pitch propeller and the right adjustable pitch propeller by synchronously connecting the pitch adjustment module.

[0073] The above-mentioned adjustable pitch propeller propulsion balancing control method includes a diesel engine load balancing control method and a adjustable pitch propeller pitch balancing control method.

[0074] Among them, Figure 1 As shown, the specific steps of the diesel engine load balancing control method are as follows:

[0075] S1: Detect the speed or throttle scale of the left diesel engine and the right diesel engine respectively;

[0076] S2: The detected left diesel engine speed or throttle scale signal is transmitted to the left propulsion center control box; the right diesel engine speed or throttle scale signal is transmitted to the right propulsion center control box;

[0077] S3: The left center control box and the right center control box synchronously transmit the throttle feedback signal to the speed regulation module for throttle limiting processing;

[0078] S4: The output throttle signal after throttle limitation enters the speed-throttle generator and the diesel engine load characteristic curve, and then after speed limitation, the speed correction signals of the left and right diesel engines are output;

[0079] S5: After comparing the set speed of the left and right diesel engines with the speed correction signal, the left engine speed adjustment signal and the right engine speed adjustment signal are output respectively;

[0080] S6: The left engine speed adjustment signal is transmitted to the left propulsion center control box, and the right engine speed adjustment signal is transmitted to the right propulsion center control box for processing. The left and right diesel engines adjust the speed by increasing or decreasing the throttle respectively, and finally the load balance of the two diesel engines is achieved.

[0081] like Figure 1 As shown, the specific steps of the pitch balancing control method for the adjustable pitch propeller are as follows:

[0082] S1: Detect the pitch values ​​of the left and right controllable pitch propellers respectively;

[0083] S2: The pitch value signal of the left adjustable pitch propeller is transmitted to the left propulsion center control box through the pitch transmitter, and the pitch value signal of the right adjustable pitch propeller is transmitted to the right propulsion center control box, and the left propeller pitch feedback signal and the right propeller pitch feedback signal are output;

[0084] S3: Calculate the left and right propeller pitch deviation values ​​according to the left propeller pitch feedback signal and the right propeller pitch feedback signal, and output the left and right propeller pitch deviation signals;

[0085] S4: After performing pitch limiting processing on the left and right propeller pitch deviation signals, the left and right propeller pitch correction values ​​are output respectively;

[0086] S5: After comparing the corrected pitches of the left and right propellers with the set pitches of the left and right propellers, a left propeller pitch fine-tuning signal and a right propeller pitch fine-tuning signal are output respectively;

[0087] S6: The left propeller pitch fine-tuning signal is transmitted to the left propulsion center control box for processing, and a left pitch adjustment command is issued; at the same time, the right propeller pitch fine-tuning signal is transmitted to the right propulsion center control box for processing, and a right pitch adjustment command is issued.

[0088] S7: According to the left pitch adjustment instruction and the right pitch adjustment instruction, the pitches of the left and right adjustable pitch propellers are adjusted to achieve pitch balance of the two adjustable pitch propellers.

[0089] In the above diesel engine load balancing control method and adjustable pitch propeller pitch balancing control method, when manual adjustment of the speed or pitch is required, the manual buttons can be pressed respectively to manually adjust the speed or pitch of the two diesel engines.

[0090] In this embodiment, the left and right propulsion center control boxes realize real-time information sharing through the CAN bus, ensuring that the throttle scale and pitch of the left and right propulsion systems of the adjustable pitch propellers are always consistent during ship operation or ocean-going automatic driving mode, and the ship's propulsion speed and pitch are automatically balanced, ensuring that the load of two engines and two propellers of the same capacity and model is automatically balanced, avoiding frequent operation of the engine clock and ship deviation.

[0091] The above is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any technician in the relevant technical field, without departing from the scope of the technical solution of the present invention, makes any form of equivalent replacement or modification to the technical solution and technical content disclosed in the present invention, which does not depart from the content of the technical solution of the present invention and still falls within the protection scope of the present invention.

Claims

1. A control system for propulsion balance of a controllable pitch propeller, characterized in that: Including ship propulsion device, speed control module and pitch control module: The ship propulsion device comprises a ship clock, a propulsion center control box, a diesel engine and a pitch-adjustable propeller, and the propulsion center control box is respectively connected to the ship clock, the diesel engine and the pitch-adjustable propeller by signal; The car clock has two control modes: coordinated control and independent control; The speed regulating module comprises: Throttle limit submodule: includes maximum throttle limit and minimum throttle limit, used to limit the throttle signal; Speed-throttle generator: converts the throttle signal into a speed signal according to the diesel engine load characteristic curve; Speed ​​limit submodule: outputs the speed correction signal of the diesel engine through speed limit processing; Speed ​​calibration submodule: compares the set speed of the diesel engine with the speed correction signal and outputs a speed adjustment signal; The speed regulation module is used to perform speed regulation correction on the load characteristics of the diesel engine and output a speed regulation signal; The pitch adjustment module comprises: Comparator: calculates the pitch deviation values ​​of the left and right controllable pitch propellers, and outputs the pitch deviation signal between the left and right propellers; The pitch limiting submodule performs pitch limiting processing on the pitch deviation signal, and outputs pitch correction values ​​of the left and right controllable pitch propellers respectively; Pitch calibration submodule: compares the pitch correction value with the set pitch, and outputs pitch fine-tuning signals for the left and right controllable pitch propellers respectively; The pitch adjustment module is used to compensate the pitch setting of the controllable pitch propeller and output a pitch fine-tuning signal; The ship propulsion devices are arranged in pairs to form a left propulsion device and a right propulsion device, and the left propulsion device and the right propulsion device are connected by signal transmission to achieve coordinated control; In the collaborative control mode, the left propulsion device and the right propulsion device are synchronously connected to the speed regulation module to achieve load balancing of the left diesel engine and the right diesel engine; the left propulsion device and the right propulsion device are synchronously connected to the pitch regulation module to achieve pitch balancing of the left adjustable pitch propeller and the right adjustable pitch propeller.

2. A controllable pitch propeller propulsion balance control system according to claim 1, characterized in that: The left propulsion device includes a left diesel engine, a left adjustable pitch propeller, a left propulsion center control box and a left car clock: The handle of the left car clock has two control modes: coordinated control and independent control; The left diesel engine is connected to the left controllable pitch propeller through the left transmission shaft system and the left speed change gear box; The left propulsion device detects the shaft speed of the left controllable pitch propeller in real time through a left shaft speed detection unit; The left propulsion device detects the left diesel engine speed in real time through the left speed detection unit, and the left diesel engine adjusts the left diesel engine speed by adjusting its throttle scale; The left propulsion device detects the pitch value of the left adjustable pitch propeller in real time through the left pitch detection unit; the pitch value of the left adjustable pitch propeller is transmitted to the left propulsion center control box through the pitch transmitter; The left propulsion device adjusts the pitch of the adjustable pitch propeller through the left hydraulic system and the left oil distributor; the left hydraulic system and the left oil distributor are connected to the left propulsion center control box by signal; The left propulsion center control box is also respectively connected with the left car clock handle, the left diesel engine, the left adjustable pitch propeller, and the left speed change gear box by signals.

3. A controllable pitch propeller propulsion balance control system according to claim 2, characterized in that: The right propulsion device includes a right diesel engine, a right adjustable pitch propeller, a right propulsion center control box and a right car clock: The right propulsion center control box is connected with the left propulsion center control box through a CAN bus for signal transmission to achieve real-time information sharing; The handle of the right car clock has two control modes: coordinated control and independent control; The right diesel engine is connected to the right controllable pitch propeller through the right transmission shaft system and the right speed change gear box; The right propulsion device detects the shaft speed of the right controllable pitch propeller in real time through a right shaft speed detection unit; The right propulsion device detects the speed of the right diesel engine in real time through the right speed detection unit, and the right diesel engine adjusts the speed of the right diesel engine by adjusting its throttle scale; The right propulsion device detects the pitch value of the right adjustable pitch propeller in real time through the right pitch detection unit; the pitch value of the right adjustable pitch propeller is transmitted to the right propulsion center control box through the pitch transmitter; The right adjustable pitch propeller adjusts the pitch of the adjustable pitch propeller through the right hydraulic system and the right oil distributor; the right hydraulic system and the right oil distributor are connected to the right propulsion center control box by signal; The right propulsion center control box is also respectively connected with the right car clock handle, the right diesel engine, the right adjustable pitch propeller, and the right speed change gear box by signal.

4. A controllable pitch propeller propulsion balance control system according to claim 3, characterized in that: When the car clock is in the coordinated control mode, the left car clock is pushed to a certain car command position, the car command transmitter will automatically send out a current signal, and the left diesel engine automatically increases or decreases the throttle to adjust the speed and pitch according to the car command signal. At the same time, the left car command signal is transmitted to the right propulsion center control box via the CAN bus, and the right propulsion center control box sends the same car command signal to the right car clock, so that the right car clock automatically follows the left car clock synchronously to achieve coordinated control of the left and right car clocks, and the right diesel engine automatically increases or decreases the throttle to adjust the speed and pitch according to the car command signal; similarly, when the car clock is in the coordinated control mode, the right car clock is pushed to a certain car command position, and the left car clock realizes synchronous following action in the same way; when the car clock is in the coordinated control mode, one of the left car clock or the right car clock is pushed, and the left diesel engine and the right diesel engine synchronously automatically increase or decrease the throttle to adjust the speed and pitch according to the car command signal.

5. A controllable pitch propeller propulsion balance control system according to claim 4, characterized in that: The maximum throttle limit includes torque limit, boost air pressure limit and maximum fuel injection amount limit; the minimum throttle limit includes minimum fuel injection amount limit.

6. A controllable pitch propeller propulsion balancing control method, based on a controllable pitch propeller propulsion balancing control system according to any one of claims 1 to 5, characterized in that: Including a diesel engine load balancing control method and a controllable pitch propeller pitch balancing control method; The diesel engine load balancing control method comprises: detecting the rotation speed or throttle scale of the left diesel engine and the right diesel engine in real time through the left propulsion device and the right propulsion device respectively; Through the speed adjustment module, the diesel engine load characteristics are corrected for secondary speed adjustment according to the throttle scale difference between the left and right diesel engines, thus realizing the function of diesel engine load balancing; The control method for controlling the pitch balancing of the adjustable pitch propeller is as follows: the pitch values ​​of the left adjustable pitch propeller and the right adjustable pitch propeller are detected in real time by means of the left propulsion device and the right propulsion device respectively, and the pitch setting is compensated according to the pitch difference between the left and right adjustable pitch propellers by means of the pitch adjustment module, so as to realize the function of the pitch balancing of the adjustable pitch propeller.

7. A controllable pitch propeller propulsion balance control method according to claim 6, characterized in that: The diesel engine load balancing control method specifically comprises the following steps: S1: Detect the speed or throttle scale of the left diesel engine and the right diesel engine respectively; S2: The detected left diesel engine speed or throttle scale signal is transmitted to the left propulsion center control box; the right diesel engine speed or throttle scale signal is transmitted to the right propulsion center control box; S3: The left center control box and the right center control box synchronously transmit the throttle feedback signal to the speed regulation module for throttle limiting processing; S4: After the throttle limit, the throttle deviation signal between the left and right diesel engines is output to enter the speed-throttle generator and the diesel engine load characteristic curve, and then after the speed limit, the speed correction signal of the left and right diesel engines is output; S5: After comparing the set speed of the left and right diesel engines with the speed correction signal, the left engine speed adjustment signal and the right engine speed adjustment signal are output respectively; S6: The left engine speed adjustment signal is transmitted to the left propulsion center control box, and the right engine speed adjustment signal is transmitted to the right propulsion center control box for processing. The left and right diesel engines adjust the speed by increasing or decreasing the throttle respectively, and finally the load balance of the two diesel engines is achieved.

8. A controllable pitch propeller propulsion balance control method according to claim 7, characterized in that: The controllable pitch propeller pitch balancing control method is specifically as follows: S1: Detect the pitch values ​​of the left and right controllable pitch propellers respectively; S2: transmitting the pitch value signal of the left adjustable pitch propeller to the left propulsion center control box, transmitting the pitch value signal of the right adjustable pitch propeller to the right propulsion center control box, and outputting the left propeller pitch feedback signal and the right propeller pitch feedback signal; S3: Calculate the left and right propeller pitch deviation values ​​according to the left propeller pitch feedback signal and the right propeller pitch feedback signal, and output the left and right propeller pitch deviation signals; S4: After performing pitch limiting processing on the left and right propeller pitch deviation signals, the left and right propeller pitch correction values ​​are output respectively; S5: After comparing the corrected pitches of the left and right propellers with the set pitches of the left and right propellers, a left propeller pitch fine-tuning signal and a right propeller pitch fine-tuning signal are output respectively; S6: The left propeller pitch fine-tuning signal is transmitted to the left propulsion center control box for processing, and a left pitch adjustment command is issued; at the same time, the right propeller pitch fine-tuning signal is transmitted to the right propulsion center control box for processing, and a right pitch adjustment command is issued. S7: According to the left pitch adjustment instruction and the right pitch adjustment instruction, the pitches of the left and right adjustable pitch propellers are adjusted to achieve pitch balance of the two adjustable pitch propellers.

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