Energy cooperative control system for ship shaft power generation based on dynamic positioning and navigation working conditions

Abstract

The application provides a dynamic positioning and navigation working condition ship shaft power generation energy cooperative control system, relates to the ship power system control technical field, and realizes the dynamic simulation of the frequency modulation and power regulation characteristics of the diesel generator by introducing a droop-inertia-damping model in the synchronous drive module and combining a segmented response dead zone and an adaptive regulation intensity function, so that the grid-side converter can form a fast, flexible and stable cooperative response with the diesel unit under the condition of load disturbance. Compared with the existing centralized regulation mode which only depends on PMS, the system can realize physical characteristic compensation in the primary frequency regulation link, and significantly improves the frequency stability and power sharing accuracy of the ship power system.

Description

Technical Field

[0001] This application relates to the field of ship power system control technology, and in particular to a ship shaft-driven power generation energy coordinated control system based on dynamic positioning and navigation conditions. Background Technology

[0002] Modern ship electrical systems typically employ multiple diesel generator sets operating in parallel to power the entire ship's load. Under specific operating conditions such as dynamic positioning (DP) or low-speed navigation, the ship's propulsion load fluctuates significantly, leading to grid frequency instability. This necessitates frequent adjustments of the diesel generator sets' output power to maintain grid stability. This operating mode not only increases fuel consumption and emissions but also reduces the lifespan of the generator sets.

[0003] Shaft-driven power generation systems can utilize the surplus power of the main propulsion engine to generate electricity, but their traditional control methods typically employ a constant frequency and constant voltage mode, making it impossible to actively participate in grid frequency regulation and hindering coordinated operation with diesel generator sets. Currently, there is a lack of an energy management system capable of adaptively adjusting the control mode of the shaft-driven power generation system according to the ship's navigation conditions and achieving efficient coordination with diesel generator sets. Summary of the Invention

[0004] The embodiments of this application provide a ship shaft-driven power generation energy collaborative control system based on dynamic positioning and navigation conditions, realizing intelligent collaborative control between the shaft-driven power generation system and the diesel generator set. To achieve the above objectives, this application adopts the following technical solution: This application provides a ship shaft-driven power generation energy coordination control system based on dynamic positioning and navigation conditions. The system includes: a condition acquisition module, a mode switching module, a synchronous drive module, a power coordination allocation module, and a power management system (PMS). The mode switching module is used to determine the type of operating condition based on the ship operating condition information provided by the operating condition acquisition module, and generate a mode switching command based on the determined operating condition type. The synchronous drive module is used to embed the droop-inertia-damping model, receive mode switching commands and adjust the parameter configuration of the droop-inertia-damping model according to the mode switching commands, simulate the frequency regulation and power regulation characteristics of the diesel engine based on the adjusted parameter configuration, adjust the output frequency and power of the grid-side converter according to the frequency regulation and power regulation characteristics, and generate an adjustment signal according to the adjusted output frequency and power of the grid-side converter. The power coordination allocation module is used to adjust the power allocation strategy based on the adjustment signal, calculate the power target of the power generation unit according to the adjusted power allocation strategy, and generate the power allocation result according to the power target. The Power Management System (PMS) receives the power allocation results generated by the power coordination allocation module, generates power adjustment commands based on the power allocation results, and adjusts the power output of each power generation unit according to the power adjustment commands when the frequency fluctuates or the load changes.

[0005] Furthermore, the synchronization drive module is specifically used for: The speed regulation characteristics of the diesel generator set are parametrically modeled, and the droop coefficient of the grid-side converter is generated based on the parametric modeling. Based on the droop coefficient control, a composite control unit including virtual inertia and damping elements is introduced to simulate the rotor inertia and fuel supply dynamic characteristics of the diesel generator. The frequency regulation capability of the grid-side converter-type diesel generator is generated according to the rotor inertia and fuel supply dynamic characteristics of the diesel generator. Under the action of the composite control unit, a segmented response dead zone and an adaptive adjustment intensity function are set. The power and frequency adjustment parameters of the grid-side converter are adjusted according to the frequency adjustment capability. Based on the adjusted power and frequency adjustment parameters, the grid-side converter and the diesel generator set achieve coordinated response and power sharing under different load disturbance conditions. Based on the results of coordinated response and power sharing, an adjustment signal is generated and sent to the power coordinated allocation module.

[0006] Furthermore, the synchronization drive module includes: Frequency acquisition unit, reference comparison unit, frequency offset reference generation unit, frequency adjustment unit, adjustment signal calculation unit, and adjustment signal output unit; The frequency acquisition unit is used to acquire the output frequency of the grid-side converter; The reference comparison unit compares the output frequency of the grid-side converter with the grid reference frequency and calculates the frequency deviation. The frequency offset reference generation unit generates a frequency offset reference signal based on the frequency offset calculated by the reference comparison unit. The frequency adjustment unit calculates the frequency adjustment parameters based on the frequency deviation reference signal and adjusts the output frequency of the grid-side converter according to the frequency adjustment parameters.

[0007] The adjustment signal calculation unit combines the frequency offset reference signal with the frequency adjustment parameters to obtain a comprehensive adjustment value; The adjustment signal output unit generates an adjustment signal from the comprehensive adjustment value and outputs it to the power collaborative distribution module.

[0008] Furthermore, the power coordination allocation module is specifically used for: Based on the overload capacity curves and fuel consumption characteristic models of the shaft-driven generator and diesel engine, an active power target benchmark value for power distribution is generated. The power target of the generator unit of the shaft-driven generator is calculated based on the active power target benchmark value. After the slope limiting control is introduced, the calculated power target of the generator unit is converted into the corresponding current command and the current command is sent to the grid-side converter for output regulation. Based on the adjustment results of the current command, a power allocation result is generated and sent to the power management system (PMS).

[0009] The power coordination allocation module also includes a power-phase joint observation unit; specifically used for: Collect the power amplitude and phase difference of the shaft-driven generator and the diesel generator; Based on the collected power amplitude and phase difference, calculate the power phase deviation and power distribution deviation; When the power phase deviation increases in the same direction, it is determined to be a sudden increase in grid load, and the diesel engine power increment is adjusted according to the power distribution deviation and the output capacity of the power generation unit. When the power phase deviation increases in the opposite direction, it is determined to be a sudden drop in propulsion load, and the output power increment is adjusted according to the power distribution deviation and the power absorbed by the shaft generator. Power allocation results are generated based on power phase deviation and power distribution deviation, and then sent to the power management system (PMS).

[0010] Furthermore, the power management system (PMS) is specifically used for: Based on the power allocation results generated by the power coordination allocation module, calculate the power adjustment amount of each power generation unit; When a change in ship load or a fluctuation in net-side frequency is detected, a corresponding power regulation command is generated based on the power regulation amount. Power adjustment commands are sent to each power generation unit to adjust the power of each unit.

[0011] Furthermore, the grid-side converter integrates an adaptive current limiting module: specifically used for: When the host speed decreases, the active current reference value is reduced to ensure the host speed recovers; Increase the active current reference value as the main engine speed increases; Adjust the current reference value normally during steady-state operation.

[0012] Furthermore, the system also includes a mode self-exit module, which is specifically used for: When the operating condition acquisition module detects that the ship has lost dynamic positioning or is sailing at low speed and has entered a stable sailing condition, the PMS issues an off-grid or system maintenance command, the shaft generator speed exceeds the preset safety range, or the droop coefficient gradually returns to zero during the mode switching process, the mode self-exit module controls the grid-side converter to smoothly switch from the power-frequency droop mode back to the constant frequency and constant voltage mode.

[0013] Furthermore, the system also includes a data synchronization module: The data synchronization module adopts a dual-ring redundant communication architecture, which is used to integrate time-sensitive network switching units based on the dual-ring redundant communication architecture to generate a synchronous communication channel; Based on the synchronous communication channel, the data synchronization module provides a unified clock synchronization service for the PMS, operating condition acquisition module, mode switching module, synchronous drive module and power collaborative allocation module, and performs protocol conversion and data encapsulation on frequency adjustment signals, operating condition identifiers and mode switching commands to generate unified data frames. Based on the unified data frame scheduling process, the data synchronization module dynamically allocates transmission bandwidth and priority for frequency adjustment signals, mode switching instructions and power allocation instructions through the time-sensitive network switching unit, ensuring that critical control instructions are transmitted deterministically within the set time limit.

[0014] The data synchronization module also includes a data traceability and consistency maintenance unit; The data traceability and consistency maintenance unit is used for: In shared memory, data lineage tags are added to frequency adjustment signals, operating condition indicators, mode switching instructions, and power allocation instructions. Data lineage tags are used to record data generation modules, processing links, and time series information to achieve data traceability and tracking. Data retransmission or an alarm is triggered when a data conflict is detected or an update fails to time out.

[0015] As can be seen from the above technical solution, this application has the following beneficial effects: 1. This invention introduces a droop-inertia-damping model into the synchronous drive module and combines a piecewise response dead zone with an adaptive adjustment intensity function to achieve dynamic simulation of the frequency regulation and power regulation characteristics of the grid-side converter for the diesel generator. This enables the grid-side converter to form a fast, flexible, and stable coordinated response with the diesel generator set under load disturbance conditions. Compared with the existing centralized control method that only relies on PMS, this system can achieve physical characteristic compensation in the primary frequency regulation stage, significantly improving the frequency stability and power sharing accuracy of the ship's power system.

[0016] 2. This invention, through the joint control of the power collaborative allocation module and the power management system (PMS), combined with the overload capacity curves and fuel consumption characteristic models of the shaft-driven generator and diesel engine, forms a dynamic power allocation strategy based on operating condition identification. This not only reduces the fuel consumption of the diesel engine under high-load conditions but also improves the utilization efficiency of the shaft-driven generator. Compared with existing fixed threshold or static allocation methods, this system can achieve energy collaborative optimization among power generation units under different navigation and dynamic positioning conditions, improving the overall economy and reliability of the system. Attached Figure Description

[0017] The invention will now be further described with reference to the accompanying drawings.

[0018] Figure 1 This is a structural diagram of a ship shaft-driven power generation energy coordinated control system based on dynamic positioning and navigation conditions, provided in an embodiment of this application. Figure 2 A flowchart of a ship shaft-driven power generation energy coordinated control system based on dynamic positioning and navigation conditions, provided for embodiments of this application. Detailed Implementation

[0019] The terms "first," "second," and "third," etc., used in this application specification, claims, and drawings are used to distinguish different objects, not to limit a specific order.

[0020] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0021] Research has shown that shaft-driven power generation systems can utilize the surplus power of the main propulsion engine to generate electricity. However, their traditional control methods typically employ a constant frequency and constant voltage mode, making it impossible to actively participate in grid frequency regulation and hindering coordinated operation with diesel generator sets. Currently, there is a lack of an energy management system capable of adaptively adjusting the control mode of the shaft-driven power generation system according to the ship's navigation conditions and achieving efficient coordination with diesel generator sets.

[0022] To address the aforementioned issues, this application provides a ship shaft-driven power generation energy coordinated control system based on dynamic positioning and navigation conditions.

[0023] Example 1, as Figure 1 As shown, this embodiment discloses a ship shaft-driven power generation energy collaborative control system based on dynamic positioning and navigation conditions. The system includes a condition acquisition module, a mode switching module, a synchronous drive module, a power collaborative distribution module, and a power management system (PMS). The modules communicate and interconnect with each other through a data synchronization module.

[0024] The operating condition acquisition module collects real-time operating condition identification data of the ship under different navigation conditions by deploying sensor nodes in the ship's propulsion shaft system, main engine diesel engine, rudder propeller thruster and power grid bus, and obtains standardized operating condition identification to provide input conditions for the mode switching module.

[0025] The mode switching module identifies whether the ship is in dynamic positioning, low-speed navigation, or stable cruise mode based on the operating condition identifier of the operating condition acquisition module.

[0026] When the operating condition is determined to be dynamic positioning or low-speed navigation, the mode switching module generates an energy coordination mode switching command. When the operating condition is determined to be stable navigation, the mode switching module generates a constant frequency and constant voltage mode switching command. The mode switching command is marked with a timestamp and priority and then transmitted to the synchronization drive module via the communication bus to ensure the real-time performance and uniqueness of the command execution.

[0027] When entering the energy coordination mode, the grid-side converter is switched to the power-frequency droop control mode, and a matching droop coefficient is configured according to the diesel engine speed regulation characteristics. An embedded droop-inertia-damping joint model reshapes the external characteristics of the converter, enabling it to maintain the same droop slope and virtual rotor response characteristics as the diesel engine on the frequency-power plane, thereby possessing a frequency regulation capability similar to that of a diesel engine. The converter achieves rapid tracking of the transient frequency of the diesel generator set through the phase-locked loop frequency offset mapping unit, the bandwidth switching unit adaptively adjusts the dynamic sensitivity of the synchronous drive, and the phase feedforward compensation unit eliminates the phase overshoot caused by insufficient inertial response, so that the converter and the diesel generator set maintain error-free self-synchronization.

[0028] Under the PMS scheduling command, the power coordination distribution module performs the following steps based on the system's instantaneous load power demand, the overload capacity and margin parameters of the shaft-driven generator and diesel generator: Calculate the power absorption margin of the shaft-driven generator and the power release margin of the diesel generator; According to the power-phase joint observation mechanism, the phase difference change trend of the output power of the two generators is monitored in real time. If the phase difference is continuously shifted, it is determined that there is a power imbalance in the power grid, and the load change is distinguished from the generator side or the grid side based on the direction and magnitude of the shift. When the power imbalance is determined to originate from excess power on the main engine side, the shaft-driven generator is prioritized to absorb energy; when the power imbalance is determined to originate from a sudden increase in grid load, the diesel engine is prioritized to increase output, with the converter providing inertia support. Through this coordinated allocation, dynamic matching between propulsion power and electrical power is achieved.

[0029] The Power Management System (PMS) serves as the core of system scheduling and global optimization. It acquires the allocation results output by the power collaborative allocation module, integrates grid frequency regulation signals, bus voltage stability requirements, and diesel engine fuel efficiency curves, and generates global power management commands. The PMS also performs health assessments on different power units. If a unit is detected to be continuously operating under high load, it automatically triggers a power reallocation strategy to prevent overload of a single generator.

[0030] In this embodiment, the system constructs a multi-layer closed-loop control link of "operating condition identification - mode switching - synchronous drive - power distribution - global management" to achieve coordinated operation of ship propulsion energy and power generation energy. Compared with the existing methods that rely on single diesel engine speed regulation or fixed power distribution, this system innovatively introduces virtual inertia and damping mechanisms, power-phase joint observation mechanisms, and adaptive mode switching strategies, which greatly improves the energy utilization rate and grid stability of ships under dynamic positioning and complex navigation conditions.

[0031] Example 2, as Figure 1 As shown, specifically, the synchronous drive module and the power cooperative distribution module together constitute a frequency and power cooperative control scheme for marine hybrid power systems, which can achieve dynamic balance between the diesel generator set and the grid-side converter under different load disturbances.

[0032] The synchronous drive module parametrically models the speed regulation characteristics of the diesel generator set, obtaining a model relationship that describes the rotational inertia and fuel supply dynamics. Based on this model, a droop characteristic is generated for grid-side converter control, thereby enabling the grid-side converter to exhibit diesel engine-like operating characteristics in terms of frequency and power regulation.

[0033] Based on droop characteristic control, the synchronous drive module introduces virtual inertia and virtual damping elements: The virtual inertia element is used to simulate the inertial response of a diesel engine rotor when the frequency changes; The virtual damping element is used to simulate the damping effect caused by frequency deviation.

[0034] By introducing these two types of components, the grid-side converter can exhibit inertia and damping characteristics similar to those of a traditional generator.

[0035] The synchronous drive module is equipped with a segmented response dead zone and an adaptive adjustment mechanism: When the frequency deviation is small, no control action is triggered; Within a moderate deviation range, gradually release control capabilities; When the deviation is large, the adaptive adjustment function is activated to dynamically enhance the control effect.

[0036] The synchronous drive module collects the output frequency of the grid-side converter in real time and compares it with the grid reference frequency to obtain deviation information.

[0037] Based on the above comparison results, a frequency deviation reference signal is generated, which is used in the subsequent adjustment process.

[0038] The synchronous drive module adjusts according to the frequency deviation reference signal: A rapid support response is generated through a virtual inertia element to mitigate sudden frequency changes; An additional regulating response is generated through a virtual damping element to suppress frequency oscillations.

[0039] Select different response modes based on the magnitude of the deviation: When the deviation exceeds the set threshold, the adaptive function is triggered to quickly improve the adjustment capability.

[0040] The regulation signal calculation unit combines the frequency deviation reference signal with the virtual compensation response to obtain a comprehensive regulation signal, which is then output to the power coordination distribution module. Based on this signal, the power coordination distribution module adjusts the power sharing between the diesel generator set and the grid-side converter.

[0041] In the event of a sudden increase in ship propulsion load: The output frequency of the grid-side converter has decreased; The synchronous drive module acquires the frequency and generates a deviation signal; The virtual inertia element provides immediate and rapid support, preventing the frequency from falling further. The virtual damping element provides a stabilizing effect and prevents excessive oscillation; When the deviation continues to widen, the adaptive adjustment mechanism is activated to enhance the power boosting capability of the grid-side converter; The power coordination distribution module receives the adjustment signal and instructs the diesel engine to gradually increase its output power, ultimately realizing dynamic power sharing and frequency recovery between the diesel engine and the grid-side converter.

[0042] This module not only achieves consistent matching of droop characteristics, but also adds dynamic compensation mechanisms at the phase and frequency levels, thereby ensuring that the ship's shaft-driven generator can achieve self-synchronization with the diesel generator set and the power grid under different operating conditions, improving the grid connection stability and anti-interference capability of the entire ship's power system.

[0043] Example 3, as Figure 1 As shown, specifically: the power collaborative distribution module reads current operating information from sensors and databases, including shaft generator output, online diesel engine output, main engine speed and torque, energy storage SOC, bus voltage and frequency, and the current reference point of historical overload capacity and fuel consumption model, and generates the current operating vector; Based on the current operating vector and the preset overload capacity curve and fuel consumption characteristic model of the shaft-driven generator / diesel engine, the active power target reference value for this control cycle is calculated, the active power target reference value is generated, and the reference value is passed to the next power distribution calculation step.

[0044] Using the active power target as input, the power coordination allocation module calculates the expected power output allocation for each generating unit; it performs slope limiting processing on the target of the shaft-driven generator, converting the limited active power target into a current reference command. Simultaneously, constraint verification is performed, and a current command is generated and sent to the grid-side converter. The grid-side converter receives current commands and executes them in the closed-loop current controller, while simultaneously measuring and reporting the actual output current, output power, and current register status. The actual output data and execution status are sent back to the power coordination and allocation module and PMS.

[0045] The power coordination allocation module integrates the actual output of each power generation unit based on the execution feedback of the grid-side converter to form the final power allocation result, which is uploaded to the PMS for higher-level scheduling and recording.

[0046] The power-phase joint observation unit continuously samples the power amplitude and voltage phase angle of the shaft-driven generator and the diesel generator, calculates the phase difference change trend and power distribution deviation, determines the directionality of the deviation, generates phase deviation index and power distribution deviation index, and sends these indexes to the power collaborative allocation module for decision reference.

[0047] If the phase difference and power increase simultaneously in the same direction, it is determined to be a sudden increase in grid load. The instruction is to prioritize increasing the output of the diesel engine and gradually increase the output of the shaft-driven generator to avoid fluctuations in the main engine speed. If the phase difference and power change in opposite directions, it is determined to be a sudden drop in propulsion load. The instruction is to increase the shaft-driven generator to absorb and dissipate the excess power, so as to avoid bus overvoltage or frequency increase.

[0048] Based on the diesel engine fuel consumption model and overload curve calculation baseline, the system prioritizes the use of the main engine's surplus mechanical power and reduces unnecessary load on the diesel engine within the possible range, thereby reducing fuel consumption per unit of energy. At the same time, energy storage and shaft-driven power generation work together to absorb or release peak energy, avoiding frequent high-load operation of the diesel engine, extending its lifespan and reducing fuel consumption.

[0049] Power-phase joint observation can identify the type of load change in the early stage of disturbance, enabling the system to select the most appropriate response resources, shorten the frequency and voltage recovery time, reduce overshoot and oscillation, and reduce the impact and wear on mechanical transmission systems.

[0050] Example 4, as Figure 1 As shown, specifically: the grid-side converter integrates an adaptive current limiting module; The adaptive current limiting module has the following functions: Current limiting action when the host speed decreases: When the operating condition acquisition module detects that the main propulsion shaft speed is lower than the set threshold, it indicates that the main mechanical load is overloaded or underpowered. At this time, the adaptive current limiting module reduces the active current reference value and reduces the torque absorption of the main unit by the shaft generator. This action directly releases the torque of the main shaft system, ensuring that the main unit can recover to a stable speed and avoid the risk of reduced propulsion efficiency or diesel engine shutdown due to excessive power extraction. Current limiting action when the host speed increases: When the main engine speed increases and exceeds the normal fluctuation bandwidth, it indicates that there is excess mechanical power in the propulsion system. Under this condition, the adaptive current limiting module actively increases the active current reference value, guides the shaft generator to increase power absorption, and converts the excess mechanical energy into electrical energy to be sent into the grid. This action not only improves the energy utilization rate of the main engine, but also reduces the additional output demand of the diesel engine, thus achieving the goal of energy saving and consumption reduction. Adjustment actions during steady-state operation: When the main unit speed is in a stable range, the adaptive current limiting module maintains the normal current reference value adjustment, so that the grid-side converter operates stably under constant settings, ensuring that the grid voltage and frequency do not fluctuate abnormally.

[0051] Dynamic control logic combined with the environment: In dynamic positioning mode, the adaptive current limiting module can limit the current in real time according to the rapid fluctuations in the propulsion power of the main engine; In low-speed navigation mode, the module prioritizes propulsion needs and responds sensitively to a decrease in speed in order to maintain the ship's low-speed stability. In steady-state cruise mode, the module tends to absorb excess power, making the shaft-driven generator system the main power source and reducing the long-term operating load of the diesel generator. Unlike existing technologies that protect the host only by using a fixed current limiting threshold, this embodiment introduces dynamic feedback of host speed and adaptive current reference value adjustment to achieve flexible current limiting; Compared with the traditional fixed-value current limiting method, this embodiment can take differentiated current limiting actions at different stages of host speed fluctuation, which not only ensures the safety of host speed, but also improves the utilization rate of surplus energy. In terms of energy saving, this embodiment increases the current reference value during the rising phase, absorbs more surplus power into the power grid, reduces the additional power supply of the diesel engine, and achieves a significant reduction in fuel consumption.

[0052] Example 5, as Figure 1 As shown, specifically: The Power Management System (PMS) receives the power allocation results generated by the Power Coordination Allocation Module. These results include the target power value of each power generation unit and the current actual power output. Based on these results, the PMS calculates the difference between each power generation unit and the target value to form the power adjustment amount of each power generation unit. The Power Management System (PMS) continuously monitors real-time changes in ship load and dynamic fluctuations in grid frequency. When a rapid increase or sudden drop in load is detected, or a shift in grid frequency is observed, the PMS triggers corresponding scheduling logic, combining power regulation with the current operating status for analysis. The Power Management System (PMS) generates corresponding power regulation commands based on the calculated power regulation amount and operating status. When the ship's load increases, the Power Management System (PMS) prioritizes instructing the diesel generator set to increase power output, while coordinating with shaft-driven generators or energy storage devices to share some of the power based on the available capacity. When the ship's load decreases, the Power Management System (PMS) reduces the output of the diesel generator set and instructs the shaft generator to absorb power. If necessary, it instructs the energy storage device to charge energy to prevent the bus voltage from rising. When the grid-side frequency fluctuation exceeds the allowable range, the power management system (PMS) dynamically allocates response paths based on the power regulation amount to maintain frequency stability. The Power Management System (PMS) sends the generated power adjustment commands to the controllers of each power generation unit through the communication interface. Each power generation unit receives and executes the power adjustment commands, adjusts its output power, and thus achieves dynamic balance of active power at the system level. After each power generation unit performs power adjustment, the power management system (PMS) receives feedback information, including actual power output and system frequency status. The PMS compares the feedback data with the power adjustment command. When an execution deviation occurs, it further corrects the adjustment amount, forms a new adjustment command, and issues it to achieve closed-loop control. In this embodiment, when there are sudden load changes or frequency fluctuations, the Power Management System (PMS) can generate and issue adjustment commands in real time to improve the dynamic stability of the system. The power adjustment amount is calculated based on the results of the power collaborative allocation module, so that the diesel generator, shaft generator and energy storage device can be allocated according to the optimal fuel consumption and load capacity curves to reduce fuel consumption. Through closed-loop feedback and continuous correction, the frequency and bus voltage of the power system are kept within a stable range to avoid overshoot and equipment overload. The PMS and the power collaborative allocation module interact to form a cooperative relationship between upper-level scheduling and lower-level control, achieving a balance between global optimization and local dynamic response.

[0053] Example 6, as Figure 1 As shown, specifically: the system also includes a mode self-exit module, which is used to smoothly switch the grid-side converter from the power-frequency droop mode back to the constant frequency and constant voltage mode when the preset conditions are met, so as to realize the ship's uninterrupted energy management under different operating conditions; The control logic for the mode self-exit module includes: When the ship leaves the dynamic positioning state or low-speed navigation condition and enters the stable navigation condition, the mode self-exit module sends a switching signal to make the grid-side converter exit the droop control and restore the constant frequency and constant voltage mode, thereby ensuring the high stability of the power grid supply. When the power management system (PMS) issues an off-grid or system maintenance command, the mode self-exit module triggers a control process to gradually reduce the droop coefficient and avoid voltage fluctuations and power surges during the system switching process. When the speed of the shaft-driven generator exceeds the preset safety range (including both overspeed and underspeed abnormalities), the mode self-exit module performs a protective exit action to prioritize the operational safety of the main unit and the power grid. During mode switching, the mode self-exit module adjusts the droop coefficient by gradually returning to zero, gradually releasing the droop adjustment effect, enabling the grid-side converter to transition to constant frequency and constant voltage control without impact, thus achieving a smooth transition of the grid operation strategy.

[0054] This embodiment introduces a mode self-exit module, enabling the system to achieve flexible exit and seamless switching when dealing with navigation status changes, PMS maintenance operations, and main engine malfunctions. Unlike the direct switching methods commonly found in existing technologies, this embodiment avoids abrupt changes in grid voltage through gradual zeroing control, effectively improving the safety and reliability of the ship's electrical grid.

[0055] Example 7, as Figure 2 As shown, specifically: This application provides a method for a ship shaft-driven power generation energy coordinated control system based on dynamic positioning and navigation conditions, the specific steps of which include: Collect ship operating condition data; analyze and judge the collected operating condition data to determine the current operating condition status of the ship, such as whether it is in a dynamic positioning or low-speed navigation phase. When the ship is in a dynamic positioning or low-speed navigation phase, activate the energy coordination mode to coordinate and optimize system operation; when the ship enters a stable navigation condition, activate the constant frequency and constant voltage mode for power management and distribution.

[0056] Based on stable operating conditions and real-time data, the system performs parameter adjustments and power allocation, sends control commands to the power generation unit for execution, optimizes power output, and judges system stability based on adjusted output power, frequency, and other parameters to ensure that the system operates within a safe range. After the system stabilizes, it enters stable monitoring operation, which monitors the status and operational efficiency of the power grid in real time. If the system is judged to be unstable, the system will re-collect the ship's operating condition data for further analysis and adjustment. By monitoring and adjusting the ship's energy management and power distribution, the system ensures stable operation under different operating conditions.

[0057] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this application. Various changes and modifications can be made to this application without departing from the spirit and scope thereof, and all such changes and modifications fall within the scope of this application as claimed. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. A ship shaft-driven power generation energy coordinated control system based on dynamic positioning and navigation conditions, characterized in that, The system includes: a working condition acquisition module, a mode switching module, a synchronization drive module, a power collaborative allocation module, and a power management system (PMS). The mode switching module is used to determine the type of operating condition based on the ship operating condition information provided by the operating condition acquisition module, and generate a mode switching command based on the determined operating condition type. The synchronous drive module is used to embed the droop-inertia-damping model, receive the mode switching command and adjust the parameter configuration of the droop-inertia-damping model according to the mode switching command, parameterize the speed regulation characteristics of the diesel generator set, and generate the droop coefficient of the grid-side converter according to the parameterized modeling. Based on the aforementioned droop coefficient control, a composite control unit containing virtual inertia and damping elements is introduced to simulate the rotor inertia and dynamic characteristics of fuel supply of a diesel generator. The frequency regulation capability of a grid-side converter-type diesel generator is generated based on the rotor inertia and dynamic characteristics of fuel supply of the diesel generator. Under the action of the composite control unit, a segmented response dead zone and an adaptive adjustment intensity function are set. The power and frequency adjustment parameters of the grid-side converter are adjusted according to the frequency adjustment capability. Based on the adjusted power and frequency adjustment parameters, the grid-side converter and the diesel generator set achieve coordinated response and power sharing under different load disturbance conditions. Based on the results of coordinated response and power sharing, an adjustment signal is generated and sent to the power coordinated allocation module; The power coordination allocation module is used to adjust the power allocation strategy based on the adjustment signal, calculate the power target of the power generation unit according to the adjusted power allocation strategy, and generate the power allocation result according to the power target; The Power Management System (PMS) receives the power allocation results generated by the power coordination allocation module, generates power adjustment commands based on the power allocation results, and adjusts the power output of each power generation unit according to the power adjustment commands when the frequency fluctuates or the load changes.

2. The system according to claim 1, characterized in that, The synchronization drive module includes: a frequency acquisition unit, a reference comparison unit, a frequency offset reference generation unit, a frequency adjustment unit, an adjustment signal calculation unit, and an adjustment signal output unit; The frequency acquisition unit is used to acquire the output frequency of the grid-side converter; The reference comparison unit compares the output frequency of the grid-side converter with the grid reference frequency and calculates the frequency deviation. The frequency offset reference generation unit generates a frequency offset reference signal based on the frequency offset calculated by the reference comparison unit. The frequency adjustment unit calculates frequency adjustment parameters based on the frequency deviation reference signal and adjusts the output frequency of the grid-side converter based on the frequency adjustment parameters. The adjustment signal calculation unit combines the frequency offset reference signal with the frequency adjustment parameters to obtain a comprehensive adjustment value; The adjustment signal output unit generates an adjustment signal from the comprehensive adjustment value and outputs it to the power collaborative allocation module.

3. The system according to claim 1, characterized in that, The power coordination allocation module is specifically used for: Based on the overload capacity curves and fuel consumption characteristic models of the shaft-driven generator and diesel engine, an active power target benchmark value for power distribution is generated. The power target of the generator unit of the shaft-driven generator is calculated based on the active power target reference value. After introducing slope limiting control, the calculated power target of the generator unit is converted into a corresponding current command, and the current command is sent to the grid-side converter for output regulation. Based on the adjustment results of the current command, a power allocation result is generated and sent to the power management system (PMS).

4. The system according to claim 3, characterized in that, The power collaborative allocation module further includes the power-phase joint observation unit; specifically used for: Collect the power amplitude and phase difference of the shaft-driven generator and the diesel generator; Based on the collected power amplitude and phase difference, calculate the power phase deviation and power distribution deviation; When the power phase deviation increases in the same direction, it is determined to be a sudden increase in grid load, and the diesel engine power increment is adjusted according to the power distribution deviation and the output capacity of the power generation unit. When the power phase deviation increases in the opposite direction, it is determined to be a sudden drop in propulsion load, and the output power increment is adjusted according to the power distribution deviation and the power absorbed by the shaft generator. Power allocation results are generated based on the power phase deviation and power distribution deviation, and the power allocation results are sent to the power management system (PMS).

5. The system according to claim 1, characterized in that, The power management system (PMS) is specifically used for: Based on the power allocation results generated by the power coordination allocation module, the power adjustment amount of each power generation unit is calculated; When a change in ship load or a fluctuation in net-side frequency is detected, a corresponding power adjustment command is generated based on the power adjustment amount. The power adjustment command is sent to each power generation unit to adjust the power of each power generation unit.

6. The system according to claim 1, characterized in that, The grid-side converter is specifically used for: The grid-side converter integrates an adaptive current limiting module, specifically used for: When the host speed decreases, the active current reference value is reduced to ensure the host speed recovers; Increase the active current reference value as the main engine speed increases; Adjust the current reference value normally during steady-state operation.

7. The system according to claim 1, characterized in that, The system also includes a mode self-exit module, which is specifically used for: When the operating condition acquisition module detects that the ship has lost dynamic positioning or is sailing at low speed and has entered a stable sailing condition, the PMS issues an off-grid or system maintenance command, the shaft generator speed exceeds the preset safety range, or the droop coefficient gradually returns to zero during the mode switching process, the mode self-exit module controls the grid-side converter to smoothly switch from the power-frequency droop mode back to the constant frequency and constant voltage mode.

8. The system according to claim 1, characterized in that, The system also includes a data synchronization module: The data synchronization module adopts a dual-ring redundant communication architecture, which is used to integrate a time-sensitive network switching unit based on the dual-ring redundant communication architecture to generate a synchronous communication channel. Based on the synchronous communication channel, the data synchronization module provides a unified clock synchronization service for the PMS, operating condition acquisition module, mode switching module, synchronous drive module and power collaborative allocation module, and performs protocol conversion and data encapsulation on the frequency adjustment signal, operating condition identifier and mode switching command to generate a unified data frame. Based on the scheduling process of the unified data frame, the data synchronization module dynamically allocates transmission bandwidth and priority for frequency adjustment signals, mode switching instructions and power allocation instructions through the time-sensitive network switching unit, ensuring that key control instructions are transmitted deterministically within the set time limit.

9. The system according to claim 8, characterized in that, The data synchronization module also includes a data traceability and consistency maintenance unit; The data traceability and consistency maintenance unit is used for: In the shared memory, data lineage tags are added to the frequency adjustment signal, operating condition identifier, mode switching instruction and power allocation instruction. The data lineage tags are used to record data generation module, processing link and time series information to realize data traceability and tracking. Data retransmission or an alarm is triggered when a data conflict is detected or an update fails to time out.

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