CN114590384B - Cooperative control method and device for outboard motor with different power - Google Patents
Cooperative control method and device for outboard motor with different power Download PDFInfo
- Publication number
- CN114590384B CN114590384B CN202210314084.0A CN202210314084A CN114590384B CN 114590384 B CN114590384 B CN 114590384B CN 202210314084 A CN202210314084 A CN 202210314084A CN 114590384 B CN114590384 B CN 114590384B
- Authority
- CN
- China
- Prior art keywords
- outboard motor
- control
- output power
- control board
- pmin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 3
- 238000004886 process control Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 239000000295 fuel oil Substances 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
- Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
- Y02T70/5236—Renewable or hybrid-electric solutions
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The invention discloses a cooperative control method and a device for outboard motors with different powers, wherein the method comprises the following steps: s100: judging whether a control system of the outboard motor is electrified, if so, executing the step S200, otherwise, executing the step S900; s200: initializing a control system; s300: the control signal collector collects control instructions input by a user and sends the control instructions to the plurality of primary control boards; s400: calculating the required actual output power of each outboard motor, and sending control instructions of the required actual output power of each corresponding outboard motor to each secondary control board; s500: each secondary control board sends a control instruction to the outboard motor; s600: each torque sensor respectively collects torque data and sends the torque data to the primary control board; s700: calculating the current output power of each outboard motor in real time, and sending feedback control instructions to each secondary control board in real time according to the calculation result; s800: judging whether the control system is powered off, if yes, executing step S900, otherwise, executing step S300; s900: ending the flow.
Description
Technical Field
The invention belongs to the field of power propeller management and electric ships, and relates to a cooperative control method and device for outboard motors with different powers.
Background
The outboard motor is a propulsion engine mounted on the outboard side of the hull, and is usually suspended on the outboard side of the transom, also called an outboard motor. The working principle of the fuel oil type outboard engine is that chemical energy of fuel oil is converted into mechanical energy through an internal combustion engine, and then converted into kinetic energy for advancing the ship through mechanical transmission and a propeller.
In the prior art, most fuel type outboard motors can only be controlled singly, and because the output power of outboard motors of different models is different, a user cannot control outboard motors of different models and different powers to output with the same power at the same time, so that the forward advancing stability of the ship body cannot be maintained, and the energy consumption economy cannot be maintained.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a cooperative control method of outboard motors with different powers, which comprises the following steps: according to the speed control instruction input by the user and the maximum output power of different outboard motors, the required actual output power of each outboard motor is calculated, so that the stability of forward running of the ship body is maintained, and meanwhile, the economical efficiency of energy consumption is also maintained.
Meanwhile, the invention also provides a cooperative control device of the outboard motor with different powers, which is used for controlling a plurality of outboard motors with different powers at the same time.
The method provided by the invention comprises the following steps:
s100: judging whether a control system of the outboard motor is electrified, if so, executing a step S200, otherwise, executing a step S900;
s200: initializing the control system, wherein the control system comprises a control signal collector, a primary control board, a plurality of secondary control boards, a plurality of outboard motors, a plurality of torque sensors corresponding to the outboard motors respectively, communication interfaces and analog-to-digital conversion interfaces;
the interface comprises an Ethernet interface, an RS485 interface, an analog-to-digital conversion interface, a digital-to-analog conversion interface and an electronic relay control interface;
s300: the control signal collector collects control instructions input by a user and sends the control instructions to the plurality of primary control boards, wherein the control instructions comprise speed control instructions;
s400: the primary control board receives the speed control instruction sent by the control signal collector and carries out analog-to-digital conversion, calculates the required actual output power of each outboard motor according to the speed control instruction and the maximum output power of different outboard motors, and sends control instructions corresponding to the required actual output power of each corresponding outboard motor to each secondary control board;
s500: each secondary control board respectively converts a control instruction corresponding to the required actual output power of the corresponding outboard motor into an analog signal and sends the analog signal to the outboard motor;
s600: each torque sensor connected to each outboard motor propeller respectively collects output torque data of each corresponding outboard motor and sends the torque data to the primary control board;
s700: the primary control board receives torque data of each torque sensor, calculates current output power of each outboard motor in real time, and sends feedback control instructions to each secondary control board in real time according to calculation results so as to maintain the speed set by a user;
s800: judging whether the control system is powered off, if yes, executing step S900, otherwise, executing step S300;
s900: ending the flow.
Preferably, the step S400 includes:
s401: setting the maximum power of each of the first outboard motor, the second outboard motor, the third outboard motor and the nth outboard motor as P1 and P2, respectively, setting the minimum value of P1 and P2 as Pmin, and calculating the maximum power pmax=n of the ship as Pmin;
setting the current speed to be x% of the fastest speed;
s402: calculating the current required output power pc=pmax x according to the set x%;
s403: the average power required to be output by a single outboard motor is calculated as:
Pavg＝Pc/n＝(Pmax*x％)/n＝n*Pmin*x％/n＝Pmin*x％；
s404: calculating the percentage of the actual output power required by the first outboard motor to the current required output power Pc:
Pc1＝(Pavg/P1)*100％＝((Pc/n)/P1)*100％＝(((Pmax*x％)/n)/P1)*100％＝((((n*Pmin)*x％)/n)/P1)*100％＝Pmin*x％/P1*100％；
calculating the percentage of the actual output power required by the second outboard motor to the current required output power Pc:
Pc2＝(Pavg/P2)*100％＝((Pc/n)/P2)*100％＝(((Pmax*x％)/n)/P2)*100％＝((((n*Pmin)*x％)/n)/P2)*100％＝Pmin*x％/P2*100％；
......
calculating the percentage of the actual output power required by the nth outboard motor to the current required output power Pc:
Pcn＝(Pavg/Pn)*100％＝((Pc/n)/Pn)*100％＝(((Pmax*x％)/n)/Pn)*100％＝((((n*Pmin)*x％)/n)/Pn)*100％＝Pmin*x％/Pn*100％；
s404: and converting the percentage of the required actual output power of each outboard motor to the current required output power Pc into a control instruction corresponding to the actual output power of each outboard motor, which is sent to each secondary control board, and sending the control instruction to each secondary control board.
Preferably, n is a natural number greater than 1.
Preferably, P1, P2.
Preferably, x is a real number of not less than 0 and not more than 100.
The utility model provides a cooperative control device of outboard motor of different power, its characterized in that includes control signal collector, one-level control panel, a plurality of secondary control panel, a plurality of outboard motor that correspond respectively with a plurality of secondary control panel, a plurality of torque sensor that correspond respectively with a plurality of outboard motor, wherein:
control signal collector: the system comprises a push rod for acquiring a ship speed control signal, a rotary table for acquiring a direction signal, and a switch for acquiring a system on-off signal, wherein the push rod is used for man-machine interaction and acquiring a user operation signal;
primary control panel: to receive and process control signals, comprising:
receiving torque data of each torque sensor; converting the analog signal sent by the control signal collector into a digital signal; calculating the required actual output power of each outboard motor in real time; sending an instruction to each secondary control board through an RS485 bus; sending feedback control instructions to each secondary control board in real time, and maintaining the speed set by a user;
and (3) a secondary control board: the control device is connected with an accelerator control structure of the outboard motor through an interface, and is used for receiving an outboard motor control signal sent by the primary control board, converting the outboard motor control signal into an analog signal and sending the analog signal to the outboard motor;
outboard motor: to provide power output of the hull;
torque sensor: and the propeller connected to the outboard motor is used for collecting output torque data of the outboard motor and providing data for feedback control of the primary control board.
Drawings
FIG. 1 is a general flow chart of the method provided by the present invention;
fig. 2 is a schematic block diagram of a cooperative control apparatus provided by the present invention.
Detailed Description
Fig. 1 shows a general flow chart of the method provided by the invention. As shown in fig. 1, the method of the present invention comprises the steps of:
s100: judging whether a control system of the outboard motor is electrified, if so, executing the step S200, otherwise, executing the step S900;
s200: initializing a control system, wherein the control system comprises a control signal collector, a primary control board, a plurality of secondary control boards, a plurality of outboard motors, a plurality of torque sensors corresponding to the outboard motors respectively, communication interfaces and analog-to-digital conversion interfaces;
the interface comprises an Ethernet interface, an RS485 interface, an analog-to-digital conversion interface, a digital-to-analog conversion interface and an electronic relay control interface;
s300: the control signal collector collects control instructions input by a user and sends the control instructions to the plurality of primary control boards, wherein the control instructions comprise speed control instructions;
s400: the primary control board receives the speed control instruction sent by the control signal collector and carries out analog-to-digital conversion, calculates the required actual output power of each outboard motor according to the speed control instruction and the maximum output power of different outboard motors, and sends control instructions corresponding to the required actual output power of each corresponding outboard motor to each secondary control board; step S400 includes:
s401: setting the maximum power of each of the first outboard motor, the second outboard motor, the third outboard motor and the nth outboard motor as P1 and P2, respectively, setting the minimum value of P1 and P2 as Pmin, and calculating the maximum power pmax=n of the ship as Pmin;
setting the current speed to be x% of the fastest speed;
s402: calculating the current required output power pc=pmax x according to the set x%;
s403: the average power required to be output by a single outboard motor is calculated as:
Pavg＝Pc/n＝(Pmax*x％)/n＝n*Pmin*x％/n＝Pmin*x％；
s404: calculating the percentage of the actual output power required by the first outboard motor to the current required output power Pc:
Pc1＝(Pavg/P1)*100％＝((Pc/n)/P1)*100％＝(((Pmax*x％)/n)/P1)*100％＝((((n*Pmin)*x％)/n)/P1)*100％＝Pmin*x％/P1*100％；
calculating the percentage of the actual output power required by the second outboard motor to the current required output power Pc:
Pc2＝(Pavg/P2)*100％＝((Pc/n)/P2)*100％＝(((Pmax*x％)/n)/P2)*100％＝((((n*Pmin)*x％)/n)/P2)*100％＝Pmin*x％/P2*100％；
......
calculating the percentage of the actual output power required by the nth outboard motor to the current required output power Pc:
Pcn＝(Pavg/Pn)*100％＝((Pc/n)/Pn)*100％＝(((Pmax*x％)/n)/Pn)*100％＝((((n*Pmin)*x％)/n)/Pn)*100％＝Pmin*x％/Pn*100％；
s404: and converting the percentage of the required actual output power of each outboard motor to the current required output power Pc into a control instruction corresponding to the actual output power of each outboard motor, which is sent to each secondary control board, and sending the control instruction to each secondary control board.
In one embodiment provided by the invention, two outboard engines are provided, namely an outboard engine (1) and an outboard engine (2).
The total output power of the outboard motor (1) is 30 horsepower, and the total output power of the outboard motor (2) is 15 horsepower. Taking the minimum Pmin of the two powers as 15 horsepower, the theoretical maximum output power Pmax of the system is 2×15=30 horsepower, the user wants the ship to advance at 5% of full speed, and the primary control board calculates the current required output power as pc=pmax×x% =30×5% =1.5 horsepower. To ensure that the ship is advancing straight ahead, the average power Pavg of each outboard motor should be controlled to be:
pavg=pc/n= (Pmax x%)/n=n×pmin%/n=pmin×x% =15×5% =0.75 horsepower,
therefore, the outboard motor (1) should output 2.5% of the total output power of the outboard motor (1), i.e., pmin x%/P1 100% = (15 x 5%/30) 100% = 2.5%.
Similarly, the outboard motor (2) should output 5% of the total output power of the outboard motor (2) ((1.5/15) ×100% =5%). After the primary control board calculates the current power value required to be output by each outboard motor (in other words, calculates the percentage of the required actual output power to the current required output power Pc), a control command is sent to the secondary control board corresponding to the outboard motor through the RS485 bus.
S500: each secondary control board respectively converts a control instruction corresponding to the required actual output power of the corresponding outboard motor into an analog signal and sends the analog signal to the outboard motor;
s600: each torque sensor connected to each outboard motor propeller respectively collects output torque data of each corresponding outboard motor and sends the torque data to the primary control board;
s700: the primary control board receives torque data of each torque sensor, calculates current output power of each outboard motor in real time, and sends feedback control instructions to each secondary control board in real time according to calculation results, so that the speed set by a user is maintained;
s800: judging whether the control system is powered off, if yes, executing step S900, otherwise, executing step S300;
s900: ending the flow.
The invention also provides a cooperative control device of the outboard motor with different powers. Fig. 2 shows a schematic block diagram of a cooperative control apparatus provided by the present invention. As shown in fig. 2, a cooperative control apparatus 100 for outboard motors with different power includes a control signal collector 101, a primary control board 102, a plurality of secondary control boards 103, a plurality of outboard motors 104 corresponding to the secondary control boards, and a plurality of torque sensors 105 corresponding to the outboard motors, wherein:
control signal collector 101: the system comprises a push rod for acquiring a ship speed control signal, a rotary table for acquiring a direction signal, and a switch for acquiring a system on-off signal, wherein the push rod is used for man-machine interaction and acquiring a user operation signal;
primary control board 102: to receive and process control signals, comprising:
receiving torque data of each torque sensor 105; converting the analog signal transmitted by the control signal collector 101 into a digital signal; calculating the required actual output power of each outboard motor 104 in real time; sending instructions to each secondary control board 103 through an RS485 bus; sending feedback control instructions to each secondary control board 103 in real time, and maintaining the speed set by the user;
the secondary control board 103: the control device is connected with an accelerator control structure of the outboard motor 104 through an interface, and is used for receiving an outboard motor 104 control signal sent by the primary control board 102, converting the outboard motor 104 control signal into an analog signal and sending the analog signal to the outboard motor 104;
outboard motor 104: to provide power output of the hull;
torque sensor 105: the propeller connected to the outboard motor 104 is used for collecting output torque data of the outboard motor 104 and providing data for feedback control of the primary control board 102.
It is to be understood that the invention is not limited to the examples described above, and that modifications and variations may be effected in light of the above teachings by those skilled in the art, all of which are intended to be within the scope of the invention as defined in the appended claims.
Claims (1)
1. The cooperative control method of the outboard motor with different powers is characterized by comprising the following steps of:
s100: judging whether a control system of the outboard motor is electrified, if so, executing a step S200, otherwise, executing a step S900;
s200: initializing the control system, wherein the control system comprises a control signal collector, a primary control board, a plurality of secondary control boards, a plurality of outboard motors, a plurality of torque sensors corresponding to the outboard motors respectively, an Ethernet interface, an RS485 interface, a digital-to-analog conversion interface and an electronic relay control interface;
wherein the control signal collector: the system comprises a push rod for acquiring a ship speed control signal, a rotary table for acquiring a direction signal, and a switch for acquiring a system on-off signal, wherein the push rod is used for man-machine interaction and acquiring a user operation signal;
primary control panel: to receive and process control signals, comprising: receiving torque data of each torque sensor; converting the analog signal sent by the control signal collector into a digital signal; calculating the required actual output power of each outboard motor in real time; sending an instruction to each secondary control board through an RS485 bus; sending feedback control instructions to each secondary control board in real time, and maintaining the speed set by a user;
and (3) a secondary control board: the control device is connected with an accelerator control structure of the outboard motor through an interface, and is used for receiving an outboard motor control signal sent by the primary control board, converting the outboard motor control signal into an analog signal and sending the analog signal to the outboard motor;
outboard motor: to provide power output of the hull;
torque sensor: the propeller is connected to the outboard motor and used for collecting output torque data of the outboard motor and providing data for feedback control of the primary control board;
s300: the control signal collector collects control instructions input by a user and sends the control instructions to the primary control board, wherein the control instructions comprise speed control instructions;
s400: the primary control board receives the speed control instruction sent by the control signal collector and carries out analog-to-digital conversion, calculates the required actual output power of each outboard motor according to the speed control instruction and the maximum output power of different outboard motors, and sends control instructions corresponding to the required actual output power of each corresponding outboard motor to each secondary control board;
wherein the step S400 includes:
s401: setting the maximum power of each of the first outboard motor, the second outboard motor, the third outboard motor and the nth outboard motor as P1 and P2 respectively, setting the minimum value of P1 and P2 as Pmin, and calculating the maximum power Pax=n of the ship as Pmin, wherein the P1 and P2 are not completely equal, and n is a natural number larger than 1;
setting the current speed to be x% of the fastest speed, wherein x is a real number which is not less than 0 and not more than 100;
s402: calculating the current required output power pc=pmax x according to the set x%;
s403: the average power required to be output by a single outboard motor is calculated as:
Pavg＝Pc/n＝(Pmax*x％)/n＝n*Pmin*x％/n＝Pmin*x％；
s404: calculating the percentage of the actual output power required by the first outboard motor to the current required output power Pc:
Pc1＝(Pavg/P1)*100％＝((Pc/n)/P1)*100％＝(((Pmax*x％)/n)/P1)*100％＝((((n*Pmin)*x％)/n)/P1)*100％＝Pmin*x％/P1*100％；
calculating the percentage of the actual output power required by the second outboard motor to the current required output power Pc:
Pc2＝(Pavg/P2)*100％＝((Pc/n)/P2)*100％＝(((Pmax*x％)/n)/P2)*100％＝((((n*Pmin)*x％)/n)/P2)*100％＝Pmin*x％/P2*100％；
......
calculating the percentage of the actual output power required by the nth outboard motor to the current required output power Pc:
Pcn＝(Pavg/Pn)*100％＝((Pc/n)/Pn)*100％＝(((Pmax*x％)/n)/Pn)*100％＝((((n*Pmin)*x％)/n)/Pn)*100％＝Pmin*x％/Pn*100％；
s404: the percentage of the required actual output power of each outboard motor to the current required output power Pc is converted into a control instruction corresponding to the actual output power of each outboard motor, which is sent to each secondary control board;
s500: each secondary control board respectively converts a control instruction corresponding to the required actual output power of the corresponding outboard motor into an analog signal and sends the analog signal to the outboard motor;
s600: each torque sensor connected to each outboard motor propeller respectively collects output torque data of each corresponding outboard motor and sends the torque data to the primary control board;
s700: the primary control board receives torque data of each torque sensor, calculates current output power of each outboard motor in real time, and sends feedback control instructions to each secondary control board in real time according to calculation results so as to maintain the speed set by a user;
s800: judging whether the control system is powered off, if yes, executing step S900, otherwise, executing step S300;
s900: ending the flow.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210314084.0A CN114590384B (en) | 2022-03-28 | 2022-03-28 | Cooperative control method and device for outboard motor with different power |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210314084.0A CN114590384B (en) | 2022-03-28 | 2022-03-28 | Cooperative control method and device for outboard motor with different power |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114590384A CN114590384A (en) | 2022-06-07 |
| CN114590384B true CN114590384B (en) | 2024-04-02 |
Family
ID=81819245
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210314084.0A Active CN114590384B (en) | 2022-03-28 | 2022-03-28 | Cooperative control method and device for outboard motor with different power |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114590384B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009101715A (en) * | 2007-10-19 | 2009-05-14 | Honda Motor Co Ltd | Control device for plant |
| CN105947165A (en) * | 2016-05-23 | 2016-09-21 | 哈尔滨工程大学 | Ship rudder machine system and rudder steering control method thereof |
| WO2017125359A1 (en) * | 2016-01-20 | 2017-07-27 | Siemens Aktiengesellschaft | Vessel energy management system |
| CN111597640A (en) * | 2020-05-22 | 2020-08-28 | 上海海事大学 | Method for predicting demand load of hybrid power ship under condition classification |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8060265B2 (en) * | 2007-01-16 | 2011-11-15 | Ab Volvo Penta | Method of steering aquatic vessels |
-
2022
- 2022-03-28 CN CN202210314084.0A patent/CN114590384B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009101715A (en) * | 2007-10-19 | 2009-05-14 | Honda Motor Co Ltd | Control device for plant |
| WO2017125359A1 (en) * | 2016-01-20 | 2017-07-27 | Siemens Aktiengesellschaft | Vessel energy management system |
| CN105947165A (en) * | 2016-05-23 | 2016-09-21 | 哈尔滨工程大学 | Ship rudder machine system and rudder steering control method thereof |
| CN111597640A (en) * | 2020-05-22 | 2020-08-28 | 上海海事大学 | Method for predicting demand load of hybrid power ship under condition classification |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114590384A (en) | 2022-06-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105173092A (en) | Hybrid power multi-shaft rotor wing unmanned aerial vehicle | |
| ITRM930308A1 (en) | PROCEDURE FOR THE CONTROL OF A HYBRID PROPULSOR MOUNTED ON A VEHICLE. | |
| CN104859827A (en) | Ship diesel-electric hybrid power device based on shaft driven motor and diesel engine parallel operation propulsion | |
| KR101787746B1 (en) | Propulsion chain | |
| JP6405021B1 (en) | Ship propulsion system control method, ship propulsion system control device, and ship equipped with this control device | |
| CN101767645A (en) | Novel electric propulsion system | |
| CN107229223B (en) | Intelligent switching system of multi-drive mode of ocean energy unmanned ship | |
| CN102635450B (en) | Automobile dual-fuel switch control method and device | |
| CN114590384B (en) | Cooperative control method and device for outboard motor with different power | |
| CN110080888B (en) | Cylinder-breaking control method for diesel main engine with fixed pitch propeller | |
| CN118205696A (en) | Dual-drive tug electric propulsion system and intelligent working mode adjusting method thereof | |
| CN112572744A (en) | Double-shaft four-engine ship hybrid power system and propulsion control method thereof | |
| CN113071649A (en) | Ship gas-electric hybrid power mode switching coordination control strategy | |
| CN202429342U (en) | Novel electric propulsion system for riverboat | |
| CN205450696U (en) | Ship engine centralized monitoring system based on CAN communication | |
| CN204979256U (en) | Hybrid multiaxis rotor unmanned aerial vehicle | |
| CA2287270A1 (en) | Hydrogen generating apparatus and components therefor | |
| CN114834622A (en) | Ship diesel-electric hybrid power propulsion system based on fuzzy control | |
| CN114248882A (en) | Simulation experiment device of hybrid power ship and control method thereof | |
| CN209080134U (en) | A kind of electric ship control system | |
| CN201194079Y (en) | Full-power management system for ship power plant | |
| CN107618378B (en) | Power control method for railway engineering machinery | |
| CN107499318B (en) | Railway engineering machinery power system | |
| CN111017180A (en) | Ship hybrid propulsion method and system | |
| CN218368245U (en) | Ship and cruise function system for ship |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |