Controllable-pitch propeller pitch estimation method, medium and equipment

Abstract

The invention discloses a controllable-pitch propeller pitch estimation method which comprises the following steps: acquiring real-time operation data of a controllable-pitch propeller at a given moment to obtain physical property parameters of hydraulic oil; resolving the gear pump model to obtain the volume flow of hydraulic oil at an outlet of the gear pump; resolving the hydraulic pipeline model and the filter model to obtain pressure and volume flow of hydraulic oil at an outlet of the filter; resolving the one-way valve model to obtain the pressure and volume flow of the one-way valve outlet hydraulic oil; resolving the overflow valve model to obtain overflow volume flow; resolving the control system model and the proportional control valve model to obtain the hydraulic oil flow in each flow channel of the proportional control valve; the oil distributor model is solved, and the flow of hydraulic oil entering a propeller hub oil cylinder is obtained; resolving the propeller hub oil cylinder model to obtain the stroke of a piston rod; and resolving the rotating vane mechanism model to obtain a real-time estimated value of the pitch angle. The method realizes real-time estimation of the pitch of the controllable-pitch propeller, and can be used as independent estimation of the pitch of the controllable-pitch propeller.

Description

Technical Field

[0001] The present invention relates to the technical field of ship power systems, and in particular to a method, medium and device for estimating the pitch of a controllable pitch propeller. Background Art

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

[0003] Controllable pitch propellers involve multiple key components such as gear pumps, hydraulic pipelines, filters, one-way valves, relief valves, control systems, proportional control valves, oil distributors, propeller hub cylinders, blade turning mechanisms, and propeller blades. During operation, controllable pitch propellers may experience hydraulic oil leakage, valve jamming, and other faults, which may cause the pitch speed of the controllable pitch propeller to slow down, the pitch to fluctuate abnormally, or even be unable to adjust the pitch. Once some important components fail, it will seriously affect the maneuverability and safe navigation of the ship. On the other hand, the number of sensors equipped on controllable pitch propellers is generally small, and the device failures are diverse, hidden, and have complex causal relationships, which brings a series of practical difficulties to fault prediction, diagnosis, and repair.

[0004] Therefore, those skilled in the art are committed to providing a method, medium and device for estimating the pitch of a controllable pitch propeller to achieve real-time estimation of the pitch of the controllable pitch propeller. Summary of the invention

[0005] In view of the defects in the prior art, the technical problem to be solved by the present invention is how to provide a method, medium and device that can estimate the pitch of a controllable pitch propeller in real time.

[0006] To achieve the above object, the present invention provides a method for estimating the pitch of a controllable pitch propeller, comprising the following steps:

[0007] Step 1: Acquire the real-time operation data of the pitch-adjustable propeller at a given time and obtain the physical property parameters of the hydraulic oil;

[0008] Step 2, solving the gear pump model to obtain the volume flow rate of the hydraulic oil at the gear pump outlet;

[0009] Step 3, solving the hydraulic pipeline model and the filter model to obtain the pressure and volume flow of the hydraulic oil at the filter outlet;

[0010] Step 4, solving the one-way valve model to obtain the pressure and volume flow of the hydraulic oil at the one-way valve outlet;

[0011] Step 5, solving the overflow valve model to obtain the overflow volume flow rate;

[0012] Step 6, solving the control system model and the proportional control valve model to obtain the hydraulic oil flow in each flow channel of the proportional control valve;

[0013] Step 7, solving the oil distributor model to obtain the hydraulic oil flow entering the propeller hub cylinder;

[0014] Step 8, solve the propeller hub cylinder model to obtain the piston rod stroke;

[0015] Step 9: Solve the blade rotating mechanism model to obtain a real-time estimated value of the pitch angle.

[0016] Preferably, in step 1, after obtaining the operating data, the physical property parameters are obtained by querying the hydraulic oil parameter database, and the operating data includes: a set value signal θ of the pitch angle sp , the pressure of the hydraulic oil at the gear pump outlet p pump , hydraulic oil pressure p at port A of proportional control valve A , hydraulic oil pressure p at port B of proportional control valve B , oil return pressure p tank , hydraulic oil temperature T, ship main engine speed n e The physical parameters include: hydraulic oil density ρ and hydraulic oil dynamic viscosity μ.

[0017] Furthermore, in step 2, the gear pump model is:

[0018]

[0019] In the formula, Q pump is the volume flow rate of hydraulic oil at the gear pump outlet, V gth is the pump capacity per revolution, n p is the gear pump speed, η v is the volumetric efficiency of the gear pump; where,

[0020]

[0021] In the formula, p pump,0 is the rated pressure of the hydraulic oil at the gear pump outlet, η v,0 Yes pump,0 Corresponding rated volumetric efficiency;

[0022] n p =k p,e n e

[0023] Where n e is the ship's main engine speed, k p,e It is the speed ratio of the gearbox between the gear pump and the main engine.

[0024] Furthermore, in step 3, the hydraulic pipeline model is:

[0025] p pump -p pipe =Δp f

[0026]

[0027] In the formula, p pipe is the pressure of the hydraulic oil at the outlet of the pipeline, Δp f is the friction pressure loss of hydraulic oil in the pipeline, Q pipe is the volume flow rate of hydraulic oil at the pipeline outlet; where,

[0028]

[0029] Where λ is the shape factor, L is the length of the pipeline, and L e is the equivalent pipeline length caused by local resistance, A is the flow area of ​​the pipeline, f is the turbulent friction coefficient, d is the diameter of the pipeline, Re is the Reynolds number of the hydraulic oil, Re lam is the critical Reynolds number; where,

[0030]

[0031] In the formula, ε r is the surface roughness;

[0032] The filter model is:

[0033]

[0034] p pipe -p fliter =k f Q fliter 2

[0035] In the formula, Q filter is the volume flow rate of hydraulic oil at the filter outlet, p filter is the pressure of hydraulic oil at the filter outlet, k f It is the flow resistance coefficient of hydraulic oil through the filter.

[0036] Furthermore, in step 4, the one-way valve model is:

[0037]

[0038] In the formula, Q check is the hydraulic oil volume flow rate at the check valve outlet, A check is the flow area of ​​the check valve, p check is the pressure of hydraulic oil at the outlet of the one-way valve;

[0039]

[0040] In the formula, x check is the one-way valve spool displacement, θ check is the cone angle of the valve seat, d check is the valve core diameter of the one-way valve, A check,leak is the leakage area of ​​the one-way valve; where,

[0041]

[0042] In the formula, p check,min is the pressure in front of the check valve corresponding to the minimum opening of the check valve, p check,max is the pressure in front of the check valve corresponding to the maximum opening of the check valve, x check,max It is the maximum displacement of the one-way valve core.

[0043] Furthermore, in step 5, the overflow valve model is:

[0044]

[0045] In the formula, Q overflow is the overflow volume flow, C overflow is the orifice flow coefficient of the relief valve, A overflow is the overflow valve flow area; where,

[0046]

[0047] In the formula, x overflow is the relief valve spool displacement, x overflow,max is the maximum displacement of the relief valve core, A overflow,max is x overflow,max The corresponding maximum flow area of ​​the overflow valve;

[0048] p in S in +p out S out =p ,pilot S pilot +F ,set +K overlow x overflow

[0049] In the formula, S in is the area of ​​the overflow valve's inlet hydraulic oil acting on the valve core, S out S is the area of ​​the valve core acted on by the hydraulic oil at the outlet of the relief valve, pilot is the area of ​​the pilot port hydraulic oil of the relief valve acting on the valve core, p overflow,pilot is the relief valve pilot stage pressure, F overflow,set is the spring pressure set by the relief valve, K overflow is the overflow valve spring constant; where,

[0050]

[0051] In the formula, C damp is the orifice flow coefficient of the relief valve damping orifice, C pilot is the orifice flow coefficient of the relief valve pilot stage, A damp is the flow area of ​​the relief valve damping hole, A pilot It is the flow area of ​​the pilot stage of the relief valve.

[0052] Furthermore, in step 6, the control system model is:

[0053]

[0054] Where s is the Laplace operator, y cv is the controller output, K P is the gain of the control system, τ I is the integral time constant of the control system, τ D is the differential time constant of the control system, θ t-1 It is the real-time estimate of the pitch angle calculated in the previous beat;

[0055] Proportional control valve spool displacement x cv for:

[0056]

[0057] In the formula, τ cv is the time constant of the proportional control valve, x cv,max is the maximum displacement of the proportional control valve spool;

[0058] The proportional control valve model is:

[0059]

[0060] In the formula, Q P-A , Q P-B , Q A-T , Q B-T are the hydraulic oil volume flow rates in the PA, PB, AT, and BT channels of the proportional control valve, respectively. P-A , A P-B , A A-T , A B-T are the flow areas of the proportional control valves PA, PB, AT, and BT respectively, C cv is the proportional control valve flow coefficient; where,

[0061]

[0062] A P-A =A B-T

[0063] A P-B =A A-T

[0064] In the formula, R cv is the equivalent radius of the proportional control valve, x P-A 、x P-B are the opening displacements of the flow passages PA and PB of the proportional control valve respectively; among them,

[0065]

[0066] In the formula, A cv,max It is the maximum flow area of ​​the proportional control valve core.

[0067] Furthermore, in step 7, the oil distributor model is:

[0068]

[0069] In the formula, Q leak,A and Q leak,B They are the leakage of the A and B ports of the oil distributor, m3 / s; h A and h B They are the gap lengths of the A and B ports of the oil distributor, m; r A and r B They are the gap distance between the A and B ports of the oil distributor, m; ε e is the eccentricity correction coefficient, dimensionless; p0 is the atmospheric pressure, Pa; μ is the dynamic viscosity of the hydraulic oil, Pa·s.

[0070] The eccentricity correction coefficient ε e The calculation is done using the following formula:

[0071] ε e =1+1.5e 2

[0072] Where, e is the eccentricity of the oil distributor, mm.

[0073] The volume flow rate of hydraulic oil entering cylinder A is Q A for:

[0074] Q A =Q p-A -Q A-T -Q leak,A

[0075] Hydraulic oil volume flow Q into cylinder B B for:

[0076] Q B =Q P-B -Q B-T -Q leak,B .

[0077] Furthermore, in step 8, the hub cylinder model is:

[0078]

[0079] Where, d cylinder is the diameter of the propeller hub cylinder, d stem is the diameter of the piston rod, h stem is the stroke of the piston rod, m stem is the mass of the piston rod, F stem is the force on the piston rod; where,

[0080] F stem =p B π(d cylinder 2 -d stem 2 )-p A πd cylinder 2 .

[0081] Furthermore, in step 9, the blade rotating mechanism model is:

[0082]

[0083] Where θ is the pitch angle, J is the moment of inertia of the blade, N is the number of blades, and R crank is the radius of the crank where the crank plate is located.

[0084] The present invention also provides a readable medium, on which instructions are stored, and when the instructions are executed on an electronic device, the electronic device executes the above-mentioned method for estimating the pitch angle of a controllable pitch propeller.

[0085] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor is used to execute the above-mentioned method for estimating the pitch angle of a controllable pitch propeller when executing the program.

[0086] The present invention has at least the following beneficial technical effects:

[0087] The pitch estimation method of the adjustable pitch propeller provided by the present invention realizes the real-time estimation of the pitch of the adjustable pitch propeller, and can calculate the real-time estimated value of the pitch angle according to the measurement point data, and the result can be used as an independent estimation of the pitch of the adjustable pitch propeller. The present invention provides support for the performance evaluation and fault warning of the adjustable pitch propeller, and helps to improve the operating safety of the adjustable pitch propeller; during the operation of the adjustable pitch propeller, when the measured value of the pitch angle and the real-time estimated value of the pitch angle have a large deviation, it indicates that the adjustable pitch propeller has a potential fault possibility.

[0088] The adjustable pitch propeller pitch estimation method of the present invention can be used for short-term prediction of the adjustable pitch propeller pitch when a future pitch angle setting value is given, helping ship drivers to judge the changing trend and amplitude of the pitch angle, and has important application value for the safety of ship driving.

[0089] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] Figure 1 is a simplified schematic diagram of a controllable pitch propeller according to an embodiment of the present invention;

[0091] Figure 2 is a flow chart of a method for estimating the pitch of a controllable pitch propeller according to an embodiment of the present invention;

[0092] Figure 3 is an operation data diagram of a controllable pitch propeller according to an embodiment of the present invention;

[0093] Figure 4 3 is a comparison diagram of the measured value and the estimated value of the pitch angle of the controllable pitch propeller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0094] The following describes the preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0095] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

[0096] The present invention provides a method for estimating the pitch of a controllable pitch propeller, establishes a mechanism model of the pitch adjustment process of the controllable pitch propeller, can calculate a real-time estimated value of the pitch angle according to measurement point data, and realizes real-time estimation of the pitch of the controllable pitch propeller.

[0097] like Figure 1 The figure shows a simplified schematic diagram of the structure of a pitch controllable propeller, which is widely used in the field of ships and is an important device of a ship power system. The pitch estimation method of the pitch controllable propeller of the present invention is used for real-time estimation of the pitch angle of a blade rotating mechanism.

[0098] like Figure 2 As shown, a specific implementation process of the controllable pitch propeller pitch estimation method of the present invention is as follows.

[0099] Step 1: Acquire the real-time operation data of the pitch-adjustable propeller at a given time and obtain the physical property parameters of the hydraulic oil.

[0100] In this step, after obtaining the real-time operating data of the adjustable pitch propeller at a given time, the physical parameters of the hydraulic oil are obtained by querying the hydraulic oil physical parameter database. The operating data includes: the set value signal θ of the pitch angle sp , the pressure of the hydraulic oil at the gear pump outlet p pump , hydraulic oil pressure p at port A of proportional control valve A , hydraulic oil pressure p at port B of proportional control valve B , oil return pressure p tank , hydraulic oil temperature T, ship main engine speed n e ; Physical parameters include: hydraulic oil density ρ, hydraulic oil dynamic viscosity μ.

[0101] Step 2: Solve the gear pump model to obtain the volume flow rate of the hydraulic oil at the gear pump outlet.

[0102] In this step, according to the pressure p of the hydraulic oil at the gear pump outlet in the operating data pump , solve the gear pump model and obtain the volume flow rate Q of the hydraulic oil at the pump outlet pump The calculated value of .

[0103] Specifically, the gear pump model is:

[0104]

[0105] In the formula, Q pump is the volume flow rate of hydraulic oil at the gear pump outlet, m 3 / s; V gth is the pump capacity per revolution, m 3 ;n p is the gear pump speed, rpm; η v is the volumetric efficiency of the gear pump and is dimensionless.

[0106] Volumetric efficiency η of gear pump v Calculated by:

[0107]

[0108] In the formula, p pump,0 is the rated pressure of the hydraulic oil at the gear pump outlet, Pa; η v,0 Yes pump,0 The corresponding rated volumetric efficiency is dimensionless.

[0109] Gear pump speed n p Calculated by:

[0110] n p =k p,en e

[0111] Where n e is the ship's main engine speed, rpm; k p,e It is the gearbox speed ratio between the gear pump and the main engine, dimensionless.

[0112] Step 3: Solve the hydraulic pipeline model and the filter model to obtain the pressure and volume flow of the hydraulic oil at the filter outlet.

[0113] In this step, the volume flow rate Q of the hydraulic oil at the gear pump outlet obtained in step 2 is pump Calculate the value, solve the hydraulic pipeline model and filter model, and obtain the pressure p of the hydraulic oil at the filter outlet filter and volume flow rate Q filter Calculated value.

[0114] The hydraulic pipeline model is:

[0115] p pump -p pipe =Δp f

[0116]

[0117] In the formula, p pipe is the pressure of the hydraulic oil at the outlet of the pipeline, Pa; Δp f is the friction pressure loss of hydraulic oil in the pipeline, Pa; Q pipe is the volume flow rate of hydraulic oil at the pipeline outlet, m 3 / s.

[0118] The friction pressure loss of hydraulic oil in the pipeline Δp f Calculated by:

[0119]

[0120] Where λ is the shape factor, dimensionless; L is the length of the pipeline, m; L e is the equivalent pipeline length caused by local resistance, m; A is the flow area of ​​the pipeline, m 2 ; f is the turbulent friction coefficient, dimensionless; d is the diameter of the pipe, m; Re is the Reynolds number of the hydraulic oil, dimensionless; Re lam is the critical Reynolds number, dimensionless.

[0121] The turbulent friction coefficient f is calculated as follows:

[0122]

[0123] In the formula, ε r is the surface roughness, m.

[0124] The filter model is:

[0125]

[0126] p pipe -p fliter =k f Q fliter 2

[0127] In the formula, k f is the flow resistance coefficient of hydraulic oil through the filter, kg / m 7 .

[0128] Step 4: Solve the one-way valve model to obtain the pressure and volume flow of the hydraulic oil at the one-way valve outlet.

[0129] In this step, the hydraulic oil pressure p at the filter outlet obtained in step 3 is filter and volume flow rate Q filter Calculate the value, solve the one-way valve model, and obtain the pressure p of the hydraulic oil at the one-way valve outlet check and volume flow rate Q check Calculated value.

[0130] The one-way valve model is:

[0131]

[0132] In the formula, Q check is the hydraulic oil volume flow rate at the outlet of the check valve, m 3 / s; A check is the flow area of ​​the check valve, m 2 ;p check is the pressure of the hydraulic oil at the outlet of the check valve, Pa.

[0133] Check valve flow area A check Calculated by:

[0134]

[0135] In the formula, x check is the one-way valve core displacement, m; θ check is the cone angle of the valve seat, deg; d check is the valve core diameter of the one-way valve, m; A check,leak is the leakage area of ​​the one-way valve, m 2 .

[0136] Check valve core displacement x check Calculated by:

[0137]

[0138] In the formula, p check,min is the pressure in front of the check valve corresponding to the minimum opening of the check valve, Pa; p check,max is the pressure in front of the check valve corresponding to the maximum opening of the check valve, Pa; x check,max is the maximum displacement of the one-way valve core, m.

[0139] Step 5: Solve the overflow valve model to obtain the overflow volume flow rate.

[0140] In this step, according to the hydraulic oil pressure p of port A of the proportional control valve in the operating data A , Hydraulic oil pressure p at port B of proportional control valve B The measured value of the overflow valve model is solved to obtain the overflow volume flow Q overflow Calculated value.

[0141] The overflow valve model is:

[0142]

[0143] In the formula, C overflow is the orifice flow coefficient of the relief valve, dimensionless; A overflow is the overflow valve flow area, m 2 .

[0144] Relief valve flow area A overflow Calculated by:

[0145]

[0146] In the formula, x overflow is the displacement of the relief valve core, m; x overflow,max is the maximum displacement of the relief valve core, m; A overflow,max is x overflow,max Corresponding maximum flow area of ​​the overflow valve, m 2 .

[0147] Relief valve core displacement x overflow Calculated by:

[0148] p in S in +p out S out =p ,pilot S pilot +F ,set +K overlow x overflow

[0149] In the formula, S in is the area of ​​the overflow valve's inlet hydraulic oil acting on the valve core, m 2 ; S outis the area of ​​the relief valve outlet hydraulic oil acting on the valve core, m 2 ; S pilot is the area of ​​the pilot port hydraulic oil of the relief valve acting on the valve core, m 2 ;p overflow,pilot is the pilot pressure of the relief valve, Pa; F overflow,set is the spring pressure set by the relief valve, N; K overflow is the relief valve spring constant, N / m.

[0150] Relief valve pilot stage pressure p overflow,pilot Calculated by:

[0151]

[0152] In the formula, C damp is the orifice flow coefficient of the overflow valve damping orifice, dimensionless; C pilot is the orifice flow coefficient of the relief valve pilot stage, dimensionless; A damp is the flow area of ​​the overflow valve damping hole, m 2 ; A pilot is the flow area of ​​the relief valve pilot stage, m 2 .

[0153] Step 6: Solve the control system model and the proportional control valve model to obtain the hydraulic oil flow in each flow channel of the proportional control valve.

[0154] In this step, the pitch angle setting signal θ in the operation data is used. sp , solve the control system model and obtain the proportional control valve spool displacement x cv ; According to the return oil pressure p in the operating data tank Measured value and overflow volume flow Q obtained in step 5 overflow Calculate the value, solve the proportional control valve model, and obtain the hydraulic oil volume flow Q in the PA, PB, AT, and BT flow channels in the proportional control valve P-A , Q P-B , Q A-T , Q B-T Calculated value.

[0155] The control system model is:

[0156]

[0157] Where s is the Laplace operator, y cv is the controller output, dimensionless; K P is the gain of the control system, dimensionless; τ I is the integral time constant of the control system, s; τ D is the differential time constant of the control system, s; θt-1 It is the real-time estimate of the pitch angle calculated in the previous shot, deg.

[0158] Proportional control valve spool displacement x cv Calculated by:

[0159]

[0160] In the formula, τ cv is the time constant of the proportional control valve, s; x cv,max is the maximum displacement of the proportional control valve spool, m.

[0161] The proportional control valve model is:

[0162]

[0163] In the formula, Q P-A , Q P-B , Q A-T , Q B-T are the hydraulic oil volume flow rates in the PA, PB, AT, and BT channels of the proportional control valve, m 3 / s; A P-A , A P-B , A A-T , A B-T They are the flow areas of the proportional control valves PA, PB, AT, and BT, m 2 ; C cv is the proportional control valve flow coefficient, dimensionless.

[0164] Flow area A of proportional control valve PA, PB, AT, BT flow channel P-A , A P-B , A A-T , A B-T Calculated by:

[0165]

[0166] A P-A =A B-T

[0167] A P-B =A A-T

[0168] In the formula, R cv is the equivalent radius of the proportional control valve, m; x P-A 、x P-B They are the opening displacements of the flow passages PA and PB of the proportional control valve respectively.

[0169] Proportional control valve equivalent radius R cvCalculated by:

[0170]

[0171] In the formula, A cv,max is the maximum flow area of ​​the proportional control valve core, m 2 .

[0172] Step 7: Solve the oil distributor model to obtain the hydraulic oil flow entering the propeller hub cylinder.

[0173] In this step, the hydraulic oil volume flow Q in the PA, PB, AT, and BT flow channels in the proportional control valve obtained in step 6 is P-A , Q P-B , Q A-T , Q B-T Calculate the value, solve the oil distributor model, and obtain the calculated value of the hydraulic oil volume flow entering the propeller hub cylinder.

[0174] The oil distributor model is:

[0175]

[0176] In the formula, Q leak,A and Q leak,B They are the leakage of the A and B ports of the oil distributor, m3 / s; h A and h B They are the gap lengths of the A and B ports of the oil distributor, m; r A and r B They are the gap distance between the A and B ports of the oil distributor, m; ε e is the eccentricity correction coefficient, dimensionless; p0 is the atmospheric pressure, Pa; μ is the dynamic viscosity of the hydraulic oil, Pa·s.

[0177] The eccentricity correction coefficient ε e The calculation is done using the following formula:

[0178] ε e =1+1.5e 2

[0179] Where, e is the eccentricity of the oil distributor, mm.

[0180] The hydraulic oil volume flow rate of the hub cylinder includes the hydraulic oil volume flow rate Q entering the A cylinder and the B cylinder A and Q B , respectively calculated by:

[0181] Q A =Q p-A -Q A-T -Q leak,A

[0182] QB =Q P-B -Q B-T -Q leak,B

[0183] Step 8: Solve the propeller hub cylinder model to obtain the piston rod stroke.

[0184] In this step, the hub cylinder model is solved according to the calculated value of the hydraulic oil volume flow entering the hub cylinder obtained in step 7 to obtain the piston rod stroke h stem Calculated value.

[0185] The propeller hub cylinder model is:

[0186]

[0187] Where, d cylinder is the diameter of the propeller hub cylinder, m; d stem is the diameter of the piston rod, m; h stem is the stroke of the piston rod, m; m stem is the mass of the piston rod, kg; F stem is the force on the piston rod, N.

[0188] Piston rod force F stem Calculated by:

[0189] F stem =p B π(d cylinder 2 -d stem 2 )-p A πd cylinder 2 .

[0190] Step 9: Solve the blade rotating mechanism model to obtain a real-time estimated value of the pitch angle.

[0191] In this step, the piston rod stroke h obtained in step 8 is stem Calculate the value, solve the rotor mechanism model, and obtain the real-time estimate of the pitch angle θ.

[0192] The blade rotating mechanism model is:

[0193]

[0194] Where θ is the pitch angle, degrees; J is the moment of inertia of the blade, kg·m 2 ; N is the number of blades, dimensionless; R crank is the radius of the crank where the crank disk is located, m.

[0195] Using the pitch estimation method of the adjustable pitch propeller of the present invention, firstly, the real-time operation data of the adjustable pitch propeller is obtained, a set of specific operation data such as Figure 3 After the pitch estimation method of this embodiment is used for calculation, a real-time estimated value of the pitch angle is obtained, and the comparison between the estimated value and the measured value is shown in FIG. Figure 4 shown; from Figure 4 It can be seen that the maximum error between the measured value and the estimated value is 0.3deg, which meets the requirements.

[0196] Another embodiment of the present invention further provides a readable medium, on which instructions are stored, and when the instructions are executed on an electronic device, the electronic device executes the above-mentioned method for estimating the pitch angle of a controllable pitch propeller.

[0197] Another embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor is used to execute the controllable pitch propeller pitch angle estimation method of the above embodiment when executing the program.

[0198] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A method for estimating the pitch of a controllable pitch propeller, characterized in that: The following steps are involved: Step 1: Acquire the real-time operation data of the pitch-adjustable propeller at a given time and obtain the physical property parameters of the hydraulic oil; Step 2, solving the gear pump model to obtain the volume flow rate of the hydraulic oil at the gear pump outlet; Step 3, solving the hydraulic pipeline model and the filter model to obtain the pressure and volume flow of the hydraulic oil at the filter outlet; Step 4, solving the one-way valve model to obtain the pressure and volume flow of the hydraulic oil at the one-way valve outlet; Step 5, solving the overflow valve model to obtain the overflow volume flow rate; Step 6, solving the control system model and the proportional control valve model to obtain the hydraulic oil flow in each flow channel of the proportional control valve; Step 7, solving the oil distributor model to obtain the hydraulic oil flow entering the propeller hub cylinder; Step 8, solve the propeller hub cylinder model to obtain the piston rod stroke; Step 9: Solve the blade rotating mechanism model to obtain a real-time estimated value of the pitch angle.

2. The method for estimating the pitch of a controllable pitch propeller according to claim 1, wherein: In step 1, after obtaining the operating data, the physical property parameters are obtained by querying the hydraulic oil parameter database. The operating data includes: the set value signal θ of the pitch angle sp , the pressure of the hydraulic oil at the gear pump outlet p pump , the hydraulic oil pressure p of the proportional control valve A port A , hydraulic oil pressure p at port B of proportional control valve B , oil return pressure p tank , hydraulic oil temperature T, ship main engine speed n e The physical parameters include: hydraulic oil density ρ and hydraulic oil dynamic viscosity μ.

3. The method for estimating the pitch of a controllable pitch propeller according to claim 2, wherein: In step 2, the gear pump model is: In the formula, Q pump is the volume flow rate of hydraulic oil at the gear pump outlet, V gth is the pump capacity per revolution, n p is the gear pump speed, η v is the volumetric efficiency of the gear pump; where, In the formula, p pump,0 is the rated pressure of the hydraulic oil at the gear pump outlet, η v,0 Yes pump,0 Corresponding rated volumetric efficiency; n p =k p,e n e Where n e is the ship's main engine speed, k p,e It is the speed ratio of the gearbox between the gear pump and the main engine.

4. The method for estimating the pitch of a controllable pitch propeller according to claim 3, characterized in that: In step 3, the hydraulic pipeline model is: p pump -p pipe =Δp f In the formula, p pipe is the pressure of the hydraulic oil at the outlet of the pipeline, Δp f is the friction pressure loss of hydraulic oil in the pipeline, Q pipe is the volume flow rate of hydraulic oil at the pipeline outlet; where, Where λ is the shape factor, L is the length of the pipeline, and L e is the equivalent pipeline length caused by local resistance, A is the flow area of ​​the pipeline, f is the turbulent friction coefficient, d is the diameter of the pipeline, Re is the Reynolds number of the hydraulic oil, Re lam is the critical Reynolds number; where, In the formula, ε r is the surface roughness; The filter model is: p pipe -p fliter =k f Q fliter 2 In the formula, Q filter is the volume flow rate of hydraulic oil at the filter outlet, p filter is the pressure of hydraulic oil at the filter outlet, k f It is the flow resistance coefficient of hydraulic oil through the filter.

5. The method for estimating the pitch of a controllable pitch propeller according to claim 4, characterized in that: In step 4, the one-way valve model is: In the formula, Q check is the hydraulic oil volume flow rate at the check valve outlet, A check is the flow area of ​​the check valve, p check is the pressure of hydraulic oil at the outlet of the one-way valve; In the formula, x check is the one-way valve spool displacement, θ check is the cone angle of the valve seat, d check is the valve core diameter of the one-way valve, A check,leak is the leakage area of ​​the one-way valve; where, In the formula, p check,min is the pressure in front of the check valve corresponding to the minimum opening of the check valve, p check,max is the pressure in front of the check valve corresponding to the maximum opening of the check valve, x check,max It is the maximum displacement of the one-way valve core.

6. The method for estimating the pitch of a controllable pitch propeller according to claim 5, characterized in that: In step 5, the overflow valve model is: In the formula, Q overflow is the overflow volume flow, C overflow is the orifice flow coefficient of the relief valve, A overflow is the overflow valve flow area; where, In the formula, x overflow is the relief valve spool displacement, x overflow,max is the maximum displacement of the relief valve core, A overflow,max is x overflow,max The corresponding maximum flow area of ​​the overflow valve; p in S in +p out S out =p ,pilot S pilot +F ,set +K overlow x overflow In the formula, S in is the area of ​​the overflow valve's inlet hydraulic oil acting on the valve core, S out S is the area of ​​the valve core acted on by the hydraulic oil at the outlet of the relief valve, pilot is the area of ​​the pilot port hydraulic oil of the relief valve acting on the valve core, p overflow,pilot is the relief valve pilot stage pressure, F overflow,set is the spring pressure set by the relief valve, K overflow is the overflow valve spring constant; where, In the formula, C damp is the orifice flow coefficient of the overflow valve damping orifice, C pilot is the orifice flow coefficient of the relief valve pilot stage, A damp is the flow area of ​​the relief valve damping hole, A pilot It is the flow area of ​​the pilot stage of the relief valve.

7. The method for estimating the pitch of a controllable pitch propeller according to claim 6, characterized in that: In step 6, the control system model is: Where s is the Laplace operator, y cv is the controller output, K P is the gain of the control system, τ I is the integral time constant of the control system, τ D is the differential time constant of the control system, θ t-1 It is the real-time estimate of the pitch angle calculated in the previous beat; Proportional control valve spool displacement x cv for: In the formula, τ cv is the time constant of the proportional control valve, x cv,max is the maximum displacement of the proportional control valve spool; The proportional control valve model is: In the formula, Q P-A , Q P-B , Q A-T , Q B-T are the hydraulic oil volume flow rates in the PA, PB, AT, and BT channels of the proportional control valve, respectively. P-A , A P-B , A A-T , A B-T are the flow areas of the proportional control valves PA, PB, AT, and BT respectively, C cv is the proportional control valve flow coefficient; where, A P-A =A B-T A P-B =A A-T In the formula, R cv is the proportional control valve equivalent radius, x P-A 、x P-B are the opening displacements of the flow passages PA and PB of the proportional control valve respectively; among them, In the formula, A cv,max It is the maximum flow area of ​​the proportional control valve core.

8. The method for estimating the pitch of a controllable pitch propeller according to claim 7, characterized in that: In step 7, the oil distributor model is: In the formula, Q leak,A and Q leak,B They are the leakage of the A and B ports of the oil distributor, m3 / s; h A and h B are the gap lengths of the A and B ports of the oil distributor, m; r A and r B They are the gap distances between the A and B ports of the oil distributor, m; ε e is the eccentricity correction factor, dimensionless; p0 is the atmospheric pressure, Pa; μ is the dynamic viscosity of the hydraulic oil, Pa·s, The eccentricity correction coefficient ε e The calculation is done using the following formula: e e =1+1.5e 2 Where, e is the eccentricity of the oil distributor, mm, The volume flow rate of hydraulic oil entering cylinder A is Q A for: Q A =Q p-A -Q A-T -Q leak,A Hydraulic oil volume flow Q into cylinder B B for: Q B =Q P-B -Q B-T -Q leak,B 。 9. The method for estimating the pitch of a controllable pitch propeller according to claim 8, characterized in that: In step 8, the hub cylinder model is: Where, d cylinder is the diameter of the propeller hub cylinder, d stem is the diameter of the piston rod, h stem is the stroke of the piston rod, m stem is the mass of the piston rod, F stem is the force on the piston rod; where, F stem =p B π(d cylinder 2 -d stem 2 )-p A πd cylinder 2 。 10. The method for estimating the pitch of a controllable pitch propeller according to claim 9, characterized in that: In step 9, the blade rotating mechanism model is: Where θ is the pitch angle, J is the moment of inertia of the blade, N is the number of blades, and R crank is the radius of the crank where the crank plate is located.

Images