CN105808847B - A kind of shafting complex vibration and regulation Coupling method analysis system and its analysis method of the diesel engine containing camshaft - Google Patents
A kind of shafting complex vibration and regulation Coupling method analysis system and its analysis method of the diesel engine containing camshaft Download PDFInfo
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Abstract
Shafting complex vibration and regulation Coupling method analysis system and its analysis method the invention discloses a kind of diesel engine containing camshaft.Including PID controller, actuator, instantaneous distributive value module, cylinder pressure module, load, transmission device elasticity shafting module；Actuator is determined the displacement of rack gear pull rod by control parameter regulation output control electric current, and rack gear pull rod displacement determines the distributive value of instantaneous distributive value module output, and distributive value, which by cylinder pressure module is scaled cylinder pressure and exports, gives transmission device elasticity shafting module；The input of transmission device elasticity shafting module includes cylinder pressure and load, it include shafting complex vibration characteristic in each inertia transient speed response of output, the transient speed of camshaft inertia is taken to respond as feedback signal, PID controller is inputted with the difference of rotating speed of target, constitutes closed-loop control system.The present invention successfully predicts pid control parameter, and coupled oscillations failure is avoided to occur, and guarantees the stability of real shipping row.
Description
Technical field
The invention belongs to vibration control engineering fields, more particularly to a kind of Digital Governor for Diesel Engine PID control that is used for join
Shafting complex vibration and regulation Coupling method analysis system and its analysis method of the diesel engine of number prediction containing camshaft.
Background technique
About the coupled problem of power device shafting vibration and regulation, in rotating machinery such as steam turbine, helicopter etc. to can
It has earned widespread respect in the industry more demanding by property, during theoretical and experimentally grid-connected to Turbo-generator Set electric power
Self-oscillation phenomenon make explanations, and electromechanical Coupling Model, power grid and shafting torsional oscillation relationship analysis model and combustion-steaming are joined
The machine net coupling torsional oscillation simulation model etc. for closing unit has more mature research, for example, the Xu Yanhui of North China Electric Power University is established
Mechanical-electric coupling simulation model, the reason of analyzing steam-electric generating set shafting unstability, ([1] Xu Yan can electromechanical coupling under large disturbances
Beijing research [D] of conjunction initiation torsion mode formula destabilization mechanism: North China Electric Power University, 2003.)；North China Electric Power University appoints
The good fortune spring elaborates the coupling between shafting torsional vibration of turbo-generator set and speed regulation, power grid, generator excitation, electrical power stabilization device,
And point out that avoiding measures (learn by [2] good fortune spring Couple Problems in Torsional Vibration ofLarge Turbine-Generator Shaft System [J] North China Electric Power University
Report, 1996 (7), 30-35.)；The loyalty of paying of North China Electric Power University extensively summarizes the relationship of machine net coupling and shafting torsional oscillation, and provides
Analysis model ([3] pay discussion [J] power equipment that loyal wide Power System Disturbances influence shaft system of unit torsional oscillation, 2007 (10):
5-9.)；The Deng Qiuheng of Shanghai Communications University establishes the simulation model of gas-steam combined cycle set machine net coupling torsional oscillation,
([4] Deng asks permanent large size to fire for the influence of transient state torque between analysis different type, each quality of different location short trouble shaft
Gas-Steam Combined Cycle unit machine net couples torsional oscillation and studies [D] master thesis, Shanghai: Shanghai Communications University,
2007.).For helicopter field, have from transmission chain model to engine regulator control system coupling model to people-machine-speed regulation
System coupling model, Zi simple to the research process of complexity, for example, Wang Hui, Chen Hua et al. of China Helicopter Research and Development Institute,
The coupling closed-loop system mathematical model for establishing helicopter torsional vibration system and engine control system, analyzes stability and stabilization
([5] Wang Hui, Chen Hua, Liu Zhi text helicopter engine control system couples stabilization with rotor/power/transmission torsional vibration system to nargin
Property analysis Helicopter Technology .2002 (4): 19-23.)；Foreign study person Marilena D P et al. is in research transmission chain torsional oscillation
When with engine fuel regulator control system coupled oscillations problem, it is associated with the operation quality of pilot, transmission chain torsional oscillation is people
A part in machine coupled oscillations closed-loop system provides people-machine-regulation coupling theory ([6] Marilena D P, Michael
J,Binh D,et al.Adverse rotorcraft pilot couplings-Past,present and future
challenges.Progress in Aerospace Sciences.2013,62:1–51P.)。
However in terms of the reciprocating machines such as diesel engine, it is to separate research that the revolving speed of diesel engine, which is controlled with torsional oscillation, in ship
In specification, the two is proposed to check respectively to require, coupled characteristic is not proposed but to check requirement ([7] China Classification Society, steel
Seagoing vessel, which enters grade and builds, to be standardized, Beijing: People's Transportation Press, 2005,3 (12)), the coupled problem in reciprocating machine field is ground
Study carefully very few.Research of the domestic and international researcher in terms of diesel engine regulates and controls simulation analysis is a lot of, is single inertia by shafting processing, no
The elasticity of shafting itself and the vibration characteristics of shafting are considered, for example, the Yang Bin of the Maritime Affairs University Of Dalian and foreign study person Farouk
Naeim etc. establishes diesel speed control system simulation model, ([8] Yang Bin diesel engine speed control of advanced PID control algorithm
[D] master thesis, Liaoning: the Maritime Affairs University Of Dalian, 2009:32-35P. are analyzed in system emulation processed), ([9] Farouk
Naeim,Sheng Liu,Said Leghmizi.Speed control system on marine diesel engine
based on a self-tuning fuzzy PID controller.Research Journal of Applied
Sciences,Engineering and Technology.2012,4(6):p686-690.).A small number of documents are embodied to diesel oil
The research of machine coupled problem, since this century, foreign study person Pey Yuen Tao etc. is in order to reduce fluid caused by propeller
The shafting torsional oscillation generated is motivated, turning for the control method control propeller of adaptive neural network is added in elastic shafting model for torsional vibration
Speed fluctuation, and simulation study has been carried out, but only consider shafting torsional oscillation characteristic ([10] Pey Yuen of propeller part
Tao, Shuzhi Sam Ge, Tong Heng Lee.Adaptive Neural Network Control for Marine
Shafting System Using Dynamic Surface Control.16th IEEE International
Conference on Control Applications, 1-3October 2007:717-722P.)；Harbin Engineering University
Han Xiao be directed to a Special Work ship diesel propulsion system, establish shafting torsional oscillation and speed regulating control Coupling Simulation Model,
And to the reasonable control parameter of debugging, simulation result and identical ([11] the Han Xiao .4000 tons of workboat diesel engine speed regulation of experimental result
System and Propulsion Systems torsional oscillation coupled oscillations study [D] master thesis, Heilungkiang: Harbin Engineering University, and 2015.).
In summary, shafting vibration and control system coupled problem, have more achievement in rotating machinery field, however in bavin
The reciprocating machines such as oil machine field rarely has research, and it is single used for mostly handling shafting in the research of diesel engine speed regulation stability of control system
Amount, without considering the elasticity of shafting itself and the vibration characteristics of shafting.Wherein there is the Han Xiao of Harbin Engineering University to establish bavin
Oil machine shafting torsional oscillation Coupling Simulation Model and is analyzed with regulation, but only accounts for the Torsional Vibration Characteristics of shafting, is not had
Consider that shafting has torsional oscillation, lateral, longitudinal complex vibration characteristic, during estimating the stability analysis of pid control parameter
Multiple poles of shaft complex vibration do not account for；Its shafting torsional oscillation model does not consider camshaft, timing gear train
Elastic construction.
Summary of the invention
Pid control parameter can be predicted the object of the present invention is to provide one kind, axis of the diesel engine containing camshaft
It is complex vibration and regulation Coupling method analysis system.The purpose of the present invention further includes providing one kind to can be improved control stability
, shafting complex vibration of the diesel engine containing camshaft and regulation Coupling method analysis method.
A kind of shafting complex vibration and regulation Coupling method analysis system of the diesel engine containing camshaft, including PID controller,
Actuator, instantaneous distributive value module, cylinder pressure module, load, transmission device elasticity shafting module；
Tri- control parameters of P, I, D are arranged by internal in PID controller；
Actuator, instantaneous distributive value module and cylinder modular pressure are respectively according to resulting three spies of diesel engine test data
Linearity curve, that is, actuator electric current and rack gear pull rod displacement relation curve, the displacement of rack gear pull rod and distributive value relation curve, distributive value
It being fitted with cylinder pressure relation curve, actuator is determined the displacement of rack gear pull rod by control parameter regulation output control electric current,
Rack gear pull rod displacement determines that the distributive value of instantaneous distributive value module output, distributive value are scaled cylinder pressure by cylinder pressure module
Power, which exports, gives transmission device elasticity shafting module；
Transmission device elasticity shafting module is by diesel engine from crankshaft to load, timing gear train, the complete biography of camshaft
What dynamic system was reduced to be made of multiple rotary inertias and elastic shaft part, there is torsion, revolution, extensional vibration complex vibration characteristic
Elastic System Model, the input of transmission device elasticity shafting module includes cylinder pressure and load, each inertia of output
Include shafting complex vibration characteristic in transient speed response, takes the transient speed of camshaft inertia to respond and be used as feedback signal, with
The difference of rotating speed of target inputs PID controller, constitutes closed-loop control system.
A kind of shafting complex vibration and regulation Coupling method analysis method of the diesel engine containing camshaft, take camshaft inertia
Transient speed response is used as feedback signal, inputs PID controller with the difference of rotating speed of target, PID controller passes through internal setting
P, tri- control parameters of I, D；
Actuator is determined the displacement of rack gear pull rod, rack gear pull rod displacement determines by control parameter regulation output control electric current
The distributive value of instantaneous distributive value module output, distributive value, which by cylinder pressure module is scaled cylinder pressure and exports, gives transmission device bullet
Property shafting module；
Cylinder pressure and load are inputted into transmission device elasticity shafting module, export each inertia transient speed response.
The utility model has the advantages that
According to Literature Consult result it is found that shafting is reduced to single in conventional diesel engine speed regulating control stability analysis
Inertia is not to consider shafting elasticity and vibration characteristics, respectively to Diesel Shafting complex vibration and diesel engine in ship specification
Speed regulating control claims, between the two the autonomous system not couple；When traditional Diesel Shafting Analysis of Vibration Characteristic, and
The elastic construction of camshaft, timing gear train is not accounted for.
Therefore, present invention has an advantage that 1, by the single inertia shafting model in traditional speed regulating control stability analysis
It is reduced to more inertia, the Elastic System Model with the complex vibrations characteristic such as torsion, revolution, longitudinal direction；2, shafting model includes
Timing gears and camshaft elastic construction take the Instantaneous Speed Fluctuations of camshaft inertia as the feedback letter of closed-loop control system
Number；3, in predictive PID Control parameter and system stability analysis, on the basis of conventional diesel engine speed-adjusting and control system pole
The considerations of increasing the pole of shaft complex vibration, thus when improving prediction gained pid control parameter applied to real shipping row
Stability.
Detailed description of the invention
Fig. 1 is shafting complex vibration of the diesel engine containing camshaft and speed regulating control coupled structure schematic diagram；
Fig. 2 is shafting complex vibration of the diesel engine containing camshaft and speed regulating control coupled oscillations genesis mechanism figure；
Fig. 3 is 4000 tons of Special Work ship Diesel Shafting vibrations and speed-regulating system Coupling Simulation Model；
Fig. 4 is under former pid control parameter, and 4000 tons of Special Work ship shafting complex vibrations and speed regulating control coupling model fly
Take turns inertia transient speed simulation result；
Fig. 5 is 4000 tons of Special Work ship flywheel inertia transient speed shiphoard measurement results under former pid control parameter；
Fig. 6 is 4000 tons of Special Work ship shafting complex vibrations and speed regulating control coupled mode after optimizing under pid control parameter
Type flywheel inertia transient speed simulation result；
Fig. 7 is 4000 tons of Special Work ship flywheel inertia transient speed shiphoard measurement knots after optimizing under pid control parameter
Fruit.
Specific embodiment
The present invention is described in further details below in conjunction with attached drawing.
Shafting complex vibration and regulation Coupling method analysis the object of the present invention is to provide a kind of diesel engine containing camshaft
Method is used for prediction of Diesel Engine electron speed regulator pid control parameter, when improving pid control parameter applied to real shipping row
Stability.
The object of the present invention is achieved like this:
1) by the analysis of diesel engine speed regulation control stability comprising from crankshaft to load, timing gear train, camshaft
Complete shafting structure is reduced to be made of multiple rotary inertias and elastic shaft part, there is torsion, revolution, extensional vibration etc. to answer
Close the Elastic System Model of vibration characteristics；
2) diesel engine speed regulation control process is fitted with prototype testing data, takes more inertia shafting complex vibration models
Feedback signal of the output cam axis transient speed as coupling control system；
3) by the way that both shafting complex vibration and regulator control system are coupled together, when being estimated to pid control parameter, not only
Consider influence of the diesel engine speed regulation control system pole to system stability, also increase shaft complex vibration model pole is to being
The influence for stability of uniting, this improves the reasonability for estimating gained pid control parameter and is applied to stability when real shipping row, peace
Quan Xing.
In conjunction with Fig. 1, shafting complex vibration of the diesel engine containing camshaft and speed regulating control coupling model are closed-loop control system,
Transmission device elasticity shafting module therein is more inertia, has the complex vibrations characteristics such as torsion, revolution and longitudinal direction, includes bavin
Oil machine is united from crankshaft to the complete power train of load, timing gear train, camshaft；The controller of electron speed regulator is PID control,
Actuator, instantaneous distributive value, cylinder pressure module utilize experimental data: actuator electric current and rack gear pull rod displacement relation curve,
The displacement of rack gear pull rod is fitted with distributive value relation curve, distributive value and cylinder pressure relation curve；Take camshaft inertia
Transient speed signals constitute closed-loop control system as controller feedback signal.
In conjunction with Fig. 2, it may be said that bright Diesel Shafting vibration and speed regulating control coupled oscillations genesis mechanism, electronic governing system
The transient speed at camshaft inertia is received as feedback signal, forms closed-loop control system.The transient speed of camshaft inertia
For torsional vibration of shafting torsional angle response first differential, containing shafting complex vibration characteristic, when the signal feeds back to PID control
Device, if failing to filter out shafting complex vibration inherent characteristic therein after via controller, shafting complex vibration therein is inherently special
Property will be transferred to always cylinder pressure module, as the input of transmission device elasticity shafting module, and cause to resonate, the phenomenon is not
Disconnected circulation, to form self-oscillation phenomenon.
In conjunction with real ship case, the diesel propulsion system of 4000 tons of Special Work ships, diesel engine speed 540r/min
Operating condition illustrates that shafting complex vibration of the diesel engine containing camshaft and regulation Coupling method analysis method are applied to diesel engine electronic tune
Fast device pid control parameter prediction:
It establishes Diesel Shafting using the diesel propulsion system of 4000 tons of Special Work ships as research object in conjunction with Fig. 3 and contains
The complex vibration of camshaft and speed regulating control Coupling Simulation Model, controller is held using pid parameter control, diesel engine in model
Row device, rack displacement, distributive value the course of work be fitted using shiphoard measurement data, Diesel Shafting module is mostly used
Amount, the system with the complex vibrations characteristic such as torsion, revolution, longitudinal direction take transient speed signals at camshaft inertia to be used as feedback,
Constitute closed loop coupling control system.
In conjunction with Fig. 4, Fig. 5, it is based on 4000 tons of Special Work ship Diesel Shaftings vibrations and speed regulating control Coupling Simulation Model,
Set consistent with real ship control parameter for pid parameter, i.e. P=0.8, I=0.6, D=0.4.Results of model simulation is shown in figure
4, flywheel inertia Instantaneous Speed Fluctuations amount reaches ± 22r/min；Transient speed result is shown in Fig. 5, undulate quantity at shiphoard measurement flywheel
Reach ± 21r/min.As it can be seen that simulation result and shiphoard measurement result are coincide, fluctuation of speed amount is big, and coupled oscillations event occurs for real ship
Hinder phenomenon.Simulation model can succeed inverting reality ship shafting coupled oscillations phenomenon.
In conjunction with Fig. 6, Fig. 7, it is based on 4000 tons of Special Work ship Diesel Shaftings vibrations and speed regulating control Coupling Simulation Model,
Pid control parameter is optimized, Instantaneous Speed Fluctuations are small to obtain, one group of suitable pid control parameter of smooth running, from
And avoid the generation of coupled oscillations phenomenon.
It is optimized after diesel engine speed 540r/min when pid control parameter be P=0.28, I=0.18, D=0.4, it is excellent
Transient speed calculated result is shown in Fig. 6 at flywheel inertia after change, and undulate quantity reaches ± 2r/min；The controller PID of real ship is joined
It counts after being adjusted to the optimization after pid parameter, transient speed result is shown in Fig. 7 at shiphoard measurement flywheel, and undulate quantity reaches ± 3r/min.
As it can be seen that shiphoard measurement result and simulation result coincide, fluctuation of speed amount is small, real ship shafting coupled oscillations trouble shooting, successfully right
Pid control parameter is predicted, the generation of coupled oscillations failure is avoided, and guarantees the stability of real shipping row.
The present invention is to provide a kind of diesel engines for the prediction of Digital Governor for Diesel Engine pid control parameter to contain camshaft
Shafting complex vibration and regulation Coupling method analysis method.
Shafting complex vibration of the diesel engine containing camshaft and regulation coupling model include PID controller, actuator, cylinder pressure
Several parts such as power, load, transmission system elasticity shafting are constituted, and tri- control ginsengs of P, I, D are arranged by internal in PID controller
Number plays control action, and actuator is determined the displacement of rack gear pull rod, the displacement of rack gear pull rod by control parameter regulation output control electric current
Amount influences distributive value, and distributive value is scaled cylinder pressure, and the simulation of actuator is resulting according to diesel engine test data as a result,
Three characteristic curves are fitted, i.e. actuator electric current and rack gear pull rod displacement relation curve, the displacement of rack gear pull rod and distributive value
Relation curve, distributive value and cylinder pressure relation curve；Elastic shafting module is by diesel engine from crankshaft to load, timing gears
System, camshaft complete power train system be reduced to be made of multiple rotary inertias and elastic shaft part, there is torsion, revolution, vertical
To the Elastic System Model of the complex vibrations characteristics such as vibration, the input stimulus of elastic shafting module includes that cylinder pressure and load carry
Lotus, shafting module output each inertia transient speed response in include shafting complex vibration characteristic, take the instantaneous of camshaft inertia
Rotating speed response inputs PID controller as feedback signal, with the difference of rotating speed of target, so that closed-loop control system is constituted, such as Fig. 1
It is shown.
Shafting complex vibration of the diesel engine that this patent is proposed containing camshaft and regulation Coupling method analysis method, with reality
Ship test data is fitted working process of diesel engine, while emphasis shaft elastic model carries out refinement modeling, makes its guarantor
The complex vibrations characteristics such as the torsion, revolution, extensional vibration of actual transmission system are stayed, in the pid control parameter to electron speed regulator
When being estimated, the influence that Diesel Shafting complex vibration is coupled with regulation is considered.It can be increased with this and estimate pid control parameter and answer
For the reliability of real ship, the production of the self-oscillation failure occurred due to Diesel Shafting complex vibration is coupled with regulation is avoided
It is raw.
Fig. 2 gives shafting complex vibration of the diesel engine containing camshaft and machine occurs for the coupled oscillations failure of speed regulating control
Reason, electronic governing system receive the transient speed at camshaft inertia as feedback signal, form closed-loop control system.Camshaft
The transient speed of inertia is the first differential of torsional vibration of shafting torsional angle response, containing shafting complex vibration characteristic, when the signal
PID controller is fed back to, if failing to filter out shafting complex vibration inherent characteristic therein after via controller, shafting therein is multiple
Cylinder pressure module will be transferred to always by closing vibration inherent characteristic, as the input of transmission device elasticity shafting module, and be caused
Resonance, which constantly recycles, to form self-oscillation phenomenon.Therefore through Diesel Shafting complex vibration and speed regulating control
Coupling model estimates reasonable pid control parameter, can avoid shafting complex vibration inherent characteristic and recycles and produce in closed-loop system
It is born from Induced Oscillation.
Fig. 3-Fig. 7 is transported under revolving speed 540r/min operating condition with the diesel propulsion system of 4000 tons of Special Work ships
Real ship case attached drawing when turning.It is right according to Diesel Shafting complex vibration and speed regulating control coupling model that this patent is proposed
Fig. 3 is shown in reality ship case modeling；According to simulation model, set consistent with real ship control parameter for pid control parameter, emulation and
Transient speed result at flywheel obtained by shiphoard measurement is shown in Fig. 4 and Fig. 5, it is seen that undulate quantity is respectively ± 22r/min and ± 21r/
As a result min coincide substantially, the real ship self-oscillation phenomenon of model success inverting.
Pid control parameter under diesel engine 540r/min operating condition is optimized and is estimated, gained flywheel instantaneously turns after optimization
Fast simulation result is shown in Fig. 6, and undulate quantity is ± 2r/min；Pid control parameter after optimization is applied and real ship controller, real boat measurement
Examination gained flywheel transient speed simulation result is shown in Fig. 7, and undulate quantity is ± 3r/min, as a result coincide substantially.Real ship revolving speed vibration at this time
Swing trouble shooting.
Real ship analysis of cases explanation, shafting complex vibration and regulation of the diesel engine containing camshaft proposed according to this patent
Coupling method analysis method can successfully can predict pid control parameter with inverting reality ship phenomenon of the failure, and coupling is avoided to shake
The generation of failure is swung, guarantees the stability of real shipping row.
Claims (2)
1. a kind of shafting complex vibration of diesel engine containing camshaft and regulation Coupling method analysis system, it is characterised in that: including
PID controller, actuator, instantaneous distributive value module, cylinder pressure module, load, transmission device elasticity shafting module；
Tri- control parameters of P, I, D are arranged by internal in PID controller；
Actuator, instantaneous distributive value module and cylinder modular pressure are respectively according to the resulting three characteristic songs of diesel engine test data
Line, that is, actuator electric current and rack gear pull rod displacement relation curve, the displacement of rack gear pull rod and distributive value relation curve, distributive value and gas
Cylinder pressure relationship plot is fitted, and actuator is determined the displacement of rack gear pull rod, rack gear by control parameter regulation output control electric current
Pull rod displacement determines the distributive value of instantaneous distributive value module output, and it is defeated that distributive value by cylinder pressure module is scaled cylinder pressure
Transmission device elasticity shafting module is given out；
Transmission device elasticity shafting module is by diesel engine from crankshaft to load, the complete power train of timing gear train, camshaft
What system was reduced to be made of rotary inertia and elastic shaft part, have torsion, revolution, extensional vibration complex vibration characteristic elasticity system
System model, the input of transmission device elasticity shafting module includes cylinder pressure and load, and the rotary inertia of output instantaneously turns
Include shafting complex vibration characteristic in speed response, the transient speed of cam axle inertia is taken to respond as feedback signal, with mesh
The difference for marking revolving speed inputs PID controller, constitutes closed-loop control system.
2. a kind of shafting complex vibration based on diesel engine described in claim 1 containing camshaft and regulation Coupling method analysis are
The analysis method of system, it is characterised in that:
The transient speed of cam axle inertia is taken to respond as feedback signal, by the difference input PID control of itself and rotating speed of target
Tri- control parameters of P, I, D are arranged by internal in device processed, PID controller；
Actuator is determined the displacement of rack gear pull rod, rack gear pull rod displacement determines instantaneous by control parameter regulation output control electric current
The distributive value of distributive value module output, distributive value, which by cylinder pressure module is scaled cylinder pressure and exports, gives transmission device elastic shaft
It is module；
Cylinder pressure and load are inputted into transmission device elasticity shafting module, output rotary inertia transient speed response.
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| CN106569407B (en) * | 2016-09-11 | 2019-08-20 | 国网浙江省电力公司电力科学研究院 | A kind of online administering method of Steam Flow Excited Vibration on Steam Turbine based on vibration gradient control |
| CN107103146B (en) * | 2017-05-09 | 2018-12-11 | 哈尔滨工程大学 | A kind of coupled oscillations state lower transmissioning gear case Analysis of Vibration Characteristic method |
| CN109388907B (en) * | 2018-10-31 | 2022-10-14 | 中船动力研究院有限公司 | Design method of shafting with preset longitudinal vibration dynamic flexibility |
| CN114647940A (en) * | 2022-03-25 | 2022-06-21 | 深圳中广核工程设计有限公司 | Simulation system and method for four-stroke turbocharging diesel generating set of nuclear power plant |
| CN114954829A (en) * | 2022-07-01 | 2022-08-30 | 武汉理工大学 | Ship main propulsion device vibration signal simulation method for diagnosis and verification |
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