水下航行器能源动力系统建模仿真与实验研究

doi:10.12382/bgxb.2022.0198

摘要/Abstract

摘要：

为解决航行器能源动力系统(EEPS)各组件间存在复杂电磁耦合和机电耦合关系,无法用解析法研究系统动态过程的问题,以采用“交-直-交”级联型拓扑的水下航行器EEPS为研究对象,提出一种较为实用的航行器EEPS各组件建模及参数抽取方法,在保证所建模型与实物系统输入输出特性一致的前提下,降低模型复杂度,减轻运算负担,满足实时仿真的要求。搭建了包括柴油机、永磁同步电机、三相电压源变流器和螺旋桨的航行器EEPS一体化仿真平台,分别进行典型工况的仿真研究,并与实物系统地面实验及搭载航行器进行实航海试的数据进行对比,验证所建仿真平台与实物系统动静态性能的一致性。研究结果表明,基于所搭建的仿真平台开展相关控制策略的研究工作,可以缩短台架试验及实航验证时间,进而有效降低系统的研发周期和成本。

关键词: 水下航行器, 能源动力系统, 机电一体化仿真平台, 参数抽取, 实航验证

Abstract:

The complexity of the electromagnetic and electromechanical coupling relationships in the Electrical Energy Power System (EEPS) poses challenges for analytical studies. To address the challenges, this paper focuses on the EEPS of future generation vessels with a cascade AC-DC-AC topology. A mathematical model for the EEPS is derived, and a parameter extraction method is provided. The complexity-accuracy relationship of each component model has been fully considered to meet the needs of real-time simulation. An electromechanical integration simulation model is constructed with a set of diesel engine and a controller, PMSM, converter, propeller, and vessel as a whole. Simulation studies of typical working conditions are carried out respectively, and the simulation results are compared with the results of ground experiment and real cruising test of the EEPS with an underwater vehicle. A good agreement between simulation model and the real EEPS has been verified by the test results. Based on the simulation platform built in this paper, the time of bench test and real cruising verification can be shortened, and the R&D costs of the EEPS can be reduced significantly.

Key words: underwater vehicle, electrical energy power system, electromechanical integration simulation platform, parameter extraction, real cruising test

张剑, 沈琳. 水下航行器能源动力系统建模仿真与实验研究[J]. 兵工学报, 2023, 44(7): 2101-2113.

ZHANG Jian, SHEN Lin. Simulation Analysis and Experimental Verification of the Electrical Energy Power System for Underwater Vehicles[J]. Acta Armamentarii, 2023, 44(7): 2101-2113.

图/表 20

图1 一种典型的水下航行器EEPS架构示意图

Fig.1 A typical EEPS for underwater vehicles

图2 柴油机及其转速控制系统框图

Fig.2 Schematic diagram of a diesel engine with a speed control system

图3 柴油机油门执行器控制框图

Fig.3 Control diagram of a throttle actuator for a diesel engine

表1 柴油发电机组参数

Table 1 Parameters of the diesel generator set

参数	取值
柴油机本体	8缸/四冲程船用柴油机
发电机本体	400kW/PMSM
机组额定转速/(r·min^-1)	2200
机组额定转矩/(N·m)	1758

图4 柴油机及其控制系统结构框图

Fig.4 Control diagram of a diesel engine set

图5 外部力矩作用下的柴油发电机组转速响应曲线

Fig.5 Speed response of a diesel engine set under external torque

图6 柴油机及其调速控制器结构框图

Fig.6 Diagram of a diesel engine and its controller

图7 采用不同类型的调速控制器时的转速响应

Fig.7 Speed response with different speed controllers

图8 柴油机空载启动过程转速响应的仿真与实验结果对比

Fig.8 Simulation and experimental comparison of speed responses during the starting process

图9 突卸负载过程柴油机转速响应的仿真与实验结果对比

Fig.9 Simulation and experimental comparison of speed responses during sudden-decreased load conditions

图10 d、q轴坐标系下PMSM统一控制框图

Fig.10 Control diagram of PMSM with d, q axis frame

图11 航行器及其螺旋桨推进系统一体化模型

Fig.11 The integrated model of an underwater vehicle together with its propeller propulsion system

图12 典型航行状态下螺旋桨转矩特性

Fig.12 Torque characteristics under typical navigation conditions

图13 航行器EEPS一体化数字仿真平台

Fig.13 Digital simulation platform of the EEPS for underwater vehicles

图14 桨速指令斜坡给定时的航行器启动、加载过程

Fig.14 The startup and load variation process of the underwater vehicle with ramp command setting

图15 桨速指令阶跃给定时的航行器启动、加载过程

Fig.15 The startup and load variation process of the underwater vehicle with step command setting

图16 航行器及EEPS实物系统

Fig.16 Photo of the EEPS together with the underwater vehicle

图17 突加负载时发电机组输出直流电压仿真与实验结果对比

Fig.17 DC side voltage response characteristics in a sudden-added load operation test

图18 甩负荷测试过程中发电机组转速、输出直流电压仿真与实验结果对比

Fig.18 Speed andDC side voltage response characteristics in a sudden-decreased load operation test

图19 电推进子系统转速、转矩特性仿真与实航测试结果对比

Fig.19 Speed and torque characteristics of the electric propulsion subsystem

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