柴油机控制系统半物理仿真技术研究
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摘要
综合电控技术是柴油机技术研究的主要方向之一,电控技术是提高柴油机动力性、经济性、可靠性和改善排放性能的有效措施,电控水平的高低已经成为柴油机先进性的重要标志。柴油机电控技术正在由单一控制功能向多目标优化的综合控制方向发展。随着柴油机电控系统功能不断增强,结构日益复杂,柴油机电控系统的开发难度不断加大,开发周期长、成本高、调试和试验困难是柴油机电控系统研制面临的突出矛盾。利用现代V模式开发流程,研究柴油机电控系统从功能设计、快速原型、代码生成到半物理仿真的一体化仿真技术,解决电控系统开发、调试难题是十分必要的。
针对柴油机综合电控系统开发、调试和试验的技术难题,在查阅国内外相关领域的技术资料,分析柴油机电控系统半物理仿真技术现状和发展趋势的基础上,利用现代建模仿真技术和电子信息技术,开展了船用柴油机控制系统半物理仿真技术研究,重点开展了以下几方面的工作。
1.针对船用柴油机控制系统通过配机试验进行I／O通道调试、系统功能试验、参数优化等存在的周期长、费用高、危险性大、极限工况试验困难等难题,根据柴油机控制系统调试中对多输入、多输出、较好的精度、高实时性等特殊要求,利用平均值和热动力学建模方法,建立了能够满足多目标控制研究和实时性需求的柴油机数学模型。将Arrhenius(阿列纽斯)方法应用到船用柴油机燃烧扭矩的计算中,解决了多缸柴油机瞬时输出扭矩的精确计算问题,满足控制系统断缸或断排的控制需求,保证了以研究控制为目的的柴油机模型的精度和实时性要求；给出了涡轮增压器的涡轮和压气机的折合参数,用折合参数表示的特性对于研究控制系统具有最佳可比性,同时也具有一定的通用性。
2.采用模块化建模技术,建立了具有完整模型体系的多参数、多输入输出通道的柴油机仿真模型和船舶动力传动系统模型。该模型以C代码的方式运行在dSPACE实时仿真平台中。建模中针对柴油机控制系统研究的需求,采取适当简化、实验参数配置、功能模块划分、多缸数据处理等技术,使所建立的模型即能真实地反映柴油机的运行状态,又具有较好的实时性和通用性。
3.针对典型柴油机控制系统,开展了柴油机控制系统建模仿真及性能优化研究。研究了起动智能控制,燃油系统和增压系统的匹配优化控制,稳态调速率对瞬态调速特性变差的影响,采用线性递减、累加的方式来消除影响,并进行了仿真和试验验证。达到了改善起动性能、改善全工况调速性能、节约能源及改善排放的目的。
应用ControlDesk软件建立了功能完善、操作友好的仿真监控界面,可实现离线／在线仿真过程中模型和用户之间的交互、虚拟仪表和程序之间的动态数据交换、跟踪实时曲线、完成在线调参、数据实时记录等功能。
4.基于先进的dSPACE实时仿真系统,开发了船用柴油机控制系统半物理仿真试验平台,该平台由柴油机实时、多参数仿真模型,实时仿真控制界面,多功能I／O接口板,船用柴油机控制系统和执行器等组成。利用该平台对柴油机控制系统的起动、停机、调速、相继增压、缸排断油、安全保护及状态监测等功能进行调试试验,实现对柴油机控制系统的半物理仿真调试,半物理仿真结果与配机实验结果进行了对比分析,结果表明所建立的半物理仿真平台能够满足控制系统半物理仿真实时性和精度的要求,有效地解决了通过配机试验进行控制系统调试的难题。
5.针对船用柴油机非线性、时变性和各系统之间相互影响、相互制约和相互耦合等特点,进行了柴油机智能调速控制研究；为解决柴油机全工况调速问题,利用开发的半物理仿真平台,对模糊控制和人工神经网络等智能控制理论在船用柴油机上的应用进行了研究,设计了满足船用柴油机全工况调速要求的模糊-PID控制器和BP神经网络调速控制器,利用柴油机多参数仿真模型进行了验证,仿真结果与传统的PID调速控制进行了比较分析,结果表明模糊-PID复合调速控制器和BP神经网络调速控制器均优于传统的PID控制器。为开发船用柴油机智能调速控制系统打下了坚实的基础。
本文研究的柴油机控制系统半物理仿真技术可以替代配机试验,缩短控制系统的开发周期、降低开发成本；同时,本文也开展了快速控制原型的研究,为柴油机控制系统从功能设计到产品的转化奠定了坚实的基础。
The electronic control technology is one of the major directions of the diesel research. The electronic control technology is also the effective way to improve the power performance, economy performance, reliability performance and the emissions performance. The level of the electronic control has become a advanced symbol of the diesel. The diesel electronic control technology is developing from the single functions to the multi-objective comprehensive control. With the strengthen of the electronic control system functions and the complex of the structure, the electronic control system of the diesel is difficult to develop, the development cycle is length, the cost is high and the test is difficult. The integrated simulation technology was used to research the diesel electronic control system which is from the functional design, the rapid control prototyping, the code generation to semi-physical simulation. It is necessary that the V model development process was used to solve the development difficulty of the diesel electronic control system.
For the technical difficulty of the development, debugging and testing of the diesel electronic control system, on basis of the referring to the related technical information and analyzing the semi-physical simulation technology status and development trend, the semi-physical simulation technology of the marine diesel electronic control was researched. The major works are as follows:
1. The experiments matching to machine of the marine diesel control system included I/O channel debugging, system function testing and parameter optimization. The experiments have a lot of disadvantage, such as the long cycle, the high cost, the high-risk and the limited conditions.
According to the special requirements of the diesel control system for multi-input and output, high-precision and high real-time, the mean-value and thermodynamic principle was used to set up the diesel model to meet the control demands of the many objectives and the real-time. The burning chemical reaction thermal of marine diesel is calculated application of Arrhenius method so as to achieve the accuracy calculation of the combustion torque and meet the control demand of cut-off cylinders and array, this guaranteed the accuracy and the real-time of the model for the purpose of researching the control system. The turbine and compressor equivalent parameters were calculated. The characteristics expressed by equivalent parameters possess the best comparability and versatility.
2. The modularization method is chosen to establish a complete diesel simulating model of the many input and output and power transmission system model of the ship. The model code was downloaded to the dSPACE real-time simulation platform, the operation and calculation of the model was carried on by the dSPACE/PPC controller board. Based on the researching need of the diesel ECS, the appropriate simplify, experimental data configuration, module division and the data process of the multi-cylinder technology were taken during modeling, so that the model is high accuracy, good real-time and high universality.
3. Based on the control system researched, the diesel control system modeling and simulation and the performance optimization of the diesel were researched. the paper has researched the start intelligent control, the match optimize control between the fuel system and the charger system, the impacting of the steady state governing rate on the instantaneous governing rate, the linear reducing or adding were taken to eliminate impact. And the relevant control functions were simulated. The performance optimization research improves the starting performance, improves the speed governing of the full condition, conserves the energy and improves the emissions.The monitoring interface was established by the controlDesk software which has function perfectly and operation friendly. The monitoring interface can achieved the interfacing between the model and user during the offline/online simulation, the data exchanging between virtual instrumentation and procedures, the tracking of the real-time curves, the adjusting of the parameters online and the recording data.
4. Based on the dSPACE real-time simulation system, the semi-physical simulation platform was developed. The semi-physical simulation platform composes the real-time diesel simulation model, the real-time simulation monitoring interface, the functional I/O board, the real diesel electronic control system and the real actuator. The platform tested the starting, the stopping, the speed governing, the protection of the exceeding speed, the sequential turbocharger, the cylinder cutout and status monitoring. The results of the semi-physical simulation were compared to the test results of the matching machine. The results show that the simulation platform has the high precision and the real-time well. The simulation platform can accelerate the development of the marine diesel electronic control system and can reduce the cost of the testing. It can test the other diesel controller (such as diesel electronic speed governor) if the semi-physical simulation platform is expanded some functions, the simulation platform can test the marine power device in the laboratory. The simulation platform is universal. This overcomes the disadvantage of the matching machine test.
5. For the characteristics of the mutual influence, mutual restraint and mutual coupling between various systems of the diesel, the intelligent speed control of the diesel was researched. Appling semi-physical simulation platform, the fuzzy control and artificial neural network control theory were researched to regulate the speed of the marine diesel. The fuzzy-PID controller and BP neural controller were designed to meet the marine diesel engine speed control requirements of the whole condition.
The control theories were verified by using multi-parameter diesel simulation model. The simulation results were compared to the traditional PID speed controller. The results show that the fuzzy-PID speed controller and BP neural network speed controller are better than the traditional PID speed controller. This lays the solid foundation for developing the marine diesel speed intelligent control. The semi-physical simulation of the diesel electronic control system can replace the matching machine test, shorten the development cycle and decrease the development cost. At the same time, the rapid control prototyping was researched. This is the foundation of developing control system from the function design to the product conversion.
针对柴油机综合电控系统开发、调试和试验的技术难题,在查阅国内外相关领域的技术资料,分析柴油机电控系统半物理仿真技术现状和发展趋势的基础上,利用现代建模仿真技术和电子信息技术,开展了船用柴油机控制系统半物理仿真技术研究,重点开展了以下几方面的工作。
1.针对船用柴油机控制系统通过配机试验进行I／O通道调试、系统功能试验、参数优化等存在的周期长、费用高、危险性大、极限工况试验困难等难题,根据柴油机控制系统调试中对多输入、多输出、较好的精度、高实时性等特殊要求,利用平均值和热动力学建模方法,建立了能够满足多目标控制研究和实时性需求的柴油机数学模型。将Arrhenius(阿列纽斯)方法应用到船用柴油机燃烧扭矩的计算中,解决了多缸柴油机瞬时输出扭矩的精确计算问题,满足控制系统断缸或断排的控制需求,保证了以研究控制为目的的柴油机模型的精度和实时性要求；给出了涡轮增压器的涡轮和压气机的折合参数,用折合参数表示的特性对于研究控制系统具有最佳可比性,同时也具有一定的通用性。
2.采用模块化建模技术,建立了具有完整模型体系的多参数、多输入输出通道的柴油机仿真模型和船舶动力传动系统模型。该模型以C代码的方式运行在dSPACE实时仿真平台中。建模中针对柴油机控制系统研究的需求,采取适当简化、实验参数配置、功能模块划分、多缸数据处理等技术,使所建立的模型即能真实地反映柴油机的运行状态,又具有较好的实时性和通用性。
3.针对典型柴油机控制系统,开展了柴油机控制系统建模仿真及性能优化研究。研究了起动智能控制,燃油系统和增压系统的匹配优化控制,稳态调速率对瞬态调速特性变差的影响,采用线性递减、累加的方式来消除影响,并进行了仿真和试验验证。达到了改善起动性能、改善全工况调速性能、节约能源及改善排放的目的。
应用ControlDesk软件建立了功能完善、操作友好的仿真监控界面,可实现离线／在线仿真过程中模型和用户之间的交互、虚拟仪表和程序之间的动态数据交换、跟踪实时曲线、完成在线调参、数据实时记录等功能。
4.基于先进的dSPACE实时仿真系统,开发了船用柴油机控制系统半物理仿真试验平台,该平台由柴油机实时、多参数仿真模型,实时仿真控制界面,多功能I／O接口板,船用柴油机控制系统和执行器等组成。利用该平台对柴油机控制系统的起动、停机、调速、相继增压、缸排断油、安全保护及状态监测等功能进行调试试验,实现对柴油机控制系统的半物理仿真调试,半物理仿真结果与配机实验结果进行了对比分析,结果表明所建立的半物理仿真平台能够满足控制系统半物理仿真实时性和精度的要求,有效地解决了通过配机试验进行控制系统调试的难题。
5.针对船用柴油机非线性、时变性和各系统之间相互影响、相互制约和相互耦合等特点,进行了柴油机智能调速控制研究；为解决柴油机全工况调速问题,利用开发的半物理仿真平台,对模糊控制和人工神经网络等智能控制理论在船用柴油机上的应用进行了研究,设计了满足船用柴油机全工况调速要求的模糊-PID控制器和BP神经网络调速控制器,利用柴油机多参数仿真模型进行了验证,仿真结果与传统的PID调速控制进行了比较分析,结果表明模糊-PID复合调速控制器和BP神经网络调速控制器均优于传统的PID控制器。为开发船用柴油机智能调速控制系统打下了坚实的基础。
本文研究的柴油机控制系统半物理仿真技术可以替代配机试验,缩短控制系统的开发周期、降低开发成本；同时,本文也开展了快速控制原型的研究,为柴油机控制系统从功能设计到产品的转化奠定了坚实的基础。
The electronic control technology is one of the major directions of the diesel research. The electronic control technology is also the effective way to improve the power performance, economy performance, reliability performance and the emissions performance. The level of the electronic control has become a advanced symbol of the diesel. The diesel electronic control technology is developing from the single functions to the multi-objective comprehensive control. With the strengthen of the electronic control system functions and the complex of the structure, the electronic control system of the diesel is difficult to develop, the development cycle is length, the cost is high and the test is difficult. The integrated simulation technology was used to research the diesel electronic control system which is from the functional design, the rapid control prototyping, the code generation to semi-physical simulation. It is necessary that the V model development process was used to solve the development difficulty of the diesel electronic control system.
For the technical difficulty of the development, debugging and testing of the diesel electronic control system, on basis of the referring to the related technical information and analyzing the semi-physical simulation technology status and development trend, the semi-physical simulation technology of the marine diesel electronic control was researched. The major works are as follows:
1. The experiments matching to machine of the marine diesel control system included I/O channel debugging, system function testing and parameter optimization. The experiments have a lot of disadvantage, such as the long cycle, the high cost, the high-risk and the limited conditions.
According to the special requirements of the diesel control system for multi-input and output, high-precision and high real-time, the mean-value and thermodynamic principle was used to set up the diesel model to meet the control demands of the many objectives and the real-time. The burning chemical reaction thermal of marine diesel is calculated application of Arrhenius method so as to achieve the accuracy calculation of the combustion torque and meet the control demand of cut-off cylinders and array, this guaranteed the accuracy and the real-time of the model for the purpose of researching the control system. The turbine and compressor equivalent parameters were calculated. The characteristics expressed by equivalent parameters possess the best comparability and versatility.
2. The modularization method is chosen to establish a complete diesel simulating model of the many input and output and power transmission system model of the ship. The model code was downloaded to the dSPACE real-time simulation platform, the operation and calculation of the model was carried on by the dSPACE/PPC controller board. Based on the researching need of the diesel ECS, the appropriate simplify, experimental data configuration, module division and the data process of the multi-cylinder technology were taken during modeling, so that the model is high accuracy, good real-time and high universality.
3. Based on the control system researched, the diesel control system modeling and simulation and the performance optimization of the diesel were researched. the paper has researched the start intelligent control, the match optimize control between the fuel system and the charger system, the impacting of the steady state governing rate on the instantaneous governing rate, the linear reducing or adding were taken to eliminate impact. And the relevant control functions were simulated. The performance optimization research improves the starting performance, improves the speed governing of the full condition, conserves the energy and improves the emissions.The monitoring interface was established by the controlDesk software which has function perfectly and operation friendly. The monitoring interface can achieved the interfacing between the model and user during the offline/online simulation, the data exchanging between virtual instrumentation and procedures, the tracking of the real-time curves, the adjusting of the parameters online and the recording data.
4. Based on the dSPACE real-time simulation system, the semi-physical simulation platform was developed. The semi-physical simulation platform composes the real-time diesel simulation model, the real-time simulation monitoring interface, the functional I/O board, the real diesel electronic control system and the real actuator. The platform tested the starting, the stopping, the speed governing, the protection of the exceeding speed, the sequential turbocharger, the cylinder cutout and status monitoring. The results of the semi-physical simulation were compared to the test results of the matching machine. The results show that the simulation platform has the high precision and the real-time well. The simulation platform can accelerate the development of the marine diesel electronic control system and can reduce the cost of the testing. It can test the other diesel controller (such as diesel electronic speed governor) if the semi-physical simulation platform is expanded some functions, the simulation platform can test the marine power device in the laboratory. The simulation platform is universal. This overcomes the disadvantage of the matching machine test.
5. For the characteristics of the mutual influence, mutual restraint and mutual coupling between various systems of the diesel, the intelligent speed control of the diesel was researched. Appling semi-physical simulation platform, the fuzzy control and artificial neural network control theory were researched to regulate the speed of the marine diesel. The fuzzy-PID controller and BP neural controller were designed to meet the marine diesel engine speed control requirements of the whole condition.
The control theories were verified by using multi-parameter diesel simulation model. The simulation results were compared to the traditional PID speed controller. The results show that the fuzzy-PID speed controller and BP neural network speed controller are better than the traditional PID speed controller. This lays the solid foundation for developing the marine diesel speed intelligent control. The semi-physical simulation of the diesel electronic control system can replace the matching machine test, shorten the development cycle and decrease the development cost. At the same time, the rapid control prototyping was researched. This is the foundation of developing control system from the function design to the product conversion.
引文
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