Ship semi-physical simulation test method and device and ship

Abstract

The invention discloses a ship semi-physical simulation testing method and device and a ship, and relates to the technical field of ship testing. The ship semi-physical simulation test method comprises the steps of determining a current operation mode of a ship propulsion control system and current operation environment parameters corresponding to the current operation mode; determining the simulated rotating speed of the propeller; and testing the working performance of the ship propulsion control system in the current operation mode according to the current operation environment parameters and the simulated rotating speed. According to the ship semi-physical simulation test method provided by the invention, the working performance of the ship propulsion control system in the current operation mode is tested according to the current operation environment parameters and the simulated rotating speed, the semi-physical simulation test of the ship propulsion control system is realized, and compared with the prior art, the test period can be shortened, and the test efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of ship testing technology, and in particular to a ship semi-physical simulation testing method, device and ship. Background Art

[0002] With technological advancements, the power systems of polar vessels have gradually transitioned from diesel and gas turbine propulsion systems to diesel-electric propulsion systems. However, the propulsion control systems used for diesel and gas turbine propulsion systems are not suitable for diesel-electric propulsion systems. Therefore, the development of new propulsion control systems for ships operating in icebreaking conditions is of great significance.

[0003] Typically, new equipment undergoes rigorous testing and refinement before being put into practical use. However, the technological complexity and multifaceted functionality of new propulsion and control systems for icebreaking vessels necessitate numerous and complex testing items. Existing testing methods primarily rely on manual testing, which results in long testing cycles and low efficiency. Summary of the Invention

[0004] Purpose of the invention: The embodiments of the present application provide a method, device and ship for semi-physical simulation testing of ships to shorten the testing cycle and improve testing efficiency.

[0005] Technical Solution: A ship hardware-in-the-loop simulation test method according to an embodiment of the present application is applied to test a ship propulsion and control system, wherein the ship propulsion and control system includes a propeller. The method comprises:

[0006] Determining a current operating mode of the ship propulsion and control system and current operating environment parameters corresponding to the current operating mode;

[0007] determining a simulated rotational speed of the propeller;

[0008] The operating performance of the ship propulsion and control system in the current operating mode is tested according to the current operating environment parameters and the simulated rotational speed.

[0009] In some embodiments, testing the operating performance of the ship propulsion and control system in the current operating mode according to the current operating environment parameters and the simulated speed includes:

[0010] determining a simulated load torque of the propeller according to the current operating environment parameters and the simulated rotational speed;

[0011] The operating performance of the ship propulsion and control system in the current operating mode is tested according to the simulated load torque.

[0012] In some embodiments, the method for determining the simulated load torque includes:

[0013] Determining a current load factor based on the current operating environment parameters and a correspondence between a preset operating mode and the operating environment parameters;

[0014] The simulated load torque is determined according to the current load factor, the simulated speed, and a preset static water resistance.

[0015] In some embodiments, the calculation formula of the simulated load torque is:

[0016] T=A+K*n2;

[0017] Among them, A is the preset static water resistance; K is the current load coefficient; n is the current simulated speed; and T is the current simulated torque.

[0018] In some embodiments, the current operating mode includes one or more of an open ice operating mode, a floating ice operating mode, and an icebreaking operating mode.

[0019] In some embodiments, when the current operating mode is the open ice operating mode, the current operating environment parameters include wind level and wave level;

[0020] In a case where the current operating mode is the floating ice operating mode, the current operating environment parameter includes floating ice density;

[0021] When the current operating mode is the ice-breaking operating mode, the current operating environment parameter includes ice thickness.

[0022] In some embodiments, the ship propulsion control system further includes a handle; and the method for determining the simulated rotational speed of the propeller includes:

[0023] The handle is controlled by a preset operation mode to output the simulated speed according to a preset speed change curve.

[0024] Accordingly, an embodiment of the present application further provides a ship semi-physical simulation test device for testing a ship propulsion and control system; the ship propulsion and control system includes a propeller; the device includes: a simulated navigation system and a propeller simulation system; wherein the propeller simulation system is connected to the ship propulsion and control system and the simulated navigation system respectively;

[0025] The simulated navigation system is used to determine the current operating mode of the ship propulsion and control system and the current operating environment parameters corresponding to the current operating mode;

[0026] The ship propulsion control system is used to determine the simulated rotational speed of the propeller;

[0027] The propeller simulation system is used to test the working performance of the ship propulsion and control system in the current operating mode according to the current operating environment parameters and the simulated rotational speed.

[0028] In some embodiments, the propeller simulation system includes a control module and multiple sets of load simulation towing platforms, and the load simulation towing platforms are respectively connected to the ship propulsion and control system and the simulated navigation system; the control module is used to determine the simulated load torque of the propeller according to the current operating environment parameters and the simulated speed; the load simulation towing platform is used to test the working performance of the ship propulsion and control system under the current operating mode according to the simulated load torque.

[0029] In some embodiments, the load simulation towing platform includes a first inverter unit, a propulsion motor, a coupling, a load motor and a second inverter unit; wherein, the first inverter unit is connected to the ship propulsion control system and the propulsion motor, the propulsion motor is connected to the load motor through the coupling, and the load motor is connected to the second inverter unit; the propulsion motor is used to drag the load motor according to the simulated load torque.

[0030] In some embodiments, the ship semi-physical simulation test device also includes a test bench monitoring system; the test bench monitoring system is respectively connected to the simulated navigation system, the ship propulsion and control system, and the propeller simulation system, and is used to collect test data and display and store the test data.

[0031] Correspondingly, an embodiment of the present application further provides a ship, which includes the ship semi-physical simulation test device as described above.

[0032] Beneficial Effects: Compared with the prior art, the ship semi-physical simulation test method, device, and ship of the embodiments of the present application include: determining the current operating mode of the ship propulsion and control system and the current operating environment parameters corresponding to the current operating mode; determining the simulated speed of the propeller; and testing the operating performance of the ship propulsion and control system in the current operating mode based on the current operating environment parameters and the simulated speed. The ship semi-physical simulation test method provided by the present application implements semi-physical simulation testing of the ship propulsion and control system by testing the operating performance of the ship propulsion and control system in the current operating mode based on the current operating environment parameters and the simulated speed. Compared with related technologies, it can shorten the test cycle and improve test efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 Schematic diagram of the structure of a ship semi-physical simulation test device provided in an embodiment of the present application;

[0035] Figure 2 This is a schematic diagram of the overall framework of the ship propulsion and control system provided in an embodiment of the present application;

[0036] Figure 3 is a structural diagram of a propeller simulation system provided in an embodiment of the present application;

[0037] Figure 4 This is a data flow diagram of a ship hardware-in-the-loop simulation test device provided in an embodiment of the present application;

[0038] Figure 5 This is a flow chart of a ship hardware-in-the-loop simulation test method provided in an embodiment of the present application;

[0039] Figure 6 This is a schematic diagram of the overall process of a ship semi-physical simulation test method provided in an embodiment of the present application.

[0040] Reference numerals:

[0041] 100-Ship propulsion control system; 200-Simulation navigation system; 300-Propeller simulation system; 400-Test bench monitoring system; 110-Public control system; 120-Shaft propeller control system; 130-1# pod control system; 140-2# pod control system; 301-Control module; 302-Incoming cabinet; 303-Rectifier unit; 311-3# Inverter unit; 312-1# Propulsion motor; 313-First coupling; 314- 1# load motor; 315-4# inverter unit; 316-first motor test bench; 321-2# inverter unit; 322-2# propulsion motor; 323-second coupling; 324-2# load motor; 325-5# inverter unit; 326-second motor test bench; 331-1# inverter unit; 332-3# propulsion motor; 333-third coupling; 334-3# load motor; 335-6# inverter unit; 336-third motor test bench. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0043] It should be understood that although the terms first, second, etc. may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another. Thus, the first component discussed below could be referred to as the second component without departing from the teachings of the present invention. As used herein, the term "and / or" includes any one and all combinations of one or more of the associated listed items.

[0044] Those skilled in the art will appreciate that the drawings are merely schematic diagrams of exemplary embodiments and may not be to scale. The modules or processes in the drawings are not necessarily required to implement the present application and therefore cannot be used to limit the scope of protection of the present application.

[0045] Figure 1 This is a schematic diagram of the structure of a ship semi-physical simulation test device provided in the embodiment of this application. Figure 1 This ship hardware-in-the-loop simulation test device is used to test a ship propulsion and control system 100. The ship propulsion and control system 100 includes a propeller. The ship hardware-in-the-loop simulation test device includes a simulated navigation system 200 and a propeller simulation system 300. The propeller simulation system 300 is connected to the ship propulsion and control system 100 and the simulated navigation system 200, respectively. The simulated navigation system 200 is used to determine the current operating mode of the ship propulsion and control system 100 and the current operating environment parameters corresponding to the current operating mode. The ship propulsion and control system 100 is used to determine the simulated speed of the propeller. The propeller simulation system 300 is used to test the operating performance of the ship propulsion and control system 100 in the current operating mode based on the current operating environment parameters and the simulated speed.

[0046] The ship propulsion and control system 100 includes a plurality of propellers for providing thrust to the ship so that the ship moves in the water, wherein each propeller includes a motor and a propeller.

[0047] The operating modes of the ship propulsion control system 100 include open ice mode, floating ice mode, and icebreaking mode. The specific operating mode can be set according to actual simulation requirements and is not specifically limited here. The open ice mode refers to the operating condition when the ship is sailing in open waters without ice. The floating ice mode refers to the operating condition when the ship is sailing in waters with floating ice. The icebreaking mode refers to the operating condition when the ship is sailing in ice-covered waters and needs to break through the ice to continue its progress.

[0048] The ship propulsion control system 100 corresponds to different operating environment parameters in different operating modes. For example, in the open ice operating mode, the corresponding operating environment parameters include wind speed and wave level; in the floating ice operating mode, the corresponding operating environment parameters include floating ice density; and in the icebreaking operating mode, the corresponding operating environment parameters include ice thickness.

[0049] The simulated navigation system 200 is used to determine the current operating mode of the ship's propulsion and control system and the current operating environment parameters corresponding to the current operating mode. Furthermore, the simulated navigation system 200 is used to receive information such as propeller power, propeller speed, propeller rotation angle, ship speed, and heading from the propeller simulation system 300, and simulate the ship's navigation status and navigation environment. This allows testers to more conveniently and intuitively verify the functionality of the ship's propulsion and control system 100 under various operating modes (e.g., open water conditions and polar conditions).

[0050] The navigation simulation system 200 consists of hardware and software. The software is a 3D visual simulation software for polar ship navigation. It uses 3D visual simulation technology to construct a 3D ship model, navigation environment, and ship navigation status to simulate various ship operating conditions. The hardware of the navigation simulation system 200 includes a computer host and its display that implement the software's 3D image simulation display of the ship's navigation status.

[0051] Among them, testing the working performance of the ship propulsion and control system 100 in the current operating mode may specifically include: testing or verifying the functions of the ship propulsion and control system in the current operating mode, such as the speed of the ship propeller, the allocated power of each propeller, etc.

[0052] In the technical solution of the embodiment of the present application, the implementation process of the ship semi-physical simulation test device is as follows: For example, refer to Figure 1The propeller simulation system 300 is connected to the ship propulsion and control system 100 and the simulated navigation system 200 respectively. The simulated speed of the propeller can be determined by the ship propulsion and control system 100 and sent to the propeller simulation system 300. The current operating mode can be set by the simulated navigation system 200, and the corresponding current operating environment parameters can be determined according to the current operating mode, and the current operating mode and the current operating environment parameters can be sent to the propeller simulation system 300. The propeller simulation system 300 tests the working performance of the ship propulsion and control system 100 under the current operating mode according to the current operating environment parameters and the simulated speed to test or verify the function of the ship propulsion and control system 100. Therefore, by setting the simulated navigation system 200, the operating mode of the ship propulsion and control system and the operating environment parameters corresponding to the operating mode can be simulated, thereby providing a simulation environment for ship simulation testing to simulate various operating conditions of the ship. In addition, by setting up a propeller simulation system 300, based on the simulation environment provided by the simulated navigation system 200, such as the operating mode and operating environment parameters, and combined with the simulated speed of the propeller output by the ship propulsion and control system 100, a semi-physical simulation test of the ship can be realized, thereby shortening the test cycle, improving test efficiency, and saving test costs.

[0053] In some embodiments, please refer to Figure 1 The ship semi-physical simulation test device also includes a test bench monitoring system 400; the test bench monitoring system 400 is respectively connected to the simulated navigation system 200, the ship propulsion control system 100 and the propeller simulation system 300, and is used to collect test data and display and store the test data.

[0054] The test bench monitoring system 400 primarily includes a switch, a high-performance host computer, and other equipment. It communicates with the navigation simulation system 200, the ship propulsion and control system 100, and the propeller simulation system 300, for example, via Ethernet, to collect test data. It also displays test data in real time, stores test data, and allows historical test data to be queried, assisting test personnel with system optimization and data analysis.

[0055] Specifically, the test data may include data such as the distributed power of each propeller, the speed of the propeller, the torque of the propeller, etc., and the test data may include data such as the propeller simulation speed, the ship operation mode, and the ship operation environment parameters.

[0056] Figure 2 This is a schematic diagram of the overall framework of the ship propulsion control system provided in the embodiment of this application. Figure 2The ship propulsion and control system 100 includes a public control system 110, a propeller control system 120, a pod control system 130, and a pod control system 140. The public control system 110 includes a front driving-public panel area, a central control station-public master station, an energy management system, an autonomous navigation system, and other external systems. The propeller control system 120 includes a front driving-propeller panel area, a rear driving-propeller panel area, a left wing-propeller panel area, a right wing-propeller panel area, a centralized control-propeller panel area, a front driving-propeller substation, a rear driving-propeller substation, a left wing-propeller substation, a right wing-propeller substation, a centralized control-propeller substation, a central control station-propeller master station, and a propeller system.

[0057] Among them, the 1# pod control system 130 includes the front driver-1# pod panel area, the rear driver-1# pod panel area, the left wing-1# pod panel area, the right wing-1# pod panel area, the centralized control-1# pod panel area, the front driver-1# pod substation, the rear driver-1# pod substation, the left wing-1# pod substation, the right wing-1# pod substation, the centralized control-1# pod substation, the central control station-1# pod master station and the 1# pod system.

[0058] Among them, the 2# pod control system 140 includes the front driver-2# pod panel area, the rear driver-2# pod panel area, the left wing-2# pod panel area, the right wing-2# pod panel area, the centralized control-2# pod panel area, the front driver-2# pod substation, the rear driver-2# pod substation, the left wing-2# pod substation, the right wing-2# pod substation, the centralized control-2# pod substation, the central control station-2# pod master station and the 2# pod system.

[0059] The common control system 110, propeller control system 120, pod #1 control system 130, and pod #2 control system 140 are integrated into a single console. The ship propulsion control system 100 is used to control the propulsion of the pod control system and propeller control system 120 in the ship's current operating mode, as well as to distribute propeller power, coordinate control, and provide safety protection.

[0060] The public control system 110 utilizes a high-performance programmable logic controller (PLC) with active / standby redundancy to specifically process public control commands and status feedback signals from the ship propulsion control system 100. Each thruster control system utilizes a high-performance PLC to specifically process control commands and status feedback signals for its respective thruster, and employs an Ethernet ring network design to ensure subsystem communication.

[0061] The ship propulsion control system 100 further includes a handle and a handwheel. The operation modes of the ship propulsion control system 100 are divided into a separate control mode, a joint control mode, and a standby control mode. The control effects of each operation mode are shown in Table 1 below.

[0062] Table 1: Operation modes of ship propulsion and control systems

[0063]

[0064] Figure 3 This is a schematic diagram of the structure of the propeller simulation system provided in the embodiments of the present application. Figure 3 The propeller simulation system 300 includes a control module 301 and multiple load simulation towing platforms, which are connected to the ship propulsion and control system 100 and the simulated navigation system 200 respectively; the control module 301 is used to determine the simulated load torque of the propeller according to the current operating environment parameters and the simulated speed; the load simulation towing platform is used to test the working performance of the ship propulsion and control system 100 under the current operating mode according to the simulated load torque.

[0065] Among them, the propeller simulation system 300 is used to respond to the control commands of the ship propulsion control system 100 to realize the speed control of the propulsion motor; simulate the propeller characteristics under different working conditions (i.e., different operating modes) to realize the loading of the propulsion motor; and monitor and protect the propeller simulation system equipment.

[0066] Among them, the control commands of the ship propulsion control system 100 may include, for example: turning the handle to different gears, the handle will send out different analog signals (for example, the speed and rudder angle signals will be converted into 4-20mA electrical signals through the handle), and the analog signals are sent to the PLC in the ship propulsion control system. The PLC converts the handle analog signal into a propulsion motor speed control signal and sends it to the propulsion inverter in the propeller simulation system 300, so that the propulsion inverter controls the operation of the propulsion motor.

[0067] Among them, the control module 301 can be an industrial computer, etc., which can be specifically set according to actual conditions and is not specifically limited here. Among them, the propeller function simulation software is installed in the industrial computer, which can calculate the current ship heading, ship speed, and propeller load according to the current ship navigation sea conditions, propeller speed, and handle position, and send the heading, speed, and propeller status (wherein, the propeller status includes forward rotation, reverse rotation, speed, torque, alarm, fault, etc., which can be obtained by comprehensive analysis of signals such as speed sensor, frequency converter, and motor temperature feedback value. For example, the sensor feedback speed includes positive and negative values, positive values are forward rotation, and negative values are reverse rotation. The alarms will include comprehensive alarms, comprehensive faults, motor overloads, etc. communicated by the frequency converter, as well as motor overtemperature alarms obtained based on the temperature feedback of the motor.) to the simulation navigation system 200 for display, and send the propeller status (including speed status and torque status) and propeller load rate to the ship propulsion control system 100. Among them, the load rate is equal to the current power divided by the rated power and then multiplied by 100%.

[0068] In some embodiments, please refer to Figure 3 The load simulation towing platform includes a first inverter unit, a propulsion motor, a coupling, a load motor and a second inverter unit; wherein the first inverter unit is connected to the ship propulsion control system and the propulsion motor, the propulsion motor is connected to the load motor through the coupling, and the load motor is connected to the second inverter unit; the propulsion motor is used to drag the load motor according to the simulated load torque.

[0069] The propulsion motor is used to simulate the propulsion system of an actual ship (including the motor and propeller), and the load motor is used to load the propulsion motor to simulate the resistance encountered by the propulsion system (for example, water resistance or ice resistance).

[0070] For example, take three sets of load simulation towing platforms as an example, please refer to Figure 3 The multiple load-simulating towing platforms include a first group of load-simulating towing platforms, a second group of load-simulating towing platforms, and a third group of load-simulating towing platforms. The first group of load-simulating towing platforms includes a 3# inverter unit 311, a 1# propulsion motor 312, a first coupling 313, a 1# load motor 314, a 4# inverter unit 315, and a first motor gantry 316. The second group of load-simulating towing platforms includes a 2# inverter unit 321, a 2# propulsion motor 322, a second coupling 323, a 2# load motor 324, a 5# inverter unit 325, and a second motor gantry 326. The third group of load-simulating towing platforms includes a 1# inverter unit 331, a 3# propulsion motor 332, a third coupling 333, a 3# load motor 334, a 6# inverter unit 335, and a third motor gantry 336.

[0071] For example, taking three sets of load simulation towing platforms as an example, the working principle of each load simulation towing platform is as follows: Figure 3 The first load group simulates the towing platform simulating pod 1, the second load group simulates the towing platform simulating the propeller propeller, and the third load group simulates the towing platform simulating pod 2. The ship propulsion and control system 100 is electrically connected to the rectifier unit 303 and the 3# inverter unit 311. The 3# inverter unit 311 is connected to the 1# propulsion motor 312. The 1# propulsion motor 312 is connected to the 1# load motor 314 via a first coupling 313. The 1# load motor 314 is connected to the 4# inverter unit 315. The ship propulsion and control system 100 is electrically connected to the rectifier unit 303 and the 2# inverter unit 321. The 2# inverter unit 321 is connected to the 2# propulsion motor 322. The 2# propulsion motor 322 is connected to the 2# load motor 324 via a second coupling 323. The 2# load motor 324 is connected to the 5# inverter unit 325. The ship propulsion and control system 100 is electrically connected to the rectifier unit 303 and the first inverter unit 331. The first inverter unit 331 is connected to the third propulsion motor 332. The third propulsion motor 332 is connected to the third load motor 334 via a third coupling 333. The third load motor 334 is then connected to the sixth inverter unit 335. Specifically, the fourth inverter unit 315 drives the first load motor 314 to simulate water resistance to load the first propulsion motor 312. The fifth inverter unit 325 drives the second load motor 324 to simulate water resistance to load the second propulsion motor 322. The sixth inverter unit 335 drives the third load motor 334 to simulate water resistance to load the third propulsion motor 332. Thus, by providing the propeller simulation system 300 and the navigation simulation system 200, a hardware-in-the-loop simulation test of the ship propulsion and control system 100 can be implemented. Compared with related technologies, this can shorten the test cycle and improve test efficiency.

[0072] In addition, continue to see Figure 3 The propeller simulation system 300 also includes an incoming line cabinet 302 and a rectifier unit 303. The incoming line cabinet 302 is used to connect to a power source, such as 380V / 50Hz AC power. The rectifier unit 303 can be a rectifier, etc., and can be configured based on actual conditions, and is not specifically limited here.

[0073] Figure 4 This is a data flow diagram of the ship semi-physical simulation test device provided in the embodiment of the present application. Figure 4The simulated navigation system 200 is connected to the ship propulsion control system 100 and the test bench monitoring system 400 respectively, and the propeller simulation system 300 is connected to the ship propulsion control system 100, the simulated navigation system 200 and the test bench monitoring system 400. Among them, the ship propulsion control system 100 feeds back the propulsion control system status to the simulated navigation system 200, and provides the propeller simulation system 300 with propeller speed (including propeller simulation speed) and torque control. Among them, the simulated navigation system 200 sends the ship navigation environment (including information such as the current operating mode and the corresponding current operating environment parameters) to the propeller simulation system 300 and the test bench monitoring system 400. The propeller simulation system 300 calculates the simulated load torque based on the ship navigation environment, propeller speed and propeller torque control, and feeds back the propulsion inverter status to the ship propulsion control system 100, feeds back the ship heading, ship speed, propeller speed and propeller power to the simulated navigation system 200, and feeds back the driver data monitoring, motor temperature monitoring, ship speed, heading, propeller speed and propeller power to the test bench monitoring system 400.

[0074] Correspondingly, an embodiment of the present application further provides a ship, which includes the ship semi-physical simulation test device described in any embodiment of the present application.

[0075] Figure 5 This is a flow chart of a ship hardware-in-the-loop simulation test method provided in the embodiment of this application. Figure 5 , the method comprises the following steps:

[0076] Step 101: Determine a current operating mode of a ship propulsion and control system and current operating environment parameters corresponding to the current operating mode.

[0077] Among them, the current operating mode of the ship's propulsion and control system can be selected through the simulated navigation system.

[0078] In some embodiments, the current operation mode includes one or more of an open ice operation mode, a floating ice operation mode, and an icebreaking operation mode.

[0079] Among them, the floating ice operation mode and the icebreaking operation mode are polar working environments.

[0080] In some embodiments, when the current operating mode is the open ice operating mode, the current operating environment parameters include wind force level and wave level; when the current operating mode is the floating ice operating mode, the current operating environment parameters include floating ice density; when the current operating mode is the broken ice operating mode, the current operating environment parameters include ice thickness.

[0081] Among them, the selection range of wind force level includes 0-12 levels; the selection range of wave level includes 0-10 levels; the selection range of floating ice density includes 0-100%; the selection range of ice thickness includes 0-3 meters.

[0082] Step 102: Determine the simulated rotation speed of the propeller.

[0083] In some embodiments, the ship propulsion control system further includes a handle; the method for determining the simulated rotational speed of the propeller includes: controlling the handle through a preset operating mode to output the simulated rotational speed according to a preset rotational speed change curve.

[0084] The preset operating modes include one or more of separate control mode, joint control mode, and standby mode. These modes can be set based on actual circumstances and are not specifically limited here. Separate control mode includes handle separate control mode, joint control mode includes handle joint control mode, handwheel joint control mode, and auto-cruise joint control mode, and standby mode includes propulsion standby mode and steering standby mode. For detailed control information, please refer to Table 1.

[0085] Among them, the preset speed change curve is a curve that increases with time at a constant acceleration or a variable acceleration, for example, a speed change curve that slowly increases from 0 at a certain rate. It can be set according to actual conditions and is not specifically limited here.

[0086] Step 103: Test the working performance of the ship propulsion and control system in the current operating mode according to the current operating environment parameters and the simulated rotation speed.

[0087] In some embodiments, testing the operating performance of the ship propulsion and control system in the current operating mode according to the current operating environment parameters and the simulated speed specifically includes the following steps:

[0088] Step 1: Determine the simulated load torque of the propeller according to the current operating environment parameters and the simulated speed.

[0089] In some embodiments, the method for determining the simulated load torque includes: determining the current load coefficient based on the current operating environment parameters and the correspondence between the preset operating mode and the operating environment parameters; determining the simulated load torque based on the current load coefficient, the simulated speed and the preset static water resistance.

[0090] Among them, there is a correspondence between the preset operating mode and the operating environment parameters, and accordingly, there is a correspondence between the operating environment parameters and the load factor. For example, there is a correspondence between the open ice operating mode and its corresponding operating environment parameters (such as wind force level and wave force level), and accordingly, there is a correspondence between the wind force level and / or wave force level and the load factor. There is a correspondence between the floating ice operating mode and its corresponding operating environment parameters (such as floating ice density), and accordingly, there is a correspondence between the floating ice density and the load factor. There is a correspondence between the icebreaking operating mode and its corresponding operating environment parameters (such as ice thickness), and accordingly, there is a correspondence between the ice thickness and the load factor.

[0091] The correspondence between wind force level and / or wave force level and load factor may be a table showing value ranges of wind force level and / or wave force level and load factor. The correspondence between ice density and load factor may be a table showing value ranges of ice density and load factor. The correspondence between ice thickness and load factor may be a table showing value ranges of ice thickness and load factor.

[0092] The operating modes and corresponding operating environment parameters of the ship semi-physical simulation test device are shown in Table 2.

[0093] Table 2: Operating mode and operating environment parameters

[0094]

[0095]

[0096] As shown in Table 2, the scenarios required for the ship's hardware-in-the-loop simulation test include open ice and polar regions. The open ice navigation condition includes open ice mode (i.e., open ice operation mode). In open ice mode, the simulated navigation system 200 can select wind and wave levels. Based on the selected wind and wave levels, the load factor corresponding to the open ice mode is determined, simulating the corresponding propeller characteristics.

[0097] Among them, the polar scenarios include three navigation conditions: floating ice area (i.e. floating ice operation mode), ice layer area (i.e. icebreaking operation mode) and propeller ice jam. Among them, in the floating ice operation mode, the floating ice density can be selected by simulating the navigation system 200, and different load factors can be selected according to different floating ice densities to simulate the corresponding propeller characteristics. In the icebreaking operation mode, the ice thickness can be selected by simulating the navigation system 200, and the system can select different load factors according to different ice thicknesses to simulate the corresponding propeller characteristics. In the propeller ice jam condition, when ice jam or propeller failure occurs, the propeller power decreases or shuts down.

[0098] In some embodiments, the calculation formula of the simulated load torque is:

[0099] T=A+K*n2;

[0100] Wherein, A is the preset static water resistance; K is the current load factor; n is the current simulated speed; and T is the current simulated torque.

[0101] Step 3: Test the working performance of the ship propulsion and control system in the current operating mode according to the simulated load torque.

[0102] For example, taking the semi-physical simulation test of a ship in open water operation mode as an example, the specific implementation process is as follows: select the open water environment in the operation interface of the simulated navigation system 200, and select level 3 for the wind force level. Select the drag coefficient K equal to 0.86 in the propeller simulation system 300, and enter the ship parameters (for example, propeller diameter and ship mass, etc.). In the ship propulsion control system 100, press the propeller start button of the shaft propeller control system 120, press the start button of the 1# pod control system 130, and press the start button of the 2# pod control system 140. And select the joint control mode and use the joint control handle to control the propeller. When the joint control handle is pushed to the positive maximum value, the simulated speed of the propeller gradually increases to the rated speed, the ship speed slowly increases from 0, and the simulated load torque of the propeller slowly increases from 0 to the rated torque, and finally maintains the rated torque operation. The operation interface of the simulated navigation system 200 displays the ship's navigation posture in three dimensions, displaying data such as ship speed, propeller speed, and current propeller power. Manually adjust the propeller loads on the propeller simulation system 300's interface. The ship propulsion control system 100 automatically adjusts the power distribution of the three propellers (i.e., the three load-simulating towing platforms) according to program logic, verifying the power allocation strategy of the ship propulsion control system 100. Finally, when stopping the engine, slowly push the handle to the 0 position and press the stop button.

[0103] For example, taking the semi-physical simulation test of a ship in icebreaking operation mode as an example, the specific implementation process is as follows: select the icebreaking environment and wind force level 3 on the operation interface of the simulated navigation system 200. Select the drag coefficient K equal to 2.1 on the propeller simulation system 300, and enter the ship parameters (for example, propeller diameter and ship mass). On the ship propulsion control system 100, press the propeller start button of the shaft propeller control system 120, press the start button of the 1# pod control system 130, and press the start button of the 2# pod control system 140. Then select the joint control mode and use the joint control handle to control the propeller. When the joint control handle is pushed to the maximum positive value, the simulated propeller speed gradually increases to the rated speed, the ship speed slowly increases from 0, and the simulated propeller load torque slowly increases from 0 to the rated torque, and finally maintains the rated torque operation. The operation interface of the simulated navigation system 200 displays the ship's navigation posture in three dimensions, displaying data such as ship speed, propeller speed, and current propeller power. Manually adjust the propeller loads on the propeller simulation system 300's interface. The ship propulsion control system 100 automatically adjusts the power distribution of the three propellers (i.e., the three load-simulating towing platforms) according to program logic, verifying the power allocation strategy of the ship propulsion control system 100. Finally, when stopping the engine, slowly push the handle to the 0 position and press the stop button.

[0104] It is understood that the embodiments of the present application provide a ship semi-physical simulation test method for testing a ship propulsion and control system, which includes a propeller. The method includes: determining the current operating mode of the ship propulsion and control system and the current operating environment parameters corresponding to the current operating mode; determining the simulated speed of the propeller; and testing the operating performance of the ship propulsion and control system in the current operating mode based on the current operating environment parameters and the simulated speed. The ship semi-physical simulation test method provided in this application implements semi-physical simulation testing of the ship propulsion and control system by testing the operating performance of the ship propulsion and control system in the current operating mode based on the current operating environment parameters and the simulated speed, which can shorten the test cycle and improve test efficiency.

[0105] Figure 6 This is a schematic diagram of the overall process of a ship semi-physical simulation test method provided in the embodiment of the present application. For example, please refer to Figure 6The overall process of the ship semi-physical simulation test method is as follows: First, simulate the navigation environment of the navigation system 200 (including the current operating mode and the corresponding current operating environment parameters). Then, the ship propulsion control system 100 is started, and the handle is pushed to gear 1. Secondly, the propeller simulation system 300 rectifier is started, and the propulsion inverter controls the rotation of the propulsion motor. The propeller simulation system 300 automatically loads resistance and feeds back the ship speed, heading and propeller speed to the simulated navigation system 200. The simulated navigation system 200 displays the ship speed and propeller status. The ship propulsion control system 100 pushes the handle to other gears and returns to the loop to execute the above steps. Finally, after the test is completed, push the handle to gear 0 and press the stop button.

[0106] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0107] The above is a detailed introduction to the semi-physical simulation test method, device and ship of the ship provided in the embodiments of the present application, and the principles and implementation methods of the present application are explained by using specific examples. The description of the above embodiments is only used to help understand the technical solution and core idea of the present application; ordinary technical personnel in this field should understand that: it is still possible to modify the technical solutions recorded in the aforementioned embodiments, or to replace some of the technical features therein with equivalents; and these modifications or replacements do not cause the essence of the corresponding technical solution to deviate from the scope of the technical solution of the embodiments of the present application.

Claims

1. A ship semi-physical simulation test method, characterized in that: Applied to testing a ship propulsion and control system, the ship propulsion and control system including a propeller; the method comprises: Determining a current operating mode of the ship propulsion and control system and current operating environment parameters corresponding to the current operating mode; determining a simulated rotational speed of the propeller; The operating performance of the ship propulsion and control system in the current operating mode is tested according to the current operating environment parameters and the simulated rotational speed.

2. The ship semi-physical simulation test method according to claim 1, characterized in that: The testing of the working performance of the ship propulsion and control system in the current operating mode according to the current operating environment parameters and the simulated speed includes: determining a simulated load torque of the propeller according to the current operating environment parameters and the simulated rotational speed; The operating performance of the ship propulsion and control system in the current operating mode is tested according to the simulated load torque.

3. The ship semi-physical simulation test method according to claim 2, characterized in that: The method for determining the simulated load torque comprises: Determining a current load factor based on the current operating environment parameters and a correspondence between a preset operating mode and the operating environment parameters; The simulated load torque is determined according to the current load factor, the simulated speed, and a preset static water resistance.

4. The ship hardware-in-the-loop simulation test method according to claim 3, characterized in that: The calculation formula of the simulated load torque is: T=A+K*n2; Among them, A is the preset static water resistance; K is the current load coefficient; n is the current simulated speed; and T is the current simulated torque.

5. The ship semi-physical simulation test method according to claim 1, characterized in that: The current operation mode includes one or more of an open ice operation mode, a floating ice operation mode, and an icebreaking operation mode.

6. The ship hardware-in-the-loop simulation test method according to claim 5, characterized in that: When the current operating mode is the open ice operating mode, the current operating environment parameters include wind force level and wave force level; In a case where the current operating mode is the floating ice operating mode, the current operating environment parameter includes floating ice density; When the current operating mode is the ice-breaking operating mode, the current operating environment parameter includes ice thickness.

7. The ship hardware-in-the-loop simulation test method according to claim 1, characterized in that: The ship propulsion control system further includes a handle; and a method for determining the simulated rotational speed of the propeller includes: The handle is controlled by a preset operation mode to output the simulated speed according to a preset speed change curve.

8. A ship semi-physical simulation test device, characterized in that: Used to test ship propulsion and control systems; The ship propulsion and control system includes a propeller; the device includes: a simulated navigation system and a propeller simulation system; wherein the propeller simulation system is connected to the ship propulsion and control system and the simulated navigation system respectively; The simulated navigation system is used to determine the current operating mode of the ship propulsion and control system and the current operating environment parameters corresponding to the current operating mode; The ship propulsion control system is used to determine the simulated rotational speed of the propeller; The propeller simulation system is used to test the working performance of the ship propulsion and control system in the current operating mode according to the current operating environment parameters and the simulated rotational speed.

9. The ship semi-physical simulation test device according to claim 8, characterized in that: The propeller simulation system includes a control module and multiple groups of load simulation towing platforms, which are respectively connected to the ship propulsion and control system and the simulated navigation system; the control module is used to determine the simulated load torque of the propeller according to the current operating environment parameters and the simulated speed; the load simulation towing platform is used to test the working performance of the ship propulsion and control system in the current operating mode according to the simulated load torque.

10. The ship semi-physical simulation test device according to claim 9, characterized in that: The load simulation towing platform includes a first inverter unit, a propulsion motor, a coupling, a load motor and a second inverter unit; wherein, the first inverter unit is connected to the ship propulsion control system and the propulsion motor, the propulsion motor is connected to the load motor through the coupling, and the load motor is connected to the second inverter unit; the propulsion motor is used to drag the load motor according to the simulated load torque.

11. The ship hardware-in-the-loop simulation test device according to claim 8, characterized in that: It also includes a test bench monitoring system; the test bench monitoring system is connected to the simulated navigation system, the ship propulsion and control system, and the propeller simulation system respectively, and is used to collect test data and display and store the test data.

12. A ship, characterized in that: The device comprises a ship semi-physical simulation test device as described in any one of claims 8 to 11.

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