Reactive power compensation device and method for ship dynamic load and control terminal

Abstract

The application provides a reactive power compensation device and method for dynamic load of a ship and a control terminal. Through a load sensing module, electrical parameters of a load circuit to be compensated connected to a ship power grid are collected in real time, and power parameter changes and frequency parameter changes are monitored. Through a compensation control module, a composite control strategy is adopted according to the parameters and parameter changes to generate a three-phase compensation current instruction and a compensation current modulation control signal of multiple power compensation modules to control the power compensation modules to output corresponding three-phase alternating currents, so that the reactive power compensation response can be quickly performed, the compensation accuracy is high, active control and harmonic control can be performed, active power changes can be effectively inhibited, and the power grid frequency can be stabilized, thereby solving the technical problems of the traditional static reactive power generator, such as limited response speed, compensation lag, poor compensation strategy adaptability, inconvenient expansion, and difficulty in adapting to the variable working conditions of the ship.

Description

Technical Field

[0001] This application relates to the field of marine power system technology, and in particular to a reactive power compensation device, method and control terminal for dynamic loads on ships. Background Technology

[0002] The ship's electrical network is an independent, islanded power system, powered by the ship's generator network. It supplies power to propulsion motors, cargo winches, steering gear, anchor winches, pumps, ventilation systems, refrigeration systems, navigation and communication systems, and living loads. The ship's electrical network is characterized by limited capacity, diverse load types, and variable operating conditions. During navigation, the various devices powered by the ship's electrical network (such as propulsion motors, cargo winches, and steering gear) generate a significant amount of reactive power, which not only reduces the power factor and transmission efficiency of the ship's electrical network but also easily causes voltage fluctuations, thus affecting the normal operation of sensitive equipment.

[0003] Furthermore, shipboard electrical networks also involve pulse loads (such as radar and weapon systems). Due to their nonlinear and transient impact characteristics, problems such as current spikes, parasitic oscillations, and electromagnetic interference may occur, posing a severe challenge to the power quality and safety stability of shipboard electrical networks.

[0004] Static Var Generators (SVGs), as a new generation of reactive power compensation devices, can invert a voltage with the same frequency as the power grid and controllable amplitude and phase angle using IGBTs (Insulated Gate Bipolar Transistors). This voltage difference generates reactive current in the connected reactance (or transformer), enabling continuous reactive power absorption or generation on a millisecond-level basis. This is used to stabilize voltage, suppress fluctuations / flicker, improve the power factor, and also mitigate some harmonics. Due to their smooth reactive power regulation capabilities and rapid dynamic characteristics, SVGs are increasingly widely used in marine power grids.

[0005] However, traditional static var generators still have the following technical drawbacks when directly used in ship electrical networks:

[0006] ① Ship operating conditions change rapidly, and load changes quickly. The response time of traditional static var generators is usually 5-10ms, which is limited. It is difficult to achieve fast and accurate compensation within a few milliseconds when the load changes suddenly or causes microsecond-level reactive power fluctuations, resulting in compensation lag.

[0007] ② Traditional static var generators lack the ability to deeply perceive the dynamic load characteristics of ships. They are passive responses to load changes and cannot predictively adjust compensation strategies according to load change trends. This often leads to overcompensation or undercompensation, and the adaptability of the compensation strategy is poor.

[0008] ③ The capacity requirements of ship power grids often increase with the increase in ship size and equipment. In order to adapt to the changes in ship power grid capacity, it is necessary to expand the capacity of static var generators. However, the expansion of traditional static var generators requires the replacement of the entire unit, which is extremely inconvenient and costly, and it is difficult to adapt to the capacity change requirements of the ship throughout its entire life cycle.

[0009] ④ Traditional static var generator control strategies are mostly optimized for static conditions, which makes it difficult to cope with the intertwined and coupled scenarios of various complex dynamic loads on ships, and lacks a multi-level, adaptive intelligent control architecture.

[0010] Therefore, traditional static var generators have technical problems such as limited response speed, compensation lag, poor adaptability of compensation strategies, inconvenience in expansion, and difficulty in adapting control strategies to the changing operating conditions of ships. Summary of the Invention

[0011] In view of the shortcomings of the prior art described above, the purpose of this application is to provide a reactive power compensation device, method and control terminal for ship dynamic load, which can solve the technical problems of traditional static var generators, such as limited response speed, compensation lag, poor adaptability of compensation strategy, inconvenience of expansion and difficulty in adapting control strategy to the changing operating conditions of ships.

[0012] To achieve the above and other related objectives, a first aspect of this application provides a reactive power compensation device for dynamic loads on ships. The device comprises: a load sensing module electrically connected to the load circuit to be compensated in the ship's power grid, used to collect the electrical parameters of the load circuit in real time and monitor changes in its power and frequency parameters; multiple power compensation modules, each connected in parallel and electrically connected to the load circuit to be compensated, used to invert the DC power stored on its DC side into three-phase AC power and inject it into the ship's power grid to perform reactive power compensation on the load circuit to be compensated; and a compensation control module communicatively connected to the load sensing module and each power compensation module, used to generate a three-phase compensation current command and a compensation current modulation control signal for each power compensation module based on the electrical, power, and frequency parameters of the load circuit to be compensated, using a composite control strategy, to control each power compensation module to output the corresponding three-phase AC power.

[0013] In some embodiments of the first aspect of this application, the compensation control module includes: a steady-state compensation unit, communicatively connected to the load sensing module, configured to extract the fundamental active current component, the fundamental reactive current component, and the harmonic current component from the three-phase current signal of the load circuit to be compensated, and generate a reactive steady-state compensation component and a harmonic compensation component; a feedforward compensation unit, communicatively connected to the load sensing module, configured to predict the power change rate of the load circuit to be compensated in the future time period based on the power parameter change and frequency parameter change of the load circuit to be compensated, and generate an active feedforward compensation component and a reactive feedforward compensation component when a load abrupt event is detected; and a virtual capacitor compensation unit, communicatively connected to the load sensing module, configured to establish a virtual capacitor model to simulate the external characteristics of a capacitor, so as to adjust the compensation rate based on the power parameter change and frequency parameter change of the load circuit to be compensated. Voltage fluctuations generate a reactive virtual capacitance component; a feedback compensation unit, communicatively connected to the load sensing module, is used to detect the output errors of the load circuit to be compensated and each power compensation module in real time based on a PI controller, and perform PI calculations on the errors to generate active PI feedback compensation components and reactive PI feedback compensation components; a current command generation unit, communicatively connected to the load sensing module, and also communicatively connected to the steady-state compensation unit, the feedforward compensation unit, the virtual capacitance compensation unit, and the feedback compensation unit, is used to select an appropriate compensation strategy based on the load type of the load to be monitored and the identified load surge events, to generate a three-phase compensation current command based on each compensation component, and to evenly distribute it to each power compensation module, generating a compensation current modulation control signal for each power compensation module.

[0014] In some embodiments of the first aspect of this application, the method for generating a three-phase compensation current command based on each compensation component includes: selecting an appropriate compensation strategy based on the load type of the load to be monitored and the identified load surge event; weighting and fusing the reactive steady-state compensation component, the reactive feedforward compensation component, the reactive virtual capacitor component, and the reactive PI feedback compensation component based on the compensation strategy to generate a reactive current command; weighting and fusing the active feedforward compensation component and the active PI feedback compensation component based on the compensation strategy to generate an active current command; and performing inverse Park transform and inverse Clark transform on the reactive current command and the active current command respectively, and superimposing harmonic compensation components to generate a three-phase compensation current command.

[0015] In some embodiments of the first aspect of this application, the compensation control module further includes: a parameter adaptive adjustment unit, which is communicatively connected to the feedforward compensation unit, the virtual capacitor compensation unit, and the feedback compensation unit, respectively, for initializing the compensation control parameters of each compensation unit, and adaptively adjusting each compensation control parameter according to the voltage fluctuation of the load circuit to be compensated, the power parameter change, and the frequency parameter change; wherein, each compensation control parameter includes, but is not limited to: the arrival time parameter and feedforward gain parameter applied to the feedforward compensation unit, the virtual capacitance applied to the virtual capacitor compensation unit, and the proportional gain parameter and integral gain parameter applied to the feedback compensation unit.

[0016] In some embodiments of the first aspect of this application, the load sensing module includes: a current sampling circuit connected in series to the load circuit to be compensated, for real-time measurement of the three-phase current signal output by the load circuit to be compensated; a voltage sampling circuit connected in parallel to the compensated load circuit, for real-time measurement of the three-phase voltage signal output by the load circuit to be compensated; and a load monitoring unit electrically connected to the current sampling circuit and the voltage sampling circuit respectively, for calculating the power parameters and frequency parameters of the load circuit to be compensated based on the three-phase current signal and the three-phase voltage signal, identifying the load type of the load to be monitored in the load circuit to be compensated, and identifying load surge events.

[0017] In some embodiments of the first aspect of this application, each power compensation module is electrically connected to the load circuit to be compensated using a uniform hot-swappable interface; wherein the hot-swappable interface includes: a mechanical locking structure for fixing the power compensation module; an auxiliary contact pin for connecting the auxiliary power supply and controller of the power compensation module to establish a control path with the compensation control module; and a main power pin for connecting the main power circuit of the power compensation module to invert the DC power stored on its DC side into three-phase AC power and inject it into the ship's electrical network; wherein the length of the auxiliary contact pin is greater than the length of the main power pin.

[0018] In some embodiments of the first aspect of this application, the power compensation module includes: a DC support capacitor unit for storing electrical energy and releasing electrical energy to output DC power when the power compensation module performs reactive power compensation; a three-phase full-bridge inverter unit electrically connected to the DC support capacitor unit for inverting the DC power output by the DC support capacitor unit into three-phase AC power output; and an AC filter unit electrically connected to both the three-phase full-bridge inverter unit and the load circuit to be compensated, for filtering the three-phase AC power output by the three-phase full-bridge inverter unit and inputting the clean three-phase AC power into the load circuit to be compensated.

[0019] In some embodiments of the first aspect of this application, the reactive power compensation device for ship dynamic load further includes: a fault monitoring module, connected to each power compensation module, for real-time monitoring of the operating parameters and operating status of each power compensation module, generating compensation monitoring data, and automatically disconnecting the power compensation module when a power compensation module malfunctions, causing the compensation control module to redistribute the three-phase compensation current command; a human-machine interaction module, connected to the compensation control module, each power compensation module, and the fault monitoring module, including: a display operation panel; the display operation panel is used to display the operating parameters and operating status of each power compensation module, and to display the compensation strategy adopted by the compensation control module; it is also used to receive user operation commands to disconnect one or more power compensation modules, or adjust the compensation strategy; a data storage module, connected to the fault monitoring module, for storing the fault monitoring data; and a communication module, connected to the compensation control module, each power compensation module, and the fault monitoring module, for sending the fault monitoring data to an external ship central control system, and receiving user operation commands to disconnect one or more power compensation modules, or adjust the compensation strategy adopted by the compensation control module.

[0020] To achieve the above and other related objectives, a second aspect of this application provides a reactive power compensation method for dynamic loads on ships, applied to the reactive power compensation device for dynamic loads on ships described in any of the above embodiments. The reactive power compensation method for dynamic loads on ships includes: based on a load sensing module, real-time acquisition of electrical parameters of the load circuit to be compensated, and monitoring of changes in its power parameters and frequency parameters; based on a compensation control module, according to the electrical parameters, power parameters, and frequency parameters of the load circuit to be compensated, a composite control strategy is adopted to generate a three-phase compensation current command, and generate a compensation current modulation control signal for each power compensation module, so as to control each power compensation module to invert the DC power stored on its DC side into three-phase AC power and inject it into the ship's power grid to perform reactive power compensation on the load circuit to be compensated.

[0021] To achieve the above and other related objectives, a third aspect of this application provides a reactive power compensation control terminal for ship dynamic loads. The reactive power compensation control terminal for ship dynamic loads includes: a processor and a memory; the memory is used to store a computer program; the processor is used to execute the computer program stored in the memory, so that the terminal executes the compensation control method adopted by the compensation control module in the reactive power compensation device for ship dynamic loads described in any of the above embodiments.

[0022] As described above, this application has the following beneficial effects: This application provides a reactive power compensation device, method, and control terminal for dynamic loads on ships. Through a load sensing module, the electrical parameters of the load circuit to be compensated connected to the ship's power grid are collected in real time, and the changes in its power parameters and frequency parameters are monitored. Through a compensation control module, based on each parameter and its changes, a composite control strategy is adopted to generate a three-phase compensation current command and generate compensation current modulation control signals for multiple power compensation modules to control each power compensation module to output the corresponding three-phase AC power. This enables rapid reactive power compensation response with high compensation accuracy. It also enables active power control and harmonic mitigation, effectively suppressing active power changes and stabilizing the power grid frequency. This solves the technical problems of traditional static var generators, such as limited response speed, compensation lag, poor adaptability of compensation strategies, inconvenient expansion, and difficulty in adapting control strategies to the changing operating conditions of ships. Attached Figure Description

[0023] Figure 1 The diagram shown is a structural schematic of a reactive power compensation device for dynamic loads of ships according to an embodiment of this application.

[0024] Figure 2 The diagram shown is a structural schematic of a reactive power compensation device for dynamic loads of ships, as described in another embodiment of this application.

[0025] Figure 3 The diagram shown is a flowchart illustrating a reactive power compensation method for dynamic loads of ships in one embodiment of this application.

[0026] Figure 4 The diagram shown is a structural schematic of a reactive power compensation control terminal for dynamic loads of ships according to an embodiment of this application. Detailed Implementation

[0027] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0028] In the embodiments of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect, without limiting their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0029] To address the problems mentioned above in the background technology, this application provides a reactive power compensation device, method, and control terminal for dynamic loads on ships, aiming to solve the technical problems of traditional static var generators, such as limited response speed, compensation lag, poor adaptability of compensation strategies, inconvenience in capacity expansion, and difficulty in adapting control strategies to the changing operating conditions of ships.

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application are further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit this application.

[0031] like Figure 1 The diagram illustrates a structural schematic of a reactive power compensation device for dynamic ship loads according to an embodiment of this application. The reactive power compensation device for dynamic ship loads described in this embodiment is mainly used to perform reactive power compensation on the ship's power grid.

[0032] Shipboard electrical networks typically have a wide variety of loads, large fluctuations, and high harmonic content. For example, cargo cranes, side thrusters, and winches frequently start and stop. In dealing with reactive power compensation scenarios with multiple loads, reactive power compensation devices are usually installed on the ship's main switchboard or at multiple large fluctuating loads, based on the distribution and characteristics of each load. Centralized compensation, local compensation, or hierarchical compensation methods are used to perform reactive power compensation on the entire load circuit or a single load circuit of the shipboard electrical network, thereby eliminating the impact of the corresponding load on the shipboard electrical network.

[0033] This application does not limit the specific installation location of the reactive power compensation device for ship dynamic loads, nor does it limit the joint compensation method of multiple reactive power compensation devices for ship dynamic loads. In this embodiment, this application uses the load circuit connected to the ship's power grid that requires reactive power compensation as the load circuit to be compensated, and uses the reactive power compensation device for ship dynamic loads to perform reactive power compensation. The load circuit to be compensated can be a large fluctuating load circuit connected to the ship's power grid, or it can be multiple load connection circuits.

[0034] like Figure 1 As shown, the reactive power compensation device for ship dynamic loads mainly includes a load sensing module. Specifically, the load sensing module is electrically connected to the load circuit to be compensated, and is used to collect the electrical parameters of the load circuit in real time, and monitor changes in its power parameters and frequency parameters.

[0035] In one embodiment, such as Figure 2As shown, the load sensing module includes a current sampling circuit. Specifically, the current sampling circuit is connected in series with the load circuit to be compensated, and is used to measure the three-phase current signal output by the load circuit to be compensated in real time.

[0036] In a preferred embodiment, the current sampling circuit includes a Hall effect current sensor. It should be understood that a Hall effect current sensor is a magnetoelectric conversion device based on the Hall effect principle to achieve non-contact current measurement. When the three-phase current signal of the load circuit to be compensated flows through the conductor within the Hall effect current sensor, a magnetic field is generated according to Ampere's circuital law. The magnetic field strength is proportional to the magnitude of the three-phase current signal. At this time, the Hall element within the Hall effect current sensor generates a Hall voltage proportional to the magnetic field strength. The Hall effect current sensor amplifies this Hall voltage proportionally and outputs a standard analog voltage signal. This analog voltage signal has a linear relationship with the magnitude of the three-phase current signal, and the instantaneous current value of the three-phase current signal can be calculated from this analog voltage signal.

[0037] The current sampling circuit further includes an analog-to-digital converter. The Hall effect current sensor sends the instantaneous current values ​​at multiple sampling times to the analog-to-digital converter for high-speed sampling, thereby obtaining discrete instantaneous current data.

[0038] In one embodiment, such as Figure 2 As shown, the load sensing module further includes a voltage sampling circuit. Specifically, the voltage sampling circuit is connected in parallel to the compensation load circuit and is used to measure the three-phase voltage signal output by the load circuit to be compensated in real time.

[0039] In a preferred embodiment, the voltage sampling circuit employs an isolated voltage sampling circuit, comprising an electromagnetic voltage transformer. It should be understood that an electromagnetic voltage transformer is a small-capacity, high-precision step-down transformer. The electromagnetic voltage transformer utilizes the principle of electromagnetic induction to accurately and proportionally convert high voltage into a standard low voltage, enabling safe measurement, metering, and protection of high voltage in marine power grids. The three-phase voltage signal across the load circuit to be compensated is applied to the high-voltage side of the electromagnetic voltage transformer, generating an alternating magnetic field. The iron core within the electromagnetic voltage transformer couples this magnetic field to its low-voltage side, outputting an induced voltage. This induced voltage is proportional to the magnitude of the three-phase voltage signal, and the instantaneous voltage value of the three-phase voltage signal can be calculated using this induced voltage.

[0040] The voltage sampling circuit further includes an analog-to-digital converter. The electromagnetic voltage transformer sends the instantaneous voltage values ​​at multiple sampling times to the analog-to-digital converter for high-speed sampling, thereby obtaining discrete instantaneous voltage data.

[0041] In one embodiment, such as Figure 2 As shown, the load sensing module further includes a load monitoring unit. Specifically, the load monitoring unit is electrically connected to the current sampling circuit and the voltage sampling circuit, respectively, and is used to calculate the power parameters and frequency parameters of the load circuit to be compensated based on the three-phase current signal and the three-phase voltage signal, identify the load type of the load to be monitored in the load circuit to be compensated, and identify load surge events.

[0042] The power parameters include, but are not limited to: active power, reactive power, apparent power, power factor, and total harmonic distortion rate; the changes in the power parameters include, but are not limited to: the rate of change of active power and the rate of change of reactive power.

[0043] The active power is used to describe the power of electrical energy being consumed and converted into other forms of energy in the load circuit to be compensated, and its calculation formula is as follows:

[0044] ;Formula (1)

[0045] ;Formula (2)

[0046] in, , , The first The instantaneous values ​​of the three-phase voltage at each sampling moment; , , The first The instantaneous values ​​of the three-phase current at each sampling time; For the first Instantaneous active power at each sampling moment; The sampling period; for The specific number of sampling moments within the sampling period is not limited in this application; The time interval between two adjacent sampling times; This refers to active power.

[0047] The reactive power is used to describe the power that oscillates back and forth between the load circuit to be compensated and the power supply equipment, without performing any work. Examples include the power used by inductive loads such as motors and transformers to establish a magnetic field. Its calculation formula is as follows:

[0048] ;Formula (3)

[0049] ;Formula (4)

[0050] in, , The first Instantaneous values ​​of three-phase voltage at each sampling time , , Obtained by Clark transform shaft and Voltage components of the axis; , The first Instantaneous values ​​of three-phase current at each sampling time , , Obtained by Clark transform shaft and Current components of the shaft; For the first Instantaneous reactive power at each sampling moment; This refers to reactive power.

[0051] The apparent power is used to describe the total power capacity supplied by the power supply device of the load circuit to be compensated, and its calculation formula is as follows:

[0052] ;Formula (5)

[0053] in, Active power; Reactive power; This represents apparent power.

[0054] The power factor describes the proportion of active power to apparent power and is an indicator of the effective utilization of electrical energy output by power supply equipment. The power factor ranges from 0 to 1; the closer it is to 1, the higher the energy utilization efficiency. The formula for calculating the power factor is:

[0055] ;Formula (6)

[0056] in, Active power; Apparent power; The power factor.

[0057] In this embodiment, the frequency parameters include, but are not limited to, the power grid frequency; the changes in the frequency parameters include, the power grid frequency deviation and the power grid frequency change rate.

[0058] The grid frequency is used to describe the periodic rate of change of the three-phase AC signal flowing through the load circuit to be compensated. Specifically, the grid frequency can be obtained by performing a Fast Fourier Transform on a set of collected three-phase voltage signals (i.e., discrete instantaneous voltage data) or three-phase current signals (i.e., discrete instantaneous current data), converting the time-domain signal into a frequency-domain signal, and finding the spectral line with the largest amplitude in the frequency domain spectrum.

[0059] By performing differential operations on the calculated power parameters and frequency parameters, the changes in the power parameters and frequency parameters can be obtained, such as the rate of change of active power, the rate of change of reactive power, and the rate of change of grid frequency.

[0060] Based on the power parameters and their changes, and the frequency parameters and their changes, the load characteristics of different load types are compared to determine the load type of the load to be monitored.

[0061] In one embodiment, the load type of the load to be monitored includes, but is not limited to, propulsion motor load, cargo hoist load, and pulse load. This is used to select appropriate compensation strategies based on the reactive power characteristics of different load types. For example, a fast feedforward compensation strategy is used for pulse loads, and a slow smooth compensation strategy is used for propulsion motor loads. For instance, propulsion motor loads have extremely high power (MW level), low power factor, and steady-state voltage drop; cargo hoist loads have medium power (hundreds of kW level), drastic current fluctuations, and severe power factor fluctuations that will cause grid voltage flicker and frequency fluctuations; pulse loads have extremely high instantaneous power, current spikes that will cause instantaneous voltage drops. Based on these characteristics, the load to be monitored can be identified as a propulsion motor load, cargo hoist load, or pulse load.

[0062] Similarly, based on the power parameters and their changes, and the frequency parameters and their changes, the microsecond-level reactive power fluctuations of the load circuit to be compensated are monitored, and sudden load events that may impact the ship's power grid due to instantaneous changes in voltage, power, and frequency, such as load start-up and load unloading, are identified, so that reactive power compensation can be performed in a timely, fast, and accurate manner, and voltage fluctuations, power fluctuations, and frequency fluctuations can be suppressed to achieve smooth compensation.

[0063] like Figure 1 As shown, the reactive power compensation device for ship dynamic loads further includes multiple power compensation modules. These modules are connected in parallel and electrically connected to the load circuit to be compensated. Specifically, the AC sides of each power compensation module are connected in parallel to the load circuit, while the DC sides are connected in parallel to provide DC voltage. Each power compensation module can operate independently, converting the DC power stored on its DC side into three-phase AC power and injecting it into the ship's electrical grid to perform reactive power compensation on the load circuit.

[0064] It should be noted that the number of power compensation modules connected in parallel is not limited in this application, and users can dynamically expand the capacity according to their needs. In a preferred embodiment, the reactive power compensation device for ship dynamic loads supports 16 power compensation modules connected in parallel. The capacity of each power compensation module is 30kVA to 100kVA.

[0065] In one embodiment, each power compensation module is electrically connected to the load circuit to be compensated via a unified hot-swappable interface. The hot-swappable interface includes a mechanical locking structure, auxiliary contact pins, and a main power pin. The mechanical locking structure secures the power compensation module; the auxiliary contact pins connect the auxiliary power supply and controller of the power compensation module, establishing a control path with the compensation control module; and the main power pins connect the main power circuit of the power compensation module, inverting the DC power stored on its DC side into three-phase AC power and injecting it into the ship's electrical network.

[0066] Furthermore, the length of the auxiliary contact pin is greater than the length of the main power pin, so that when the power compensation module is inserted into the load circuit to be compensated through the hot-swappable interface, the auxiliary contact pin is turned on first, thereby establishing a control path first, receiving the control signal from the compensation control module, and then turning on the main power pin, so that the main power circuit outputs three-phase AC power for reactive power compensation; and when the load circuit to be compensated is unplugged, the main power pin is turned off first, that is, the main power circuit is disconnected first, thereby realizing the online replacement of the power compensation module in the absence of power interruption in the ship's power grid.

[0067] Therefore, each power compensation module in this application adopts a unified hot-swappable interface, enabling hot-swappable operation and supporting online expansion of the reactive power compensation device. During device expansion, the ship's power grid does not need to be shut down, and all load devices connected to the ship's power grid do not need to be stopped, significantly reducing the cost and time of device expansion and upgrades. Furthermore, even if a single power compensation module fails, it does not affect the operation of the ship's power grid and can be quickly replaced, facilitating equipment maintenance. Experiments have shown that the maintenance window time of the reactive power compensation device provided in this application can be shortened by more than 50% compared to traditional static var generators; simultaneously, the modular design of each power compensation module can reduce the device size by more than 40%, facilitating installation and arrangement within the limited space of a ship.

[0068] In one embodiment, the hot-swappable interface further includes a status detection sensor. The status detection sensor detects whether the auxiliary contact pin and the main power pin are correctly inserted, and when the pin is inserted, sends an insertion signal to the compensation control module to initialize the compensation control module.

[0069] In one embodiment, the power compensation module includes: a three-phase full-bridge inverter unit, a DC support capacitor unit, and an AC filter unit. The three-phase full-bridge inverter units of each power compensation module are connected in parallel to the load circuit to be compensated, and the DC support capacitor units are connected in parallel to provide DC voltage.

[0070] The DC support capacitor unit is used to store electrical energy and release it to output DC power when the power compensation module performs reactive power compensation. In one embodiment, the DC support capacitor unit includes multiple electrolytic capacitors or film capacitors connected in parallel.

[0071] The three-phase full-bridge inverter unit is electrically connected to the DC support capacitor unit and is used to invert the DC power output from the DC support capacitor unit into a three-phase AC power output. In one embodiment, the three-phase full-bridge inverter unit adopts a three-level neutral-point clamping topology circuit, including three single-phase bridge arms, each of which is connected in parallel to the DC support capacitor unit and is used to output three-phase voltages (A-phase, B-phase, and C-phase), thereby outputting three-phase current. Each single-phase bridge arm adopts a diode clamping circuit. In another embodiment, the three-phase full-bridge inverter unit may also adopt an H-bridge cascaded topology circuit, including three single-phase bridge arms, each of which is star-cascaded and uses an H-bridge circuit.

[0072] In this embodiment, the three-phase full-bridge inverter unit adopts a three-level midpoint clamping topology or an H-bridge cascaded topology, which can effectively reduce the harmonic content of the output three-phase voltage and improve voltage accuracy, thereby improving the compensation accuracy of the load circuit to be compensated. Experiments have shown that the reactive power compensation device provided in this application can achieve a compensation accuracy within ±1% and has the capability to mitigate 2nd to 25th harmonics, which helps to improve the overall power quality of the ship's power grid.

[0073] The AC filtering unit is electrically connected to the three-phase full-bridge inverter unit and the load circuit to be compensated, respectively, and is used to filter the three-phase AC power output by the three-phase full-bridge inverter unit and input the clean three-phase AC power into the load circuit to be compensated.

[0074] like Figure 1 As shown, the reactive power compensation device for ship dynamic loads also includes a compensation control module.

[0075] The compensation control module is communicatively connected to the load sensing module and each power compensation module. In a preferred embodiment, the compensation control module is connected to the load sensing module and each power compensation module via a high-speed fiber optic communication bus with a communication rate exceeding 1Gbps, enabling rapid data synchronization and coordinated control between the modules.

[0076] The compensation control module is used to generate a three-phase compensation current command and a compensation current modulation control signal for each power compensation module by adopting a composite control strategy based on the electrical parameters, power parameters and frequency parameters of the load circuit to be compensated, so as to control each power compensation module to output the corresponding three-phase AC power.

[0077] In one embodiment, the compensation control module adopts PLC control, that is, with a programmable logic controller as the core, it selects an appropriate compensation strategy according to the load type, electrical parameters, power parameters and frequency parameters output by the load sensing module, and adopts a composite control strategy to generate a compensation current modulation control signal for each power compensation module, so as to control each power compensation module to output the corresponding three-phase AC power, and perform reactive power compensation on the load circuit to be compensated, thereby realizing the automation of the reactive power compensation process.

[0078] In one embodiment, such as Figure 2 As shown, the compensation control module includes a steady-state compensation unit to implement a steady-state compensation control strategy based on instantaneous reactive power theory.

[0079] like Figure 2 As shown, the steady-state compensation unit is communicatively connected to the load sensing module, specifically to the current sampling circuit, and is used to extract the fundamental active current component, the fundamental reactive current component, and the harmonic current component from the three-phase current signal of the load circuit to be compensated, and generate the reactive steady-state compensation component and the harmonic compensation component.

[0080] Specifically, the steady-state compensation unit, based on instantaneous reactive power theory, extracts the fundamental active current component, fundamental reactive current component, and harmonic current component from the three-phase current signal. It should be understood that instantaneous reactive power theory converts the three-phase AC quantities into easily controllable rotating DC quantities, and then performs decoupling analysis of the DC and AC components. The specific method includes the following steps.

[0081] ① Regarding the three-phase AC signal ( Perform Clark transformation to obtain two-phase stationary coordinate systems. The two-phase AC signal below ( ).

[0082] ② Regarding the two-phase AC signals ( Perform a Park transformation to obtain the rotating AC signal in the rotating coordinate system dq. ).

[0083] ③ For the rotating AC signal ( The fundamental active current component is obtained by performing low-pass filtering. and the fundamental reactive current component .

[0084] ④ Fundamental current component ( Perform inverse Park transform and inverse Clark transform to obtain the three-phase fundamental current signal. ).

[0085] ⑤ The three-phase AC signal ( Subtract the three-phase fundamental current signal ( ), to obtain harmonic current components .

[0086] Furthermore, based on the extracted fundamental active current component... Fundamental reactive current component and harmonic current components This generates reactive power steady-state compensation components and harmonic compensation components. The reactive power steady-state compensation component is equal to... It is used to compensate for the fundamental reactive current component in the three-phase current signal, absorbing or releasing the corresponding reactive power; the harmonic compensation component is equal to This is used to reduce the harmonic content in the three-phase AC signal, enabling the reactive power compensation device to have harmonic mitigation capabilities.

[0087] In one embodiment, such as Figure 2 As shown, the compensation control module further includes a feedforward compensation unit, which can realize a feedforward compensation control strategy by predicting power changes in future time periods in advance, thereby significantly improving the dynamic response speed of the reactive power compensation device and suppressing voltage flicker and frequency fluctuations.

[0088] like Figure 2 As shown, the feedforward compensation unit is communicatively connected to the load sensing module. Specifically, it is communicatively connected to the current sampling circuit, the voltage sampling circuit, and the load monitoring unit, respectively. It is used to predict the power change rate of the load circuit to be compensated in the future time period based on the power parameter change and frequency parameter change of the load circuit to be compensated, and to generate active feedforward compensation component and reactive feedforward compensation component when a load change event is detected.

[0089] In one embodiment, based on a pre-trained power change prediction model, the active power change rate and reactive power change rate of the load circuit to be compensated can be predicted in future time periods according to the current active power change rate, reactive power change rate and grid frequency deviation. In order to generate active power feedforward compensation components and reactive power feedforward compensation components when a load sudden event occurs, reactive power compensation can be performed in advance, and a certain amount of active power can be absorbed or released as needed to support the grid frequency and avoid voltage surges or drops.

[0090] The power change prediction model can be trained based on a long short-term memory (LSTM) network. The training method for the power change prediction model includes: acquiring historical reactive power time-series data, historical active power time-series data, historical active power change rate time-series data, historical reactive power change rate time-series data, and historical grid frequency deviation time-series data of the load circuit to be compensated, and labeling the corresponding load surge events to construct a training dataset; inputting the training dataset into the LTM network for training to obtain a converged power change prediction model. Based on the LTM network, it automatically captures long-term dependencies between data, analyzes the active power change patterns and reactive power change patterns of various types of load surge events, and establishes a power change knowledge base for various types of load surge events. This enables the prediction of active power change rates and reactive power change rates in future periods, allowing the reactive power compensation device to respond immediately upon identifying a load surge event.

[0091] In a preferred embodiment, the power change prediction model can predict the rate of change of active power and the rate of change of reactive power within 20ms.

[0092] The current active power change rate, reactive power change rate, and grid frequency deviation are input into the power change prediction model. Based on the reactive power change rate predicted by the model for the future time period, a reactive power feedforward compensation component that is inversely related to the reactive power change can be generated to cope with reactive power surges and achieve reactive power compensation. At the same time, based on the active power change rate predicted by the model for the future time period, an active power feedforward compensation component that is inversely related to the active power change can be generated to cope with active power surges and achieve active power control.

[0093] In one embodiment, when performing active power control based on the grid frequency deviation, the power change prediction model can further incorporate an angular velocity feedback mechanism to suppress active power changes. That is, active power control can be performed based on the grid frequency change rate. During training the power change prediction model, historical grid frequency change rate time-series data of the load circuit to be compensated are also acquired to construct the training dataset, resulting in a power change prediction model that supports the angular velocity feedback mechanism. The current grid frequency change rate is then input into the power change prediction model to obtain the predicted active power change rate for future periods, and an active power feedforward compensation component is generated accordingly to further suppress power changes.

[0094] Furthermore, the feedforward compensation unit not only generates active feedforward compensation components and achieves active power control through the output three-phase current, but also simulates rotor inertia based on the active power change rate predicted by the model in the future time period, generates and updates virtual rotational inertia, and adds adaptive rotational inertia components to the active feedforward compensation components, giving the power compensation module "inertia", which helps stabilize the grid frequency and achieve a smooth transition when the load changes suddenly.

[0095] In one embodiment, such as Figure 2 As shown, the compensation control module further includes a virtual capacitor compensation unit, which simulates the external characteristics of a capacitor to implement a virtual capacitor compensation control strategy, thereby providing inertial support for the reactive power compensation device and suppressing voltage oscillations.

[0096] like Figure 2 As shown, the virtual capacitor compensation unit is communicatively connected to the load sensing module. Specifically, it is communicatively connected to the current sampling circuit, the voltage sampling circuit, and the load monitoring unit, respectively, to establish a virtual capacitor model, simulate the external characteristics of a capacitor, and generate its reactive virtual capacitance component based on the voltage fluctuation of the load circuit to be compensated.

[0097] It should be understood that virtual capacitor control refers to simulating the differential characteristics of a capacitor so that the voltage and current output by the power compensation module are equivalent to a "variable capacitor" at the external port, thereby enabling the power compensation module to have adaptive voltage support capability.

[0098] In this embodiment, the reactive virtual capacitance component can be calculated based on the voltage fluctuation of the load circuit to be compensated, and the calculation formula is as follows:

[0099] ;Formula (7)

[0100] in, The instantaneous value of the three-phase voltage of the load circuit to be compensated; It is a virtual capacitance that supports continuous and rapid adjustment; This refers to the reactive virtual capacitance component.

[0101] Therefore, when the voltage increases ( When 0), the reactive virtual capacitor component The virtual capacitor acts as an "absorption" source of reactive power, suppressing voltage overshoot; when the voltage decreases ( When 0), the reactive virtual capacitor component The virtual capacitor acts as a source of reactive power, supporting voltage recovery.

[0102] In one embodiment, such as Figure 2As shown, the compensation control module further includes a feedback compensation unit, which implements a feedback compensation control strategy through a PI controller to eliminate steady-state errors and ensure reactive power compensation accuracy.

[0103] like Figure 2 As shown, the feedback compensation unit is communicatively connected to the load sensing module. Specifically, it is communicatively connected to the current sampling circuit, the voltage sampling circuit, and the load monitoring unit, respectively. It is used to detect the output error of the load circuit to be compensated and the reactive power compensation device for ship dynamic load in real time based on the PI controller, and perform PI calculation on the error to generate active PI feedback compensation component and reactive PI feedback compensation component.

[0104] It should be understood that a PI controller is a feedback control algorithm that can be implemented through programming and executed within a programmable logic controller (PLC). A PI controller primarily eliminates system errors through a combination of proportional (P) and integral (I) terms. Its output is the superposition of the proportional (P) and integral (I) terms. The proportional (P) term is proportional to the current error of the observed indicator, reacts rapidly, and determines the response speed, but it has a steady-state error. The integral (I) term, on the other hand, accumulates the historical errors of the observed indicator and is specifically used to eliminate steady-state errors.

[0105] In one embodiment, the method for generating the reactive power PI feedback compensation component based on a PI controller includes: using the reactive power output of the load circuit to be compensated as an observation index, comparing it with a preset reactive power reference value, calculating the reactive power error, and performing a PI operation on the reactive power error to generate the reactive power PI feedback compensation component. The calculation formula can be expressed as:

[0106] ;Formula (8)

[0107] in, The reactive power error is the difference between the preset reactive power reference value and the actual reactive power output by the load circuit to be compensated. Preferably, the reactive power reference value can be set according to the target power factor, but this application does not limit the specific value. This refers to the reactive power proportional gain parameter; This is the reactive power integral gain parameter; The reactive power PI feedback compensation component is used to accurately perform reactive power compensation.

[0108] In one embodiment, the method for generating the active power PI feedback compensation component based on the PI controller includes: using the DC-side voltage of each power compensation module as an observation index, comparing it with a preset DC-side voltage reference value, calculating the DC-side voltage error, and performing a PI operation on the DC-side voltage error to generate the active power PI feedback compensation component. The calculation formula can be expressed as:

[0109] ;Formula (9)

[0110] in, This refers to the DC-side voltage error, which is the difference between the preset DC-side voltage reference value and the DC-side voltage of each power compensation module. This is the active power proportional gain parameter; This is the active integral gain parameter; The active PI feedback compensation component is used to stabilize the charging and discharging of capacitors in each power compensation module, thereby stabilizing the three-phase AC voltage output by each power compensation module.

[0111] In one embodiment, the compensation control module further includes a parameter adaptive adjustment unit. The parameter adaptive adjustment unit is communicatively connected to the feedforward compensation unit, the virtual capacitance compensation unit, and the feedback compensation unit, respectively, and is used to initialize the compensation control parameters of each compensation unit, and adaptively adjust each compensation control parameter according to the voltage fluctuations of the load circuit to be compensated, the changes in the power parameters, and the changes in the frequency parameters.

[0112] The compensation control parameters include, but are not limited to: the time period parameter and feedforward gain parameter applied to the feedforward compensation unit, the virtual capacitance applied to the virtual capacitance compensation unit, and the proportional gain parameter and integral gain parameter applied to the feedback compensation unit.

[0113] Specifically, when multiple power compensation modules are inserted into the load circuit to be compensated through multiple hot-swappable interfaces, a control path is established between each power compensation module and the compensation control module. Each power compensation module sends an insertion signal to the compensation control module, and the compensation control module begins initialization. That is, the parameter adaptive adjustment unit begins to register each power compensation module and initialize the configuration of each compensation control parameter. The reactive power compensation device can then begin to perform reactive power compensation.

[0114] During the operation of the reactive power compensation device, the predictable future time period parameters and feedforward gain parameters of the power change prediction model in the feedforward compensation unit can be adaptively adjusted based on the current active power change rate, reactive power change rate, grid frequency deviation, and grid frequency change rate. This allows for different feedforward control methods to be used for different degrees of power or frequency changes. For example, for gradual power or frequency changes, mild control is used (e.g., extending the predictable future time period parameter to 30ms or increasing the feedforward gain parameter); for drastic power or frequency changes, strong control is used (e.g., shortening the predictable future time period parameter by 10ms or decreasing the feedforward gain parameter).

[0115] Furthermore, based on the voltage fluctuations of the load circuit to be compensated, the changes in the power parameters, and the changes in the frequency parameters, the virtual capacitance applied to the virtual capacitor compensation unit is adaptively adjusted to simulate damping characteristics, thereby improving the inertia of the reactive power compensation device, suppressing voltage fluctuations caused by sudden load events, and enhancing the dynamic stability of the ship's power grid.

[0116] Simultaneously, based on the voltage fluctuations of the load circuit to be compensated, the changes in the power parameters, and the changes in the frequency parameters, the proportional gain parameters and integral gain parameters applied to the feedback compensation unit are adaptively adjusted, including the active proportional gain parameter, the active integral gain parameter, the reactive proportional gain parameter, and the reactive integral gain parameter, thereby improving the dynamic response and steady-state accuracy of the reactive power compensation device.

[0117] In one embodiment, such as Figure 2 As shown, the compensation control module further includes a current command generation unit. The current command generation unit is communicatively connected to the load sensing module, specifically to the load monitoring unit, and also communicatively connected to the steady-state compensation unit, the feedforward compensation unit, the virtual capacitance compensation unit, and the feedback compensation unit.

[0118] The current command generation unit is used to select an appropriate compensation strategy based on the load type of the load to be monitored and the identified load surge event, so as to generate a three-phase compensation current command according to each compensation component, and evenly distribute it to each power compensation module to generate a compensation current modulation control signal for each power compensation module.

[0119] In one embodiment, the method for generating a three-phase compensation current command based on each compensation component includes the following steps.

[0120] ① Select an appropriate compensation strategy based on the load type of the load to be monitored and the identified load burst events.

[0121] ② Based on the aforementioned compensation strategy, the reactive steady-state compensation component, the reactive feedforward compensation component, the reactive virtual capacitor component, and the reactive PI feedback compensation component are weighted and fused to generate a reactive current command. The calculation formula is as follows:

[0122] ;Formula (10)

[0123] in, This refers to the reactive steady-state compensation component; This refers to the reactive power feedforward compensation component; This refers to the reactive virtual capacitance component; This refers to the reactive power PI feedback compensation component; , , as well as These are the weight parameters for each reactive power compensation component, which can be determined based on the aforementioned compensation strategy. This allows for the application of different compensation strategies for different types of loads and different types of load surges, such as using a fast feedforward compensation strategy for pulsed loads to improve... The weighting parameters are adjusted by reducing other weighting parameters, while slow, smooth compensation is applied to the propulsion motor load, which correspondingly increases the weighting. Weight parameters and Weight parameters; This refers to the reactive current command.

[0124] ③ Based on the aforementioned compensation strategy, the active power feedforward compensation component and the active power PI feedback compensation component are weighted and fused to generate an active power current command. The calculation formula is as follows:

[0125] ;Formula (11)

[0126] in, This refers to the active power feedforward compensation component; This refers to the active PI feedback compensation component; , These are the weight parameters for each active power compensation component, which can be determined based on the compensation strategy. The active current command is referred to here.

[0127] ④ Perform inverse Park transform and inverse Clark transform on the reactive current command and the active current command respectively, and superimpose harmonic compensation components to generate a three-phase compensation current command.

[0128] Subsequently, based on the current sharing joint control strategy, the generated three-phase compensation current command is evenly distributed to each power compensation module, and a compensation current modulation control signal is generated for each power compensation module to realize current sharing control of each power compensation module. Thus, each power compensation module controls each DC support capacitor unit to release electrical energy according to the compensation current modulation control signal, and controls the PWM duty cycle of the power switching devices in each three-phase full-bridge inverter unit to output the corresponding three-phase AC power.

[0129] In one embodiment, when the three-phase compensation current command is distributed to each power compensation module, a proportional current limiting control strategy of the rated compensation current is also adopted. That is, if the compensation current distributed to each power compensation module exceeds the rated compensation current, the distributed compensation current is limited in a proportional scaling manner to ensure that it does not exceed the rated compensation current, thereby protecting the reactive power compensation device. At the same time, the compensation direction and proportional characteristics of the compensation current remain unchanged, and reactive power compensation and active power control are performed.

[0130] The compensation control module described in this application is connected to the load sensing module and each power compensation module via a high-speed optical fiber communication bus. It employs a composite control strategy based on instantaneous reactive power theory, prediction of future power changes, virtual capacitor control, and a PI controller. This allows for rapid reactive power compensation response, responding instantly to load changes and enabling continuous current regulation from fully inductive to fully capacitive. The compensation accuracy is high, avoiding over-compensation or under-compensation. Experiments show that the reactive power compensation device provided in this application can reduce the response time to within 5ms, achieve a compensation accuracy within ±1%, and stabilize the power factor above 0.99.

[0131] Furthermore, the compensation control module described in this application introduces adaptive adjustment of control parameters, enabling the reactive power compensation device to adaptively adjust the compensation strategy according to the actual operating conditions of the ship and the load change trend, effectively coping with various types of loads and sudden load events. The adaptive adjustment of control parameters also achieves intelligent control, eliminating the need for manual intervention and significantly improving the level of intelligence in ship power quality management.

[0132] Meanwhile, in scenarios with large reactive power impacts, transient changes in reactive power demand can cause voltage fluctuations, accompanied by huge active power impacts. The compensation control module described in this application can perform active power control while performing reactive power compensation, generating active power circuit instructions. This not only effectively suppresses active power changes but also stabilizes the grid frequency, achieving zero or minimal impact on the ship's power grid.

[0133] The reactive power compensation device of this application also has harmonic mitigation capabilities. The three-phase compensation current command is superimposed with harmonic compensation components, which can effectively compensate for harmonics of the 2nd to 25th order, reduce the interference of harmonics on the ship's power grid and load equipment, and provide a stable and high-quality power supply for precision electronic equipment and communication equipment on ships that have high requirements for power quality.

[0134] In one embodiment, the reactive power compensation device for ship dynamic loads further includes a fault monitoring module.

[0135] The fault monitoring module is connected to the load sensing module and each power compensation module respectively. It is used to monitor the operating parameters and operating status of each power compensation module in real time, generate compensation monitoring data, and automatically disconnect the power compensation module when a power compensation module is detected to be operating faulty. The compensation control module is then instructed to redistribute the three-phase compensation current command, thereby realizing the redundant fault-tolerant operation of the reactive power compensation device.

[0136] The compensation monitoring data includes, but is not limited to: the electrical parameters, power parameters, frequency parameters, power parameter changes and frequency parameter changes of the load circuit to be compensated output by the load sensing module, as well as the operating parameters and operating status of each power compensation module.

[0137] In one embodiment, by performing data analysis on the fault monitoring data and comparing the compensation effects of different compensation strategies, it helps to continuously optimize the compensation strategy adopted by the compensation control module and continuously optimize the adaptive adjustment of each compensation control parameter by the compensation control module, so that the reactive power compensation device can have better reactive power compensation effect and active power control.

[0138] In one embodiment, the reactive power compensation device for ship dynamic loads further includes a human-machine interaction module.

[0139] The human-machine interface module, connected to the compensation control module, each power compensation module, and the fault monitoring module, includes a display operation panel. The display operation panel displays the operating parameters and status of each power compensation module, and the compensation strategy adopted by the compensation control module. It also receives user operation commands to disconnect one or more power compensation modules, or adjust the compensation strategy, to manually control the reactive power compensation device to perform reactive power compensation and active power control processes, thereby supporting remote monitoring. In one embodiment, the display operation panel may be a touchscreen.

[0140] In one embodiment, the reactive power compensation device for ship dynamic load further includes a data storage module. The data storage module is connected to the fault monitoring module and is used to store the fault monitoring data.

[0141] In one embodiment, the reactive power compensation device for ship dynamic load further includes a communication module. The communication module is connected to the compensation control module, each power compensation module, and the fault monitoring module, respectively, and is used to send the fault monitoring data to an external ship central control system, and to receive user operation commands to disconnect one or more power compensation modules, or adjust the compensation strategy adopted by the compensation control module, thereby supporting remote monitoring functions.

[0142] It should be understood that the module division in the embodiments of this application is illustrative and only represents a logical functional division. In actual implementation, there may be other division methods. Furthermore, the functional modules in the various embodiments of this application can be integrated into a single processor or functional module, exist as separate physical entities, or be divided into more functional modules. The integrated modules or units described above can be implemented in hardware or as software functional modules.

[0143] like Figure 3 The diagram illustrates a flowchart of a reactive power compensation method for dynamic ship loads according to an embodiment of this application. The reactive power compensation method for dynamic ship loads described in this embodiment is mainly applied to the reactive power compensation device for dynamic ship loads described in any of the above-mentioned device embodiments. The reactive power compensation method for dynamic ship loads mainly includes the following steps.

[0144] Step S1: Based on the load sensing module, the electrical parameters of the load circuit to be compensated are collected in real time, and the changes in its power parameters and frequency parameters are monitored.

[0145] Step S2: Based on the compensation control module, according to the electrical parameters, power parameters and frequency parameters of the load circuit to be compensated, a composite control strategy is adopted to generate a three-phase compensation current command and generate a compensation current modulation control signal for each power compensation module, so as to control each power compensation module to invert the DC power stored on its DC side into three-phase AC power and inject it into the ship's power grid to perform reactive power compensation on the load circuit to be compensated.

[0146] In this embodiment, the reactive power compensation method for ship dynamic load and the reactive power compensation device for ship dynamic load belong to the same inventive concept. Their execution steps have been described in detail in the above device embodiments, and will not be repeated here for the sake of brevity.

[0147] The compensation control method used in the compensation control module of the reactive power compensation device for ship dynamic loads in this application can be implemented on the terminal side or the server side. For the hardware structure of the reactive power compensation control terminal for ship dynamic loads, please refer to [link to relevant documentation]. Figure 4This is a schematic diagram of an optional hardware structure of a reactive power compensation control terminal 400 for ship dynamic loads provided in this application embodiment. The reactive power compensation control terminal 400 for ship dynamic loads can be a mobile phone, computer device, tablet device, personal digital processing device, factory back-end processing device, etc. The reactive power compensation control terminal 400 for ship dynamic loads includes: at least one processor 401, a memory 402, at least one network interface 404, and a user interface 406. The various components in the device are coupled together through a bus system 405. It is understood that the bus system 405 is used to realize the connection and communication between these components. In addition to a data bus, the bus system 405 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 4 The general will label all buses as bus systems.

[0148] The user interface 406 may include a monitor, keyboard, mouse, trackball, clicker, button, touchpad, or touch screen.

[0149] It is understood that memory 402 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM) or programmable read-only memory (PROM), which serves as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM) and synchronous static random access memory (SSRAM). The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable categories of memory.

[0150] In this embodiment, the memory 402 is used to store various types of data to support the operation of the reactive power compensation control terminal 400 for ship dynamic loads. Examples of this data include any executable program that operates on the reactive power compensation control terminal 400 for ship dynamic loads, such as operating system 4021 and application program 4022. Operating system 4021 includes various system programs, such as framework layer, core library layer, driver layer, etc., for implementing various basic services and handling hardware-based tasks. Application program 4022 may include various applications, such as media player, browser, etc., for implementing various application services. The compensation control method provided in this embodiment may be included in application program 4022.

[0151] The compensation control method disclosed in the above embodiments of this application can be applied to processor 401, or implemented by processor 401. Processor 401 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above compensation control method can be completed by the integrated logic circuit of the hardware in processor 401 or by instructions in the form of software. The processor 401 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Processor 401 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of this application. General-purpose processor 401 may be a microprocessor or any conventional processor, etc. The steps of the accessory optimization method provided in the embodiments of this application can be directly reflected as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, which is located in memory. The processor reads the information in the memory and combines it with its hardware to complete the steps of the aforementioned compensation control method.

[0152] In an exemplary embodiment, the reactive power compensation control terminal 400 for ship dynamic loads can be used by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), or complex programmable logic devices (CPLDs) to execute the aforementioned compensation control method.

[0153] In summary, this application provides a reactive power compensation device, method, and control terminal for dynamic loads on ships. Through a load sensing module, it collects the electrical parameters of the load circuit to be compensated connected to the ship's power grid in real time and monitors changes in its power and frequency parameters. Through a compensation control module, based on the parameters and their changes, it adopts a composite control strategy to generate three-phase compensation current commands and compensation current modulation control signals for multiple power compensation modules. This controls each power compensation module to output the corresponding three-phase AC power, enabling rapid reactive power compensation response with high accuracy. Furthermore, while performing reactive power compensation, it can also perform active power control and harmonic mitigation, effectively suppressing active power changes and stabilizing the grid frequency, achieving zero or minimal impact on the ship's power grid and improving the overall power quality of the ship's power grid.

[0154] Therefore, this application effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0155] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A reactive power compensation device for dynamic loads on ships, characterized in that, include: The load sensing module is electrically connected to the load circuit to be compensated in the ship's electrical network. It is used to collect the electrical parameters of the load circuit in real time and monitor the changes in its power parameters and frequency parameters. Multiple power compensation modules are connected in parallel and electrically connected to the load circuit to be compensated. Each module is used to invert the DC power stored on its DC side into three-phase AC power and inject it into the ship's power grid to perform reactive power compensation on the load circuit to be compensated. The compensation control module is communicatively connected to the load sensing module and each power compensation module. It is used to generate a three-phase compensation current command and a compensation current modulation control signal for each power compensation module by adopting a composite control strategy based on the electrical parameters, power parameters and frequency parameters of the load circuit to be compensated, so as to control each power compensation module to output the corresponding three-phase AC power.

2. The reactive power compensation device for ship dynamic loads according to claim 1, characterized in that, The compensation control module includes: The steady-state compensation unit is communicatively connected to the load sensing module and is used to extract the fundamental active current component, the fundamental reactive current component, and the harmonic current component from the three-phase current signal of the load circuit to be compensated, and generate the reactive steady-state compensation component and the harmonic compensation component. The feedforward compensation unit is communicatively connected to the load sensing module and is used to predict the power change rate of the load circuit to be compensated in the future time period based on the power parameter change and frequency parameter change. When a load change event is detected, it generates active feedforward compensation component and reactive feedforward compensation component. The virtual capacitor compensation unit is communicatively connected to the load sensing module and is used to establish a virtual capacitor model to simulate the external characteristics of a capacitor, so as to generate a reactive virtual capacitor component based on the voltage fluctuation of the load circuit to be compensated. The feedback compensation unit is communicatively connected to the load sensing module and is used to detect the output error of the load circuit to be compensated and each power compensation module in real time based on the PI controller, and to perform PI calculation on the error to generate active PI feedback compensation component and reactive PI feedback compensation component. The current command generation unit is communicatively connected to the load sensing module and also communicatively connected to the steady-state compensation unit, the feedforward compensation unit, the virtual capacitor compensation unit, and the feedback compensation unit. It is used to select an appropriate compensation strategy based on the load type of the load to be monitored and the identified load surge event, so as to generate a three-phase compensation current command according to each compensation component and distribute it evenly to each power compensation module, thereby generating a compensation current modulation control signal for each power compensation module.

3. The reactive power compensation device for ship dynamic loads according to claim 2, characterized in that, The methods for generating three-phase compensation current commands based on each compensation component include: Based on the load type of the load to be monitored and the identified load burst events, select an appropriate compensation strategy. Based on the compensation strategy, the reactive steady-state compensation component, the reactive feedforward compensation component, the reactive virtual capacitor component, and the reactive PI feedback compensation component are weighted and fused to generate a reactive current command. Based on the compensation strategy, the active power feedforward compensation component and the active power PI feedback compensation component are weighted and fused to generate an active power current command. The reactive current command and the active current command are respectively subjected to inverse Park transformation and inverse Clark transformation, and harmonic compensation components are superimposed to generate a three-phase compensation current command.

4. The reactive power compensation device for ship dynamic loads according to claim 2, characterized in that, The compensation control module further includes: The parameter adaptive adjustment unit is communicatively connected to the feedforward compensation unit, the virtual capacitor compensation unit, and the feedback compensation unit, respectively. It is used to initialize the compensation control parameters of each compensation unit and adaptively adjust each compensation control parameter according to the voltage fluctuation of the load circuit to be compensated, the power parameter change, and the frequency parameter change. The compensation control parameters include, but are not limited to: the time period parameter and feedforward gain parameter applied to the feedforward compensation unit, the virtual capacitance applied to the virtual capacitance compensation unit, and the proportional gain parameter and integral gain parameter applied to the feedback compensation unit.

5. The reactive power compensation device for ship dynamic loads according to claim 1, characterized in that, The load sensing module includes: A current sampling circuit is connected in series with the load circuit to be compensated, and is used to measure the three-phase current signal output by the load circuit to be compensated in real time. A voltage sampling circuit is connected in parallel to the compensation load circuit to measure the three-phase voltage signal output by the load circuit to be compensated in real time. The load monitoring unit is electrically connected to the current sampling circuit and the voltage sampling circuit, respectively, and is used to calculate the power parameters and frequency parameters of the load circuit to be compensated based on the three-phase current signal and the three-phase voltage signal, identify the load type of the load to be monitored in the load circuit to be compensated, and identify load sudden events.

6. The reactive power compensation device for ship dynamic load according to claim 1, characterized in that, Each power compensation module is electrically connected to the load circuit to be compensated via a unified hot-swappable interface. The hot-swappable interface includes: A mechanical locking structure is used to secure the power compensation module. Auxiliary contact pins are used to connect the auxiliary power supply and controller of the power compensation module, and establish a control path with the compensation control module; The main power pin is used to turn on the main power circuit of the power compensation module to invert the DC power stored on its DC side into three-phase AC power and inject it into the ship's electrical network. The length of the auxiliary contact pin is greater than the length of the main power pin.

7. The reactive power compensation device for ship dynamic loads according to claim 1, characterized in that, The power compensation module includes: The DC support capacitor unit is used to store electrical energy and release electrical energy to output DC power when the power compensation module performs reactive power compensation. The three-phase full-bridge inverter unit is electrically connected to the DC support capacitor unit and is used to invert the DC power output by the DC support capacitor unit into a three-phase AC power output. An AC filtering unit is electrically connected to both the three-phase full-bridge inverter unit and the load circuit to be compensated. It is used to filter the three-phase AC power output by the three-phase full-bridge inverter unit and input the clean three-phase AC power into the load circuit to be compensated.

8. The reactive power compensation device for ship dynamic load according to claim 1, characterized in that, Also includes: The fault monitoring module is connected to each power compensation module to monitor the operating parameters and operating status of each power compensation module in real time, generate compensation monitoring data, and automatically disconnect the power compensation module when a power compensation module is detected to be operating fault, and instruct the compensation control module to redistribute the three-phase compensation current command. The human-machine interaction module is connected to the compensation control module, each power compensation module, and the fault monitoring module, and includes: a display operation panel; the display operation panel is used to display the operating parameters and operating status of each power compensation module, and to display the compensation strategy adopted by the compensation control module; it is also used to receive user operation commands to disconnect one or more power compensation modules, or to adjust the compensation strategy. A data storage module, connected to the fault monitoring module, is used to store the fault monitoring data; The communication module is connected to the compensation control module, each power compensation module, and the fault monitoring module, respectively. It is used to send the fault monitoring data to the external ship central control system and to receive user operation commands to disconnect one or more power compensation modules or adjust the compensation strategy adopted by the compensation control module.

9. A reactive power compensation method for ship dynamic loads, applied to the reactive power compensation device for ship dynamic loads as described in any one of claims 1 to 8, characterized in that, include: Based on the load sensing module, the electrical parameters of the load circuit to be compensated are collected in real time, and the changes in its power parameters and frequency parameters are monitored. Based on the compensation control module, according to the electrical parameters, power parameters and frequency parameters of the load circuit to be compensated, a composite control strategy is adopted to generate a three-phase compensation current command and generate a compensation current modulation control signal for each power compensation module, so as to control each power compensation module to invert the DC power stored on its DC side into three-phase AC power and inject it into the ship's power grid to perform reactive power compensation on the load circuit to be compensated.

10. A reactive power compensation control terminal for ship dynamic loads, characterized in that, include: Processor and memory; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory, so that the terminal executes the compensation control method used by the compensation control module in the reactive power compensation device for ship dynamic load as described in any one of claims 1 to 8.

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