A roll stabilization energy storage flywheel cooperative control system and method

Abstract

The application discloses a kind of roll reduction energy storage flywheel cooperative control system and method, belong to the cross technical field of ship motion control and shipboard integrated power system.The application is applicable to ship and offshore platform, by constructing ship roll-flywheel machine electricity-ship power grid whole system coupling dynamics model, and based on model predictive control framework online rolling solving multi-objective optimization problem, dynamically coordinate roll reduction torque demand, flywheel energy storage scheduling and power grid support instruction.System supports power instruction tracking, virtual synchronous machine control and power grid support mode, and generates motor electromagnetic torque instruction and precession servo torque instruction, magnetic suspension bearing auxiliary loop is used for rotor support and vibration suppression.According to the intelligent closed loop of sensing, modeling, optimization, execution, the depth dynamic cooperation and global optimization of three major functions of roll reduction, energy storage and power grid active support are realized, effectively improve the motion stability of ship and offshore platform, energy utilization efficiency and power grid operation flexibility under complex sea conditions.

Description

Technical Field

[0001] This invention belongs to the interdisciplinary technical field of ship motion control and shipborne integrated power systems, specifically relating to a roll-damping energy storage flywheel collaborative control system and method. Background Technology

[0002] Flywheel systems combining power storage and active roll reduction are an effective way to improve the overall navigation performance and power system stability of ships and offshore platforms. However, existing control strategies for such integrated systems generally face the problem of difficulty in coordinating roll reduction and energy storage objectives, and the underutilization of functional dynamic coupling mechanisms. Specifically, control methods often treat the two functions as independent or simply superimposed tasks, lacking collaborative design and real-time optimization based on a coupled model of the entire system of ship roll-flywheel electromechanical-ship power grid. This results in limited system response performance and insufficient overall robustness under complex sea conditions and variable power grid operating conditions. At the same time, existing strategies are mostly limited to a single power command follow mode, failing to fully support advanced power grid interaction methods such as virtual synchronous machine control, inertia support, and frequency support, and failing to systematically leverage the potential of flywheels in virtual inertia, damping, and rapid power support.

[0003] Therefore, there is an urgent need for a collaborative control method that can be based on the coupled dynamics of the whole system, deeply integrate the goals of roll reduction and energy storage control, and support multiple grid interaction modes, so as to solve the problems of functional fragmentation, insufficient collaboration and single interaction mode in the existing technology, thereby fully releasing the comprehensive effectiveness of flywheel system in ship and offshore platform applications. Summary of the Invention

[0004] To address the issues of functional fragmentation, insufficient coordination, and limited interaction modes with the power grid in existing technologies, this invention provides a roll-damping energy storage flywheel collaborative control system and method. This method constructs a unified coupled dynamic model of the entire ship roll-flywheel electromechanical-ship power grid system and performs multi-objective rolling optimization based on a model predictive control framework to achieve dynamic real-time coordination of roll-damping torque demand, flywheel energy storage scheduling, and power grid support commands.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A roll-damping energy storage flywheel cooperative control system includes:

[0007] The sensor network is configured to collect multi-source signals in real time, including the ship's motion status, flywheel rotor mechanical status, precession mechanism position, electrical quantities of the motor drive system, and electrical status of the ship's electrical grid.

[0008] The collaborative monitoring layer is configured to communicate with the predictive control layer to issue anti-rollback commands and grid power commands to the system, and to monitor the system's operating status.

[0009] The predictive control layer includes a cooperative controller, which communicates with the cooperative monitoring layer and the sensor network. The cooperative controller has a built-in multi-source data fusion and state estimation module, a full-system coupling model library and prediction engine, a multi-objective rolling optimizer, and a command decoupling and cooperative allocation module. The cooperative controller is used to receive roll reduction commands and power grid commands from the cooperative monitoring layer, as well as real-time measurement data from the sensor network. Based on the full-system coupling model of ship roll-flywheel electromechanical-ship power grid, it performs state estimation, dynamic prediction, and multi-objective rolling optimization to generate motor electromagnetic torque commands and precession servo torque commands.

[0010] The device execution layer, which is communicatively connected to the predictive control layer, includes a bidirectional power conversion module controller, a precession motor controller, a flywheel motor, a precession motor, and a magnetic levitation anti-rolling energy storage flywheel unit. The bidirectional power conversion module controller is used to drive the flywheel motor to achieve bidirectional power exchange between the flywheel and the ship's electrical grid according to the motor's electromagnetic torque command. The precession motor controller is used to drive the precession motor to drive the flywheel unit to generate controlled precession motion according to the precession servo torque command.

[0011] The present invention also provides a method for coordinated control of a roll-damping energy storage flywheel, comprising the following steps:

[0012] S1. Perform full system state perception and fusion, collect multi-source measurement signals from the sensor network in real time. The multi-source measurement signals include at least ship roll attitude information, flywheel speed information, precession shaft position information and ship power grid operation information. Filter, fuse and estimate the state of the multi-source measurement signals to obtain a unified estimation result of the current state of the system.

[0013] S2. Based on the coupled model of the whole system of ship roll-flywheel electromechanical-ship power grid, the current state estimation result is used as the initial condition. A multi-objective rolling optimization problem is constructed in the prediction time domain. The optimization objectives are to reduce ship roll, meet the power regulation requirements of the ship power grid, and keep the operating state of the flywheel unit within the allowable range. The optimal control input sequence in the current control cycle is obtained by solving online.

[0014] S3. Decouple and allocate the current control quantity in the optimal control input sequence to form the precession servo torque command and the motor electromagnetic torque command, and send them to the precession motor controller and the bidirectional power conversion module controller for execution, respectively.

[0015] S4. Based on real-time operating conditions, dynamically adjust the priority of control objectives in multi-objective rolling optimization, and switch or smoothly transition between net rockfall reduction mode, net energy storage and grid support mode, and intelligent collaborative mode.

[0016] The present invention also provides an electronic device, including one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the above-mentioned anti-rolling energy storage flywheel cooperative control method.

[0017] The present invention also provides a computer-readable storage medium storing computer instructions thereon, which, when executed by a processor, implement the above-described anti-rolling energy storage flywheel cooperative control method.

[0018] Beneficial effects:

[0019] 1. This invention establishes and utilizes a coupled model of the entire system of ship roll-flywheel electromechanical system-ship power grid, which enables accurate description and unified optimization of the motion of ships and offshore platforms, the response of flywheel electromechanical systems and the dynamics of the ship power grid, laying a physical foundation for multi-objective coordinated control of roll reduction, energy storage and power grid support.

[0020] 2. The present invention adopts a model prediction-based rolling optimization framework, which has a composite control capability that combines feedforward and feedback. It can proactively coordinate the target conflicts that may exist between sway reduction and energy storage in dynamic processes, and significantly improve the system's response speed and overall robustness to disturbances such as waves and load changes.

[0021] 3. This invention enables the system to intelligently adapt to complex and ever-changing sea conditions and power grid operating conditions by adaptively switching working modes and supporting power grid interaction modes such as virtual synchronous machine control, inertia support, and frequency support. It deeply participates in the active support of the power grid and effectively improves the resilience, inertia, and power quality of the power grid.

[0022] 4. This invention ultimately achieves deep intelligent integration and global optimization of the three major functions of roll reduction, energy storage and grid support in the dynamic process, comprehensively improving the overall navigation stability, energy utilization efficiency and operational safety of ships and offshore platforms in complex environments. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall architecture of a rocking reduction and energy storage flywheel cooperative control system and method according to the present invention;

[0024] Figure 2 This is a block diagram illustrating the interaction relationships in the coupling model of the entire ship roll-flywheel electromechanical-ship electrical system of the present invention.

[0025] Figure 3 This is a flowchart of the multi-objective rolling optimization control algorithm of the present invention;

[0026] Figure 4 This is a schematic diagram of the adaptive working mode switching logic of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0028] like Figure 1 As shown, the anti-rolling energy storage flywheel collaborative control method of the present invention adopts a hierarchical distributed intelligent collaborative control architecture. This hierarchical distributed intelligent collaborative control architecture is specifically divided into a collaborative monitoring layer, a predictive control layer, and a device execution layer, and achieves closed-loop control of the entire system through a unified sensor network.

[0029] The collaborative monitoring layer is a comprehensive ship monitoring system, specifically a bridge or energy management system. This layer is used to issue roll reduction commands and grid power commands to the predictive control layer based on the ship's operational needs, and to receive system feedback information, thereby monitoring and managing the system's operational status.

[0030] The predictive control layer is the core control layer of this invention, consisting of a cooperative controller and its built-in functional modules. The cooperative controller is preferably implemented using a multi-core DSP, FPGA, or a combination of both. The predictive control layer receives anti-shake commands and grid power commands from the cooperative monitoring layer, and simultaneously receives real-time measurement data from the sensor network. Based on the system coupling model, it performs state estimation, dynamic prediction, rolling optimization, and control command allocation, generating the cooperative control commands required by the device execution layer.

[0031] Specifically, the predictive control layer includes a multi-source data fusion and state estimation module, a full-system coupled model library and prediction engine, a multi-objective rolling optimizer, and a command decoupling and collaborative allocation module. The multi-source data fusion and state estimation module is used to fuse and estimate the state of real-time measurement data uploaded from flywheel motor electrical sensors, flywheel speed sensors, precession shaft encoders, ship power grid measurement units, and ship attitude sensors to obtain the current flywheel motor electrical state, flywheel speed state, precession shaft position state, ship power grid operating state, and ship roll attitude state. The full-system coupled model library and prediction engine is used to establish and call a unified coupled model of ship roll dynamics, flywheel rotation electromechanical coupling dynamics, flywheel precession mechanism dynamics, and ship power grid power exchange process, and predicts the ship roll response, flywheel speed and energy storage state changes, and precession execution response in the future time domain based on the state variables. The multi-objective rolling optimizer is used to perform rolling optimization solutions for motor electromagnetic torque commands and precession servo torque commands under system constraints, with roll reduction performance and power grid power regulation requirements as objectives, preferably using a model predictive control algorithm. The instruction decoupling and collaborative allocation module is used to convert the optimization results into mutually coordinated motor electromagnetic torque commands and precession servo torque commands, and send them to the corresponding execution controllers in the device execution layer.

[0032] The device execution layer includes a bidirectional power conversion module controller, a precession motor controller, a flywheel motor, a precession motor, and a magnetic levitation anti-rolling energy storage flywheel unit. The bidirectional power conversion module controller receives electromagnetic torque commands from the motor and executes power commands to drive the flywheel motor, enabling bidirectional power exchange between the flywheel and the ship's electrical grid. The precession motor controller receives precession servo torque commands and executes precession commands to drive the precession motor, causing the flywheel unit to generate controlled precession motion. The flywheel motor and the precession motor work together on the magnetic levitation anti-rolling energy storage flywheel unit. The magnetic levitation anti-rolling energy storage flywheel unit is a physical actuator installed on the ship or offshore platform and electrically connected to the ship's electrical grid. Preferably, it includes a gradient composite rotor, a vacuum chamber, and a precession frame. The gradient composite rotor stores rotational kinetic energy and provides a basis for angular momentum; the vacuum chamber reduces wind resistance losses; and the precession frame connects to the hull structure and supports the flywheel unit to achieve controlled precession, thereby outputting an anti-rolling control torque acting on the hull.

[0033] Furthermore, the sensor network is used to measure key physical quantities during the operation of the equipment execution layer and the ship itself in real time, and feeds the measurement data back to the predictive control layer, and can also synchronously feed it back to the collaborative monitoring layer to form a complete closed-loop control loop. The sensor network includes at least a flywheel motor electrical sensor, a flywheel speed sensor, a precession shaft encoder, a ship electrical network measurement unit, and a ship attitude sensor. Specifically, the flywheel motor electrical sensor is used to collect electrical quantities such as voltage and current of the flywheel motor; the flywheel speed sensor is used to collect flywheel speed information; the precession shaft encoder is used to collect precession shaft position or angle information; the ship electrical network measurement unit is used to collect ship electrical network operating parameters; and the ship attitude sensor is used to collect ship roll attitude information.

[0034] In this embodiment, after the collaborative monitoring layer issues roll reduction commands and / or grid power commands, the collaborative controller in the predictive control layer first processes the data uploaded from the sensor network through the multi-source data fusion and state estimation module to obtain the current system state. Then, the whole-system coupled model library and prediction engine predict the ship's roll response, flywheel speed and energy storage state changes, and precession execution response in the future time domain. Next, the multi-objective rolling optimizer performs online rolling solution to obtain the optimal control quantity at the current control moment. Finally, the command decoupling and collaborative allocation module generates motor electromagnetic torque commands and precession servo torque commands, which are then sent to the bidirectional power conversion module controller and the precession motor controller for execution. After the equipment execution layer takes action, its operating state is measured in real time by the sensor network and fed back to the predictive control layer and the collaborative monitoring layer, thereby realizing the collaborative closed-loop operation of roll reduction control and energy storage control.

[0035] Through the above technical solution, the present invention can realize the coordinated control of ship roll reduction function and flywheel energy storage function under a unified control architecture, so that the flywheel system can meet the roll suppression requirements while taking into account the ship's power grid regulation requirements, thereby improving the system's dynamic response capability and control coordination.

[0036] like Figure 2 As shown, this invention establishes a full-system coupling model of ship roll-flywheel electromechanical-ship power grid, which is used to uniformly describe the dynamic coupling relationship between ship roll motion, flywheel precession motion, flywheel rotor rotation energy storage process and ship power grid power exchange process.

[0037] In a preferred embodiment, the coupled model of the ship's roll-flywheel electromechanical-ship electrical system can be characterized by the following set of continuous-time dynamic equations.

[0038] The equation for the ship's rolling dynamics is:

[0039] ;

[0040] in, For a moment The ship's roll angle, For a moment The ship's roll rate, For a moment The ship's roll acceleration, It is a continuous-time variable. The equivalent moment of inertia of the hull about the roll axis; This is the equivalent damping coefficient for the ship's rolling motion; This is the restoring stiffness coefficient for the ship's rolling motion; The wave disturbance torque that is excited by the ocean waves and acts on the hull; This is the additional hydrodynamic torque term corresponding to the wave memory state; The anti-roll control torque is generated by the flywheel rotor based on the gyroscopic effect and applied to the hull during the precession process.

[0041] The wave memory state equation can be preferably expressed as:

[0042] ;

[0043] in, The first derivative of the additional hydrodynamic torque term corresponding to the wave memory state; The wave memory time constant; This represents the wave memory gain coefficient. The wave memory state is used to approximate the hysteretic effect of fluid-assisted dynamics on the hull's rolling motion.

[0044] The dynamic equation of the flywheel precession mechanism is:

[0045] ;

[0046] in, For a moment Flywheel precession angle, For a moment Flywheel precession angular velocity, For a moment Flywheel precession angular acceleration. The total moment of inertia of the precession shaft; The equivalent damping coefficient of the precession shaft; The restoring stiffness coefficient of the precession shaft; The reaction torque caused by the ship's rolling motion and acting on the flywheel precession mechanism; This is the control torque corresponding to the precession servo torque command.

[0047] The mechanical rotation of the flywheel rotor and the precession of the flywheel together generate a roll-damping control torque acting on the hull, which can preferably be expressed as:

[0048] ;

[0049] in, The moment of inertia of the flywheel rotor; For a moment The mechanical rotational angular velocity of the flywheel rotor; This is the flywheel precession angular velocity. The anti-roll control torque... The ship roll dynamics equation is introduced as an active control term to counteract wave disturbance torque and suppress ship roll.

[0050] The dynamic equations for the flywheel rotor rotation and energy storage are as follows:

[0051] ;

[0052] in, For a moment The rotational angular velocity of the flywheel rotor, For a moment Angular acceleration of the flywheel rotor. This is the driving torque corresponding to the electromagnetic torque command of the motor; The equivalent drag torque is calculated by converting the friction loss, wind resistance loss, and additional mechanical loss of the flywheel system. The equivalent load torque referred to the flywheel rotor side is used to reduce sway coupling and grid power exchange.

[0053] To demonstrate the energy coupling relationship between roll reduction and energy storage, the rotational kinetic energy of the flywheel rotor... satisfy:

[0054] ;

[0055] Its rate of change characterizes the dynamic changes in the flywheel's energy storage state and is related to the power output of the anti-rolling machinery and the power exchange process of the ship's electrical grid.

[0056] When the ship's electrical network is a DC network, the preferred electrical state of the ship's electrical network is the DC bus voltage. The dynamic relationship of the representation can be expressed as:

[0057] ;

[0058] in, The first derivative of the DC bus voltage; For DC bus capacitors; Inject current into the source side; This refers to the load-side current. This is the exchange current between the flywheel energy storage unit and the DC bus.

[0059] Furthermore, the power exchange relationship between the flywheel energy storage unit and the ship's power grid satisfies:

[0060] ;

[0061] in, This refers to the exchange power between the flywheel energy storage unit and the ship's electrical grid. This exchange power is influenced by the electromagnetic torque of the motor. and flywheel speed They jointly influence and participate in the power balance of the ship's power grid.

[0062] In other embodiments, when the ship's electrical grid is an AC grid, the grid electrical equations can be replaced by dynamic equations based on the AC grid frequency and voltage, and through frequency... and voltage Characterizes the inertia support and voltage support effect of flywheel energy storage units on AC power grid.

[0063] From the above set of continuous-time dynamic equations, it can be seen that the continuous-time state variables of the system have the following coupling relationship:

[0064] First, the ship's roll rate. The flywheel's precession is influenced by the reaction torque; secondly, the flywheel's precession angular velocity. Angular velocity of flywheel rotor Together they determine the roll reduction control torque First, the electromagnetic torque of the motor alters the mechanical rotation state of the flywheel rotor, thereby affecting the flywheel's energy storage state and its power exchange with the ship's electrical grid. Second, changes in the ship's electrical grid load affect the DC bus voltage through the power balance relationship. This further affects the operating status of the flywheel energy storage unit.

[0065] The key to the ship roll-flywheel electromechanical-ship electrical system coupling model lies in the following physical coupling relationships:

[0066] a) Anti-roll torque coupling relationship: The mechanical rotational angular velocity of the flywheel rotor and the precession angular velocity of the flywheel generate anti-roll control torques acting on the hull through the gyro effect, and are introduced into the ship roll dynamics equation as an active control term to counteract wave disturbance torques and suppress ship roll.

[0067] b) Electromechanical energy coupling relationship: The change in the rotational kinetic energy of the flywheel rotor characterizes the energy exchange process between the flywheel and the ship's electrical network. The electromagnetic torque of the motor acts on the flywheel rotor, causing a change in the flywheel speed, thereby changing the energy storage state of the flywheel; at the same time, the output power of the flywheel motor is exchanged with the ship's electrical network through the bidirectional power conversion module and participates in the power balance of the ship's electrical network.

[0068] c) Dynamic cross-coupling relationship: The precession motion of the flywheel and the rotation state of the flywheel rotor influence each other. The precession angle and precession angular velocity of the flywheel will change the force state and dynamic balance of the flywheel rotor, thereby affecting the mechanical response characteristics of the system, the anti-roll control torque output capability, and the flywheel energy storage regulation process.

[0069] Based on the above continuous-time dynamic equations, after linearization and discretization near a selected operating point, the following discrete state-space model can be obtained:

[0070] ;

[0071] ;

[0072] in, For discrete-time index, indicating the first... Each sampling time; This is the system state vector; To control the input vector; The external disturbance vector; This is the system output vector; This is the system state matrix; To control the input matrix; The perturbation input matrix; This is the output matrix. For the first The system state vector at each sampling time is represented by its components, which respectively characterize the ship's roll angle, ship's roll angular velocity, flywheel precession angle, flywheel precession angular velocity, flywheel rotor's mechanical rotational angular velocity, ship's DC bus voltage, and wave memory state.

[0073] In a preferred embodiment, the system state vector It is a seven-dimensional column vector, controlling the input vector. It is a two-dimensional column vector, and the external perturbation vector is... Given a two-dimensional column vector, the system output vector It is a four-dimensional column vector. Correspondingly, the system state matrix... The dimension is Control input matrix The dimension is Perturbation input matrix The dimension is Output matrix The dimension is .

[0074] Preferably, the state vector is defined as:

[0075] ;

[0076] in, The ship's roll angle; The ship's roll rate; This refers to the flywheel precession angle; This refers to the flywheel precession angular velocity; The mechanical rotational angular velocity of the flywheel rotor; This refers to the DC bus voltage of the ship. This represents the wave memory state, used to characterize the dynamic hysteresis effect of wave radiation torque. The superscript T indicates the transpose of the matrix.

[0077] Preferably, the control input vector is defined as:

[0078] ;

[0079] in, This is a precession servo torque command used to drive the flywheel unit to generate the target anti-rolling torque; This is the electromagnetic torque command for the motor, used to regulate the charging and discharging process of the flywheel energy storage unit.

[0080] Preferably, the external disturbance vector Defined as:

[0081] ;

[0082] in, The wave disturbance torque generated by ocean waves and acting on the hull; This refers to the change in equivalent load power caused by load switching or power fluctuations in the ship's electrical grid.

[0083] Preferably, the system output vector is defined as:

[0084] ;

[0085] in, Characterizing the ship's rolling state, Characterizes the position state of the flywheel precession mechanism. Characterizing flywheel speed and energy storage state, This characterizes the operating status of the ship's electrical network. The system output vector is represented by the output matrix. From the system state vector The mapping is obtained and used in model predictive control for constructing the objective function, setting operational constraints, and evaluating control performance.

[0086] In other embodiments, when the ship's electrical network is an AC network, the DC bus voltage in the state vector Can be replaced with AC power grid frequency and voltage Accordingly, the state vector, output vector, and matrix dimension can be expanded according to the requirements of AC power grid modeling.

[0087] The system state matrix Control input matrix Perturbation input matrix and output matrix It is obtained by unifying and combining the ship's roll dynamics equations, the flywheel precession mechanism dynamics equations, the flywheel rotor rotation and energy storage equations, and the ship's electrical grid equations, and then linearizing and discretizing them near a selected operating point.

[0088] Preferably, the continuous-time dynamic equations can be discretized using the forward Euler method, the fourth-order Runge-Kutta method, or other numerical discretization methods to obtain the discrete state-space model. The discrete state-space model provides the mathematical basis for subsequent state estimation, dynamic prediction, and multi-objective rolling optimization control.

[0089] Furthermore, the magnetic levitation bearing is used to provide stable support, displacement constraint, and vibration suppression for the flywheel rotor, and its control circuit can be implemented as an independent and parallel auxiliary support circuit. The magnetic levitation bearing auxiliary support circuit is not used as... Figure 2 The core state variables of the main coupled model shown participate in the rolling optimization modeling, but in the engineering implementation, the support control and stability compensation are completed independently based on the rotor displacement measurement signal.

[0090] like Figure 3 As shown, the multi-objective rolling optimization control is Figure 1 The core decision-making process of the predictive control layer relies on a multi-source data fusion and state estimation module, a system-wide coupled model library and prediction engine, a multi-objective rolling optimizer, and an instruction decoupling and collaborative allocation module. Figure 2 The coupled model of the ship's roll-flywheel electromechanical system-ship power grid shown is executed cyclically in each preset control cycle to achieve coordinated optimization of roll reduction control and energy storage regulation.

[0091] Specifically, the multi-objective rolling optimization control includes the following steps.

[0092] Step 1: System Status Update

[0093] Depend on Figure 1 The multi-source data fusion and state estimation module performs fusion processing and state estimation on real-time measurement data uploaded from the sensor network to obtain the current discrete sampling time. The optimal estimate of the system state is denoted as: ;in, Indicates at discrete sampling time The system state estimate obtained based on the measurement information up to this moment is used as the initial state of the rolling optimization problem within the current control cycle.

[0094] Step 2: External Disturbance Prediction and Reference Generation:

[0095] Depend on Figure 1 The system-wide coupled model library and prediction engine combine the current state estimate and historical operating data to generate external disturbances and reference quantities in the future prediction time domain.

[0096] Preferably, a short-term forecasting method based on wave spectrum analysis or historical data is used to predict the future time domain. Internal wave disturbance torque The sequence is predicted; simultaneously, based on the energy management system's scheduling plan or ultra-short-term load forecast results, the equivalent load power change in the future forecast time domain is predicted. The sequence is predicted. Furthermore, a reference output vector for the future time domain is determined based on the current operating mode and control requirements. .

[0097] Step 3: Problem Construction and Online Solving for Rolling Optimization

[0098] Depend on Figure 1 The multi-objective scroll optimizer in the middle is based on Figure 2 The discrete state-space model shown is used to construct and solve a finite-time constrained optimization problem. The discrete state-space model is as follows:

[0099] ;

[0100] ;

[0101] Wherein, the state vector Control input vector External disturbance vector and system output vector Definition and Figure 2 The discrete state-space model shown is consistent with the system output vector. From the output matrix Extracted from the system state vector, it is used for constructing the objective function, setting operational constraints, and evaluating control performance in model predictive control.

[0102] At the current discrete sampling time The multi-objective rolling optimizer constructs the following objective function:

[0103] ;

[0104] in,

[0105] The control input sequence to be optimized, the control input sequence It is an extended column vector formed by stacking the control input vectors of each step in the control time domain. The objective function for optimization within the current control cycle; To predict the length of the time domain, To control the time domain length, and preferably satisfy When controlling the time domain Smaller than the prediction time domain At that time, for In the prediction step, the control input can remain the control quantity of the last step in the control time domain, or be processed according to a preset control input extension rule; in a preferred embodiment, it can be... ; Indicates the current moment For the future The predicted value output by the step; For the current moment The determined future Step reference output vector; The control input increment between adjacent prediction steps; To output the tracking error weight matrix; To control the input increment weight matrix; and These represent weighted quadratic forms, respectively.

[0106] Preferably, the single-step control input vector is defined as:

[0107] ;

[0108] in, For the future Predicted value of the precession servo torque command for the step. For the future The predicted value of the electromagnetic torque command for the stepping motor.

[0109] The optimization problem must satisfy the following constraints:

[0110] 1) System dynamic constraints:

[0111] ;

[0112] in, .

[0113] 2) Control input constraints:

[0114] ;

[0115] in, and Let these be the lower and upper bound vectors of the control input vector, respectively, which can preferably be represented as:

[0116] ;

[0117] These correspond to the value ranges of the precession servo torque command and the motor electromagnetic torque command, respectively.

[0118] 3) State safety constraints:

[0119] ;

[0120] in, and These represent the lower and upper limits of each component of the system state vector, respectively, used to constrain the operating range of the ship's roll angle, ship's roll rate, flywheel precession angle, flywheel precession rate, flywheel speed, DC bus voltage, and wave memory state. Preferably, the state safety constraints include at least the flywheel precession angle limit, the allowable range of flywheel speed, and the DC bus voltage fluctuation range.

[0121] By substituting the aforementioned discrete state-space model into the objective function and constraints, a finite-time constrained optimization problem can be formed. Preferably, when the operating point is linearized and the constraints are expressed linearly, the optimization problem can be constructed as a quadratic programming problem and solved online using an optimization solver suitable for embedded controllers to ensure that the optimal control input sequence for the current control cycle is obtained within a preset control cycle.

[0122] Step 4: Control command decoupling and collaborative allocation:

[0123] Depend on Figure 1 The instruction decoupling and cooperative allocation module processes the optimal control input sequence. When the solver obtains the optimal control input sequence... Then, only the first step of the control quantity is taken as the control instruction to be executed at the current moment, that is:

[0124] ;

[0125] Subsequently, the optimal control command at the current moment is allocated into two independent and coordinated sub-commands: one is the precession servo torque command. The first is the precession motor controller, which drives the flywheel unit to generate controlled precession motion; the second is the motor electromagnetic torque command. The data is then sent to the bidirectional power conversion module controller to regulate the charging and discharging process of the flywheel energy storage unit.

[0126] Furthermore, the magnetic levitation bearing auxiliary support circuit independently completes support control and stability compensation based on the rotor displacement measurement signal, and its control commands are not transmitted through... Figure 3 The multi-objective rolling optimizer shown is generated directly.

[0127] After completing the optimization calculations and command issuance for the current control cycle, the system enters the next discrete sampling moment and repeats the above-mentioned state update, disturbance prediction, rolling optimization, and command allocation processes, thereby forming a system that... Figure 1 Layered control architecture and Figure 2 A closed-loop collaborative control process with a consistent coupling model is used to achieve coordinated optimization of anti-sway control and energy storage regulation.

[0128] like Figure 4 As shown, the collaborative controller integrates an adaptive working mode, which is used to dynamically adjust the priority of control objectives according to real-time operating conditions, thereby achieving adaptive coordination between roll reduction control, energy storage regulation and ship power grid support.

[0129] Specifically, the adaptive operating mode is implemented through a mode decision unit. The mode decision unit comprehensively evaluates the current operating status based on real-time operating condition information and determines the current operating mode according to the evaluation results. Preferably, the comprehensive evaluation information includes at least the ship's roll attitude state, the ship's electrical grid operating status, and the flywheel energy storage status; wherein, the ship's roll attitude state can be determined by the absolute value of the ship's roll angle. The operating status of a ship's electrical grid in an AC power grid implementation can be characterized by the absolute value of the grid frequency deviation. In a DC grid implementation, this can be characterized by the absolute value of the DC bus voltage deviation. The energy storage state of a flywheel can be characterized by its rotational speed.

[0130] To avoid discontinuity in control commands caused by abrupt changes in control objectives during mode switching, a parameter smoothing transition strategy is preferably adopted during the mode switching process. Specifically, during mode switching, the weight matrix in the multi-objective rolling optimization control... and Instead of abruptly switching modes, the current mode parameters are gradually transitioned to the target mode parameters over several control cycles through low-pass filtering, linear interpolation, or other smooth transition methods, thereby improving the smoothness of the mode switching process and the robustness of control.

[0131] Preferably, the adaptive working mode includes at least the following three:

[0132] 1) Net reduction shaking mode:

[0133] When the ship's roll attitude exceeds a preset threshold and the ship's electrical grid is operating within acceptable limits, the net roll reduction mode is activated. Preferably, in the AC electrical grid implementation, this can be expressed as when... and When the net rockfall reduction mode is entered, in the DC power grid implementation, it can be expressed as when and When the ship enters the net roll reduction mode, the weighting coefficients related to the ship's roll state in the multi-objective roll optimization are increased to prioritize suppressing the ship's roll motion and enhance the roll reduction control effect.

[0134] 2) Net energy storage and grid support mode:

[0135] When the ship's electrical grid operation exceeds a preset threshold and the ship's rolling attitude is within an acceptable range, the net energy storage and grid support mode is activated. Preferably, in the AC grid implementation, this can be expressed as when... and When the net energy storage and grid support mode is entered, in the DC grid implementation, it can be expressed as when and At this time, the system enters the net energy storage and grid support mode. In this mode, the weighting coefficients related to the ship's grid operating state and flywheel energy storage state in the multi-objective rolling optimization are increased to enhance the flywheel unit's power support capability and energy storage regulation capability for the ship's grid.

[0136] 3) Intelligent Collaboration Mode:

[0137] When both ship roll disturbance and ship power grid operation deviation are at a moderate level, or when the system is in normal operating conditions, the intelligent coordination mode is activated. This intelligent coordination mode, as the default operating mode, employs a balanced weight configuration that takes into account roll reduction control, energy storage regulation, and power grid support to achieve comprehensive coordination among multiple objectives.

[0138] When both the ship's roll attitude and the ship's electrical grid operation status exceed the corresponding preset thresholds, the mode decision-maker preferably enters the intelligent collaborative mode, or simultaneously increases the weight coefficients related to the ship's roll status, the ship's electrical grid operation status, and the flywheel energy storage status according to preset priorities, so as to avoid bias towards a single control objective under complex disturbance conditions.

[0139] Furthermore, in the implementation of the shipboard AC power grid, the virtual synchronous machine control function can be optionally enabled under the net energy storage and grid support mode to enhance the flywheel unit's inertia and frequency support capabilities for the AC power grid. The virtual synchronous machine control function is integrated into the bidirectional power conversion module controller. Its basic idea is to simulate the rotor motion characteristics of a synchronous generator, enabling the flywheel unit to exhibit equivalent inertia and damping characteristics during grid-connected operation, thereby improving the frequency stability of the AC power grid.

[0140] Preferably, the virtual synchronous machine control function can construct an equivalent frequency response relationship based on the virtual inertia coefficient and the virtual damping coefficient, and adjust the output of the grid-connected converter in combination with the power reference value given by the cooperative controller and the real-time feedback from the power grid, so as to realize the flywheel unit's rapid frequency support and dynamic power response to the AC power grid.

[0141] Through the aforementioned adaptive operating mode, the cooperative controller can dynamically adjust the priority of control objectives in multi-objective rolling optimization according to the dominant needs under different operating conditions. This enables it to highlight anti-sway performance under strong sway disturbance conditions, highlight energy storage and grid support capabilities under grid fluctuation conditions, and achieve coordinated optimization of anti-sway control and energy storage regulation under normal operating conditions.

[0142] This invention also provides a method for coordinated control of an energy storage flywheel to reduce sway, the core of which lies in constructing a closed-loop control process of perception-prediction-optimization-coordinated execution, specifically including the following steps:

[0143] S1. System-wide state awareness and fusion:

[0144] Multi-source measurement signals from the sensor network are acquired in real time. These multi-source measurement signals include at least ship roll attitude information, flywheel speed information, precession shaft position information, and ship electrical network operation information. The above signals are filtered, fused, and state estimated to obtain a unified estimate of the current state of the system.

[0145] S2. Rolling optimization solution based on coupled model:

[0146] Based on the built-in coupled model of ship roll-flywheel electromechanical-ship power grid, a multi-objective rolling optimization problem is constructed in the prediction time domain with the current state estimation result as the initial condition. The optimization objectives are to reduce ship roll, meet the power regulation requirements of the ship power grid, and keep the operating state of the flywheel unit within the allowable range. The optimal control input sequence in the current control cycle is obtained by solving the problem online.

[0147] S3. Control command decoupling and execution:

[0148] The control quantities at the current moment in the optimal control input sequence obtained in step S2 are decoupled and allocated to form precession servo torque commands and motor electromagnetic torque commands, which are then sent to the precession motor controller and the bidirectional power conversion module controller for execution, respectively. The precession servo torque command is used to drive the flywheel precession mechanism to achieve active control of the ship's roll motion, and the motor electromagnetic torque command is used to regulate the charging and discharging process of the flywheel energy storage unit to achieve bidirectional power exchange between the flywheel and the ship's power grid.

[0149] S4. Adaptive working mode adjustment:

[0150] Based on real-time operating conditions, the priority of control objectives in multi-objective rolling optimization is dynamically adjusted, and switching or smooth transitions are performed between different operating modes. Preferably, the adaptive operating modes include at least a net roll reduction mode, a net energy storage and grid support mode, and an intelligent coordination mode. Specifically, in the net roll reduction mode, the weight of control objectives related to the ship's roll state is prioritized; in the net energy storage and grid support mode, the weight of control objectives related to the ship's grid operation state and flywheel energy storage state is prioritized; and in the intelligent coordination mode, a balanced weight configuration considering roll reduction control, energy storage regulation, and grid support is adopted. When both the ship's roll attitude state and the ship's grid operation state exceed their respective preset thresholds, the system enters the intelligent coordination mode, or simultaneously increases the weight of control objectives related to the ship's roll state, ship's grid operation state, and flywheel energy storage state according to preset priorities.

[0151] Furthermore, in the AC grid implementation, under the net energy storage and grid support mode and the intelligent collaborative mode, the system can operate in power regulation mode or grid support mode according to the ship's grid operation requirements, so as to enhance the flywheel unit's power support and frequency support capabilities for the AC grid.

[0152] Through the above steps, the present invention can dynamically coordinate the roll reduction control and energy storage regulation behavior of the flywheel unit according to the ship's rolling conditions and the ship's power grid operation requirements, thereby realizing the integrated and coordinated operation of roll reduction control and energy storage control.

[0153] The present invention also provides an electronic device, including one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the above-mentioned anti-rolling energy storage flywheel cooperative control method.

[0154] The present invention also provides a computer-readable storage medium storing computer instructions thereon, which, when executed by a processor, implement the above-described anti-rolling energy storage flywheel cooperative control method.

[0155] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any equivalent substitutions, improvements, or modifications made within the scope of the technical concept and principles of the present invention should fall within the scope of protection of the present invention.

Claims

1. A roll-damping energy storage flywheel cooperative control system, characterized in that, include: The sensor network is configured to collect multi-source signals in real time, including the ship's motion status, flywheel rotor mechanical status, precession mechanism position, electrical quantities of the motor drive system, and electrical status of the ship's electrical grid. The collaborative monitoring layer is configured to communicate with the predictive control layer to issue anti-rollback commands and grid power commands to the system, and to monitor the system's operating status. The predictive control layer includes a cooperative controller, which is connected to the cooperative monitoring layer and the sensor network. The cooperative controller has a built-in multi-source data fusion and state estimation module, a full-system coupled model library and prediction engine, a multi-objective rolling optimizer, and an instruction decoupling and cooperative allocation module. The collaborative controller is used to receive roll reduction commands and power grid commands from the collaborative monitoring layer, as well as real-time measurement data from the sensor network. Based on the ship roll-flywheel electromechanical-ship power grid full system coupling model, it performs state estimation, dynamic prediction and multi-objective rolling optimization to generate motor electromagnetic torque commands and precession servo torque commands. The equipment execution layer, which is communicatively connected to the predictive control layer, includes a bidirectional power conversion module controller, a precession motor controller, a flywheel motor, a precession motor, and a magnetic levitation anti-rolling energy storage flywheel unit. The bidirectional power conversion module controller drives the flywheel motor according to the motor's electromagnetic torque command to achieve bidirectional power exchange between the flywheel unit and the ship's electrical network. The precession motor controller drives the precession motor according to the precession servo torque command to induce controlled precession motion in the flywheel unit. The multi-objective rolling optimizer performs the following operations in each control cycle: The multi-source data fusion and state estimation module processes the real-time measurement data from the sensor network to obtain the state estimate of the state vector of the ship roll-flywheel electromechanical-ship electrical system coupling model at the current moment. The system uses a coupled model library and prediction engine to predict the wave disturbance torque sequence and equivalent load power change sequence in the future prediction time domain, and determines the reference output vector in the future time domain based on the current operating mode and control requirements. Based on the updated system state, disturbance prediction sequence, and reference output vector, a finite-time-domain constrained optimization problem is constructed and solved to obtain the optimal control input sequence within the current control cycle. The instruction decoupling and collaborative allocation module extracts the current control quantity from the optimal control input sequence and allocates it as motor electromagnetic torque command and precession servo torque command, which are then sent to the bidirectional power conversion module controller and the precession motor controller, respectively.

2. The anti-rolling energy storage flywheel cooperative control system according to claim 1, characterized in that, The sensor network includes: The ship attitude sensor, which communicates with the cooperative controller, is used to monitor the ship's roll attitude information; The flywheel speed sensor, which communicates with the co-controller, is used to monitor flywheel speed information; The precession shaft encoder communicates with the co-controller and is used to monitor the position or angle information of the precession shaft. The flywheel motor electrical sensor is connected in communication with the co-controller and is used to monitor the voltage and current information of the flywheel motor. The shipboard electrical grid measurement unit communicates with the co-controller and is used to monitor the shipboard electrical grid operating parameters.

3. The anti-rolling energy storage flywheel cooperative control system according to claim 1, characterized in that, The coupled model of the entire ship roll-flywheel electromechanical-ship electrical system is uniformly described by the following physical coupling relationships: The anti-roll torque coupling relationship is that the mechanical rotational angular velocity of the flywheel rotor and the precession angular velocity of the flywheel generate an anti-roll control torque acting on the hull through the gyroscopic effect, and this anti-roll control torque is introduced as an active control term into the ship's roll dynamics equation; The electromechanical energy coupling relationship is that the electromagnetic torque of the motor acts on the flywheel rotor, causing the flywheel speed to change, thereby changing the energy storage state of the flywheel. The output power of the flywheel motor is exchanged with the ship's power grid through the bidirectional power conversion module and participates in the power balance of the ship's power grid. The dynamics are cross-coupled, with the flywheel precession motion and the flywheel rotor rotation state influencing each other. The flywheel precession angle and the flywheel precession angular velocity change the force state and dynamic balance of the flywheel rotor.

4. The anti-rolling energy storage flywheel cooperative control system according to claim 1, characterized in that, The collaborative controller integrates an adaptive operating mode, which includes at least the following: The net roll reduction mode is used to increase the weight coefficients related to the ship's roll state in multi-objective rolling optimization when the ship's roll attitude exceeds a preset threshold and the ship's electrical network operation is within the allowable range. The net energy storage and grid support mode is used to increase the weight coefficients related to the ship's grid operation status and flywheel energy storage status in multi-objective rolling optimization when the ship's grid operation status exceeds a preset threshold and the ship's roll attitude status is within the allowable range. The intelligent collaborative mode is used to adopt a balanced weight configuration that takes into account roll reduction control, energy storage regulation and grid support under normal operating conditions, or when the ship roll attitude state and the ship grid operation state both exceed the corresponding preset thresholds, the weight coefficients related to the ship roll state, the ship grid operation state and the flywheel energy storage state are simultaneously increased according to preset priorities. Among them, when the collaborative controller switches between different working modes, it smoothly transitions the weight parameters in the multi-objective rolling optimization.

5. The anti-rolling energy storage flywheel cooperative control system according to claim 4, characterized in that, For shipboard AC power grids, a virtual synchronous machine control function is enabled under net energy storage and grid support modes. This virtual synchronous machine control function is integrated into the bidirectional power conversion module controller and is used to enable the flywheel unit to exhibit equivalent inertia and damping characteristics during grid-connected operation.

6. A method for coordinated control of an energy storage flywheel to reduce sway, characterized in that, Includes the following steps: S1. Perform full system state perception and fusion, collect multi-source measurement signals from the sensor network in real time. The multi-source measurement signals include at least ship roll attitude information, flywheel speed information, precession shaft position information and ship power grid operation information. Filter, fuse and estimate the state of the multi-source measurement signals to obtain a unified estimation result of the current state of the system. S2. Based on the coupled model of the whole system of ship roll-flywheel electromechanical-ship power grid, the current state estimation result is used as the initial condition. A multi-objective rolling optimization problem is constructed in the prediction time domain. The optimization objectives are to reduce ship roll, meet the power regulation requirements of the ship power grid, and keep the operating state of the flywheel unit within the allowable range. The optimal control input sequence in the current control cycle is obtained by solving online. S3. Decouple and allocate the current control quantity in the optimal control input sequence to form the precession servo torque command and the motor electromagnetic torque command, and send them to the precession motor controller and the bidirectional power conversion module controller for execution, respectively. S4. Based on real-time operating conditions, dynamically adjust the priority of control objectives in multi-objective rolling optimization, and switch or smoothly transition between net rockfall reduction mode, net energy storage and grid support mode, and intelligent collaborative mode.

7. The anti-rolling energy storage flywheel cooperative control method according to claim 6, characterized in that, S2 includes: Predict the wave disturbance torque sequence and the equivalent load power change sequence in the future prediction time domain; Determine the reference output vector in the future time domain based on the current operating mode and control requirements; Based on the current state estimation results, the perturbation prediction sequence, and the reference output vector, a finite-time-domain constrained optimization problem is constructed and solved. Extract the control quantity at the current time from the optimal control input sequence obtained from the solution.

8. The anti-rolling energy storage flywheel cooperative control method according to claim 6, characterized in that, The ship roll-flywheel electromechanical-ship electrical grid coupling model in S2 is constructed in the following way: Establish a rolling reduction torque coupling relationship, and introduce the rolling reduction control torque generated by the gyroscopic effect of the flywheel rotor mechanical rotational angular velocity and the flywheel precession angular velocity as an active control term into the ship roll dynamics equation; Establish electromechanical energy coupling relationship, and describe the coupling description of flywheel rotor rotational kinetic energy change, flywheel speed change under the action of motor electromagnetic torque, and power exchange relationship between flywheel unit and ship electrical network. Establish a dynamic cross-coupling relationship to incorporate the mutual influence between the flywheel precession motion and the flywheel rotor rotation state into a unified dynamic description; The ship's rolling dynamics equations, flywheel precession mechanism dynamics equations, flywheel rotor rotation and energy storage equations, and ship electrical grid equations are combined and linearized and discretized near a selected operating point to obtain a discrete state-space model.

9. The anti-rolling energy storage flywheel cooperative control method according to claim 6, characterized in that, S4 includes: When the ship's roll attitude exceeds a preset threshold and the ship's electrical network is operating within an acceptable range, it enters a net roll reduction mode and increases the weighting coefficient related to the ship's roll state. When the ship's power grid operation status exceeds the preset threshold and the ship's roll attitude status is within the allowable range, it enters the net energy storage and power grid support mode and increases the weighting coefficients related to the ship's power grid operation status and flywheel energy storage status. When the ship is in normal operating conditions, or when the ship's roll attitude and the ship's power grid operation both exceed the corresponding preset thresholds, the intelligent coordination mode is entered. A balanced weight configuration that takes into account roll reduction control, energy storage regulation and power grid support is adopted, or the weight coefficients related to the ship's roll state, the ship's power grid operation state and the flywheel energy storage state are increased simultaneously according to the preset priority. When switching between different working modes, the weight parameters in multi-objective rolling optimization are smoothly transitioned.

10. The anti-rolling energy storage flywheel cooperative control method according to claim 6, characterized in that, For shipboard AC power grids, the virtual synchronous machine control function is enabled under the net energy storage and grid support mode to enhance the flywheel unit's inertia support and frequency support capabilities for the AC power grid.

11. An electronic device comprising one or more processors and a memory, wherein the memory stores a computer program, characterized in that, When the computer program is executed by the processor, it implements a method for coordinated control of an energy storage flywheel as described in any one of claims 6 to 10.

12. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by the processor, this instruction implements a method for coordinated control of an energy storage flywheel as described in any one of claims 6 to 10.

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