船舶电力推进系统.doc
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船舶电力推进系统,摘 要随着船舶电力推进技术的快速发展和广泛应用，交流电力推进已经取代直流电力推进成为主流。同时，推进系统相关设备需求日益增大，但国产设备的装船率并不高，制约着我国船舶行业的发展。研究船舶电力推进关键技术有助于增强我国船舶行业的综合竞争力。因此，本课题对船舶电力推进系统直接转矩控制（dtc）相关技术进行研究。本文以传统d...
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摘 要
随着船舶电力推进技术的快速发展和广泛应用，交流电力推进已经取代直流电力推进成为主流。同时，推进系统相关设备需求日益增大，但国产设备的装船率并不高，制约着我国船舶行业的发展。研究船舶电力推进关键技术有助于增强我国船舶行业的综合竞争力。因此，本课题对船舶电力推进系统直接转矩控制（DTC）相关技术进行研究。
本文以传统DTC为理论基础，分析DTC的原理和结构，在MATLAB/Simulink中对系统各个组成部分仿真建模，分析电机的速度、磁链和转矩特性。针对传统DTC系统磁链和转矩脉动较大，本文首先采用空间矢量脉宽调制技术与DTC系统相结合来改善磁链和转矩的脉动，仿真表明SVM-DTC系统的性能得到全面的提高。其次，定子磁链的估测精度直接影响到系统的性能，而传统U-I磁链观测模型精度低，本文采用新型基于PI锁相原理的定子磁链观测器代替传统的U-I观测器，磁链观测的精度和系统的性能得到改善。
无速度传感器技术在船舶电力推进中有着广阔的前景，介绍了几种常用的速度估计方法后，本文重点分析了模型参考自适应系统（MRAS）速度估计方法和原理，并应用到SVM-DTC系统中，仿真表明MRAS速度估计的精度和动态性有待提高。由于MRAS系统中由Popov超稳理论推导出的自适应率为PI控制器，PI参数对速度估计精度影响较大，因此，本文采用对角递归神经网络（DRNN）算法与MRAS相结合，动态地整定MRAS系统的PI参数，DRNN-MRAS速度估计的精度和动态性显著提高。
本文针对实际船舶，建立船舶-螺旋桨仿真模型，分析船舶的速度、推力和扭矩特性。并分别将上述的传统DTC、SVM-DTC和无速度DTC与实际船舶-螺旋桨模型结合，建立船舶电力推进DTC综合仿真系统。对比分析当施加螺旋桨负载时DTC系统电机的响应特性，以及施加螺旋桨负载扰动时对DTC系统的影响。经过验证，在船舶电力推进系统中，SVM-DTC具有较好的稳态和动态性能，传统DTC动态性能优于稳态，而无速度DTC稳态性能优于其动态性能。
关键字：船舶电力推进；直接转矩控制；空间矢量脉宽调制；锁相环；模型参考自适应系统；对角递归神经网络；船桨模型
Abstract
With the rapid development and widespread application of the ship electric propulsion technology, AC electric propulsion has replaced the DC electric propulsion and becomes the mainstream. What’s more, demands for the associated equipment of propulsion system are growing increasingly. However, the shipment rate of the domestic equipment is very low, which restricts the development of the shipping industry of our country. So it is helpful to research key technology of the marine electric propulsion in order to enhance the competitive ability of our country shipping industry. The DTC technology of marine electric propulsion is researched in this thesis.
This thesis analyses the principle and structure of direct torque control based on the traditional direct torque control, and establishes simulation models of each component of the system in the Simulink platform in MATLAB, then analyses the curves in which AC motor runs in constant speed state and constant torque state. For the traditional direct torque control possess great flux and torque, this thesis firstly adopts SVM combined with direct torque control system to improve the magnetic chain and torque, and the simulation results show that SVM-DTC system performance is overall improved. Secondly, estimation accuracy of stator flux directly affects the performance of the system, tradition U-I flux observer has low accuracy, this thesis adopt the improved stator flux observer based on the principle of PI phase lock loop to take the place of the traditional U-I observer, as a result, the flux observer accuracy and the performance of the system are improved greatly.
Since there is a broad prospect to apply without speed sensor technology in ship electric propulsion, this thesis analyzes the speed estimation method which is based on model reference adaptive (MRAS) after introducing some commonly used speed estimation, then which is applied in the SVM-DTC system. The simulation result showed that the precision and dynamics of MRAS speed estimation is awaited with improvement. Because in the MRAS system the adaptive rate deduced by Popov stability theory is PI controller, PI parameters have a big effect on the speed estimation precision, therefore this thesis combines diagonal recurrent neural network (DRNN) algorithm with MRAS to dynamically set PI parameters, the precision and dynamics of DRNN-MRAS speed estimation improved greatly.
In the end this thesis builds the ship-motor-propeller simulation model, analyzing the speed, thrust and torque characteristics of ships, and applies the traditional DTC, SVM-DTC and speed sensorless DTC to ship electric propulsion system respectively, establishes ship electric propulsion DTC comprehensive simulation system. What’s more, it is comparatively analyzed on the motor characteristics of the DTC system when the propellers are loaded on and the effect on the DTC system when the propellers are put load disturbance. According to verification, in the ship electric propulsion system SVM-DTC has good steady state and dynamics performance, dynamics performance of traditio..
随着船舶电力推进技术的快速发展和广泛应用，交流电力推进已经取代直流电力推进成为主流。同时，推进系统相关设备需求日益增大，但国产设备的装船率并不高，制约着我国船舶行业的发展。研究船舶电力推进关键技术有助于增强我国船舶行业的综合竞争力。因此，本课题对船舶电力推进系统直接转矩控制（DTC）相关技术进行研究。
本文以传统DTC为理论基础，分析DTC的原理和结构，在MATLAB/Simulink中对系统各个组成部分仿真建模，分析电机的速度、磁链和转矩特性。针对传统DTC系统磁链和转矩脉动较大，本文首先采用空间矢量脉宽调制技术与DTC系统相结合来改善磁链和转矩的脉动，仿真表明SVM-DTC系统的性能得到全面的提高。其次，定子磁链的估测精度直接影响到系统的性能，而传统U-I磁链观测模型精度低，本文采用新型基于PI锁相原理的定子磁链观测器代替传统的U-I观测器，磁链观测的精度和系统的性能得到改善。
无速度传感器技术在船舶电力推进中有着广阔的前景，介绍了几种常用的速度估计方法后，本文重点分析了模型参考自适应系统（MRAS）速度估计方法和原理，并应用到SVM-DTC系统中，仿真表明MRAS速度估计的精度和动态性有待提高。由于MRAS系统中由Popov超稳理论推导出的自适应率为PI控制器，PI参数对速度估计精度影响较大，因此，本文采用对角递归神经网络（DRNN）算法与MRAS相结合，动态地整定MRAS系统的PI参数，DRNN-MRAS速度估计的精度和动态性显著提高。
本文针对实际船舶，建立船舶-螺旋桨仿真模型，分析船舶的速度、推力和扭矩特性。并分别将上述的传统DTC、SVM-DTC和无速度DTC与实际船舶-螺旋桨模型结合，建立船舶电力推进DTC综合仿真系统。对比分析当施加螺旋桨负载时DTC系统电机的响应特性，以及施加螺旋桨负载扰动时对DTC系统的影响。经过验证，在船舶电力推进系统中，SVM-DTC具有较好的稳态和动态性能，传统DTC动态性能优于稳态，而无速度DTC稳态性能优于其动态性能。
关键字：船舶电力推进；直接转矩控制；空间矢量脉宽调制；锁相环；模型参考自适应系统；对角递归神经网络；船桨模型
Abstract
With the rapid development and widespread application of the ship electric propulsion technology, AC electric propulsion has replaced the DC electric propulsion and becomes the mainstream. What’s more, demands for the associated equipment of propulsion system are growing increasingly. However, the shipment rate of the domestic equipment is very low, which restricts the development of the shipping industry of our country. So it is helpful to research key technology of the marine electric propulsion in order to enhance the competitive ability of our country shipping industry. The DTC technology of marine electric propulsion is researched in this thesis.
This thesis analyses the principle and structure of direct torque control based on the traditional direct torque control, and establishes simulation models of each component of the system in the Simulink platform in MATLAB, then analyses the curves in which AC motor runs in constant speed state and constant torque state. For the traditional direct torque control possess great flux and torque, this thesis firstly adopts SVM combined with direct torque control system to improve the magnetic chain and torque, and the simulation results show that SVM-DTC system performance is overall improved. Secondly, estimation accuracy of stator flux directly affects the performance of the system, tradition U-I flux observer has low accuracy, this thesis adopt the improved stator flux observer based on the principle of PI phase lock loop to take the place of the traditional U-I observer, as a result, the flux observer accuracy and the performance of the system are improved greatly.
Since there is a broad prospect to apply without speed sensor technology in ship electric propulsion, this thesis analyzes the speed estimation method which is based on model reference adaptive (MRAS) after introducing some commonly used speed estimation, then which is applied in the SVM-DTC system. The simulation result showed that the precision and dynamics of MRAS speed estimation is awaited with improvement. Because in the MRAS system the adaptive rate deduced by Popov stability theory is PI controller, PI parameters have a big effect on the speed estimation precision, therefore this thesis combines diagonal recurrent neural network (DRNN) algorithm with MRAS to dynamically set PI parameters, the precision and dynamics of DRNN-MRAS speed estimation improved greatly.
In the end this thesis builds the ship-motor-propeller simulation model, analyzing the speed, thrust and torque characteristics of ships, and applies the traditional DTC, SVM-DTC and speed sensorless DTC to ship electric propulsion system respectively, establishes ship electric propulsion DTC comprehensive simulation system. What’s more, it is comparatively analyzed on the motor characteristics of the DTC system when the propellers are loaded on and the effect on the DTC system when the propellers are put load disturbance. According to verification, in the ship electric propulsion system SVM-DTC has good steady state and dynamics performance, dynamics performance of traditio..
