CN104076730B - The controllable pitch propeller of z-type propulsion promotes mainly control method - Google Patents
The controllable pitch propeller of z-type propulsion promotes mainly control method Download PDFInfo
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Abstract
The controllable pitch propeller that the invention discloses a kind of z-type propulsion promotes mainly control method, when pitch is in zero-bit in the method, when engine speed is minimum speed, the minima of available main unit load, main frame peak load is known, main handle is made to be given actual pitch, so pitch output valve is also known, require that pitch change changes linearly increasing in ratio with main unit load, and proportionality coefficient is constant, the ideal value of main unit load can be obtained by calculating us, compared with predicted value by actual load, if drawing, difference is beyond range of error, main unit load is compensated by the way of compensating engine speed, make the main unit load of reality close to ideal value, sluggish and the network delay in view of system, compensate and control to use PREDICTIVE CONTROL, to reduce sluggish adverse effect control system produced with network delay of system.
Description
Technical field
The present invention relates to CPP technical field of system control, the controllable pitch propeller in particular to a kind of z-type propulsion promotes mainly control
Method processed.
Background technology
CPP system (Controllable Pitch Propeller, adjustable pitch propeller) is disposed in propeller hub
Operating mechanism, control the thrust direction that reaches to control to promote mainly when blade rotates and size by adjustable screw oar pitch promotes mainly control
System processed, this system as it is shown in figure 5, include main make handle (built-in-potential device) 1, pitch feedback device 2, plc data gather mould
Block 3, marine main engine 5, PLC center processing unit 6, on-site control cabinet 7, proportioning valve 8.Since 20th century, moral, English, U.S., auspicious
The relevant research institution of the state such as allusion quotation and Norway has all carried out substantial amounts of research to tuning for Controllable Pitch Propeller and control thereof, and tuning for Controllable Pitch Propeller is by various countries
Great attention, a large amount of boats and ships are all equipped with Changeable Pitch Propeller Control.Existing controllable pitch propeller is promoted mainly method and is divided into two kinds, and one
Planting is main frame perseverance rotating speed, and one is that engine speed is adjustable:
When the first changes the thrust size of system of promoting mainly with direction when main frame perseverance rotating speed by control airscrew pitch,
When airscrew pitch changes in less scope, main unit load change is very mild, but when airscrew pitch is bigger
In the range of change time, main unit load changes the most greatly, as it is shown in figure 1, wayward, easily impact main frame, shortens master
In the applicable time limit of machine, it is also not susceptible to the manipulation of boats and ships.
The second changes engine speed while changing airscrew pitch, and engine speed is carried out according to actual motion state
Classification sets, and makes load variations more mild, and as a example by the CPP control system of NORISTAR company exploitation, this system is to main frame
The control of rotating speed is divided into 10 grades, and every grade provides corresponding engine speed and matches with airscrew pitch, makes load variations become relatively
For gently, but still there is the problem of manipulation irregularity, and every grade of rotating speed saltus step moment still can produce impact, control to main frame
Effect processed is as shown in Figure 2.
List of references: " boats and ships based on generalized predictive control can size mixing network control system research " Marine engineering the total 31st
Volume, the fifth phase in 2009, page 33, Qi Liang, Yu Meng luxuriant writes, and describes above-mentioned control technology.
Summary of the invention
Present invention aim to provide the controllable pitch propeller of a kind of z-type propulsion to promote mainly control method, the method can carry
The ride comfort of high ship's navigation manipulation, the impact that during reduction ship's navigation, marine main engine is caused by load variations irregularity.
For realizing this purpose, the controllable pitch propeller of the z-type propulsion designed by the present invention promotes mainly control method, and its feature exists
In, it comprises the steps:
Step 1: control marine main engine output engine speed minima V0, airscrew pitch percentage ratio control command P simultaneouslyx
For null value P0Time, PLC center processing unit obtains marine main engine load minima A0；
Step 2: boats and ships are during by operator's control, and main to make handle pass through the main potentiometer making handle inner defeated
Go out to comprise airscrew pitch percentage ratio control command PxMain with engine speed control command makes analogue signal, this airscrew pitch
Percentage ratio control command PxThe airscrew pitch that can control boats and ships output is maximum with negative sense at the forward maximum of airscrew pitch
Change between value, this airscrew pitch percentage ratio control command PxControl percentage for the real-time airscrew pitch of boats and ships output
The actual maximum that value is propeller for vessels pitch of the actual output of ratio, i.e. propeller for vessels pitch is multiplied by airscrew pitch percentage
Ratio control command Px, above-mentioned main make analogue signal input plc data acquisition module, this plc data acquisition module by main order simulation
Signal is converted into and main makes digital signal；
Step 3: described plc data acquisition module makes digital signal pass through CAN transmission to central authorities' control chamber by main
PLC center processing unit, PLC center processing unit makes digital signal be reduced into main making analogue signal by main；
Step 4: described PLC center processing unit obtains ideal value A of marine main engine load by following relational expressionx:
(Px-P0)/(Ax-A0)=(| P1|-P0)/(A1-A0) (1)
In above formula 1, PxIt it is the main airscrew pitch hundred making handle 1 be exported by the main potentiometer 4 made within handle 1
Proportion by subtraction control command, P0For null value airscrew pitch percentage ratio control command, i.e. P0=0%, A0Minimum for marine main engine load
Value, P1Life is controlled for forward maximum airscrew pitch percentage ratio control command or maximum negative value airscrew pitch percentage ratio
Order, i.e. P1=± 100%, A1For marine main engine fully loaded value；
In above-mentioned formula 1, it is known that P0=0%, P1=± 100%；
Obtain, Ax=(A1-A0)|Px|+A0 (2)
Due to A1, A0For given value, input actual airscrew pitch percentage ratio control command P so working asxTime, PLC center
Reason unit is calculated ideal value A of marine main engine loadx；
Step 5: described PLC center processing unit obtains marine main engine load actual value A at marine main enginey, then pass through
Following relational expression obtains marine main engine load actual value AyWith marine main engine load ideal value AxDifference A△；
A△=Ay-Ax (3)
In above-mentioned formula 3, AyFor marine main engine load actual value, AxFor marine main engine load ideal value；
By marine main engine load actual value A in PLC center processing unityWith marine main engine load ideal value AxDifference
A△Compare, as-δ≤A with default range of error-δ～δ (δ > 0)△During≤δ, marine main engine running status is preferable shape
State；
Work as A△< during-δ, the actual value of marine main engine load is less than the ideal value of marine main engine load, PLC center processing list
Unit, by adjusting the main engine speed control command made in analogue signal, realizes the adjustment to marine main engine rotating speed, passes through ship
The adjustment of oceangoing ship engine speed makes marine main engine load actual value AyMeet-δ≤A△The requirement of≤δ, now PLC center processing unit
Record the adjusted value V of marine main engine rotating speed△, the adjusted value V of marine main engine rotating speed△It is marine main engine velocity compensated value, this
Time marine main engine rotating speed adjusted value V△> 0, i.e. marine main engine rotating speed accelerates to make main unit load adjust to ideal value；
Work as A△> δ time, the actual value of marine main engine load is more than the ideal value of marine main engine load, PLC center processing unit
By adjusting the main engine speed control command made in analogue signal, realize the adjustment to marine main engine rotating speed, pass through boats and ships
The adjustment of engine speed makes marine main engine load actual value AyMeet-δ≤A△The requirement of≤δ, now PLC center processing unit note
The adjusted value V of the lower boats and ships engine speed of record△, the adjusted value V of marine main engine rotating speed△It is marine main engine velocity compensated value, now
The adjusted value V of marine main engine rotating speed△< 0, i.e. marine main engine rotating speed deceleration makes main unit load adjust ideal value；
Step 6: described PLC center processing unit is by the adjusted value of engine speed value current for boats and ships Yu marine main engine rotating speed
V△And obtain marine main engine rotating speed input value V after the adjustment of PREDICTIVE CONTROL by existing Model Predictive Control modey
(n)；
Step 7:PLC center processing unit is by marine main engine rotating speed input value V after the adjustment of PREDICTIVE CONTROLyN () is defeated
Enter to marine main engine to control the rotating speed of marine main engine.
Further, in described step 5, in the range of error-δ preset～δ (δ > 0), the span of δ is marine main engine
Load ideal value Ax1%.
Beneficial effects of the present invention:
1) by the control to marine main engine rotating speed, make marine main engine load from minimum load at full capacity for stationary linear
Change, and the control mode employing Forecasting compensatory control mode of engine speed, the system that decreases is sluggish and network delay is to control
The adverse effect that system produces.
2) present invention is by controlling airscrew pitch and marine main engine rotating speed, it is achieved machine oar jointly controls pattern, and spiral shell
Away from being linear matched with engine speed, improve the ride comfort of ship's navigation manipulation, during reducing ship's navigation, load becomes
Change the impact that marine main engine is caused by irregularity.
3) present invention determine that pitch and the excursion of main unit load and characteristic, compare the reality of main unit load when changing pitch
Actual value and preferable predicted value, when the difference of main unit load actual value and preferable predicted value is beyond range of error, pass through main frame
The mode of speed considerations makes main unit load reach preferable predicted value.
Accompanying drawing explanation
Fig. 1 is under permanent rotating speed pattern, CPP system pitch and main unit load changing trend diagram；
Fig. 2 is that engine speed uses stagewise to set, CPP system pitch and main unit load changing trend diagram；
Fig. 3 is under preferable state, CPP system pitch and main unit load changing trend diagram；
When Fig. 4 is for using Forecasting compensatory control mode, CPP pitch and main unit load changing trend diagram；
Fig. 5 is the structural representation of existing CPP system；
In Fig. 1, Fig. 2, Fig. 3, Fig. 4, AyFor marine main engine load actual value, P1For forward maximum airscrew pitch percentage
Ratio control command or maximum negative value airscrew pitch percentage ratio control command, A1Rated power (host performance is exported for main frame
Parameter, for known), A0For marine main engine load minima, P0For null value airscrew pitch percentage ratio control command, PxFor boats and ships
The control percentage ratio of the real-time airscrew pitch of output.
Wherein, 1 main handle, 2 pitch feedback devices, 3 plc data acquisition modules, 4 potentiometers, 5 boats and ships are made
Main frame, 6 PLC center processing units, 7 on-site control cabinets, 8 proportioning valves.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
The controllable pitch propeller of a kind of z-type propulsion promotes mainly control method, it is characterised in that it comprises the steps:
Step 1: control marine main engine 5 and export engine speed minima V0(host performance parameter, for known), spiral simultaneously
Oar pitch percentage ratio control command PxFor null value P0Time (PLC center processing unit 6 is controlled by on-site control cabinet 7 and proportioning valve 8
Airscrew pitch, and, pitch feedback device 2 feeds back the airscrew pitch of reality to PLC center processing unit 6), PLC center
Processing unit 6 obtains marine main engine load minima A0(being collected to marine main engine by PLC center processing unit 6)；
Step 2: boats and ships, during by operator's control, main make handle 1 by the main potentiometer made within handle 1
4 outputs comprise airscrew pitch percentage ratio control command PxMain with engine speed control command makes analogue signal, this propeller
Pitch percentage ratio control command PxThe airscrew pitch of boats and ships output can be controlled at the forward maximum of airscrew pitch and negative sense
Change between maximum, this airscrew pitch percentage ratio control command PxControl hundred for the real-time airscrew pitch of boats and ships output
The actual maximum that value is propeller for vessels pitch of the actual output of proportion by subtraction, i.e. propeller for vessels pitch is multiplied by airscrew pitch hundred
Proportion by subtraction control command Px, above-mentioned main make analogue signal input plc data acquisition module 3, this plc data acquisition module 3 is by main order
Analogue signal is converted into and main makes digital signal；
Step 3: described plc data acquisition module 3 makes digital signal pass through CAN transmission to central authorities' control chamber by main
PLC center processing unit 6, PLC center processing unit 6 makes digital signal be reduced into main making analogue signal by main；
Step 4: described PLC center processing unit 6 obtains ideal value A of marine main engine load by following relational expressionx:
(Px-P0)/(Ax-A0)=(| P1|-P0)/(A1-A0) (1)
In this formula, marine main engine load ideal value in pitch by P0To P1It is all linear scale during change to increase, and compares
Example coefficient is constant, as it is shown on figure 3, the corresponding ship's navigation of this formula preferably manipulates ride comfort；
In above formula 1, PxIt it is the main airscrew pitch hundred making handle 1 be exported by the main potentiometer 4 made within handle 1
Proportion by subtraction control command, P0For null value airscrew pitch percentage ratio control command, i.e. P0=0%, A0Minimum for marine main engine load
Value, P1Life is controlled for forward maximum airscrew pitch percentage ratio control command or maximum negative value airscrew pitch percentage ratio
Order, i.e. P1=± 100%, A1For marine main engine fully loaded value；
In above-mentioned formula 1, it is known that P0=0%, P1=± 100%；
Obtain, Ax=(A1-A0)|Px|+A0 (2)
Due to A1, A0For given value, input actual airscrew pitch percentage ratio control command P so working asxTime, PLC center
Reason unit 6 is calculated ideal value A of marine main engine loadx；
Step 5: described PLC center processing unit 6 obtains marine main engine load actual value A at marine main engine 5y, then lead to
Cross following relational expression and obtain marine main engine load actual value AyWith marine main engine load ideal value AxDifference A△；
A△=Ay-Ax (3)
In above-mentioned formula 3, AyFor marine main engine load actual value, AxFor marine main engine load ideal value；
By marine main engine load actual value A in PLC center processing unit 6yWith marine main engine load ideal value AxDifference
A△Compare, as-δ≤A with default range of error-δ～δ (δ > 0)△During≤δ, marine main engine running status is preferable shape
State；
Work as A△< during-δ, the actual value of marine main engine load is less than the ideal value of marine main engine load, PLC center processing list
Unit 6, by adjusting the main engine speed control command made in analogue signal, realizes the adjustment to marine main engine rotating speed, passes through ship
The adjustment of oceangoing ship engine speed makes marine main engine load actual value AyMeet-δ≤A△The requirement of≤δ, now PLC center processing unit
The 6 adjusted value V recording marine main engine rotating speed△, the adjusted value V of marine main engine rotating speed△It is marine main engine velocity compensated value, this
Time marine main engine rotating speed adjusted value V△> 0, i.e. marine main engine rotating speed accelerates to make main unit load adjust to ideal value；
Work as A△> δ time, the actual value of marine main engine load is more than the ideal value of marine main engine load, PLC center processing unit
6, by adjusting the main engine speed control command made in analogue signal, realize the adjustment to marine main engine rotating speed, pass through boats and ships
The adjustment of engine speed makes marine main engine load actual value AyMeet-δ≤A△The requirement of≤δ, now PLC center processing unit 6
Record the adjusted value V of marine main engine rotating speed△, the adjusted value V of marine main engine rotating speed△It is marine main engine velocity compensated value, this
Time marine main engine rotating speed adjusted value V△< 0, i.e. marine main engine rotating speed deceleration makes main unit load adjust ideal value；
Step 6: described PLC center processing unit 6 is by the adjustment of engine speed value current for boats and ships Yu marine main engine rotating speed
Value V△And by existing Model Predictive Control mode (list of references: " boats and ships based on generalized predictive control can be sized mixing network
Control system research " total volume 31 of Marine engineering, the fifth phase in 2009, page 33, Qi Liang, Yu Meng luxuriant writes, and describes above-mentioned control
Technology processed) obtain marine main engine rotating speed input value V after the adjustment of PREDICTIVE CONTROLyN (), (in view of system sluggishness and network
Time delay, control mode adds PREDICTIVE CONTROL, enhances response speed and the handling of system, it is possible to effective compensation system is slow
The adverse effect that CPP control system is produced by stagnant and network delay, as shown in Figure 4)；
Step 7:PLC center processing unit 6 is by marine main engine rotating speed input value V after the adjustment of PREDICTIVE CONTROLyN () is defeated
Enter to marine main engine 5 to control the rotating speed of marine main engine.
In technique scheme, in described step 5, in the range of error-δ preset～δ (δ > 0), the span of δ is ship
Oceangoing ship main unit load ideal value Ax1%.
The content that this specification is not described in detail belongs to prior art known to professional and technical personnel in the field.
Claims (2)
1. the controllable pitch propeller of a z-type propulsion promotes mainly control method, it is characterised in that it comprises the steps:
Step 1: control marine main engine (5) output engine speed minima V0, airscrew pitch percentage ratio control command P simultaneouslyxFor
Null value P0Time, PLC center processing unit (6) obtains marine main engine load minima A0；
Step 2: boats and ships, during by operator's control, main make handle (1) by the main potentiometer making handle (1) internal
(4) output comprises airscrew pitch percentage ratio control command PxMain with engine speed control command makes analogue signal, this spiral
Oar pitch percentage ratio control command PxThe airscrew pitch of the boats and ships output forward maximum in airscrew pitch can be controlled with negative
Change between maximum, this airscrew pitch percentage ratio control command PxControl for the real-time airscrew pitch of boats and ships output
The actual maximum that value is propeller for vessels pitch of the actual output of percentage ratio, i.e. propeller for vessels pitch is multiplied by airscrew pitch
Percentage ratio control command Px, above-mentioned main make analogue signal input plc data acquisition module (3), this plc data acquisition module (3)
Make analogue signal be converted into main making digital signal by main；
Step 3: described plc data acquisition module (3) makes digital signal pass through CAN transmission to central authorities' control chamber by main
PLC center processing unit (6), PLC center processing unit (6) makes digital signal be reduced into main making analogue signal by main；
Step 4: described PLC center processing unit (6) obtains ideal value A of marine main engine load by following relational expressionx:
(Px-P0)/(Ax-A0)=(| P1|-P0)/(A1-A0) (1)
In above formula 1, PxIt it is the main airscrew pitch making handle (1) be exported by the main potentiometer (4) making handle (1) internal
Percentage ratio control command, P0For null value airscrew pitch percentage ratio control command, i.e. P0=0%, A0Minimum for marine main engine load
Value, P1Life is controlled for forward maximum airscrew pitch percentage ratio control command or maximum negative value airscrew pitch percentage ratio
Order, i.e. P1=± 100%, A1For marine main engine fully loaded value；
In above-mentioned formula 1, it is known that P0=0%, P1=± 100%；
Obtain, Ax=(A1-A0)|Px|+A0 (2)
Due to A1, A0For given value, input actual airscrew pitch percentage ratio control command P so working asxTime, PLC center processing list
Unit (6) is calculated ideal value A of marine main engine loadx；
Step 5: described PLC center processing unit (6) obtains marine main engine load actual value A from marine main engine (5)y, then pass through
Following relational expression obtains marine main engine load actual value AyWith marine main engine load ideal value AxDifference A△；
A△=Ay-Ax (3)
In above-mentioned formula 3, AyFor marine main engine load actual value, AxFor marine main engine load ideal value；
By marine main engine load actual value A in PLC center processing unit (6)yWith marine main engine load ideal value AxDifference A△
Compare, as-δ≤A with default range of error-δ～δ (δ > 0)△During≤δ, marine main engine running status is perfect condition；
Work as A△< during-δ, the actual value of marine main engine load is less than the ideal value of marine main engine load, PLC center processing unit (6)
By adjusting the main engine speed control command made in analogue signal, realize the adjustment to marine main engine rotating speed, pass through boats and ships
The adjustment of engine speed makes marine main engine load actual value AyMeet-δ≤A△The requirement of≤δ, now PLC center processing unit
(6) the adjusted value V of marine main engine rotating speed is recorded△, the adjusted value V of marine main engine rotating speed△It is marine main engine velocity compensated value,
The now adjusted value V of marine main engine rotating speed△> 0, i.e. marine main engine rotating speed accelerates to make main unit load adjust to ideal value；
Work as A△> δ time, the actual value of marine main engine load is more than the ideal value of marine main engine load, PLC center processing unit (6)
By adjusting the main engine speed control command made in analogue signal, realize the adjustment to marine main engine rotating speed, pass through boats and ships
The adjustment of engine speed makes marine main engine load actual value AyMeet-δ≤A△The requirement of≤δ, now PLC center processing unit
(6) the adjusted value V of marine main engine rotating speed is recorded△, the adjusted value V of marine main engine rotating speed△It is marine main engine velocity compensated value,
The now adjusted value V of marine main engine rotating speed△< 0, i.e. marine main engine rotating speed deceleration makes main unit load adjust ideal value；
Step 6: described PLC center processing unit (6) is by the adjusted value of engine speed value current for boats and ships Yu marine main engine rotating speed
V△And obtain marine main engine rotating speed input value V after the adjustment of PREDICTIVE CONTROL by existing Model Predictive Control modey
(n)；
Step 7:PLC center processing unit (6) is by marine main engine rotating speed input value V after the adjustment of PREDICTIVE CONTROLyN () inputs
The rotating speed of marine main engine is controlled to marine main engine (5).
The controllable pitch propeller of z-type propulsion the most according to claim 1 promotes mainly control method, it is characterised in that: described step
In 5, in the range of error-δ preset～δ (δ > 0), the span of δ is marine main engine load ideal value Ax1%.
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| CN112001314A (en) * | 2020-08-25 | 2020-11-27 | 江苏师范大学 | Early fault detection method for variable speed hoist |
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