A speed-pitch composite control method and system for controllable pitch propeller propulsion

Abstract

The present invention proposes a speed-pitch composite control method and system for adjustable pitch propeller propulsion, and establishes a bell handle position-speed-pitch multidimensional space curve through ship-engine-propeller propulsion characteristics, thereby realizing the functions of propeller composite control characteristic function expression and propeller state space online real-time visualization; the diesel engine speed setting value obtained by processing the bell handle position variable through the engine command signaling function is generated into a diesel engine speed expected value after the speed limit and speed control algorithm link, and is input into the multidimensional space curve to generate a shaft speed setting execution value and a pitch setting execution value; through coupled speed control and pitch control, after fuel limit and pitch limit, the speed and pitch are controlled within their respective allowed ranges to ensure stable operation and avoid large speed fluctuations and overload of the diesel engine; and the propulsion performance of the propeller with operational controllability, flexibility and safety and reliability is realized by adjusting the speed-pitch combination characteristic curve parameter setting value online.

Description

Technical Field

[0001] The present invention relates to the technical field of ship propeller control, and in particular to a rotation speed-pitch composite control method and system for controllable pitch propeller propulsion. Background Art

[0002] A propeller (CPP) is a ship propulsion device that can adjust the pitch and direction. Compared with a fixed pitch propeller, a ship propeller has the characteristics of flexible operation, strong maneuverability, and high propeller efficiency. In addition, the ship diesel engine can be optimized by adjusting the pitch and speed under different working conditions. The ship propeller propulsion system generally has four operating locations: local, engine side, centralized control room, and cab. There are four propulsion modes: engine-propeller joint control, engine-propeller separate control, constant speed, and standby control. In the traditional propeller propulsion mode, only when the pitch and speed are optimally matched under the design working conditions can the diesel engine fuel consumption rate be minimized. However, in the actual operation of the ship, the propeller is affected by factors such as hull dirt, wind and wave interference, or blade deformation, which will cause the propulsion characteristic curve to change. The propeller cannot automatically adjust the pitch and speed according to the changes in working conditions, resulting in low ship propulsion efficiency, frequent propeller adjustment, and even diesel engine overload. On the other hand, the control handle on the bridge cannot directly control the ship speed, and the propeller-propelled ship lacks the closed-loop control function of the ship speed. Summary of the invention

[0003] The purpose of the present invention is to prevent diesel engine overload, reduce the frequency of diesel engine throttle action, reduce diesel engine fuel consumption rate, and achieve optimal matching of ship-engine-propeller in various operating modes without overloading or running out of control of the diesel engine through a control method.

[0004] To achieve the above object, the present invention proposes a speed-pitch compound control system for controllable pitch propeller propulsion, which is based on a ship driving control mode and a compound control mode, and includes a driving control clock, a centralized control clock, a main engine speed expected value generation module, a speed control algorithm module, a speed-pitch instruction execution module and a speed-pitch control unit:

[0005] The driving control car clock is linked with the centralized control car clock. The driving control car clock is the main car clock, which is used to send car commands such as ship operation and vehicle operation and set the ship speed to generate a ship speed setting value; the centralized control car clock is the auxiliary car clock, which receives the car command from the driving control car clock and returns it to the bridge. The centralized control car clock synchronously follows the car command from the driving control car clock, and generates a diesel engine speed setting value through the car command signaling function and the speed limit link;

[0006] The speed control algorithm module is used to generate a diesel engine speed given control value based on the speed deviation between the ship speed setting value and the ship speed feedback value;

[0007] The main engine speed expected value generation module is used to receive the diesel engine speed setting value and the diesel engine speed given control value, and generate the diesel engine speed expected value;

[0008] The speed-pitch instruction execution module includes a clock handle position-speed-pitch multi-dimensional space curve, which is used to generate a shaft speed setting execution value and a pitch setting execution value from the diesel engine speed expectation value;

[0009] The speed-pitch control unit is used for speed control while preventing diesel engine overload; it is used for pitch control to achieve diesel engine load control and optimal matching of ship-engine-propeller to maintain the economic efficiency of the diesel engine; the speed-pitch control unit includes a coupled speed control module and a pitch control module, and the shaft speed deviation between the shaft speed setting execution value and the propeller shaft speed feedback value is generated through the speed control module to generate a throttle command, and the throttle deviation value of the throttle command and the throttle feedback is adjusted through the throttle adjustment module; the pitch deviation between the pitch setting execution value and the pitch feedback value is generated through pitch control to generate a pitch command, and the pitch command is adjusted through the pitch adjustment mechanism.

[0010] Furthermore, the speed-pitch compound control system further includes a selection module, a gearbox, a transmission shaft system, a speed detection module, a pitch detection module, a throttle detection module and a ship speed detection module, as follows:

[0011] The gearbox controls the connection and disconnection of the diesel engine and the transmission shaft system. When the diesel engine is stopped or started, the gearbox is disconnected; after the diesel engine is successfully started and the pitch is zero, the gearbox is allowed to connect, and the diesel engine outputs to the transmission shaft system, reducing the diesel engine speed to the propeller speed n p , and convert the diesel engine output torque Me into propeller torque M p , so that the diesel engine speed, torque and propeller speed, torque are linked.

[0012] The transmission shaft system is used to transfer the diesel engine power to the propeller through the transmission shaft system to drive the ship forward or backward. The transmission shaft system has an oil inlet / return pipeline of the propeller hydraulic system, and the head end of the transmission shaft system has an oil distribution shaft connected to the propeller hydraulic system to achieve pitch adjustment.

[0013] The speed detection module is used to detect the speed of the diesel engine, and adopts a magnetic pulse sensor.

[0014] The pitch detection module is used to detect the size of the propeller output pitch, and uses a displacement sensor;

[0015] The throttle detection module is used to detect the scale value of the throttle opening, and uses a displacement sensor;

[0016] The ship speed detection module is used to detect the sailing speed of the ship, which uses a voyage recorder or GPS;

[0017] The selection module first selects the driving control mode or the centralized control mode, and then selects the speed-pitch separate control mode or the compound control mode, including the constant speed mode pitch setting and the constant pitch mode speed setting in the separate control mode, and the speed-pitch coordinated setting in the compound control mode; the centralized control mode and the separate control mode are classic control modes.

[0018] 1) In the driving control mode, the driving control clock has the functions of the separate control mode and the compound control mode. The driving control clock generates a ship speed setting value, and at the same time, the driving control clock position variable is sent to the centralized control clock. The centralized control clock automatically follows the position of the driving control clock synchronously. The driving control clock position variable generates a diesel engine speed setting value after the centralized control clock, the vehicle command signaling function, and the speed limit link, and is input into the main engine (diesel engine) speed expected value generation module; the ship speed setting value is compared with the ship speed feedback value to obtain the speed deviation, and the speed deviation and the feedback actual speed are also input into the main engine (diesel engine) speed expected value generation module after the speed control algorithm module; the generated diesel engine speed expected value is output to the speed-pitch instruction execution module, and the speed setting execution value and the pitch setting execution value are generated at the same time according to the multi-dimensional space curve of the clock handle position-speed-pitch.

[0019] The driving control clock of the present invention is different from the clock used in ships. It has the function of setting the ship's speed and the function of synchronously driving the centralized control clock to complete the diesel engine speed setting.

[0020] 2) In the centralized control mode, the centralized control car clock only has the function of the separate control mode. The driving control car clock only sends the car order to the centralized control car clock. The engineer pushes the centralized control car clock to respond to the car order from the driving platform and generate the position variable of the centralized control car clock. The centralized control car clock generates the diesel engine speed setting value through the car order signaling function and the speed limit, and inputs it into the host (diesel engine) speed expected value generation module, and then generates the diesel engine speed setting execution value through the speed-pitch instruction execution module. In the separate control mode, the pitch setting execution value is obtained according to the diesel engine speed expected value.

[0021] In the centralized control mode, the position variable of the driving control car clock is only a car command function, and does not have the ship speed setting function. In the centralized control mode, the speed control algorithm module does not work, that is, it only sends the diesel engine speed set value car command to the centralized control car clock, and the engineer needs to push the centralized control car clock to follow the driving control car clock to realize the diesel engine speed setting and return command.

[0022] In addition, the driving control clock does not have the function of setting the ship's speed when the ship is maneuvering, berthing or leaving the berth.

[0023] The composite control system of the present invention optimizes ship propulsion only for the speed-pitch coordinated control of the driving control mode and the composite control mode, which is the core technology and innovation of the present invention.

[0024] Based on the above speed-pitch compound control system, the present invention also proposes a speed-pitch compound control method for controllable pitch propulsion, which comprises the following steps:

[0025] S1: Comprehensively match the working characteristics of the diesel engine, adjustable pitch propeller and hull to obtain the ship-engine-propeller propulsion characteristics;

[0026] S2: According to the ship-engine-propeller propulsion characteristics, a propeller composite control function is designed, a clock handle position-speed-pitch multi-dimensional space curve is established, a speed-pitch instruction execution module is formed, and the propeller composite control characteristic function expression and propeller state space description are realized. Online real-time visualization function;

[0027] S3: In the driving control mode, the driving control bell handle position is moved, and the centralized control bell synchronously follows the driving control bell car order, and the bell handle position variable is processed by the car order signaling function and the speed limit link to generate a diesel engine speed setting value, which is input into the main engine speed expected value generation module; at the same time, the driving control bell handle position variable is converted into a ship speed setting value, and the ship speed setting value is compared with the ship speed feedback value to obtain a speed deviation. After the speed deviation passes through the speed control algorithm module, the generated diesel engine speed given control value is also input into the main engine speed expected value generation module;

[0028] S4: the main engine speed expected value generating module receives the diesel engine speed setting value and the diesel engine speed given control value, and generates a diesel engine speed expected value;

[0029] S5: the diesel engine speed expected value is input into the speed-pitch instruction execution module, and the shaft speed setting execution value and the pitch setting execution value are generated according to the clock handle position-speed-pitch multi-dimensional space curve;

[0030] S6: The shaft speed deviation between the shaft speed setting execution value and the propeller shaft speed feedback value is processed by the speed control module in the speed-pitch control unit to generate a diesel engine fuel injection quantity control value, and the throttle control is performed through the throttle actuator; the pitch deviation between the pitch setting execution value and the pitch feedback value is processed by the pitch control in the speed-pitch control unit to generate a pitch control value, and the pitch is adjusted by the pitch adjustment mechanism; the speed control and pitch control in the speed control module are coupled to prevent the diesel engine from overloading.

[0031] Furthermore, step S1 is specifically as follows: comprehensively match the working characteristics of the diesel engine, the adjustable pitch propeller and the hull, and establish the kinematic and dynamic relationship between the power, torque, speed, efficiency, thrust and speed of each part when working. The ship-engine-propeller propulsion characteristic relationship includes the kinematic and dynamic relationship, which is the connection between the ship-engine-propeller through power, torque, speed, efficiency, thrust and speed;

[0032] The relationship between the ship-engine-propeller propulsion characteristics is as follows:

[0033] Boat: , ;

[0034] machine: , ;

[0035] paddle: , , ;

[0036] Among them, R, P R 、M e , P e 、T p 、M p , P p They are respectively the ship resistance R and the ship's required power P R , diesel engine output torque M e , diesel engine output power P e , propeller thrust T p , propeller torque M p and propeller power P p ;v s 、n e 、n p are the ship speed v s , diesel engine speed n e and propeller speed n p .

[0037] The relationship between blade angle and thrust is formed into an input-output function through high-order curve fitting, and this function is substituted into the dynamic equation to obtain: T p =Ψ(H p / D), where H p is the propeller pitch, D is the propeller diameter, and H is the pitch p The governing equation is: p =J(v s / n p D), where v s is the ship speed, n p is the propeller speed.

[0038] The change in resistance of a propeller-driven ship causes a change in propeller characteristics, which requires changing the pitch H p To compensate, the present invention controls the diesel engine speed and pitch H p To adapt to the changes in ship working conditions, the propeller power (P p )-speed (n p ) characteristic line remains in the optimal position.

[0039] Since the relationship between the blade angle and the ship's thrust is affected by the ship's bottom fouling, blade deformation, wind and wave currents, etc., the relationship is relatively complex and changes, so the present invention uses a high-order curve fitting method to obtain an approximate relationship between the blade angle and the thrust; however, solving the high-order equation is relatively complex, and the 4th-order Runge-Kutta method is a method commonly used in engineering to solve high-order differential equations, which has high calculation accuracy and can be solved using C language or matlab programming.

[0040] Furthermore, in step S2, the horizontal coordinate of the propeller composite control function is the position of the car bell handle, and the vertical coordinate is the pitch (H p ) and shaft speed (n p ), the propeller compound control function includes a separate control constant speed mode pitch setting curve, a compound control mode pitch setting curve, a compound control mode speed setting curve and a separate control constant speed mode speed setting curve. According to different propulsion modes set by the propeller, when the car bell handle is in a certain position, the propulsion control system can obtain the pitch setting value from the constant speed mode curve or the compound control mode curve, and obtain the speed setting value from the compound control mode curve (V-shaped) or the constant speed mode curve (horizontal).

[0041] Furthermore, in step S3, the position of the bell handle is used to control the ship to move forward and backward, with 10 gears each, and the middle gear is the zero gear parking position; the bell handle position includes the handle position of the driving bell and the handle position of the centralized control bell; wherein the driving bell is the master bell, which sends the ship speed command; the centralized control bell is the slave bell, which receives the driving bell command, converts the ship speed command into the diesel engine speed command, and responds to the driving bell at the same time. When the handle of the driving bell or the centralized control bell is moved forward or backward, the position variable of the bell is processed by the bell signaling function and the speed limiting link to obtain the diesel engine speed setting value, and then input into the host (diesel engine) speed expected value generation module; the host (diesel engine) speed expected value generation module outputs to the bell handle position-speed-pitch multi-dimensional space curve to generate the shaft speed setting execution value (shaft speed instruction) and the pitch setting execution value (pitch control instruction)

[0042] Furthermore, in step S3, the speed limit link includes a minimum stable speed limit, a maximum speed limit, a calculation load limit, a critical speed limit, an acceleration rate limit and a program load limit.

[0043] Furthermore, in the ship speed control algorithm module, the PID algorithm is first used to generate a diesel engine speed given value by comparing the given ship speed value with the speed feedback value signal, and then through the ship power-ship speed function and the diesel engine power-diesel engine speed function, the ship power is provided by the diesel engine power, thereby converting the ship speed control into diesel engine speed control. The ship speed control algorithm module can also identify the ship's navigation conditions and sea conditions according to the speed feedback signal, that is, the ship is anchored, berthing, maneuvering, ocean sailing, headwind and current, downwind and current, the ship is dirty, the propeller is dirty or deformed, etc.

[0044] The present invention forms an outer ring ship speed control, a middle ring diesel engine speed / power control, an inner ring diesel engine throttle (fuel injection amount) control and a pitch control architecture.

[0045] Furthermore, the main engine speed expected value generation module is a diesel engine speed-ship speed correspondence module designed for optimal ship-engine-propeller matching. After receiving the diesel engine speed set value and the diesel engine speed given control value, the main engine speed expected value generation module selects the smaller value to output.

[0046] Furthermore, the pitch deviation signal obtained by comparing the pitch setting execution value with the pitch feedback value passes through the pitch control and pitch limiting links to generate a pitch control value; the pitch control value signal instruction realizes pitch PI adjustment through the hydraulic system and the oil distributor.

[0047] Furthermore, the pitch limit link corresponds to the maximum pitch limit value at different speeds. Since the ship's sailing speed is determined by the diesel engine output power, appropriately reducing the diesel engine speed when lightly loaded can improve the ship's propulsion efficiency, but when the ship speed is constant, increasing the pitch can reduce the diesel engine speed. Therefore, by adjusting the propeller pitch and changing the diesel engine speed to improve the propeller propulsion efficiency, the diesel engine economy can also reach the best state at partial load, but the pitch adjustment cannot exceed the maximum load of the diesel engine at a certain speed.

[0048] Furthermore, in step S6, the shaft speed deviation obtained by comparing the shaft speed setting execution value with the shaft speed feedback value is processed by the speed control module to generate a diesel engine fuel injection quantity control value. After the diesel engine fuel injection quantity control value passes through the fuel limiting link, a throttle command is generated. The throttle command is compared with the throttle position feedback signal to obtain a throttle deviation signal, which is transmitted to the throttle drive unit for PI adjustment. Finally, the position is adjusted by the servo motor to realize the refueling or reducing fuel function, thereby realizing the PI adjustment of the diesel engine fuel injection quantity.

[0049] Furthermore, in step S6, the speed control module and the pitch control module are coupled, and both satisfy the calibrated joint control curve within their respective allowable ranges. The speed can be corrected based on the pitch, or the pitch can be revised based on the speed, but both are within the speed limit, fuel limit and load limit. Therefore, the propeller propulsion system needs to perform comprehensive control of ship speed-shaft speed-pitch-throttle to maintain speed stability and avoid diesel engine overload. The speed control module uses PID main algorithm + intelligent control auxiliary algorithm to control the diesel engine speed; the pitch control module uses PI control algorithm to adjust the propeller pitch.

[0050] The speed control module processes the shaft speed deviation signal through the PID main algorithm and the intelligent control auxiliary algorithm to generate a fuel injection quantity (throttle) control value signal instruction. After the throttle instruction is subject to fuel restriction and then processed by the PI algorithm of the throttle control module, the throttle scale (fuel injection quantity) is changed by adjusting the position of the servo motor to achieve fueling and reducing control of the diesel engine throttle (fuel injection quantity). That is, when the set speed is greater than the detection speed, the servo motor rotates forward to increase the throttle scale; when the set speed is less than the detection speed, the servo motor rotates reversely to reduce the throttle scale; the degree of throttle increase or decrease is also affected by the fuel restriction.

[0051] Furthermore, the fuel restriction includes a minimum fuel supply limit, a maximum fuel supply limit, a scavenging pressure limit, a fuel supply dead zone limit and a torque limit, thereby achieving a diesel engine mechanical load limit (torque limit) and a thermal load limit (scavenging pressure), and avoiding the phenomenon of thermal and mechanical load overload of the diesel engine, black smoke emission, and frequent throttle operation during the adjustment process.

[0052] The pitch control module processes the pitch deviation signal with the PI algorithm and then passes it through the two 4-20mA electric proportional valves of the pitch servo hydraulic system to achieve pitch position control through the oil distribution shaft. One of the electric proportional valves is used to adjust the positive pitch, and the other is used to adjust the negative pitch. The two are interlocked to ensure that only one electric proportional valve is actuated. When both are powered off and not actuated, the pitch position is fixed.

[0053] The speed-pitch compound control can realize diesel engine load control. The premise of ship speed control, diesel engine speed control, diesel engine throttle adjustment and propeller pitch control and the basis of their mutual coupling are to prevent diesel engine overload; during load control, the pitch reduction caused by a sudden decrease in diesel engine load and an increase in shaft speed is prevented, and the pitch increase caused by a sudden increase in diesel engine load and a decrease in shaft speed is also prevented.

[0054] Compared with the prior art, the advantages of the present invention are:

[0055] The present invention places the ship-engine-propeller propulsion characteristic lines in the same coordinate system, designs a propeller composite control function, and establishes a handle position-speed-pitch multi-dimensional space curve, thereby realizing the expression of the propeller composite control characteristic function and the online real-time visualization of the propeller state space.

[0056] The present invention controls the speed and pitch within their respective allowed ranges through coupled speed control and pitch control to meet the calibrated joint control curve. The speed can be corrected based on the pitch, and the pitch can also be revised based on the speed, but both are within the speed limit, fuel limit and load limit, thereby ensuring stable operation and avoiding diesel engine overload.

[0057] The driving control car clock of the present invention is linked with the centralized control car clock. In the driving control mode, the centralized control car clock can automatically follow the driving control car clock. The driving control car clock can set the ship speed, and the closed-loop adjustment of the ship speed is realized by using the speed control algorithm.

[0058] The purpose of the present invention is to optimize the control objectives of ship-engine-propeller in various operation modes without overloading, without overspeeding in severe sea conditions, preventing frequent throttle movements, and minimizing diesel engine fuel consumption. Diesel engine speed limit, host (diesel engine) speed expected value generation module, fuel limit, and pitch limit can avoid diesel engine overload during the adjustment process; the maximum speed limit can prevent the diesel engine from overspeeding in severe sea conditions, and the fuel supply dead zone limit in the fuel limit can prevent the diesel engine from frequent throttle movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is a schematic flow chart of a speed-pitch compound control system of a controllable pitch propeller propulsion according to an embodiment of the present invention;

[0060] Figure 2 It is a multi-dimensional space curve of handle position-speed-pitch in an embodiment of the present invention;

[0061] Figure 3 Schematic diagram of a vehicle command signaling function in an embodiment of the present invention;

[0062] Figure 4 This is a schematic diagram of the operation flow of the fuel restriction link in an embodiment of the present invention;

[0063] Figure 5 Schematic diagram of maximum pitch limit value at different rotation speeds in the pitch limit link in an embodiment of the present invention. DETAILED DESCRIPTION

[0064] 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.

[0065] This embodiment proposes a speed-pitch compound control system for controllable pitch propeller propulsion, such as Figure 1As shown, the system includes a ship propulsion device, a selection module, a driving control clock, a centralized control clock, a main engine speed expected value generation module, a speed control algorithm module, a speed-pitch instruction execution module, a speed-pitch control unit, a diesel engine speed detection module, a pitch detection module, a throttle detection module, a ship speed detection module and a throttle adjustment module.

[0066] The ship propulsion device includes the ship main engine (diesel engine), gearbox and propeller CPP, such as Figure 1 As shown, a shaft speed detector is installed on the propeller CPP to detect the propeller shaft speed; the propeller CPP is connected to the diesel engine through the transmission shaft system and the gearbox, and the diesel engine power is transmitted to the propeller CPP through the transmission shaft system and the gearbox, thereby driving the ship forward or backward; the transmission shaft system has the oil inlet / return oil pipeline of the propeller hydraulic system, and the head end of the transmission shaft system has an oil distribution shaft, which is connected to the propeller hydraulic system to achieve pitch adjustment. In addition, the gearbox is arranged between the propeller CPP and the diesel engine to control the connection and disconnection of the diesel engine and the transmission shaft system. When the diesel engine is stopped or started, the gearbox is disconnected; after the diesel engine is started successfully and the pitch is zero, the gearbox is allowed to connect, and the diesel engine outputs to the transmission shaft system to adjust the diesel engine speed n e The speed of the propeller is reduced to n p , and at the same time the diesel engine output torque M e Converted into propeller torque M p , so that the diesel engine speed, torque and propeller speed, torque are linked.

[0067] The selection module includes driving control mode and centralized control mode selection, separate control mode and compound control mode selection, among which, the separate control mode includes constant speed mode pitch setting and constant speed mode speed setting, the compound control mode includes compound control mode pitch setting and compound control mode speed setting, the compound control mode is a coordinated setting of speed-pitch to obtain the best ship-engine-propeller matching characteristics.

[0068] The driving control car clock and the centralized control car clock are interconnected through the CAN BUS fieldbus. The driving control car clock is the main car clock, which sends ship and vehicle operation instructions; the centralized control car clock is the auxiliary car clock, which receives the vehicle order from the driving control car clock and returns the vehicle order to the bridge. In the driving control mode, the driving control car clock is used to send vehicle orders and generate ship speed setting values. The centralized control car clock synchronously follows the vehicle order of the driving control car clock and is transmitted through Figure 3The engine command signaling function and speed limit link shown in the figure generate the diesel engine speed setting value. In the driving control mode, the driving control clock sets the ship speed and sends the ship command to the centralized control clock at the same time. The centralized control clock automatically follows the driving control clock and generates the diesel engine speed setting value according to the optimal matching relationship between ship, engine and propeller during ship design. When the ship is maneuvering, berthing or leaving the berth, the driving control clock does not have the ship speed setting function. In the centralized control mode, the driving control clock does not have the ship speed setting function, but only the engine command sending function, that is, it only sends the diesel engine speed set value engine command to the centralized control clock. The engineer needs to push the centralized control clock to follow the driving control clock to realize the diesel engine speed setting and return command.

[0069] The ship speed control algorithm module includes the speed deviation obtained by comparing the ship set speed (driving control car clock signal) with the speed feedback signal, and then generates the diesel engine speed set value through the PID algorithm, and then through the ship power-ship speed function and the diesel engine power-diesel engine speed function, the ship power is provided by the diesel engine power, so as to convert the ship speed control into the diesel engine speed control. The ship speed control algorithm module can also identify the ship's navigation conditions and sea conditions according to the speed feedback signal, that is, the ship is moored, berthed, maneuvered, ocean sailing, headwind and current, downwind and current, dirty ship, dirty or deformed propeller, etc.

[0070] The main engine speed expected value generation module is used to receive the diesel engine speed set value and the diesel engine speed given control value, select the smaller value for output, and generate the diesel engine speed expected value, thereby preventing the diesel engine from being overloaded and improving the economic efficiency of propulsion; when the ship's speed decreases due to the wind and current, the speed control algorithm module generates an instruction to increase the diesel engine speed in order to maintain the speed. Due to the speed limit of the centralized control clock circuit, the output of the main engine (diesel engine) speed expected value generation module will not increase; the ship's speed increases due to the wind and current, and the speed control algorithm module generates an instruction to reduce the diesel engine speed in order to maintain the speed. The output of the main engine (diesel engine) speed expected value generation module reduces the diesel engine speed control value, thereby reducing the diesel engine fuel consumption; or, in order to pursue the ship's schedule, when the ship's speed increases due to the wind and current, the main engine (diesel engine) speed expected value generation module outputs an instruction to maintain the diesel engine speed expected value unchanged.

[0071] The speed-pitch instruction execution module includes a clock handle position-speed-pitch multi-dimensional space curve, which is used to generate a shaft speed setting execution value and a pitch setting execution value from the diesel engine speed expectation value.

[0072] The speed-pitch control unit is used to control the speed while preventing the diesel engine from overloading, and is used for pitch control to achieve diesel engine load control and the best matching of ship-engine-propeller to maintain the economic efficiency of the diesel engine. The module includes a coupled speed control module and a pitch control module. The speed control module uses the PID main algorithm + intelligent control auxiliary algorithm to control the diesel engine speed, and the pitch control module uses the PI control algorithm to adjust the pitch of the propeller.

[0073] The diesel engine speed detection module uses a magnetic pulse sensor to detect the diesel engine speed n e The pitch detection module uses a displacement sensor to detect the size of the propeller output pitch; the throttle detection module uses a displacement sensor to detect the scale value of the throttle opening; the ship speed detection module uses a voyage recorder or GPS to detect the ship's sailing speed V S The throttle adjustment module is used to adjust the diesel engine throttle scale (fuel injection amount) and thus adjust the diesel engine speed n e and power.

[0074] The control method of the speed-pitch compound control system of the controllable pitch propeller propulsion in this embodiment is specifically as follows:

[0075] S1: The working characteristics of the diesel engine, the adjustable pitch propeller and the hull are comprehensively matched to establish the kinematic and dynamic relationship between the power, torque, speed, efficiency, thrust and speed of each part when it is working; the relationship between the blade angle and the thrust is formed into an input-output function by a high-order curve fitting method, and the function is introduced into the dynamic equation, and the ship-engine-propeller propulsion characteristics are obtained by numerical integration and decomposition through the 4th-order Runge-Kutta method; wherein, the relationship between the ship-engine-propeller propulsion characteristics is as follows:

[0076] Boat: , ;

[0077] machine: , ;

[0078] paddle: , , ;

[0079] Among them, R, P R 、M e , P e 、T p 、M p , P p They are respectively ship resistance R and propeller effective propulsion power P R , diesel engine output torque M e , diesel engine output rated power P e , propeller thrust T p , propeller torque Mp and propeller power P p ;v s 、n e 、n p are the ship speed v s , diesel engine speed n e and propeller speed n p .

[0080] S2: Put the propulsion characteristics of ship-engine-propeller into the same coordinate system, with the handle position as the horizontal coordinate and the pitch and shaft speed as the vertical coordinate, design the propeller composite control function, establish the handle position-speed-pitch multi-dimensional space curve, and realize the expression of the propeller composite control characteristic function; Figure 2 As shown, the propeller compound control function includes a constant speed mode pitch setting curve ①, a compound control mode pitch setting curve ②, a compound control mode speed setting curve ③ and a constant speed mode speed setting curve ④. Depending on the propeller propulsion mode, when the propeller control handle is in a certain position, the propulsion control system can obtain a pitch setting value from the constant speed mode curve ① or the compound control mode curve ②, and obtain a speed setting value from the compound control mode curve ③ (V-shaped) or the constant speed mode curve ④ (horizontal). For example, in this embodiment, in the compound control mode, when the handle position is in the 5th gear, 85% of the pitch setting can be obtained from the compound control curve ② and 90% of the speed setting can be obtained from the compound control mode curve ③.

[0081] S3: Move the handle position of the driving control car clock / central control car clock, and change the central control handle position variable through Figure 3 The vehicle command signaling function processing and speed limiting link, and the centralized control handle position variable are input into the host (diesel engine) speed expected value generation module after the speed control algorithm, and then output to the handle position-speed-pitch multi-dimensional space curve to generate the shaft speed setting execution value and the pitch setting execution value;

[0082] In this embodiment, the handle position is used to control the forward and reverse movement of the ship, with 10 gears in front and back, and the middle gear is the zero gear parking position. When the handle of the driving control car bell or the centralized control car bell is moved forward or backward, the position variable of the centralized control car bell is processed by the car command signaling function and the speed limit link, and the position variable of the driving control car bell is processed by the speed control algorithm, and is input into the main engine (diesel engine) speed expected value generation module and then output to the output module such as Figure 2 The engine-propeller joint control curve shown generates the shaft speed setting execution value and the pitch setting execution value. In the driving control mode, the driving control clock generates the ship speed setting value through the ship speed control algorithm; in the centralized control mode, the centralized control clock generates the shaft speed setting value through the clock speed limit; in the joint control mode, through the engine-propeller joint control curve, both generate the shaft speed setting value and the pitch setting value at the same time.

[0083] Among them, the vehicle clock speed limit includes the minimum stable speed limit, the maximum speed limit, the calculation load limit, the critical speed limit, the acceleration rate limit and the program load limit.

[0084] S4: The shaft speed deviation obtained by comparing the shaft speed set value with the shaft speed feedback is processed by the PID main algorithm and the intelligent control auxiliary algorithm of the speed control module to generate the diesel engine injection quantity (throttle) given value. The injection quantity (throttle) given value is input into the PI algorithm of the throttle control module after fuel restriction to generate a valid throttle action value; the pitch set value is compared with the pitch feedback, and the pitch deviation obtained is processed by the pitch control single module PI algorithm to generate a pitch given value, and a valid pitch action value is generated after pitch restriction.

[0085] Among them, fuel restrictions include minimum fuel supply limit, maximum fuel supply limit, scavenging pressure limit, fuel supply dead zone limit and torque limit, to prevent the diesel engine from overloading the thermal load and mechanical load, emitting black smoke, and frequent throttle action during the adjustment process; Figure 5 As shown in the figure, the pitch limit link is the maximum pitch limit value corresponding to different speeds. Since the ship's sailing speed is determined by the diesel engine output power, appropriately reducing the diesel engine speed when lightly loaded can improve the ship's propulsion efficiency, but when the ship speed is constant, increasing the pitch can reduce the diesel engine speed. Therefore, by adjusting the propeller pitch and changing the diesel engine speed to improve the propeller propulsion efficiency, the diesel engine economy can also reach the best state at partial load, but the pitch adjustment cannot exceed the maximum load of the diesel engine at a certain speed.

[0086] In the composite control system of this embodiment, the speed control and pitch control are coupled, and both meet the calibrated joint control curve within their respective allowable ranges. The speed can be corrected based on the pitch, and the pitch can also be revised based on the speed, but both are within the speed limit, fuel limit and load limit. Therefore, the propeller propulsion system needs to be comprehensively controlled by ship speed-shaft speed-pitch-throttle to maintain a stable speed and avoid diesel engine overload and black smoke.

[0087] The speed-pitch compound control can realize diesel engine load control. The premise of ship speed control, diesel engine speed control, diesel engine throttle adjustment and propeller pitch control and the basis of their mutual coupling are to prevent the diesel engine from being overloaded; during load control, the pitch reduction caused by the sudden decrease in diesel engine load and the increase in shaft speed is prevented, and the pitch increase caused by the sudden increase in diesel engine load and the decrease in shaft speed is also prevented.

[0088] S5: The above injection quantity is given by the execution value as follows: Figure 4After the fuel limit shown in the figure, a throttle command is generated; the throttle command is compared with the throttle position feedback signal to obtain a throttle deviation signal, which is transmitted to the throttle control module for PI adjustment. Finally, after the servo motor position is adjusted, the refueling or reduction function is realized, thereby changing the diesel engine injection amount; at the same time, the pitch given execution value is compared with the pitch feedback value to obtain a pitch deviation signal, which is transmitted to the pitch control module for PI adjustment. Finally, after passing the pitch limitation link, an effective pitch action value command is generated; finally, the servo adjustment of the pitch is realized through the hydraulic system and the oil distributor.

[0089] In this embodiment, Figure 4 As shown, fuel restrictions include minimum fuel supply restriction, maximum fuel supply restriction, scavenging pressure restriction, fuel supply dead zone restriction and torque restriction, thereby realizing diesel engine mechanical load restriction (torque restriction) and thermal load restriction (scavenging pressure), avoiding diesel engine overload, black smoke emission and frequent throttle operation during the adjustment process.

[0090] 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 speed-pitch compound control system for controllable pitch propeller propulsion, characterized in that: Based on the ship driving control mode and compound control mode, it includes driving control clock, centralized control clock, main engine speed expected value generation module, speed control algorithm module, speed-pitch instruction execution module and speed-pitch control unit: The driving control car clock is linked with the centralized control car clock. The driving control car clock is used to send car orders and generate ship speed setting values. The centralized control car clock synchronously follows the car orders of the driving control car clock and generates the diesel engine speed setting value through the car order signaling function and the speed limit link. The speed control algorithm module is used to generate a diesel engine speed given control value based on the speed deviation between the ship speed setting value and the ship speed feedback value; The main engine speed expected value generation module is used to receive the diesel engine speed setting value and the diesel engine speed given control value, and generate the diesel engine speed expected value; The speed-pitch instruction execution module includes a clock handle position-speed-pitch multi-dimensional space curve, which is used to generate a shaft speed setting execution value and a pitch setting execution value from the diesel engine speed expectation value; The speed-pitch control unit includes a coupled speed control module and a pitch control module. The shaft speed deviation between the shaft speed setting execution value and the propeller shaft speed feedback value is generated through the speed control module to generate a fuel injection quantity control value, and the throttle is adjusted through the throttle adjustment module; the pitch deviation between the pitch setting execution value and the pitch feedback value is generated through pitch control to generate a pitch control value, and the pitch is adjusted through the pitch adjustment mechanism.

2. A speed-pitch compound control method for controllable pitch propeller propulsion, based on the speed-pitch compound control system according to claim 1, characterized in that: The following steps are involved: S1: Comprehensively match the working characteristics of the diesel engine, adjustable pitch propeller and hull to obtain the ship-engine-propeller propulsion characteristics; S2: According to the ship-engine-propeller propulsion characteristics, a propeller composite control function is designed to establish a multi-dimensional space curve of the clock handle position-speed-pitch; S3: In the driving control mode, the centralized control car clock synchronously follows the driving control car clock car order, and the car clock handle position variable is processed through the car order signaling function and the speed limit link to generate a diesel engine speed setting value, which is input into the main engine speed expected value generation module; at the same time, the driving control car clock handle position variable is converted into a ship speed setting value, and the ship speed setting value is compared with the ship speed feedback value to obtain a speed deviation. After the speed deviation passes through the speed control algorithm module, the generated diesel engine speed given control value is also input into the main engine speed expected value generation module; S4: the main engine speed expected value generating module receives the diesel engine speed setting value and the diesel engine speed given control value, and generates a diesel engine speed expected value; S5: the diesel engine speed expected value is input into the speed-pitch instruction execution module, and the shaft speed setting execution value and the pitch setting execution value are generated according to the clock handle position-speed-pitch multi-dimensional space curve; S6: The shaft speed setting execution value is processed by the speed control in the speed-pitch control unit to generate a diesel engine injection quantity control value, and the throttle control is performed through the throttle adjustment module; the pitch deviation between the pitch setting execution value and the pitch feedback value is processed by the pitch control in the speed-pitch control unit to generate a pitch control value, and the pitch is adjusted by the pitch adjustment mechanism.

3. The speed-pitch compound control method for controllable pitch propeller propulsion according to claim 2, characterized in that: In step S1, the relationship between the ship-engine-propeller propulsion characteristics is as follows: Boat: , ; machine: , ; paddle: , , ; Among them, R, P R 、M e , P e , T p 、M p , P p They are respectively the ship resistance R and the ship's required power P R , diesel engine output torque M e , diesel engine output power P e , propeller thrust T p , propeller torque M p and propeller power P p ;v s 、n e 、n p are the ship speed v s , diesel engine speed n e and propeller speed n p .

4. The speed-pitch compound control method for controllable pitch propeller propulsion according to claim 2, characterized in that: In step S2, the horizontal coordinate of the propeller compound control function is the position of the car clock handle, and the vertical coordinates are the pitch and shaft speed respectively. The propeller compound control function includes a pitch setting curve for the separate control constant speed mode, a pitch setting curve for the compound control mode, a speed setting curve for the compound control mode, and a speed setting curve for the separate control constant speed mode.

5. The speed-pitch compound control method for controllable pitch propeller propulsion according to claim 2, characterized in that: In step S3, the position of the bell handle is used to control the forward and reverse movement of the ship, with 10 gears in front and back, and the middle gear is the parking position; the bell handle position includes the handle position of the driving bell and the handle position of the centralized control bell; among them, the driving bell is the master bell, which sends the ship speed command; the centralized control bell is the slave bell, which receives the driving bell command, converts the ship speed command into the diesel engine speed command, and responds to the driving bell at the same time.

6. The speed-pitch compound control method for controllable pitch propeller propulsion according to claim 2, characterized in that: The speed control module is coupled to the pitch control module. The speed control module uses a PID main algorithm + an intelligent control auxiliary algorithm to control the speed of the diesel engine; the pitch control module uses a PI control algorithm to adjust the propeller pitch.

7. The speed-pitch compound control method for controllable pitch propeller propulsion according to claim 2, characterized in that: In the speed control algorithm module, the PID algorithm is first used to generate a diesel engine speed set value by comparing the speed deviation obtained by comparing the given speed value of the ship with the speed feedback value signal. Then, through the ship power-ship speed function and the diesel engine power-diesel engine speed function, the ship power is provided by the diesel engine power, thereby converting the ship speed control into the diesel engine speed control. The speed control algorithm module can also identify the ship's navigation conditions and sea conditions according to the speed feedback signal.

8. The speed-pitch compound control method for controllable pitch propeller propulsion according to claim 2, characterized in that: The main engine speed expected value generation module is a diesel engine speed-ship speed correspondence relationship module designed for optimal ship-engine-propeller matching. After receiving the diesel engine speed set value and the diesel engine speed given control value, the main engine speed expected value generation module selects a smaller value to output.

9. The speed-pitch compound control method for controllable pitch propeller propulsion according to claim 2, characterized in that: In step S6, the diesel engine fuel injection control value generates a throttle command after passing through the fuel limit link. The throttle command is compared with the throttle position feedback signal to obtain a throttle deviation signal, which is transmitted to the throttle drive unit for PI adjustment. Finally, the position is adjusted by the servo motor to realize the fuel filling or reducing function, thereby realizing the PI adjustment of the diesel engine fuel injection amount. The pitch deviation signal obtained by comparing the pitch setting execution value with the pitch feedback value generates a pitch instruction after passing through the pitch control and pitch limiting links; the pitch instruction realizes pitch PI adjustment through the hydraulic system and the oil distributor.

10. The speed-pitch compound control method for controllable pitch propeller propulsion according to claim 9, characterized in that: The speed limit link includes the minimum stable speed limit, the maximum speed limit, the calculated load limit, the critical speed limit, the acceleration rate limit and the program load limit; the fuel limit includes the minimum fuel supply limit, the maximum fuel supply limit, the scavenging pressure limit, the fuel supply dead zone limit and the torque limit, so as to realize the mechanical load limit and thermal load limit of the diesel engine and prevent the diesel engine from being overloaded.

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