Controllable-pitch propeller system pressure estimation method, database and equipment

Abstract

The invention discloses a controllable-pitch propeller system pressure estimation method, a database and equipment. The method comprises the following steps: acquiring real-time operation data of a controllable-pitch propeller at a given moment; inquiring a hydraulic oil physical property parameter database according to the pressure and temperature measured data of the hydraulic oil to obtain physical property parameters; a hydrodynamic rotating vane torque model is calculated, and hydrodynamic rotating vane torque and advance speed coefficient calculation values are obtained; calculating a centrifugal force rotating vane torque model to obtain a centrifugal force rotating vane torque calculation value; calculating a friction torque model to obtain a friction torque calculation value; calculating the rotating vane mechanism model to obtain a piston rod stroke and a stress calculation value; a propeller hub oil cylinder and oil distributor model is calculated, and hydraulic oil volume flow, pressure and leakage amount calculation values are obtained; and calculating the control system model and the proportional control valve model to obtain the pressure estimation value of the controllable-pitch propeller system. According to the method, independent estimation is provided for the pressure of the controllable-pitch propeller system, support is provided for the operation state and fault early warning of the controllable-pitch propeller, and the operation safety of the controllable-pitch propeller can be improved.

Description

Technical Field

[0001] The present invention relates to the field of ship power systems, and in particular to a pressure estimation method, database and equipment for a controllable pitch propeller system. Background Art

[0002] The controllable pitch propeller is a core component of the ship's power system. Without changing the direction of the shaft system, it can adjust the pitch of the propeller blades to change the size and direction of the propeller's thrust, converting the power of the main engine into thrust for the ship, thereby enabling the ship to achieve operating conditions such as forward sailing, reverse sailing, and parking, as well as speed control or maneuvering, improving the ship's maneuverability and flexibility.

[0003] The controllable pitch propeller involves multiple key components such as hydraulic pumps, hydraulic pipelines, filters, one-way valves, relief valves, control systems, proportional control valves, oil distributors, propeller hub cylinders, blade turning mechanisms, and propeller blades. The load torque of the controllable pitch propeller is affected by the navigation status of the ship and the operating status of the controllable pitch propeller. When the load torque is too large, the controllable pitch propeller may fail to adjust the pitch, affecting the normal use of the controllable pitch propeller, and further affecting the maneuverability and safe navigation of the ship. In extreme cases, it may even damage the controllable pitch propeller, causing huge safety risks and economic losses.

[0004] Therefore, it is of great engineering significance to establish a controllable pitch propeller mechanism model and perform real-time simulation of the controllable pitch propeller system pressure. Summary of the invention

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is the lack of real-time simulation of the pressure of the controllable pitch propeller system and the low safety.

[0006] To achieve the above object, on the one hand, the present invention provides a pressure estimation method for a controllable pitch propeller system, the method comprising:

[0007] S1. Acquire the real-time operation data of the pitch-adjustable propeller at a given time; query the hydraulic oil physical property parameter database according to the measured data of the pressure and temperature of the hydraulic oil to obtain the physical property parameters;

[0008] S2, calculating the hydrodynamic blade moment model according to the measured values ​​of the ship main engine rotation speed and the ship sailing speed in the real-time operation data obtained in S1, and obtaining the calculated values ​​of the hydrodynamic blade moment and the advance coefficient;

[0009] S3, calculating the centrifugal force blade moment model according to the measured value of the ship main engine speed in the real-time operation data obtained in S1, and obtaining the calculated value of the centrifugal force blade moment;

[0010] S4, calculating the friction torque model according to the measured value of the pitch angle in the real-time operation data obtained in S1 and the calculated value of the advance speed coefficient obtained in S2, and obtaining the calculated value of the friction torque;

[0011] S5, calculating the blade rotating mechanism model according to the calculated value of the hydrodynamic blade rotating moment obtained in S2, the calculated value of the centrifugal blade rotating moment obtained in S3 and the calculated value of the friction moment obtained in S4, and obtaining the calculated value of the piston rod stroke and the piston rod force;

[0012] S6. Calculate the hub cylinder and oil distributor model based on the piston rod stroke and piston rod force calculated in S5, and obtain the hydraulic oil volume flow rate entering the A and B cylinders, the pressure at the A and B ports, and the leakage at the A and B ports of the oil distributor;

[0013] S7. Based on the pitch angle setting value signal in the real-time operation data obtained in S1, the calculated value of the hydraulic oil volume flow entering the A and B cylinders, the pressure of ports A and B, and the calculated value of the leakage of ports A and B of the oil distributor obtained in S6, the control system model and the proportional control valve model are calculated to obtain the estimated value of the controllable pitch propeller system pressure.

[0014] The present invention establishes a model of the pressure change process of the controllable pitch propeller system, realizes the real-time estimation of the controllable pitch propeller pitch, and can calculate the real-time estimated value of the controllable pitch propeller system pressure according to the measuring point data, and the result can be used as an independent estimation of the controllable pitch propeller system pressure.

[0015] In a preferred embodiment of the present invention, in S1, the real-time operation data includes: a set value signal θ of the pitch angle sp , pitch angle θ, ship main engine speed n e , measured values ​​of ship's sailing speed v and hydraulic oil temperature T;

[0016] Preferably, the input signal of the hydraulic oil physical property parameter database includes the hydraulic oil temperature T, and the output signal includes the density ρ and dynamic viscosity μ of the hydraulic oil.

[0017] In another preferred embodiment of the present invention, in S2, the hydrodynamic blade moment model is:

[0018] M sh =K sh ρ w n e 2 D 5

[0019] Where M sh To obtain the hydrodynamic blade torque, unit N·m; K sh To obtain the hydrodynamic rotor moment coefficient, dimensionless; ρ w is the density of water, kg / s; n e is the ship's main engine speed, rad / s; D is the blade diameter, m.

[0020] Preferably, the hydrodynamic blade moment coefficient K sh, according to the pitch angle and advance coefficient, query the controllable pitch propeller operation status database to obtain;

[0021] Preferably, the speed coefficient j is calculated using the following formula:

[0022]

[0023] Where j is the advance coefficient, dimensionless; v is the ship's sailing speed, m / s.

[0024] In another preferred embodiment of the present invention, in S3, the centrifugal force rotor torque model is:

[0025] M sc =F c,x y+F c,y x

[0026] Where M sc is the centrifugal force moment, N·m; y is the direction of the propeller shaft axis; z is the direction of the hub axis; x is the direction perpendicular to the y-axis and z-axis planes; F c,x and F c,y The centrifugal force F c Component forces in the x and y directions, N;

[0027] Preferably, the centrifugal force F c It is calculated using the following formula:

[0028]

[0029] In the formula, ρ b is the blade density, kg / s;

[0030] Preferably, the centrifugal force F c The force F in the x and y directions c,x and F c,y The following formulas are used for calculation:

[0031] F c,x =4πρ b n e 2 ∫∫∫xdxdydz

[0032] F c,y =4πρ b n e 2 ∫∫∫ydxdydz.

[0033] In another preferred embodiment of the present invention, in S4, the friction torque model is:

[0034] M sf =M sf,1 +Msf,2 +M sf,3

[0035] Where M sf,1 is the friction force generated by the combined force in the radial bearing, M sf,2 M is the friction torque generated by the composite bending moment in the plane bearing. sf,3 is the friction torque generated by the centrifugal force of the blade in the plane bearing;

[0036] Preferably, the friction torque M generated by the combined force in the radial bearing is sf,1 It is calculated using the following formula:

[0037]

[0038] Where, T is thrust, N; F Q is the tangential force, N; f is the friction coefficient, dimensionless; d r is the diameter of the radial bearing, m;

[0039] Preferably, the thrust T and the tangential force F Q It is necessary to calculate the actual value of the pitch angle θ and the speed of the main engine n e The measured value and the calculated value of the advance coefficient j are obtained by querying the controllable pitch propeller operation status database;

[0040] Preferably, the friction moment M generated by the composite bending moment in the plane bearing is sf,2 for:

[0041]

[0042] In the formula, R t is the thrust radius, m; R f is the tangential force radius, m;

[0043] Preferably, the thrust radius R t The calculation is done using the following formula:

[0044]

[0045] Where R is the blade radius, m; r b is the hub radius, m;

[0046] Preferably, the tangential force radius R f The calculation is done using the following formula:

[0047]

[0048] Preferably, the friction torque Msf,3 generated by the centrifugal force of the blade in the plane bearing is calculated using the following formula:

[0049]

[0050] Where D c,o D is the outer diameter of the crank disk, m; c,i is the diameter of the contact surface between the crank disk and the hub body, m.

[0051] In another preferred embodiment of the present invention, in S5, the blade rotating mechanism model is:

[0052]

[0053]

[0054] In the formula, h stem is the piston rod stroke, m; R crank is the radius of the crank disk where the crank is located, m; θ is the pitch angle, deg; N is the number of blades, dimensionless; J is the moment of inertia of the blades, kg·m 2 ; F stem is the force on the piston rod, N; m stem is the mass of the piston rod, kg.

[0055] In another preferred embodiment of the present invention, in S6, the hub cylinder model is:

[0056]

[0057] F stem =p B π(d cylinder 2 -d stem 2 )-p A πd cylinder 2

[0058] Where, d cylinder is the diameter of the propeller hub cylinder, m; d stem is the diameter of the piston rod, m; h stem is the piston rod stroke, m; m stem is the mass of the piston rod, kg; F stem is the force on the piston rod, N; Q A and Q B are the hydraulic oil volume flow rates entering cylinders A and B respectively; p A and p B The pressures at ports A and B, respectively, are Pa;

[0059] Preferably, the oil dispenser model is:

[0060]

[0061] In the formula, Q leak,Aand Q leak,B Respectively, the leakage of the A and B ports of the oil distributor, m3 / s; h A and h B are the gap lengths of the oil distributor A and B ports, m; r A and r B are the gap distances between the A and B ports of the oil distributor, m; ε e is the eccentricity correction coefficient, dimensionless; p0 is the atmospheric pressure, Pa; μ is the dynamic viscosity of the hydraulic oil, Pa·s;

[0062] Preferably, the eccentricity correction coefficient ε e The calculation is done using the following formula:

[0063] ε e =1+1.5e 2

[0064] Where, e is the eccentricity of the oil distributor, mm.

[0065] In another preferred embodiment of the present invention, in S7, the control system model is:

[0066]

[0067] Where s is the Laplace operator; y cv is the controller output, dimensionless; K P is the gain of the control system, dimensionless; τ I and τ D are the integral time constant and differential time constant of the control system, s; θ sp It is the pitch angle setting value signal in the real-time operation data obtained by S1; θ t-1 The real-time estimated value of the pitch angle calculated for the previous beat, deg;

[0068] Preferably, the proportional control valve spool displacement x cv The calculation is done using the following formula:

[0069]

[0070] In the formula, τ cv is the time constant of the proportional control valve, s; x cv is the displacement of the proportional control valve core, m; x cv,max is the maximum displacement of the proportional control valve spool, m;

[0071] Preferably, the proportional control valve model is:

[0072]

[0073] Q A =Qp-A -Q A-T -Q leak,A

[0074] Q B =Q P-B -Q B-T -Q leak,B

[0075] In the formula, p sys is the pressure of the controllable pitch propeller system, Pa; Q P-A , Q P-B , Q A-T , Q B-T are the hydraulic oil volume flow rates in the PA, PB, AT, and BT channels of the proportional control valve, m 3 / s; A P-A , A P-B , A A-T , A B-T are the flow areas of proportional control valves PA, PB, AT, and BT, respectively, m 2 ; C cv is the flow coefficient of the proportional control valve, dimensionless;

[0076] Preferably, the flow area A of the flow passages of the proportional control valves PA, PB, AT, and BT is P-A , A P-B , A A-T , A B-T The following formulas are used for calculation:

[0077]

[0078] A P-A =A B-T

[0079] A P-B =A A-T

[0080] In the formula, R cv is the equivalent radius of the proportional control valve, m; x P-A and x P-B are the opening displacements of the PA and PB flow channels of the proportional valve respectively;

[0081] Preferably, the proportional control valve equivalent radius R cv The calculation is done using the following formula:

[0082]

[0083] In the formula, A cv,max is the maximum flow area of ​​the proportional control valve core, m 2 .

[0084] On the other hand, the present invention provides a database for the pressure estimation method of the controllable pitch propeller system, the database is a controllable pitch propeller operation status database, and the input signal of the database includes a pitch angle, a rotation speed of a ship main engine, and a speed coefficient;

[0085] The output signals of the database include hydrodynamic blade moment coefficient, thrust and tangential force;

[0086] The data in the database are obtained according to computational fluid dynamics simulation.

[0087] In another preferred embodiment of the present invention, the data interval of the pitch angle is specified to be -25° to 35°, for example, it can be -25°, -10°, -5°, 0°, 5°, 10°, 20°, 30° or 35°.

[0088] The data interval for specifying the rotation speed of the ship main engine is 10 rpm to 210 rpm, for example, it can be 10 rpm, 50 rpm, 100 rpm, 110 rpm, 150 rpm, 200 rpm or 210 rpm.

[0089] The data interval of the speed coefficient is specified to be -0.5 to 1, for example, it can be -0.5, -0.2, 0, 0.2, 0.5, 0.8, 1.

[0090] On the other hand, a device for the pressure estimation method of the controllable pitch propeller system is provided, which is a mechanism model required for the pressure calculation of the controllable pitch propeller system, including: a hydrodynamic blade torque model, a centrifugal blade torque, a friction torque model, a blade mechanism model, a hub cylinder, an oil distributor model, a control system model and a proportional control valve model.

[0091] Technical Effects

[0092] The present invention realizes real-time estimation of the pressure of the controllable pitch propeller system, and can calculate the real-time estimated value of the pressure of the controllable pitch propeller system according to the measuring point data, and the result can be used as an independent estimation of the pressure of the controllable pitch propeller system.

[0093] During the operation of the controllable pitch propeller, the method provided by the present invention can be used for short-term prediction of the controllable pitch propeller system pressure, which can help ship drivers predict the impact of pitch adjustment operation on system pressure, thereby providing guarantee for the safe operation of the controllable pitch propeller.

[0094] The present invention provides an independent estimation for the pressure of the controllable pitch propeller system, provides support for the operating status analysis and fault warning of the controllable pitch propeller, and helps to improve the operating safety of the controllable pitch propeller.

[0095] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] Figure 1 A method for estimating pressure of a controllable pitch propeller system according to a preferred embodiment of the present invention;

[0097] Figure 2 It is a set value signal and a measured value of the pitch angle in the real-time operation data of a preferred embodiment of the present invention;

[0098] Figure 3 It is the measured value and real-time estimated value of the pressure of the controllable pitch propeller system of a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0099] The following describes several preferred embodiments of the present invention with reference to the drawings in the specification, so that the technical content is clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0100] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

[0101] like Figure 1 As shown, the present invention provides a pressure estimation method for a controllable pitch propeller system, the method comprising:

[0102] S1. Acquire the real-time operation data of the pitch-adjustable propeller at a given time; query the hydraulic oil physical property parameter database according to the measured data of the pressure and temperature of the hydraulic oil to obtain the physical property parameters;

[0103] S2, calculating the hydrodynamic blade moment model according to the measured values ​​of the ship main engine rotation speed and the ship sailing speed in the real-time operation data obtained in S1, and obtaining the calculated values ​​of the hydrodynamic blade moment and the advance coefficient;

[0104] S3, calculating the centrifugal force blade moment model according to the measured value of the ship main engine speed in the real-time operation data obtained in S1, and obtaining the calculated value of the centrifugal force blade moment;

[0105] S4, calculating the friction torque model according to the measured value of the pitch angle in the real-time operation data obtained in S1 and the calculated value of the advance speed coefficient obtained in S2, and obtaining the calculated value of the friction torque;

[0106] S5, calculating the blade rotating mechanism model according to the calculated value of the hydrodynamic blade rotating moment obtained in S2, the calculated value of the centrifugal blade rotating moment obtained in S3 and the calculated value of the friction moment obtained in S4, and obtaining the calculated value of the piston rod stroke and the piston rod force;

[0107] S6. Calculate the hub cylinder and oil distributor model based on the piston rod stroke and piston rod force calculated in S5, and obtain the hydraulic oil volume flow rate entering the A and B cylinders, the pressure at the A and B ports, and the leakage at the A and B ports of the oil distributor;

[0108] S7. Based on the pitch angle setting value signal in the real-time operation data obtained in S1, the calculated value of the hydraulic oil volume flow entering the A and B cylinders, the pressure of ports A and B, and the calculated value of the leakage of ports A and B of the oil distributor obtained in S6, the control system model and the proportional control valve model are calculated to obtain the estimated value of the controllable pitch propeller system pressure.

[0109] The present invention establishes a mechanism model of the pressure change process of the controllable pitch propeller system, realizes the real-time estimation of the controllable pitch propeller pitch, and can calculate the real-time estimated value of the controllable pitch propeller system pressure according to the measuring point data, and the result can be used as an independent estimation of the controllable pitch propeller system pressure.

[0110] In a preferred embodiment of the present invention, in S1, the real-time operation data includes: a set value signal θ of the pitch angle sp , pitch angle θ, ship main engine speed n e , measured values ​​of ship's sailing speed v and hydraulic oil temperature T;

[0111] Preferably, the input signal of the hydraulic oil physical property parameter database includes the hydraulic oil temperature T, and the output signal includes the density ρ and dynamic viscosity μ of the hydraulic oil.

[0112] In another preferred embodiment of the present invention, in S2, the hydrodynamic blade moment model is:

[0113] M sh =K sh ρ w n e 2 D 5

[0114] Where M sh To obtain the hydrodynamic blade torque, unit N·m; K sh To obtain the hydrodynamic rotor moment coefficient, dimensionless; ρ w is the density of water, kg / s; n e is the ship's main engine speed, rad / s; D is the blade diameter, m.

[0115] Preferably, the hydrodynamic blade moment coefficient K sh, according to the pitch angle and advance coefficient, query the controllable pitch propeller operation status database to obtain;

[0116] Preferably, the speed coefficient j is calculated using the following formula:

[0117]

[0118] Where j is the advance coefficient, dimensionless; v is the ship's sailing speed, m / s.

[0119] In another preferred embodiment of the present invention, in S3, the centrifugal force rotor torque model is:

[0120] M sc =F c,x y+F c,y x

[0121] Where M sc is the centrifugal force moment, N·m; y is the direction of the propeller shaft axis; z is the direction of the hub axis; x is the direction perpendicular to the y-axis and z-axis planes; F c,x and F c,y The centrifugal force F c Component forces in the x and y directions, N;

[0122] Preferably, the centrifugal force F c It is calculated using the following formula:

[0123]

[0124] In the formula, ρ b is the blade density, kg / s;

[0125] Preferably, the centrifugal force F c The force F in the x and y directions c,x and F c,y The following formulas are used for calculation:

[0126] F c,x =4πρ b n e 2 ∫∫∫xdxdydz

[0127] F c,y =4πρ b n e 2 ∫∫∫ydxdydz.

[0128] In another preferred embodiment of the present invention, in S4, the friction torque model is:

[0129] M sf =M sf,1 +Msf,2 +M sf,3

[0130] Where M sf,1 is the friction force generated by the combined force in the radial bearing, M sf,2 M is the friction torque generated by the composite bending moment in the plane bearing. sf,3 is the friction torque generated by the centrifugal force of the blade in the plane bearing;

[0131] Preferably, the friction torque M generated by the combined force in the radial bearing is sf,1 It is calculated using the following formula:

[0132]

[0133] Where, T is thrust, N; F Q is the tangential force, N; f is the friction coefficient, dimensionless; d r is the diameter of the radial bearing, m;

[0134] Preferably, the thrust T and the tangential force F Q It is necessary to calculate the actual value of the pitch angle θ and the speed of the main engine n e The measured value and the calculated value of the advance coefficient j are obtained by querying the controllable pitch propeller operation status database;

[0135] Preferably, the friction moment M generated by the composite bending moment in the plane bearing is sf,2 for:

[0136]

[0137] In the formula, R t is the thrust radius, m; R f is the tangential force radius, m;

[0138] Preferably, the thrust radius R t The calculation is done using the following formula:

[0139]

[0140] Where R is the blade radius, m; r b is the hub radius, m;

[0141] Preferably, the tangential force radius R f The calculation is done using the following formula:

[0142]

[0143] Preferably, the friction torque Msf,3 generated by the centrifugal force of the blade in the plane bearing is calculated using the following formula:

[0144]

[0145] Where D c,o D is the outer diameter of the crank disk, m; c,i is the diameter of the contact surface between the crank disk and the hub body, m.

[0146] In another preferred embodiment of the present invention, in S5, the blade rotating mechanism model is:

[0147]

[0148] In the formula, h stem is the piston rod stroke, m; R crank is the radius of the crank disk where the crank is located, m; θ is the pitch angle, deg; N is the number of blades, dimensionless; J is the moment of inertia of the blades, kg·m 2 ; F stem is the force on the piston rod, N; m stem is the mass of the piston rod, kg.

[0149] In another preferred embodiment of the present invention, in S6, the hub cylinder model is:

[0150]

[0151] F stem =p B π(d cylinder 2 -d stem 2 )-p A πd cylinder 2

[0152] Where, d cylinder is the diameter of the propeller hub cylinder, m; d stem is the diameter of the piston rod, m; h stem is the piston rod stroke, m; m stem is the mass of the piston rod, kg; F stem is the force on the piston rod, N; Q A and Q B are the hydraulic oil volume flow rates entering cylinders A and B respectively; p A and p B The pressures at ports A and B, respectively, are Pa;

[0153] Preferably, the oil dispenser model is:

[0154]

[0155] In the formula, Q leak,A and Q leak,B Respectively, the leakage of the A and B ports of the oil distributor, m3 / s; hA and h B are the gap lengths of the oil distributor A and B ports, m; r A and r B are the gap distances between the A and B ports of the oil distributor, m; ε e is the eccentricity correction coefficient, dimensionless; p0 is the atmospheric pressure, Pa; μ is the dynamic viscosity of the hydraulic oil, Pa·s;

[0156] Preferably, the eccentricity correction coefficient ε e The calculation is done using the following formula:

[0157] ε e =1+1.5e 2

[0158] Where, e is the eccentricity of the oil distributor, mm.

[0159] In another preferred embodiment of the present invention, in S7, the control system model is:

[0160]

[0161] Where s is the Laplace operator; y cv is the controller output, dimensionless; K P is the gain of the control system, dimensionless; τ I and τ D are the integral time constant and differential time constant of the control system, s; θ sp It is the pitch angle setting value signal in the real-time operation data obtained by S1; θ t-1 The real-time estimated value of the pitch angle calculated for the previous beat, deg;

[0162] Preferably, the proportional control valve spool displacement x cv The calculation is done using the following formula:

[0163]

[0164] In the formula, τ cv is the time constant of the proportional control valve, s; x cv is the displacement of the proportional control valve core, m; x cv,max is the maximum displacement of the proportional control valve spool, m;

[0165] Preferably, the proportional control valve model is:

[0166]

[0167] Q A =Q p-A -Q A-T -Q leak,A

[0168] Q B =Q P-B -Q B-T -Q leak,B

[0169] In the formula, p sys is the pressure of the controllable pitch propeller system, Pa; Q P-A , Q P-B , Q A-T , Q B-T are the hydraulic oil volume flow rates in the PA, PB, AT, and BT channels of the proportional control valve, m 3 / s; A P-A , A P-B , A A-T , A B-T are the flow areas of proportional control valves PA, PB, AT, and BT, respectively, m 2 ; C cv is the flow coefficient of the proportional control valve, dimensionless;

[0170] Preferably, the flow area A of the flow passages of the proportional control valves PA, PB, AT, and BT is P-A , A P-B , A A-T , A B-T The following formulas are used for calculation:

[0171]

[0172] A P-A =A B-T

[0173] A P-B =A A-T

[0174] In the formula, R cv is the equivalent radius of the proportional control valve, m; x P-A and x P-B are the opening displacements of the PA and PB flow channels of the proportional valve respectively;

[0175] Preferably, the proportional control valve equivalent radius R cv The calculation is done using the following formula:

[0176]

[0177] In the formula, A cv,max is the maximum flow area of ​​the proportional control valve core, m 2 .

[0178] On the other hand, the present invention provides a controllable pitch propeller operation status database for the controllable pitch propeller system pressure estimation method, wherein the input signal of the controllable pitch propeller operation status database includes a pitch angle, a ship main engine speed and an advance coefficient;

[0179] The output signals of the controllable pitch propeller operation status database include hydrodynamic blade torque coefficient, thrust and tangential force;

[0180] The data in the controllable pitch propeller operation status database is obtained according to computational fluid dynamics simulation.

[0181] In another preferred embodiment of the present invention, the data interval of the pitch angle is specified to be -25° to 35°.

[0182] The data range of the main engine rotation speed of the ship is specified to be 10 rpm to 210 rpm.

[0183] The data interval of the speed coefficient is specified to be -0.5 to 1.

[0184] Different pitch angles, main engine speeds and advance coefficients are selected at fixed intervals within the data interval, and the corresponding ship sailing speeds are calculated; the pitch angle-main engine speed-advance coefficient-ship sailing speed are used as input parameters for computational fluid dynamics simulation, the hydrodynamic blade torque, thrust and tangential force exerted on the blades are calculated, and the hydrodynamic blade torque coefficient is calculated based on the hydrodynamic blade torque; the pitch angle-main engine speed-advance coefficient-ship sailing speed and the corresponding hydrodynamic blade torque coefficient-thrust-tangential force are recorded.

[0185] like Figure 2 As shown, an embodiment of the pressure estimation method of the controllable pitch propeller system of the present invention is used to obtain real-time operating data of the controllable pitch propeller, including a set value signal and a measured value of the pitch angle.

[0186] like Figure 3 As shown, the comparison between the measured value and the real-time estimated value of the pressure of the controllable pitch propeller system in one embodiment of the present invention has an average error of 0.09 MPa.

[0187] The preferred specific embodiments of the present invention are described in detail above. It should be understood that ordinary technicians in the field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by technicians in the technical field based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A method for estimating pressure of a controllable pitch propeller system, characterized in that: The method comprises: S1. Acquire the real-time operation data of the pitch-adjustable propeller at a given time; query the hydraulic oil physical property parameter database according to the measured data of the pressure and temperature of the hydraulic oil to obtain the physical property parameters; S2, calculating the hydrodynamic blade moment model according to the measured values ​​of the ship main engine rotation speed and the ship sailing speed in the real-time operation data obtained in S1, and obtaining the calculated values ​​of the hydrodynamic blade moment and the advance coefficient; S3, calculating the centrifugal force blade moment model according to the measured value of the ship main engine speed in the real-time operation data obtained in S1, and obtaining the calculated value of the centrifugal force blade moment; S4, calculating the friction torque model according to the measured value of the pitch angle in the real-time operation data obtained in S1 and the calculated value of the advance speed coefficient obtained in S2, and obtaining the calculated value of the friction torque; S5, calculating the blade rotating mechanism model according to the calculated value of the hydrodynamic blade rotating moment obtained in S2, the calculated value of the centrifugal blade rotating moment obtained in S3 and the calculated value of the friction moment obtained in S4, and obtaining the calculated value of the piston rod stroke and the piston rod force; S6. Calculate the hub cylinder and oil distributor model based on the piston rod stroke and piston rod force calculated in S5, and obtain the hydraulic oil volume flow rate entering the A and B cylinders, the pressure at the A and B ports, and the leakage at the A and B ports of the oil distributor; S7. Based on the pitch angle setting value signal in the real-time operation data obtained in S1, the calculated value of the hydraulic oil volume flow entering the A and B cylinders, the pressure of ports A and B, and the calculated value of the leakage of ports A and B of the oil distributor obtained in S6, the control system model and the proportional control valve model are calculated to obtain the estimated value of the controllable pitch propeller system pressure.

2. The pressure estimation method of a controllable pitch propeller system according to claim 1, characterized in that: In S1, the real-time operation data includes: the pitch angle setting value signal θ sp , pitch angle θ, ship main engine speed n e , measured values ​​of ship's sailing speed v and hydraulic oil temperature T; Preferably, the input signal of the hydraulic oil physical property parameter database includes the hydraulic oil temperature T, and the output signal includes the density ρ and dynamic viscosity μ of the hydraulic oil.

3. The pressure estimation method of a controllable pitch propeller system according to claim 1, characterized in that: In S2, the hydrodynamic blade moment model is: M sh =K sh r w n e 2 D 5 Where M sh To obtain the hydrodynamic blade torque, unit N·m; K sh To obtain the hydrodynamic blade moment coefficient, dimensionless; ρ w is the density of water, kg / s; n e is the main engine speed of the ship, rad / s; D is the blade diameter, m; Preferably, the hydrodynamic blade moment coefficient K sh , according to the pitch angle and advance coefficient, query the controllable pitch propeller operation status database to obtain; Preferably, the speed coefficient j is calculated using the following formula: Where j is the advance coefficient, dimensionless; v is the ship's sailing speed, m / s.

4. The pressure estimation method of a controllable pitch propeller system according to claim 1, characterized in that: In S3, the centrifugal force blade torque model is: M sc =F c,x y+F c,y x Where M sc is the centrifugal force moment, N·m; y is the direction of the propeller shaft axis; z is the direction of the hub axis; x is the direction perpendicular to the y-axis and z-axis planes; F c,x and F c,y The centrifugal force F c Component forces in the x and y directions, N; Preferably, the centrifugal force F c It is calculated using the following formula: In the formula, ρ b is the blade density, kg / s; Preferably, the centrifugal force F c The force F in the x and y directions c,x and F c,y The following formulas are used for calculation: F c,x =4pm b n e 2 ∫∫∫xdxdydz F c,y =4pm b n e 2 ∫∫∫ydxdydz。 5. The pressure estimation method of a controllable pitch propeller system according to claim 1, characterized in that: In S4, the friction torque model is: M sf =M sf,1 +M sf,2 +M sf,3 Where M sf,1 is the friction force generated by the combined force in the radial bearing, M sf,2 M is the friction torque generated by the composite bending moment in the plane bearing. sf,3 is the friction torque generated by the centrifugal force of the blade in the plane bearing; Preferably, the friction torque M generated by the combined force in the radial bearing is sf,1 It is calculated using the following formula: Where, T is thrust, N; F Q is the tangential force, N; f is the friction coefficient, dimensionless; d r is the diameter of the radial bearing, m; Preferably, the thrust T and the tangential force F Q It is necessary to calculate the actual value of the pitch angle θ and the speed of the main engine n e The measured value and the calculated value of the advance coefficient j are obtained by querying the controllable pitch propeller operation status database; Preferably, the friction moment M generated by the composite bending moment in the plane bearing is sf,2 for: In the formula, R t is the thrust radius, m; R f is the tangential force radius, m; Preferably, the thrust radius R t The calculation is done using the following formula: Where R is the blade radius, m; r b is the hub radius, m; Preferably, the tangential force radius R f The calculation is done using the following formula: Preferably, the friction torque Msf,3 generated by the centrifugal force of the blade in the plane bearing is calculated using the following formula: Where D c,o D is the outer diameter of the crank disk, m; c,i is the diameter of the contact surface between the crank disk and the hub body, m.

6. The pressure estimation method of a controllable pitch propeller system according to claim 1, characterized in that: In S5, the blade rotating mechanism model is: In the formula, h stem is the piston rod stroke, m; R crank is the radius of the crank disk where the crank is located, m; θ is the pitch angle, deg; N is the number of blades, dimensionless; J is the moment of inertia of the blades, kg·m 2 ; F stem is the force on the piston rod, N; m stem is the mass of the piston rod, kg.

7. The pressure estimation method of a controllable pitch propeller system according to claim 1, characterized in that: In S6, the hub cylinder model is: F stem =p B π(d cylinder 2 -d stem 2 )-p A πd cylinder 2 Where, d cylinder is the diameter of the propeller hub cylinder, m; d stem is the diameter of the piston rod, m; h stem is the piston rod stroke, m; m stem is the mass of the piston rod, kg; F stem is the force on the piston rod, N; Q A and Q B are the hydraulic oil volume flow rates entering cylinders A and B respectively; p A and p B The pressures at ports A and B, respectively, are Pa; Preferably, the oil dispenser model is: In the formula, Q leak,A and Q leak,B Respectively, the leakage of the A and B ports of the oil distributor, m3 / s; h A and h B are the gap lengths of the A and B ports of the oil distributor, m; r A and r B They are the gap distances between the A and B ports of the oil distributor, m; ε e is the eccentricity correction coefficient, dimensionless; p0 is the atmospheric pressure, Pa; μ is the dynamic viscosity of the hydraulic oil, Pa·s; Preferably, the eccentricity correction coefficient ε e The calculation is done using the following formula: e e =1+1.5e 2 Where, e is the eccentricity of the oil distributor, mm.

8. The pressure estimation method of a controllable pitch propeller system according to claim 1, characterized in that: In S7, the control system model is: Where s is the Laplace operator; y cv is the controller output, dimensionless; K P is the gain of the control system, dimensionless; τ I and τ D are the integral time constant and differential time constant of the control system, s; θ sp It is the pitch angle setting value signal in the real-time operation data obtained by S1; θ t-1 The real-time estimated value of the pitch angle calculated for the previous beat, deg; Preferably, the proportional control valve spool displacement x cv The calculation is done using the following formula: In the formula, τ cv is the time constant of the proportional control valve, s; x cv is the displacement of the proportional control valve core, m; x cv,max is the maximum displacement of the proportional control valve spool, m; Preferably, the proportional control valve model is: Q A =Q p-A -Q A-T -Q leak,A Q B =Q P-B -Q B-T -Q leakB In the formula, p sys is the pressure of the controllable pitch propeller system, Pa; Q P-A , Q P-B , Q A-T , Q B-T are the hydraulic oil volume flow rates in the PA, PB, AT, and BT channels of the proportional control valve, m 3 / s; A P-A , A P-B , A A-T , A B-T are the flow areas of proportional control valves PA, PB, AT, and BT, respectively, m 2 ; C cv is the flow coefficient of the proportional control valve, dimensionless; Preferably, the flow area A of the flow passages of the proportional control valves PA, PB, AT, and BT is P-A , A P-B , A A-T , A B-T The following formulas are used for calculation: A P-A =A B-T A P-B =A A-T In the formula, R cv is the equivalent radius of the proportional control valve, m; x P-A and x P-B are the opening displacements of the PA and PB flow channels of the proportional valve respectively; Preferably, the proportional control valve equivalent radius R cv The calculation is done using the following formula: In the formula, A cv,max is the maximum flow area of ​​the proportional control valve core, m 2 .

9. A database for the pressure estimation method of a controllable pitch propeller system according to claims 1-8, characterized in that: The database is a controllable pitch propeller operation status database, and the input signals include pitch angle, main engine speed and advance coefficient of the ship; The output signals of the database include hydrodynamic blade moment coefficient, thrust and tangential force; The data in the database are obtained according to computational fluid dynamics simulation.

10. A device for use in the pressure estimation method of a controllable pitch propeller system according to claims 1-8, characterized in that: The device is a mechanism model required for pressure calculation of a controllable pitch propeller system, including: a hydrodynamic blade torque model, a centrifugal blade torque, a friction torque model, a blade mechanism model, a propeller hub cylinder, an oil distributor model, a control system model and a proportional control valve model.

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