A control system and method for dynamic limit of controllable pitch propeller propulsion

Abstract

The present invention proposes a control system and method for dynamic limit of pitch propulsion of a controllable pitch propeller, comprising a ship propulsion device and a propulsion control module connected to the ship propulsion device by signal, wherein the propulsion control module comprises a shaft speed detection submodule, a propulsion load limitation submodule and a propeller control submodule, wherein the shaft speed detection submodule detects the shaft speed of the controllable pitch propeller in real time, and the obtained speed deviation signal is subjected to speed regulation and fuel limitation links to generate a diesel engine fuel injection amount setting value, and the fuel injection amount setting value is transmitted to a propulsion load limitation curve of a propulsion load limitation submodule, and the diesel engine fuel injection amount setting value is compared with a maximum fuel injection amount limitation value to prevent the diesel engine from being overloaded, and the diesel engine load is adjusted by the propeller control submodule, the pitch adjustment submodule and the throttle adjustment submodule, so as to realize dynamic limit control of ship speed-diesel engine throttle (fuel injection amount)-pitch, and solve the problems of unstable speed and diesel engine overload caused by reasons such as dirty hull and influence of sea conditions.

Description

Technical Field

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

[0002] The ship's controllable pitch propeller propulsion control system is generally composed of a variable pitch propeller, a transmission shaft system, a diesel engine, and detection and control components. It is mainly controlled by a hydraulic device so that the pitch size and direction can be adjusted within a range, generating thrust for the ship to move forward and pulling force for retreating, thereby realizing the ship's forward, reverse, parking, and emergency maneuvers. At present, the control methods of the controllable pitch propeller propulsion system usually include four working modes: driving control-engine-propeller joint control mode, centralized control-engine-propeller separate control mode, driving control / centralized control-constant speed mode, and driving control / centralized control-standby control. The controllable pitch propeller control system can adjust the pitch and speed according to the pre-set ship-engine-propeller working characteristic curve. However, the working characteristic curve of the ship-engine-propeller will change due to the influence of hull dirt, propeller wear and deformation or dirt, sea conditions, etc., resulting in frequent adjustment, unstable speed, and even overload of the controllable pitch propeller during operation. However, the propulsion load limit curve is determined based on diesel engine bench tests and new ship launching trials, and corresponds to the propulsion load limit range set for optimal ship-engine-propeller matching and ideal sea conditions. During ship operation, dirty and deformed propellers, dirty hulls, and headwind and headstream resistance increase, or downwind and downstream resistance decreases. Under these circumstances, if the designed propulsion load limit curve remains unchanged, it will cause diesel engine overload or acceleration restriction. Therefore, the ship's propulsion load limit needs to be dynamically adjusted according to sea conditions and ship conditions to ensure diesel engine safety and fuel efficiency. Summary of the invention

[0003] The purpose of the present invention is to solve the above problems and to propose a control system and method for dynamic limiting the pitch propeller propulsion, which can solve the problems of unstable speed and diesel engine overload caused by hull dirt, sea conditions and the like.

[0004] To achieve the above-mentioned object, the present invention proposes a control system for dynamic limit of pitch propeller propulsion, comprising a ship propulsion device, a propulsion control module connected to the ship propulsion device signal;

[0005] The ship propulsion device includes a clock, a diesel engine, a pitch-adjustable propeller and a speed regulating mechanism; the clock sends a control signal through a clock signal transmitter, and the control signal generates a set speed signal through a speed limiting link; the control signal generates a pitch setting value signal through a propeller control submodule in a propulsion control module; the pitch-adjustable propeller is connected to the diesel engine through a gear box; the speed regulating mechanism is connected to the diesel engine for adjusting the speed of the diesel engine;

[0006] The propulsion control module includes a shaft speed detection submodule, a propulsion load limiting submodule and a propeller control submodule:

[0007] The shaft speed detection submodule is used to detect the shaft speed of the adjustable pitch propeller and the set speed signal of the car clock unit in real time to obtain the speed signal deviation; the speed signal deviation generates the diesel engine injection amount setting value through the speed regulation and fuel limit link;

[0008] The propeller control submodule includes a propeller control curve, i.e., a clock position-speed-pitch curve. The propeller control submodule is used to receive a clock position variable, a pitch feedback value signal, and a diesel engine feedback speed, and generates a pitch control instruction (pitch setting value) and a speed-load through a clock position-speed-pitch curve (propeller control curve) program operation. The pitch control instruction (pitch setting value) is output to a pitch adjustment submodule to generate a pitch adjustment instruction to adjust the pitch of the adjustable pitch propeller; the speed-load is output to the propulsion load limiting submodule;

[0009] The propulsion load limiting submodule includes a speed-fuel injection amount (FPS / %)-power (power / %) limiting curve cluster, which is used to receive the fuel injection amount setting value of the diesel engine, the diesel engine throttle feedback value and the speed-load signal calculated by the propeller control submodule, and generate a fuel injection amount control value using the propeller matching curve within the propulsion load limiting curve range; the fuel injection amount control value generates a fuel injection command through the throttle adjustment submodule to adjust the diesel engine speed;

[0010] The propulsion load limit curve is used to limit the maximum available load so that each shaft speed or pitch corresponds to a maximum injection amount limit;

[0011] The pitch adjustment submodule is used to generate a pitch adjustment instruction to adjust the pitch of the controllable pitch propeller;

[0012] The throttle adjustment submodule is used to generate a fuel injection command and adjust the speed of the diesel engine.

[0013] The propulsion control module detects the shaft speed of the adjustable pitch propeller in real time, obtains the fuel injection amount setting value of the diesel engine through speed regulation and fuel limitation links, compares the fuel injection amount setting value of the diesel engine with the maximum fuel injection amount limit value of the propulsion load limit curve, and adjusts the diesel engine load through the pitch adjustment submodule and the throttle adjustment submodule.

[0014] Furthermore, when the vehicle clock issues a forward or reverse control command, the vehicle clock position variable outputs a set speed signal through the vehicle command transmitter and the speed limiting link, and the speed limiting link includes a starting speed setting value, a minimum stable speed limit, an acceleration rate limit, a program load limit, a critical speed avoidance, a maximum power limit, a maximum speed limit and a fault speed reduction limit.

[0015] Furthermore, the shaft speed detection submodule is used to detect the shaft speed of the adjustable pitch propeller in real time, compare the set speed signal of the vehicle clock unit with the shaft speed of the adjustable pitch propeller through a comparator, and pass the obtained speed deviation signal through the speed regulation and fuel limit link to generate the diesel engine injection amount setting value, which is transmitted to the propulsion load limit submodule, and the diesel engine injection amount (throttle) control value is generated according to the propulsion load limit curve;

[0016] The handle position variable of the car clock is input into the propeller control submodule, and the pitch setting (control) value is generated according to the propeller control curve;

[0017] The pitch adjustment submodule is used to receive a pitch setting value signal, and after comparing the pitch setting value signal with a pitch feedback value signal, generate a pitch adjustment instruction, transmit the instruction to the pitch adjustment mechanism, and adjust the pitch of the controllable pitch propeller;

[0018] The throttle adjustment submodule is used to receive the diesel engine fuel injection quantity control value signal, and output the throttle deviation signal after comparing it with the throttle feedback value signal, thereby generating a fuel injection command and transmitting it to the speed regulating mechanism, and changing the diesel engine fuel injection quantity through the speed regulating mechanism, thereby adjusting the diesel engine speed.

[0019] Furthermore, the speed regulation and fuel limitation links include PID regulation (bad weather), PI regulation, minimum fuel supply limitation, maximum fuel supply limitation, boost air limitation (thermal load limitation), torque limitation (mechanical load limitation), dead zone control, and propeller characteristic compensation. The main purpose is to prevent the diesel engine from being overloaded, the diesel engine from running away in bad weather, or the speed from being frequently adjusted.

[0020] Furthermore, the propeller control submodule contains a propeller control curve, which is a composite control function designed by comprehensively matching the ship-engine-propeller propulsion characteristic lines and placing them in the same coordinate system according to the characteristics of the diesel engine, the pitch-controlled propeller and the hull, and is a handle position-speed-pitch multi-dimensional space curve;

[0021] The horizontal axis of the propulsion load limit curve is the shaft speed of the adjustable pitch propeller, the left vertical axis is the fuel rack grid number (FPS / %), and the right vertical axis is the diesel engine power (power / %); the maximum fuel rack grid number corresponding to the current shaft speed is calculated according to the propulsion load limit curve through the current shaft speed. When the rack grid number of the throttle feedback is greater than the calculated rack grid number, it indicates that the diesel engine is overloaded. At this time, the propulsion control module will automatically reduce the adjustable pitch propeller pitch, generate a variable pitch command correction signal through the propeller control submodule, thereby reducing the pitch setting value, and generate a pitch adjustment command through the pitch adjustment submodule to reduce the pitch, thereby reducing the diesel engine load until the diesel engine is not overloaded.

[0022] The purpose of load control is to prevent diesel engine overload. The CPP dynamic limit monitors the diesel engine load according to the diesel engine load characteristics and ship propulsion characteristics to adapt to changes in sea conditions and ship conditions. In order to further limit the allowable load curve and adapt it to the current working conditions, the load limit can be dynamically adjusted within the range of 0...110%. The load curve for 100% load limit is multiplied by the load limit setting coefficient. For example, if the load limit knob setting coefficient is 90%, the entire load curve is multiplied by 0.9.

[0023] The shaft speed is the basis for the maximum permissible fuel injection (throttle) setting (FPS), which is obtained from the load curve corresponding to the FPS limit for the shaft speed designed for the best match of the ship's propeller.

[0024] The dynamic limited load control system measures the propeller shaft speed and the diesel engine throttle scale and compares the throttle scale value with the corresponding FPS value on the load curve. If the maximum permissible throttle value is exceeded at the measured speed, the pitch setting is reduced by the pitch command correction signal. The dynamic limited load control function reduces the CPP pitch to a preset value (default 40%).

[0025] The optimum load curve for a vessel can be found in the propeller system instruction manual. The present invention illustrates the load curve when the load limit is 100%. By changing the load limit setting value, a limit factor is selected by the load limit setting knob, and the entire load curve is multiplied by the load limit factor. If the load limit setting is <100%, the entire load curve is shifted downward.

[0026] The dynamic limit load curve allows a certain CPP pitch setting, but the CPP pitch may still be reduced due to the low boost air pressure (scavenging air pressure) limitation. If the fuel control system fails (such as fuel pump failure, throttle actuator failure, etc.), the dynamic limit system automatically switches to overload protection mode. At this time, the overload switch on the throttle activates the overload protection function and reduces the CPP pitch.

[0027] The maximum available load in the controllable pitch propeller propulsion dynamic control system is limited by the propulsion load limiting curve, the pitch is limited in advance under the control of the propeller, and the speed-pitch adjustment is performed within the set pitch range.

[0028] Furthermore, the load limit curve of each ship is different, and an initial calibration is required. During ship operation, hull dirt, wind, wave and current interference, or propeller blade deformation and dirt will cause the load curve to change. By displaying the standard load limit curve and the actual load limit curve on the PC integrated touch screen of the ship bell handle, and using software for feature identification, deep learning and information fusion, the curve changes and their causes can be evaluated to improve the ship's intelligent operation and maintenance technology.

[0029] When the control system operates in the three working modes of engine-propeller joint control, engine-propeller separate control, and constant speed, the propulsion control module can protect the main engine from overloading through the propulsion load limit curve.

[0030] Furthermore, the propulsion control module also includes an overload protection alarm unit. When the throttle scale reaches (100+3)%, the overload protection alarm unit outputs an overload protection signal and an audible and visual alarm with a delayed delay, and the pitch is automatically reduced through the propulsion control module; the filtered actual load of the diesel engine is compared with the dynamic limit value of the diesel engine load. If the over-limit duration exceeds the specified value, the pitch is automatically reduced according to the preset step height-step length until the diesel engine load is no longer overloaded; if the overload still occurs after reducing the pitch twice in a row, the pitch is directly reduced to 70% of the current theoretical pitch; or the handle is directly pulled to reduce the pitch until the diesel engine is not overloaded; if the diesel engine is no longer overloaded, an alarm is sounded. The pitch disappears. At this time, if the handle remains in the original position without moving, the set step height-step length will gradually restore the pitch to the theoretical calculated value of the handle position; when the diesel engine overload needs to be eliminated by pulling the handle, the handle will be pulled back to near the original position after the diesel engine is not overloaded. This process is not delayed, meeting the requirements of frequent vehicle operation; if the propulsion control module fails (such as a failure in the fuel pump fuel supply setting signal), the system enters the standby mode. In the standby mode, the load is not automatically controlled, but the diesel engine overload is manually monitored by observing the diesel engine overload indicator light; the overload indicator light is activated by the overload switch, and the overload switch is arranged on the throttle adjustment rack of the diesel engine.

[0031] Furthermore, the propulsion control module also includes an automatic speed reduction and parking unit and a power failure processing unit. The automatic speed reduction and parking unit is used for automatic speed reduction or emergency parking when the diesel engine is overloaded; the power failure processing unit is used for maintaining the current pitch angle when a power failure occurs in the system and restarting when the power is restored.

[0032] Furthermore, in the propulsion control module, the maximum fuel injection quantity limit value of the measured speed is obtained according to the propulsion load limit curve; the fuel injection quantity set value is compared with the maximum fuel injection quantity limit value of the measured speed, and if the fuel injection quantity set value is greater than the maximum fuel injection quantity limit value of the measured speed, the pitch set value is reduced through the pitch control command correction signal.

[0033] Furthermore, the pitch adjustment mechanism is a hydraulic system and an oil distributor, and the pitch signal is detected or fed back by a pitch transmitter; a tail shaft speed measuring mechanism is installed on the controllable pitch propeller, and the shaft speed of the controllable pitch propeller is detected by the tail shaft speed measuring mechanism.

[0034] The present invention further proposes a control method for dynamic limit of pitch propeller propulsion, which is based on the above-mentioned control method for dynamic limit of pitch propeller propulsion, and comprises the following steps:

[0035] S1: According to the characteristics of the diesel engine, the controllable pitch propeller and the hull, a propulsion load limit curve is established in the propulsion load limit submodule;

[0036] S2: The shaft speed detection submodule detects the shaft speed of the adjustable pitch propeller in real time, compares the set speed signal sent by the car clock unit with the shaft speed, and obtains a speed deviation signal. The speed deviation signal generates a fuel injection amount setting value of the diesel engine through the speed regulation and fuel limit sub-links;

[0037] S3: transmitting the fuel injection amount setting value of the diesel engine to the propulsion load limiting submodule; calculating the maximum fuel rack grid number (fuel injection amount) corresponding to the current shaft speed according to the propulsion load limiting curve in the propulsion load limiting submodule; when the rack grid number of the throttle feedback is greater than the calculated rack grid number, it indicates that the diesel engine is overloaded, at this time, the overload protection module issues an alarm, and the propulsion control module generates a new diesel engine fuel injection amount control value and pitch setting value to prevent the diesel engine from overloading;

[0038] S4: The pitch setting value is transmitted to the pitch adjustment submodule, and a pitch adjustment instruction is generated after being compared with the pitch feedback value signal, and then the propeller pitch is adjusted by the pitch adjustment mechanism, thereby dynamically adjusting the diesel engine load until the diesel engine is not overloaded and the alarm disappears;

[0039] S5: The new diesel engine fuel injection quantity control value generates a fuel injection instruction through a throttle adjustment submodule, and changes the diesel engine fuel injection quantity (throttle) to adjust the diesel engine speed.

[0040] Furthermore, in step S1, according to the propulsion load limit curve designed based on the ship-engine-propeller working characteristics, the ship speed-diesel engine throttle (injection amount)-pitch is dynamically limited, and the diesel engine load is monitored in real time according to the diesel engine load characteristics to ensure that each shaft speed or pitch corresponds to a maximum injection amount limit, so as to achieve load limit that matches the speed and pitch, wherein the shaft speed is the basis of the maximum allowable injection amount, and the injection amount setting value is obtained by the shaft speed-load function curve and the injection amount (throttle) stroke is limited by the program; if two diesel engines are running in parallel on the gearbox, the diesel engine with the largest load is considered.

[0041] Compared with the prior art, the advantages of the present invention are:

[0042] 1. The present invention realizes the dynamic limiting function of propulsion load according to the working characteristics of ship-engine-propeller, ensures that each speed or pitch corresponds to a maximum fuel injection amount limit, and realizes the load limit matching the speed and pitch; combined with the propulsion control module, the ship speed-diesel engine throttle (fuel injection amount)-pitch is dynamically limited to solve the problems of unstable speed and diesel engine overload caused by dirty hull, sea conditions and other reasons.

[0043] 2. The present invention ensures that the system can realize the protection functions such as safety alarm, automatic speed reduction, emergency stop, restart operation, etc. when the diesel engine is overloaded by setting overload protection, automatic speed reduction and automatic stop protection and power failure processing unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic diagram of a controllable pitch propeller propulsion dynamic limitation control system according to an embodiment of the present invention;

[0045] Figure 2 It is a schematic diagram of the speed-fuel injection amount (FPS / %)-power (power / %) limiting curve of the propulsion load limiting submodule in the system of an embodiment of the present invention;

[0046] Figure 3 Schematic diagram of a propeller control curve of a propeller control submodule in a system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] 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.

[0048] This embodiment proposes a controllable pitch propeller propulsion dynamic limit control system, which realizes dynamic limit of ship speed-shaft speed-diesel engine throttle (fuel injection amount)-pitch based on the propulsion load limit curve; Figure 1 As shown, the system includes a ship propulsion device and a propulsion control module, wherein the ship propulsion device and the propulsion control module are signal-connected.

[0049] In this embodiment, the ship propulsion device includes a car clock, a diesel engine, a pitch control propeller and a speed control mechanism; wherein, when the car clock sends a control command to advance or retreat through the car command transmitter, the position variable of the car clock is processed by the car command transmitter to send a control signal, and the control signal outputs a set speed signal through the speed limit link; its speed limit link includes a starting speed setting value, a minimum stable speed limit, an acceleration rate limit, a program load limit, a critical speed avoidance, a maximum power limit, a maximum speed limit and a fault speed reduction limit. At the same time, the position variable of the car clock is also transmitted to the propeller control submodule in the propulsion control module, and the pitch setting value (control) signal is output through the propeller control curve in the propeller control submodule. A gear box is connected between the pitch control propeller and the diesel engine, and the gear box is connected to the pitch control propeller and the diesel engine through the transmission shaft system; the speed control mechanism is connected to the diesel engine for adjusting the speed of the diesel engine; a tail shaft speed measuring mechanism is installed on the pitch control propeller, and the shaft speed of the pitch control propeller is detected through the tail shaft speed measuring mechanism.

[0050] In this embodiment, the propulsion control module includes a shaft speed detection submodule, a propulsion load limiting submodule, a pitch adjustment submodule, a throttle adjustment submodule and a propeller control submodule; the propulsion control module detects the shaft speed of the adjustable pitch propeller in real time through the shaft speed detection submodule, obtains the fuel injection amount setting value of the diesel engine through the speed regulation and fuel limitation links, and the fuel injection amount setting value obtains the maximum fuel injection amount limit value through the propulsion load limitation curve in the propulsion load limitation submodule, compares the diesel engine's fuel injection amount setting value with the maximum fuel injection amount limit value, and adjusts the diesel engine load through the propeller control submodule, the pitch adjustment submodule and the throttle adjustment submodule.

[0051] In this embodiment, the shaft speed detection submodule is used to detect the shaft speed of the adjustable pitch propeller in real time, compare the set speed signal of the car clock unit with the shaft speed of the adjustable pitch propeller through a comparator, and generate the diesel engine's fuel injection amount setting value through the speed regulation and fuel limit link, and transmit the diesel engine's fuel injection amount setting value to the propulsion load limit submodule, and generate the diesel engine's fuel injection amount setting (control) value through the engine-propeller matching curve within the propulsion load limit curve range. Among them, the speed regulation and fuel limit submodule includes PID regulation (bad weather), PI regulation, minimum fuel supply limit, maximum fuel supply limit, boost air limit (thermal load limit), torque limit (mechanical load limit), dead zone control, propeller characteristic compensation, the main purpose of which is to prevent diesel engine overload, diesel engine speeding in bad weather, or frequent speed adjustment.

[0052] The propeller control submodule includes: Figure 3 The propeller control curve shown is the engine clock position-speed-pitch curve. When the propeller control submodule receives the engine command position variable, the pitch feedback value signal and the diesel engine feedback speed, the engine clock position-speed-pitch curve (propeller control curve) program operation generates a pitch control command (pitch setting value) and speed-load. Among them, the pitch control command (pitch setting value) is output to the pitch adjustment submodule to generate a pitch adjustment command to adjust the pitch of the adjustable pitch propeller; the speed-load is output to the propulsion load limiting submodule, and the pitch is limited in advance under the propeller control, and the speed-pitch adjustment is performed within this set pitch range.

[0053] The propulsion load limitation submodule includes a propulsion load limitation curve, which is a speed-fuel injection amount (FPS / %)-power (power / %) limitation curve cluster. The maximum available load is limited by the propulsion load limitation curve, so that each shaft speed or pitch corresponds to a maximum fuel injection amount limit; the propulsion load limitation submodule is used to receive the fuel injection amount setting value of the diesel engine, the diesel engine throttle feedback value and the speed-load signal calculated by the propeller control submodule, and generate a fuel injection amount control value by using the propeller matching curve within the range of the propulsion load limitation curve; the fuel injection amount control value generates a fuel injection command through the throttle adjustment submodule to adjust the diesel engine speed;

[0054] The propulsion load limit curve is as follows Figure 2 As shown in the figure, the horizontal axis is the shaft speed of the adjustable pitch propeller, the left vertical axis is the fuel rack grid number (FPS%), and the right vertical axis is the diesel engine power (power / %); it is used to limit the maximum available load so that each shaft speed or pitch corresponds to a maximum injection amount limit. The maximum fuel rack grid number corresponding to the current shaft speed can be calculated through the current shaft speed. When the rack grid number of the throttle feedback is greater than the calculated rack grid number, it indicates that the diesel engine is overloaded. At this time, the propulsion control module will automatically reduce the adjustable pitch propeller pitch, generate a variable pitch command correction signal through the propeller control submodule, thereby reducing the pitch setting value, and then generate a pitch adjustment command through the pitch adjustment submodule to reduce the pitch, limit the pitch in advance under the propeller control, and perform speed-pitch adjustment within this set pitch range, and use the propeller matching curve within the propulsion load limit curve range to generate a new injection amount control value; the new injection amount control value generates an injection command through the throttle adjustment submodule to adjust the diesel engine speed, thereby dynamically reducing the main engine load until the main engine is not overloaded.

[0055] The load limit curve of each ship is different, and initial calibration is required. During ship operation, dirty hull, wind, wave and current interference, or deformation and dirt of propeller blades will cause the load curve to change. By displaying the standard load limit curve and the actual load limit curve on the integrated PC touch screen of the car bell handle, the software is used for characteristic identification, deep learning and information fusion, so as to evaluate the curve changes and their causes, and improve the intelligent operation and maintenance technology of ships. When the control system of this embodiment operates in the three working modes of engine-propeller joint control, engine-propeller separate control, and constant speed, the propulsion control module can protect the main engine from overloading by propulsion load limit curve.

[0056] In this embodiment, the purpose of load control is to prevent diesel engine overload, and the CPP dynamic limit monitors the diesel engine load according to the diesel engine load characteristics and the ship propulsion characteristics to adapt to changes in sea conditions and ship conditions. In order to further limit the allowable load curve and adapt it to the current working conditions, the load limit can be dynamically adjusted within the range of 0...110%, which is a 100% load limit load curve multiplied by the load limit setting coefficient. For example, if the load limit knob setting coefficient is 90%, the entire load curve is multiplied by 0.9.

[0057] The shaft speed is the basis for the maximum permissible fuel injection (throttle) setting (FPS), which is obtained from the load curve corresponding to the FPS limit for the shaft speed designed for the best match of the ship's propeller.

[0058] The dynamic limited load control system measures the propeller shaft speed and the diesel engine throttle scale and compares the throttle scale value with the corresponding FPS value on the load curve. If the maximum permissible throttle value is exceeded at the measured speed, the pitch setting is reduced by the pitch command correction signal. The dynamic limited load control function reduces the CPP pitch to a preset value (default 40%).

[0059] The optimal load curve for a ship can be found in the propeller system instruction manual. Figure 2 The load curve is shown when the load limit is 100%. By changing the load limit setting value, a limit factor is selected by the load limit setting knob, and the entire load curve is multiplied by this load limit factor. If the load limit setting is <100%, the entire load curve is shifted downwards.

[0060] The dynamic limit load curve allows a certain CPP pitch setting, but the CPP pitch may still be reduced due to the low boost air pressure (scavenging air pressure) limitation. If the fuel control system fails (such as fuel pump failure, throttle actuator failure, etc.), the dynamic limit system automatically switches to overload protection mode. At this time, the overload switch on the throttle activates the overload protection function and reduces the CPP pitch.

[0061] In this embodiment, the pitch adjustment submodule is used to receive a pitch setting value signal, and after comparing the pitch setting value signal with the pitch feedback value signal, generate a pitch adjustment instruction, transmit it to the pitch adjustment mechanism, and adjust the pitch of the adjustable pitch propeller; wherein the pitch adjustment mechanism is a hydraulic system and an oil distributor, and the pitch signal is detected or fed back by a pitch transmitter.

[0062] In this embodiment, the throttle adjustment submodule is used to receive the diesel engine fuel injection quantity control value generated by the propulsion load limitation submodule, and output a throttle deviation signal after comparing the diesel engine fuel injection quantity control value with the throttle feedback value signal, thereby generating a fuel injection command, and transmitting it to the speed control mechanism (i.e., the throttle execution servo mechanism), changing the diesel engine fuel injection quantity through the speed control mechanism, thereby adjusting the diesel engine speed.

[0063] In the above-mentioned propulsion control module, the maximum fuel injection quantity limit value of the measured speed is obtained according to the propulsion load limit curve; the fuel injection quantity set value is compared with the maximum fuel injection quantity limit value of the measured speed. If the fuel injection quantity set value is greater than the maximum fuel injection quantity limit value of the measured speed, the pitch set value is reduced through the pitch control command correction signal.

[0064] In addition, the propulsion control module also includes an overload protection alarm unit, an automatic speed reduction and parking unit, and a power failure processing unit. When the throttle scale reaches (100+3)%, the overload protection alarm unit delays the output of the overload protection signal and the sound and light alarm, and the propulsion control module automatically reduces the pitch; the filtered actual load of the diesel engine is compared with the dynamic limit value of the diesel engine load. If the over-limit duration exceeds the specified value, the pitch is automatically reduced according to the preset step height-step length until the diesel engine load is no longer overloaded; if the overload still occurs after reducing the pitch twice in succession, the pitch is directly reduced to 70% of the current theoretical pitch; or the handle is directly pulled to reduce the pitch until the diesel engine is not overloaded; If the diesel engine is no longer overloaded, the alarm disappears. At this time, if the handle remains in its original position and does not move, the set step height-step length will gradually restore the pitch to the theoretical calculated value of the handle position; when the diesel engine overload needs to be eliminated by pulling the handle, the handle will be pulled back to near the original position after the diesel engine is no longer overloaded. This process does not delay and meets the requirements of frequent operation; if the propulsion control module fails during operation (such as a failure in the fuel pump fuel supply setting signal), the system enters the standby mode. In the standby mode, the diesel engine overload condition is manually monitored by observing the diesel engine overload indicator light; the overload indicator light is activated by the overload switch, wherein the overload switch is installed on the throttle adjustment rack of the diesel engine in the propulsion device.

[0065] The automatic speed reduction and parking unit is used for automatic speed reduction or emergency parking when the diesel engine is overloaded; when the control system of this embodiment receives a speed reduction signal from the ship monitoring alarm, the diesel engine and the propulsion security system, it automatically reduces the diesel engine load (generally preset to 60%); when receiving a stop signal from the diesel engine and propulsion system or a diesel engine emergency stop signal, the pitch automatically returns to zero, the diesel engine speed is 0, and the clutch automatically disengages.

[0066] The power failure processing unit is used to maintain the current pitch angle when the system loses power and restart when the power is restored. When the system loses power, the pitch angle remains at the current angle. When the power is restored, the system automatically restarts. In order to return to the follow-up control of the driving console, first press the "centralized control / driving control" selection switch on the centralized control panel when the buzzer sounds, and ensure that the system has started normally. Then the control right can be transferred to the driving console in the normal sequence.

[0067] Based on the control system for dynamic limit of pitch propeller propulsion of the present embodiment, dynamic limit control of pitch propeller propulsion can be effectively realized, and the method is as follows:

[0068] S1: According to the relationship between the diesel engine, the pitch controllable propeller and the external characteristics of the hull, a propulsion load limitation curve is established in the propulsion load limitation submodule; according to the propulsion load limitation curve designed based on the ship-engine-propeller working characteristics, the ship speed-diesel engine throttle (fuel injection amount)-pitch is dynamically limited, and the diesel engine load is monitored in real time according to the diesel engine load characteristics to ensure that each shaft speed or pitch corresponds to a maximum fuel injection amount limit, so as to achieve load limitation matching the speed and pitch, wherein the shaft speed is the basis of the maximum allowable fuel injection amount setting value, and the fuel injection amount setting value is obtained from the shaft speed-load function curve and the fuel injection amount (throttle) stroke is limited by the program; if two diesel engines are running in parallel on the gearbox, the diesel engine with the largest load is considered;

[0069] S2: The shaft speed detection submodule detects the shaft speed of the adjustable pitch propeller in real time, compares the set speed signal sent by the car clock unit with the shaft speed, and obtains a speed deviation signal. The speed deviation signal is passed through the speed regulation and fuel limit links to generate the fuel injection amount setting value of the diesel engine;

[0070] S3: The fuel injection amount setting value of the diesel engine is transmitted to the propulsion load limiting submodule; the maximum fuel rack grid number corresponding to the current shaft speed is calculated according to the propulsion load limiting curve in the propulsion load limiting submodule; when the rack grid number of the throttle feedback is greater than the calculated rack grid number, it indicates that the diesel engine is overloaded. At this time, the overload protection module issues an alarm, and the parallel propeller control submodule reduces the pitch setting value, automatically reduces the pitch, and then generates a new diesel engine fuel injection amount control value through the propulsion load limiting submodule;

[0071] S4: The reduced pitch setting value is transmitted to the pitch adjustment submodule, and a pitch command is generated by comparing the load control signal and the pitch feedback signal, and then the propeller pitch is adjusted by the pitch adjustment mechanism, thereby;

[0072] S5: After comparing the new fuel injection quantity control value with the throttle feedback value, the throttle deviation signal is output and the fuel injection command is generated, which changes the fuel injection quantity of the diesel engine and thus adjusts the diesel engine speed, thus realizing the dynamic propulsion load limitation function.

[0073] 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 dynamic limit of controllable pitch propeller propulsion, characterized in that: It includes a ship propulsion device and a propulsion control module connected to the ship propulsion device by signal; The ship propulsion device comprises a clock, a diesel engine, a pitch-adjustable propeller and a speed regulating mechanism; the clock sends a set speed signal through a train signal transmitter and a speed limiting link; the pitch-adjustable propeller is connected to the diesel engine through a gear box; the speed regulating mechanism is connected to the diesel engine and is used to adjust the speed of the diesel engine; The propulsion control module includes a shaft speed detection submodule, a propulsion load limiting submodule and a propeller control submodule: The shaft speed detection submodule is used to detect the shaft speed of the adjustable pitch propeller and the set speed signal of the vehicle clock unit in real time to obtain the speed signal deviation; the speed signal deviation generates the diesel engine injection amount setting value through the speed regulation and fuel limit link; The propeller control submodule is used to receive the vehicle command position variable, the pitch feedback value signal and the diesel engine feedback speed, and generate the pitch setting value and speed-load using the propeller control curve; The pitch setting value generates a pitch adjustment instruction through a pitch adjustment submodule to adjust the pitch of the controllable pitch propeller; The propulsion load limiting submodule includes a speed-fuel injection amount-power limiting curve cluster, which is used to receive the diesel engine fuel injection amount setting value, the diesel engine throttle feedback value and the speed-load signal, and generate a fuel injection amount control value using a propeller matching curve within the propulsion load limiting curve range; The fuel injection quantity control value generates a fuel injection instruction through a throttle adjustment submodule to adjust the speed of the diesel engine; The propulsion load limit curve is used to limit the maximum available load, so that each shaft speed or pitch corresponds to a maximum injection quantity limit.

2. The control system for dynamic limit of controllable pitch propeller propulsion according to claim 1, characterized in that: When the car clock issues a control command to move forward or backward, the car clock position variable outputs a set speed signal through the car command transmitter and the speed limit link. The speed limit link includes a starting speed setting value, a minimum stable speed limit, an acceleration rate limit, a program load limit, a critical speed avoidance, a maximum power limit, a maximum speed limit and a fault speed reduction limit.

3. The control system for dynamic limit of controllable pitch propeller propulsion according to claim 1, characterized in that: The shaft speed detection submodule is used to detect the shaft speed of the adjustable pitch propeller in real time, compare the set speed signal of the vehicle clock unit with the shaft speed of the adjustable pitch propeller through a comparator, and generate a diesel engine fuel injection amount setting value through a speed regulation and fuel limit link using the obtained speed deviation signal, and input the diesel engine fuel injection amount setting value into the propulsion load limitation submodule, and generate a diesel engine fuel injection amount control value according to the propulsion load limitation curve; The handle position variable of the car clock is input into the propeller control submodule, and the pitch setting value is generated through the propeller control curve; The pitch adjustment submodule is used to receive a pitch setting value signal, and after comparing the pitch setting value signal with a pitch feedback value signal, generate a pitch adjustment instruction, transmit the instruction to the pitch adjustment mechanism, and adjust the pitch of the controllable pitch propeller; The throttle adjustment submodule is used to receive the diesel engine fuel injection quantity control value signal, and output the throttle deviation signal after comparing it with the throttle feedback value signal, thereby generating a fuel injection command and transmitting it to the speed regulating mechanism, through which the diesel engine speed is adjusted.

4. The control system for dynamic limit of controllable pitch propeller propulsion according to claim 1, characterized in that: The speed regulation and fuel limitation links include PID regulation, PI regulation, minimum fuel supply limitation, maximum fuel supply limitation, pressurized air limitation, torque limitation, dead zone control, and propeller characteristic compensation.

5. The control system for dynamic limit of controllable pitch propeller propulsion according to claim 1, characterized in that: The propeller control submodule contains a propeller control curve, which is a handle position-speed-pitch multi-dimensional space curve. It is a composite control function curve formed by comprehensively matching the ship-engine-propeller propulsion characteristic lines and placing them in the same coordinate system based on the relationship between the diesel engine, the adjustable pitch propeller and the external characteristics of the hull.

6. The controllable pitch propeller propulsion dynamic limit control system according to claim 1, characterized in that: The horizontal axis of the propulsion load limit curve is the shaft speed of the controllable pitch propeller, the left vertical axis is the number of fuel rack grids, and the right vertical axis is the diesel engine power; through the current shaft speed, the maximum number of fuel rack grids corresponding to the current shaft speed is calculated according to the propulsion load limit curve. When the number of rack grids fed back by the throttle is greater than the calculated number of rack grids, it indicates that the diesel engine is overloaded. At this time, a variable pitch command correction signal is generated through the propeller control submodule to reduce the pitch setting value.

7. The controllable pitch propeller propulsion dynamic limit control system according to claim 1, characterized in that: The propulsion control module also includes an overload protection alarm unit. When the throttle scale reaches (100+3)%, the overload protection alarm unit outputs an overload protection signal and an audible and visual alarm with a delay, and the propulsion control module automatically reduces the pitch. The filtered actual load of the diesel engine is compared with the dynamic limit value of the diesel engine load. If the overload duration exceeds the specified value, the pitch is automatically reduced according to the preset step height-step length until the diesel engine load is no longer overloaded. If the engine is still overloaded after reducing the pitch twice in succession, the pitch is directly reduced to 70% of the current theoretical pitch; or the handle is directly pulled to reduce the pitch. Until the diesel engine is not overloaded; if the diesel engine is no longer overloaded, the alarm disappears. At this time, if the handle remains in its original position and does not move, the set step height-step length will gradually restore the pitch to the theoretical calculated value of the handle position; when the diesel engine overload needs to be eliminated by pulling the handle, the handle will be pulled back to near the original position after the diesel engine is not overloaded; if the propulsion control module fails, the system enters the standby mode. In the standby mode, the diesel engine overload condition is manually monitored by observing the diesel engine overload indicator light; the overload indicator light is activated by the overload switch, and the overload switch is arranged on the throttle adjustment rack of the diesel engine.

8. The controllable pitch propeller propulsion dynamic limitation control system according to claim 1, characterized in that: The propulsion control module also includes an automatic speed reduction and parking unit and a power failure processing unit. The automatic speed reduction and parking unit is used for automatic speed reduction or emergency parking when the diesel engine is overloaded; the power failure processing unit is used for maintaining the current pitch angle when a power failure occurs in the system and restarting when the power is restored.

9. The controllable pitch propeller propulsion dynamic limitation control system according to claim 3, characterized in that: The pitch adjustment mechanism is a hydraulic system and an oil distributor; a tail shaft speed measuring mechanism is installed on the controllable pitch propeller, and the shaft speed of the controllable pitch propeller is detected by the tail shaft speed measuring mechanism.

10. A control method for dynamic limit of a controllable pitch propeller propulsion, based on the control system for dynamic limit of a controllable pitch propeller propulsion according to any one of claims 1 to 9, characterized in that: The steps include: S1: According to the characteristics of the diesel engine, the controllable pitch propeller and the hull, a propulsion load limit curve is established in the propulsion load limit submodule; S2: The shaft speed detection submodule detects the shaft speed of the adjustable pitch propeller in real time, compares the set speed signal sent by the car clock unit with the shaft speed, and obtains a speed deviation signal. The speed deviation signal generates a fuel injection amount setting value of the diesel engine through the speed regulation and fuel limit sub-links; S3: transmitting the fuel injection amount setting value of the diesel engine to the propulsion load limiting submodule; calculating the maximum fuel rack grid number corresponding to the current shaft speed according to the propulsion load limiting curve in the propulsion load limiting submodule; when the rack grid number of the throttle feedback is greater than the calculated rack grid number, it indicates that the diesel engine is overloaded, at this time, the overload protection module issues an alarm, and generates a new diesel engine fuel injection amount control value and pitch setting value through the propulsion control module to prevent the diesel engine from overloading; S4: The pitch setting value is transmitted to the pitch adjustment submodule, and the pitch setting value is compared with the pitch feedback value signal to generate a pitch adjustment instruction, and then the propeller pitch is adjusted by the pitch adjustment mechanism, thereby dynamically adjusting the diesel engine load until the diesel engine is not overloaded and the alarm disappears; S5: The new diesel engine fuel injection quantity control value is transmitted to the throttle adjustment submodule, and the new diesel engine fuel injection quantity control value is compared with the throttle feedback value, and then a throttle deviation signal is output and a fuel injection instruction is generated to change the diesel engine fuel injection quantity and thus adjust the diesel engine speed.

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