船舶电力推进模拟平台的研究
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摘要
随着全球能源的紧缺和环保的要求,船舶电力推进技术受到了世界各国的重视。由于船舶电力推进系统存在多变量、强耦合和非线性等特性,其推进控制己成为一个具有挑战性问题,本文在船舶电力推进系统建模与仿真和螺旋桨负载模拟等方面进行了深入研究,主要研究内容如下：
1)以船舶电力推进系统为研究对象,对电力推进平台的组成、控制和功能进行了分析,进行了系统设计,电力推进平台由动力系统和控制系统组成,动力系统包括推进电机、负载电机、制动电阻等,采用机械负载电动模拟技术,推进电机与负载电机同轴连接,推进电机采用转速控制方式,负载电动机采用转矩控制方式,用于模拟螺旋桨的动态负载；控制系统由变频器、PLC、上位监控计算机和实时仿真控制器组成,采用Profibus现场总线技术构成现场总线控制系统,控制系统软件设计包括PLC程序设计、通信程序设计、监控程序设计等。
2)采用基于模型的设计方法,构建了基于硬件在环技术的电力推进模拟平台,建立了四象限的船桨仿真模型,dSPACE实时仿真控制器实时采集推进电动机的转速信号,经船桨模型计算出螺旋桨的转矩信号,作为变频器的给定转矩信号,控制负载电动机的转矩,实现螺旋桨负载的模拟,并对实验数据进行实时监控,该模拟平台为电力推进系统的研究提供了良好的开发环境和研究对象,在此基础上进行半实物的仿真实验,研究了螺旋桨负载模拟技术、监控系统集成技术。
3)对实时硬件在环仿真系统中实系统(小比例模拟系统)和虚系统(原型系统)之间的参数等效缩放及数据通信等问题进行研究,根据相似性理论和量纲分析方法,以及物理量等效缩放原则,确定了选取转动惯量的方法及惯性转矩的计算公式。
4)采用模块化编程方法,建立柴油发电机组并联运行的控制模型,包括自动并网控制、负荷转移和功率均衡控制等模块,进行了并联运行同步发电机的自动并网控制、负载转移控制和功率均衡控制的仿真研究,仿真结果表明所建立的柴油发电机组双机并联运行数学模型的正确性。建立电力推进系统的仿真模型,对推进电机在启动、制动、紧急反转时推进系统的暂态及其对电网的影响进行仿真,仿真结果表明推进电机在直接起动、制动及紧急反转时,推进电动机的负载波动大,为了减少推进电机对电网的冲击,需综合考虑船舶电站的功率裕量和螺旋桨的转矩特性和推进电机的性能,对推进电机进行相应的限制,包括加、减速率的限制、最大转速限制、最大转矩限制和最高转速限制等。
5)从三相VSR主电路的拓扑结构出发,分析了三相静止坐标系以及两相同步旋转坐标系的VSR系统模型,阐述了基于电压矢量定向控制的三相VSR控制策略,分析和推导基于该方法的定向角的检测方法和在不平衡条件下电网电压的正负序分量的检测方法,进行仿真研究,验证该方法的可行性和有效性。
通过开展船舶电力推进系统建模和仿真研究,可再现系统的稳态及动态行为,从而揭示系统的内在规律,对船舶电力推进系统的设计及性能分析具有理论和实际应用意义。
本论文受到国家“211”建设项目“武汉理工大学船舶电力推进仿真实验室建设”、教育部博士点基金项目“舰船电力推进系统仿真”(基金号20040497012)以及高速船舶工程教育部重点实验室开放课题基金项目“船舶电力推进系统的建模与仿真”(基金号HSSE0802)的资助。
The ship electric propulsion technology has gained much attention all over the world because of the global energy shortage and the environmental protection requirements. However, due to the multi-variable and highly coupled and nonlinear structure, high-performance control of electric propulsion system becomes a challenging problem. Research on dynamic load emulation is a hot point of test platform study, the mathematical modeling and simulation of the marine electric propulsion system are systemically investigated in this dissertation, the main works of this dissertation are as follows:
1) Based on numerous literatures, this dissertation refers and absorbs other' merits, utilizes the model design method to put out research on semi-physical simulation system, the emulation platform dedicated to the research on propulsion control is designed and constructed, its components, and working principles are analyzed. The emulation platform was developed based on dSPACE real-time simulation system, The emulation platform that consist of an inverter-driver squirrel-cage motor emulate propeller load, a set of DC linked dual back-to-back pwm voltage-source converts. four quadrant ship-propeller model, the real-time monitoring interface, dspace controller, twin motors coupled on the same stiff shaft, The drive motor and load motor use in induction motor controlled by inverts adopted field orientation control technique, close loop speed control is adopted for drive motor, open loop torque control is used for load motor which emulates propeller load. Results show that the method combines close loop speed control and open loop torque control can emulate dynamic load. The key questions and technical essentials is studied, especially to system integration and control strategy. The emulation platform is universal,
2) In order to simulate propeller load realistically, the Chebyshev polynomial fitting method is utilized to express the Nordstrom propeller, The modularization method is chosen to establish a four quadrant simulating model of propeller, The input of ship-propeller model is motor speed, which represents the propeller speed in the real condition, and its output torque reference are given to the load-motor set. The model code is downloaded to dSPACE real-time simulation platform, the operation and calculation of model is carried on by dSPACE controller. The platform provides a good development environment and research object for research on propulsion control.
3) Hardware in the loop simulation enables experimental study of prototype hardware system via a real-time interaction between physical hardware and virtual model, Virtual model is used to describe the corresponding physical prototype in the system,it is often necessary to scale the signals in and out of the prototype system, a key problem with comparisons is that scaling effects when hardware of one size is simulated by hardware of another size, How to chosen scaling factors, according to dimensional analysis, applying the use of dimensionless variables, as defined by the Π Theorem, a procedure is developed via dimensionless variable method to derive input/output scaling factors. The scaling factors between scaling physical hardware and virtual model is derived from the machine motion equation, so that the experiment equipments can have the same dynamic characters as the real ship.
The proposed controller incorporates droop curves on real and reactive power that enable the gensets to respond to load change, it can maintain system frequency and voltage within prescribed limit and power quality. The generation sets in paralleling connection is able to reduce the circulating reactive power in the system and share load move, the simulation results shows that using the proposed controller for diesel generation sets is able to cooperation during load change, it can improve the performance of marine power system. Development of a flexible component model used for modeling and simulation of marine power plants in Saber, such as disel generation model, speed control system of disel generation, the exciting current control system of disel generation, ship-propeller model, the flex-oriented vector strategies for variable speed drive of squirrel-cage motor, simulation of selected cases of combined power plants during extreme dynamic loads are conducted. The interaction between the motor and generator is studied. Simulation results are analyzed, simulation models are verified by the simulations and experiments based on a hardware-in-loop platform, relevant test cases are done in order to reveal the dynamic behavior of complete electric propulsion system.
5) The thesis analyzed the three-phase VSR model and control strategy, the synchronous coordinate transform and the orientation method. The thesis gave out the design method of the internal current loop and external voltage loop based on the system control models. The thesis also discussed a new phase detection way of designing a PLL by using voltage vector control, the thesis analyzed the positive and negative sequence component detection under the unbalanced conditions, the paper presented a new positive and negative sequence component delayed signal cancellation method, the effectiveness of this method is demonstrated by simulation results.
Modeling and simulation research of marine electrical propulsion system, which can describe static and dynamic behaviors, is helpful to discover inherent principles and to direct the design and management of the system.
The research is supported by the following projects:State "211" Project-"WUT Marine Electrical Propulsion Simulation Lab"; doctor foundation projects of the State Ministry of Education of PRC (No.20040497012); the Research Fund of HSSE, WHUT, the State Ministry of Education (No. HSSE0802).
1)以船舶电力推进系统为研究对象,对电力推进平台的组成、控制和功能进行了分析,进行了系统设计,电力推进平台由动力系统和控制系统组成,动力系统包括推进电机、负载电机、制动电阻等,采用机械负载电动模拟技术,推进电机与负载电机同轴连接,推进电机采用转速控制方式,负载电动机采用转矩控制方式,用于模拟螺旋桨的动态负载；控制系统由变频器、PLC、上位监控计算机和实时仿真控制器组成,采用Profibus现场总线技术构成现场总线控制系统,控制系统软件设计包括PLC程序设计、通信程序设计、监控程序设计等。
2)采用基于模型的设计方法,构建了基于硬件在环技术的电力推进模拟平台,建立了四象限的船桨仿真模型,dSPACE实时仿真控制器实时采集推进电动机的转速信号,经船桨模型计算出螺旋桨的转矩信号,作为变频器的给定转矩信号,控制负载电动机的转矩,实现螺旋桨负载的模拟,并对实验数据进行实时监控,该模拟平台为电力推进系统的研究提供了良好的开发环境和研究对象,在此基础上进行半实物的仿真实验,研究了螺旋桨负载模拟技术、监控系统集成技术。
3)对实时硬件在环仿真系统中实系统(小比例模拟系统)和虚系统(原型系统)之间的参数等效缩放及数据通信等问题进行研究,根据相似性理论和量纲分析方法,以及物理量等效缩放原则,确定了选取转动惯量的方法及惯性转矩的计算公式。
4)采用模块化编程方法,建立柴油发电机组并联运行的控制模型,包括自动并网控制、负荷转移和功率均衡控制等模块,进行了并联运行同步发电机的自动并网控制、负载转移控制和功率均衡控制的仿真研究,仿真结果表明所建立的柴油发电机组双机并联运行数学模型的正确性。建立电力推进系统的仿真模型,对推进电机在启动、制动、紧急反转时推进系统的暂态及其对电网的影响进行仿真,仿真结果表明推进电机在直接起动、制动及紧急反转时,推进电动机的负载波动大,为了减少推进电机对电网的冲击,需综合考虑船舶电站的功率裕量和螺旋桨的转矩特性和推进电机的性能,对推进电机进行相应的限制,包括加、减速率的限制、最大转速限制、最大转矩限制和最高转速限制等。
5)从三相VSR主电路的拓扑结构出发,分析了三相静止坐标系以及两相同步旋转坐标系的VSR系统模型,阐述了基于电压矢量定向控制的三相VSR控制策略,分析和推导基于该方法的定向角的检测方法和在不平衡条件下电网电压的正负序分量的检测方法,进行仿真研究,验证该方法的可行性和有效性。
通过开展船舶电力推进系统建模和仿真研究,可再现系统的稳态及动态行为,从而揭示系统的内在规律,对船舶电力推进系统的设计及性能分析具有理论和实际应用意义。
本论文受到国家“211”建设项目“武汉理工大学船舶电力推进仿真实验室建设”、教育部博士点基金项目“舰船电力推进系统仿真”(基金号20040497012)以及高速船舶工程教育部重点实验室开放课题基金项目“船舶电力推进系统的建模与仿真”(基金号HSSE0802)的资助。
The ship electric propulsion technology has gained much attention all over the world because of the global energy shortage and the environmental protection requirements. However, due to the multi-variable and highly coupled and nonlinear structure, high-performance control of electric propulsion system becomes a challenging problem. Research on dynamic load emulation is a hot point of test platform study, the mathematical modeling and simulation of the marine electric propulsion system are systemically investigated in this dissertation, the main works of this dissertation are as follows:
1) Based on numerous literatures, this dissertation refers and absorbs other' merits, utilizes the model design method to put out research on semi-physical simulation system, the emulation platform dedicated to the research on propulsion control is designed and constructed, its components, and working principles are analyzed. The emulation platform was developed based on dSPACE real-time simulation system, The emulation platform that consist of an inverter-driver squirrel-cage motor emulate propeller load, a set of DC linked dual back-to-back pwm voltage-source converts. four quadrant ship-propeller model, the real-time monitoring interface, dspace controller, twin motors coupled on the same stiff shaft, The drive motor and load motor use in induction motor controlled by inverts adopted field orientation control technique, close loop speed control is adopted for drive motor, open loop torque control is used for load motor which emulates propeller load. Results show that the method combines close loop speed control and open loop torque control can emulate dynamic load. The key questions and technical essentials is studied, especially to system integration and control strategy. The emulation platform is universal,
2) In order to simulate propeller load realistically, the Chebyshev polynomial fitting method is utilized to express the Nordstrom propeller, The modularization method is chosen to establish a four quadrant simulating model of propeller, The input of ship-propeller model is motor speed, which represents the propeller speed in the real condition, and its output torque reference are given to the load-motor set. The model code is downloaded to dSPACE real-time simulation platform, the operation and calculation of model is carried on by dSPACE controller. The platform provides a good development environment and research object for research on propulsion control.
3) Hardware in the loop simulation enables experimental study of prototype hardware system via a real-time interaction between physical hardware and virtual model, Virtual model is used to describe the corresponding physical prototype in the system,it is often necessary to scale the signals in and out of the prototype system, a key problem with comparisons is that scaling effects when hardware of one size is simulated by hardware of another size, How to chosen scaling factors, according to dimensional analysis, applying the use of dimensionless variables, as defined by the Π Theorem, a procedure is developed via dimensionless variable method to derive input/output scaling factors. The scaling factors between scaling physical hardware and virtual model is derived from the machine motion equation, so that the experiment equipments can have the same dynamic characters as the real ship.
The proposed controller incorporates droop curves on real and reactive power that enable the gensets to respond to load change, it can maintain system frequency and voltage within prescribed limit and power quality. The generation sets in paralleling connection is able to reduce the circulating reactive power in the system and share load move, the simulation results shows that using the proposed controller for diesel generation sets is able to cooperation during load change, it can improve the performance of marine power system. Development of a flexible component model used for modeling and simulation of marine power plants in Saber, such as disel generation model, speed control system of disel generation, the exciting current control system of disel generation, ship-propeller model, the flex-oriented vector strategies for variable speed drive of squirrel-cage motor, simulation of selected cases of combined power plants during extreme dynamic loads are conducted. The interaction between the motor and generator is studied. Simulation results are analyzed, simulation models are verified by the simulations and experiments based on a hardware-in-loop platform, relevant test cases are done in order to reveal the dynamic behavior of complete electric propulsion system.
5) The thesis analyzed the three-phase VSR model and control strategy, the synchronous coordinate transform and the orientation method. The thesis gave out the design method of the internal current loop and external voltage loop based on the system control models. The thesis also discussed a new phase detection way of designing a PLL by using voltage vector control, the thesis analyzed the positive and negative sequence component detection under the unbalanced conditions, the paper presented a new positive and negative sequence component delayed signal cancellation method, the effectiveness of this method is demonstrated by simulation results.
Modeling and simulation research of marine electrical propulsion system, which can describe static and dynamic behaviors, is helpful to discover inherent principles and to direct the design and management of the system.
The research is supported by the following projects:State "211" Project-"WUT Marine Electrical Propulsion Simulation Lab"; doctor foundation projects of the State Ministry of Education of PRC (No.20040497012); the Research Fund of HSSE, WHUT, the State Ministry of Education (No. HSSE0802).
引文
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