CN107290979B - A kind of multiaxis electric propulsion semi-physical object simulating test platform - Google Patents
A kind of multiaxis electric propulsion semi-physical object simulating test platform Download PDFInfo
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- CN107290979B CN107290979B CN201710528324.6A CN201710528324A CN107290979B CN 107290979 B CN107290979 B CN 107290979B CN 201710528324 A CN201710528324 A CN 201710528324A CN 107290979 B CN107290979 B CN 107290979B
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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Abstract
The invention belongs to marine electric power propulsion fields, and disclose a kind of multiaxis electric propulsion semi-physical object simulating test platform.The simulation experiment platform includes the exploitation host connected according to this, the mechanical, electrical machine driver of real-time simulation and motor group, and exploitation host is used for developing vessel machine paddle model；Real-time simulation machine is used for collection system status information, completes the control to motor group；Motor driver is divided into active motor and load motor, and motor component is active motor and load motor, and motor driver and motor group are the main bodys for forming half full-scale investigation platform hardware of electric propulsion in loop analog.Through the invention, the semi-physical object simulating experiment for realizing ship or ocean platform electric propulsion, guidance is provided for researcher to design, demonstration and the verification of practical large ship and ocean platform multiaxis electric propulsion system, applied widely, strong robustness, and it is convenient and efficient.
Description
Technical field
The invention belongs to marine electric power propulsion fields, are tried more particularly, to a kind of multiaxis electric propulsion semi-physical object simulating
Test platform.
Background technology
The research of marine electric power propulsion mode and using relatively late, traditional synthesis electrical method system test platform item
Part is restricted by various aspects, is mainly had：Platform construction initial outlay is big, builds true electric propulsion experiment platform, needs to purchase
The equipment such as diesel generating set, mating circulating cooling and oil feed line and equipment, power transformation and electric power distribution are set, even if small scale
System is also required to substantial contribution input and considerably long construction period.After propulsion system construction sizing, all configurations and parameter
It is corresponding to determine, it is difficult to carry out the experiment of new system, such as change the quantity of electric propulsion group, is i.e. ship or platform is pushed away using multiaxis
Into mode when, original system cannot then be met the requirements.Experiment process consumes water power oil resource, and since the operation of diesel engine can produce
Raw atmosphere pollution and noise pollution.Complicated equipment will lead to faster equipment depreciation and more equipment fault in system,
The shift of the work focus for studying electric propulsion system control has been arrived the maintenance, maintenance and trouble hunting of system equipment by this, to ship
The research of oceangoing ship electric propulsion system control itself is unfavorable.
A kind of Electrical Propulsion Ship integrated power system is also disclosed that in Chinese invention patent specification CNIO4597358A
Half half virtual test platform in kind, the patent pass through the output of each equipment of virtual emulation machine simulation system based on electric system
Electric signal carries out output electric signal basic protection, electric energy acquisition and the processing of periphery.Chinese utility model patent specification
A kind of electric propulsion experiment platform is disclosed in CN201974295U, platform includes mainly electric propulsion system, propeller simulation
Load system and generating set system acquire signal by sensor, and can be monitored and control in host computer.Above-mentioned two
Kind platform lays particular emphasis on electric system and the emulation of network of ship and detection, is not involved with the effect of hull model in systems,
Without reference to the design of multiaxis electric propulsion, therefore, above-mentioned two patent lacks certain configuration relative to marine propuision system
Comprehensive and control flexibility.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides a kind of multiaxis electric propulsion semi-physical objects
Quasi- test platform, simulates multiaxis electric propulsion environment by using the motor group comprising multigroup motor, while by opening
Hair host establishes Integrated Model, thus solves not being related to hull model in the prior art and the technology of multiaxis electric system is asked
Topic.
To achieve the above object, according to one aspect of the present invention, it is real to provide a kind of multiaxis electric propulsion in-kind simulation
Platform is tested, which includes the exploitation host connected according to this, the mechanical, electrical machine driver of real-time simulation and motor group,
It is characterized in that,
The exploitation host is used to establish the Integrated Model of the hull, host and propeller, is calculated by the model
The instruction of the adjusted motor group, and it is downloaded to the real-time simulation machine, in addition, the exploitation host is additionally operable to receive, deposit
The information that storage and display are uploaded from the real-time simulation machine；
Real-time simulation machine one end is connect with the motor driver, and the other end is connect with the exploitation host, is realized
The transmission of information between the exploitation host and motor driver；
It include multigroup motor driver and motor group in the simulation experiment platform, wherein one group of motor group
A corresponding motor driver, every group of motor group include active motor and load motor, and the active motor simulates Ship Propeling
Marine main engine, the load of load motor the simulation propeller and ship；
Every group of motor driver includes active motor driver and load motor driver, the active motor driver root
The active motor is adjusted according to the instruction from the real-time simulation machine, thus simulation framework makees the driving of propeller
With the load motor driver adjusts load motor according to the instruction from the real-time simulation machine, to simulate propeller
Dragging effect to host.
It is further preferred that speed probe is provided on each motor terminal of the motor group, for measuring the electricity
The rotating speed of machine.
It is further preferred that the simulation experiment platform further includes power cabinet, which connects with the motor driver
It connects, and is powered to the motor group by the motor driver.
It is further preferred that being connected by Ethernet switch between the exploitation host and the real-time simulation machine
It connects, the real-time simulation machine is attached with the motor driver by I/O modules.
It is further preferred that dead resistance is separately connected on the load motor driver, for consuming the load motor
The electric energy of generation.
It is further preferred that the active motor driver according to the instruction from the real-time simulation machine to the active
Motor is adjusted, and is that the speed to the active motor, acceleration and torque are adjusted；The load motor driver
Load motor is adjusted according to the instruction from the real-time simulation machine, refers to that the torque of the load motor is adjusted.
It is further preferred that each driver in the motor driver is both provided with digital display screen, for showing
After the tach signal for showing the motor group, it is achieved in real time monitoring.
It is further preferred that the active motor and load motor preferably use the identical motor of structure, so that single
A motor, which can do active motor, can also do load motor.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect：
1, for the present invention by establishing a kind of multiaxis electric propulsion in-kind simulation experiment porch, realization scale model is in kind,
The accurate model of propulsion electric machine need not be established during exploitation and experiment, and the simulation experiment platform is more nearly electric propulsion
Actual condition, reduce and this complicated workload modeled to propulsion electric machine；
2, the present invention simulates multiaxis electric propulsion environment, the wherein quantity of motor group by using comprising multigroup motor group
Optionally, it is achieved in the optional of multi-axial, adaptability is all had to a variety of large ships, all kinds of ocean platforms；
3, the present invention establishes ship machine paddle Integrated Model by using exploitation host, is then based on the real-time status of motor group
Information, using the control instruction of the Integrated Model Ship ' movement velocity and calculating motor group, so that motor group root
Reach desired power and torque according to control instruction,
4, the present invention is small by promoting host groups and large ship propeller load to be proportionally reduced into large ship
The scale model method of the servo motor group of volume, reduces the occupied space of test platform, while ensure that and real power
The similitude and real-time of propulsion system, experiment process is substantially without noise pollution, non-environmental-pollution, anhydrous, oil consumption, environmental protection
Type is more preferable；
5, structure flexible arrangement in simulation experiment platform provided by the invention, control corresponding speed is fast, and system interactive is strong,
It is convenient and efficient, it highly shortened the period of electric propulsion and control research and development；
6, motor group of the invention is by using isomorphism motor so that and single motor may act as promoting active motor,
Also it can be used as the load motor of dragging, and the configuration of the model of motor, sensor, shaft coupling model are identical, also increase and be
System hardware redundancy, ensure that system multiaxis reliability of operation and robustness.
Description of the drawings
Fig. 1 is the knot of the multiaxis electric propulsion semi-physical object simulating experiment porch constructed by preferred embodiment according to the invention
Structure schematic diagram；
Fig. 2 is the knot of the uniaxial electric propulsion semi-physical object simulating experiment porch constructed by preferred embodiment according to the invention
Structure lab diagram.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
It does not constitute a conflict with each other and can be combined with each other.
Fig. 1 is the knot of the multiaxis electric propulsion semi-physical object simulating experiment porch constructed by preferred embodiment according to the invention
Structure schematic diagram, as shown in Figure 1, the present invention includes power cabinet, motor driver, motor group, real-time simulation machine, exploitation host.
Exploitation host is for establishing hull, propelling screws model, according to the tachometer of models coupling motor group feedback
Calculating the headway calculating motor group of ship needs rotating speed to be achieved it is expected rotating speed, and control instruction is consequently formed, by the control
System instruction is downloaded to real-time simulation machine, and real-time simulation machine is connect with motor driver, is carried out to motor group by motor driver group
Accurate speed, acceleration and direct torque, on the other hand motor driver connects power electric power cabinet, to host simulated machine group
It being powered, status data is uploaded to corresponding motor driver group by motor, and carries out data processing by motor driver,
Data are uploaded to exploitation host by real-time simulation machine and carry out data preservation and data analysis.
Exploitation host in early period for building ship machine paddle Integrated Model, can real time modifying ship parameter, propeller parameter,
Sea situation parameter is navigated by water, reaches ship's navigation in the process to the different operating modes such as the starting of positive vehicle, reversing, Back Emergency, driving
Simulation, can select different motor groups and motor group quantity to carry out semi-physical object simulating, develop host during the test and supervise
Host computer is controlled, for receiving, storing, display status information, including ship's speed, revolution speed of propeller, power, torque etc., operational process
In can real time modifying parameter configuration.
Motor driver component is active motor driver group and pushes away load motor driver, can be detached from real-time simulation
Machine debugs corresponding motor group manually, and host analog driver group is used for according to real-time simulation machine in the process of running
The signal of offer carries out accurate speed, acceleration, direct torque to corresponding active motor, and load motor driver is according to reality
When signal accurate direct torque is carried out to simulate propeller to host to corresponding load motor the dragging that provides of replicating machine
Effect.In addition, load motor driver needs decomposition load motor being driven the electric energy generated in the process.All motor drivings
Device acquires the tach signal on motor, carries out local digital and shows, and upload the data to exploitation host and monitored in real time.
Real-time simulation machine is attached with exploitation host by Industrial Ethernet, and real-time simulation machine receives under exploitation host
Carry program.Real-time simulation machine carries out information exchange with motor driver by I/O modules, and I/O modules may be implemented one-to-many
Signal is sent and signal acquisition, and is attached by control signal wire.
Motor group uses isomorphism motor, single motor that can be used as and promote host, also can be used as dragging load motor, motor
Isomery in developing host by definition be distinguish.
Exploitation host establishes model and is successively transferred to adjusting of the motor group realization to electric set state after being calculated as instruction,
Then real time status information is uploaded to corresponding motor driver and carries out data processing by motor group, and real-time simulation machine ties processing
Fruit is uploaded to exploitation host and conducts further analysis processing, realizes the closed-loop control of the entire simulation experiment platform, in turn
Realize the simulation to multiaxis marine electric power propulsion environment.
The operation principle of the multiaxis electric propulsion semi-physical object simulating experiment porch is illustrated below.
Hull model, propelling screws characteristic model are established by developing host, and model is downloaded to real-time simulation
Machine, replicating machine carry out the information exchange of instruction and data upload with I/O modules, are connect with motor driver by I/O modules, drive
Device instructs according to real-time simulation machine and carries out accurate speed, acceleration and direct torque to motor group, on the other hand driver connects
Power cabinet is connect, motor group is powered, by the sensor measurement motor speed information on motor terminal, and will be counted
Corresponding motor driver is uploaded to when factually, and data processing is carried out by driver, uploads data using real-time simulation machine
To exploitation host carries out data preservation, data show and analyze.
Fig. 2 is the knot of the uniaxial electric propulsion semi-physical object simulating experiment porch constructed by preferred embodiment according to the invention
Structure lab diagram, as shown in Fig. 2, uniaxial electric propulsion semi-physical object simulating experiment porch includes electric propulsion unit, dragging load machine
Group, I/O modules, real-time simulation machine, Ethernet switch and exploitation host, electric propulsion unit includes power cabinet, active motor
With active motor driver, dragging load unit includes power cabinet, load motor, load motor driver and dead resistance,
Middle power cabinet includes single phase poaer supply, breaker, electromagnetic contactor, AC reactor, noise filter composition power cabinet, active electricity
Machine driver, load motor driver and dead resistance are shown and stand-alone debugging for carrying out real-time local digital；Actively electricity
Machine and load motor are attached using yielding coupling, and speed probe is installed on each motor terminal and is used to measure rotating speed,
I/O modules carry out direct current conversion power supply by other power module.
Communication between devices connection type is as shown in Figure 1, single phase poaer supply, breaker, electromagnetic contactor, AC reactor, make an uproar
It is attached using power cable between acoustic filter and host/load motor driver, is mainly used for transmitting electricity, host/load
Motor driver is powered by the motor line of force to host/load motor, using common cable or shielded cable；Host/load
Motor, to host/load driver transmission of control signals and feedback states signal, is shielded by code device signal line using multiple twin
Line；On-off signal output between real-time simulation machine and interchanger, between interchanger and each host/load motor driver
Signal interaction uses shielded cable, analog input and output signal to be communicated using common cable or paired shield cable, pulse letter
It number is communicated using twisted-pair shielded wire；It is communicated using cable between exploitation host and real-time simulation machine.
It is built by exploitation host progress hull, model propeller, and carries out the logic checking that full digital trigger technique carries out model；
Real-time simulation machine, interchanger, driver group are powered and are started simultaneously；Additionally operating system is generated by developing host
Executable file, and download to real-time simulation machine.Control instruction is sent to each motor by real-time simulation machine by I/O module boards
Driver, motor driver generate corresponding pulse signal according to control instruction and are sent to corresponding motor group, pass through motor side
Sensor on son measures the motor status primary information such as rotating speed in real time, and uploads to corresponding motor by code device signal line
Driver after motor driver is encoded, is locally carrying out digital display, and carry out accurate speed according to the instruction of replicating machine
Degree, acceleration, direct torque.Meanwhile load motor is born the electrical energy transportation generated during load to corresponding by power line
Motor driver is carried, energy expenditure is carried out by the dead resistance connected.Motor driver is by I/O modules by status information
Real-time Feedback carries out real-time state storage, display and analysis to real-time simulation machine, uploading to exploitation host.Operational process
In, change setting value or model parameter in real time by developing host, instruction transmission and information are carried out by above-mentioned identical channel
Feedback.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of multiaxis electric propulsion in-kind simulation experiment porch, the simulation experiment platform include sequentially connected exploitation host,
The mechanical, electrical machine driver of real-time simulation and motor group, which is characterized in that
The exploitation host is used to establish the Integrated Model of hull, host and propeller, and adjusting is calculated by the model
The instruction of the motor group, and it is downloaded to the real-time simulation machine, in addition, the exploitation host is additionally operable to receive, store and show
The information uploaded from the real-time simulation machine；It is described to develop what host was fed back according to the model of foundation and in conjunction with the motor group
Rotating speed calculates the headway for being modeled ship, and then it is expectation rotating speed to calculate the motor group to need rotating speed to be achieved, and by
This forms control instruction, which is downloaded to real-time simulation machine, the closed loop control of the simulation experiment platform is realized with this
System；
Real-time simulation machine one end is connect with the motor driver, and the other end is connect with the exploitation host, described in realization
Develop the transmission of information between host and motor driver；It include multigroup motor driver in the simulation experiment platform
With motor group, wherein one group of motor group corresponds to one group of motor driver, and every group of motor group includes active motor and load motor,
The active motor simulates Ship Propeling marine main engine, and the load motor simulates the load of propeller and ship, and described
Active motor and load motor use the identical motor of structure so that single motor, which can do active motor also, can do load electricity
Machine, in addition, it is both provided with speed probe on each motor terminal of every group of motor group, the rotating speed for measuring the motor；Institute
The each driver stated in motor driver is both provided with digital display screen, the tach signal for showing the motor group,
And it is achieved in electricity
The real time monitoring of generating unit speed, every group of motor driver include active motor driver and load motor driver, described
Active motor driver is adjusted the active motor according to the instruction from the real-time simulation machine, thus simulation framework
To the driving effect of propeller, the load motor driver adjusts load electricity according to the instruction from the real-time simulation machine
Machine acts on the dragging of host to simulate propeller, the load for being consequently formed Ship Propeling host and propeller for vessels coexists,
Configuration is comprehensively, control is flexibly and close to the full simulation experiment porch of electric propulsion actual condition.
2. a kind of multiaxis electric propulsion in-kind simulation experiment porch as described in claim 1, which is characterized in that the simulation is real
It further includes power cabinet to test platform, which connect with the motor driver, and gives the motor by the motor driver
Group power supply.
3. a kind of multiaxis electric propulsion in-kind simulation experiment porch as claimed in claim 1 or 2, which is characterized in that described to open
It is attached by Ethernet switch between hair host and the real-time simulation machine, the real-time simulation machine drives with the motor
Dynamic device is attached by I/O modules.
4. a kind of multiaxis electric propulsion in-kind simulation experiment porch as claimed in claim 1 or 2, which is characterized in that described negative
It carries and is separately connected to dead resistance on motor driver, the electric energy generated for consuming the load motor.
5. a kind of multiaxis electric propulsion in-kind simulation experiment porch as described in claim 1, which is characterized in that the active electricity
Machine driver is adjusted the active motor according to the instruction from the real-time simulation machine, is to the active motor
Speed, acceleration and torque are adjusted；The load motor driver is according to the instruction tune from the real-time simulation machine
Load motor is saved, refers to that the torque of the load motor is adjusted.
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| CN107797463A (en) * | 2017-10-27 | 2018-03-13 | 华中科技大学 | A kind of emulation mode of multiaxis electric propulsion semi-physical object simulating test platform |
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