船舶柴油机建模及转速控制仿真研究
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摘要
随着当今社会对柴油机排放要求的提高,在当前的柴油机研究中,对其实行电子控制已成为迫在眉睫的任务。电控柴油机能使柴油机工作在经济性、动力性和排放的最佳折衷点上,因此,柴油机的性能可得到最大的发挥。但电控系统的开发是一个庞大的系统工程,需要投入大量的人力、物力。
利用数学模型和先进的软件对柴油机及其控制算法进行建模和仿真,这些无疑会对我们认识和掌握柴油机控制设计的一般方法、验证控制策略和优选控制参数起到非常重要的作用。本文首先根据涡轮增压柴油机各部分的工作原理,以MATLAB/SIMULlNK软件为平台,建立了一个柴油机平均值模型,为控制策略的设计与验证提供了一个良好的被控对象。然后对该模型中转速控制环节进行了传统的PID控制效果的研究;在分析了经典PID控制算法存在的问题的基础上,提出了将专家的控制经验,通过模糊控制方法运用在传统PID控制算法上,建立了智能的模糊自整定PID控制器,实现了PID控制参数的在线自整定。仿真结果显示,柴油机的控制效果得到了显著的提高,减少了超调、提高了响应速度。最后,建立一个简单实用的柴油机控制系统设计与仿真用户界面,通过简单的操作就可以设定控制器参数并进行仿真,从而认识和掌握柴油机各控制参数对控制效果的影响。
本文的研究是开发实用的柴油机控制器的前期工作,更重要的是提出和实践了一种较为先进的设计思路,为进一步认识和掌握柴油机控制器的设计步骤,方便地进行控制器参数的优化,缩短其开发周期起到积极的作用。
Along with the even more strict requirements for the emisions of engines, how to realize the electronic controls of diesel engines has been the major task of the current research in this field. The electronic controlled diesel engine can ensure the engine run at the best tradeoff point of economy, power and emission, consequently can make the engine get the best performances. But the developing process of the electronic control system is so complicated, need great financial and labor supports.
With the help of using the mathematical models and advanced software to model and simulate the engine and its control methods, the design steps of the control will be understood and mastered, the control strategy will be verified, and the control parameters will be optimized by us. In the beginning, using the MATLAB/SIMULINK software as a platform, a mean value model of turbocharged diesel engine is built according to the working principle of each part of turbocharged diesel engine in this paper, which provides a good controlled object for the design and verification of control strategies. Then, there is traditional research on PID control effects in the step of the speed control of this model. By analyzing the problems in the traditional PID algorithm, fuzzy logic control is combined with PID control, thus can apply the expert's control experience into the system. So an intelligent fuzzy self-tuning PID controller is established, and the simulation results show the obvious improvement of the engine control performance, overshooting is decreased and response speed is improved. At last, a simple and practical diesel controlling system design and simulation user interface is established. By simple operation the controller parameter can be set and the model can be simulated, thus the impact of each control parameter to control effect of the diesel engine can be understood and mastered.
The research made in this paper is the prophase work of developing the actual controller, the more importance is that a more advanced design idea is brought up and practiced, which plays a positive role in further understanding and mastering of the diesel engine's design procedure, undertaking the optimization of controller parameterconveniently, as well as shortening its development cycle.
利用数学模型和先进的软件对柴油机及其控制算法进行建模和仿真,这些无疑会对我们认识和掌握柴油机控制设计的一般方法、验证控制策略和优选控制参数起到非常重要的作用。本文首先根据涡轮增压柴油机各部分的工作原理,以MATLAB/SIMULlNK软件为平台,建立了一个柴油机平均值模型,为控制策略的设计与验证提供了一个良好的被控对象。然后对该模型中转速控制环节进行了传统的PID控制效果的研究;在分析了经典PID控制算法存在的问题的基础上,提出了将专家的控制经验,通过模糊控制方法运用在传统PID控制算法上,建立了智能的模糊自整定PID控制器,实现了PID控制参数的在线自整定。仿真结果显示,柴油机的控制效果得到了显著的提高,减少了超调、提高了响应速度。最后,建立一个简单实用的柴油机控制系统设计与仿真用户界面,通过简单的操作就可以设定控制器参数并进行仿真,从而认识和掌握柴油机各控制参数对控制效果的影响。
本文的研究是开发实用的柴油机控制器的前期工作,更重要的是提出和实践了一种较为先进的设计思路,为进一步认识和掌握柴油机控制器的设计步骤,方便地进行控制器参数的优化,缩短其开发周期起到积极的作用。
Along with the even more strict requirements for the emisions of engines, how to realize the electronic controls of diesel engines has been the major task of the current research in this field. The electronic controlled diesel engine can ensure the engine run at the best tradeoff point of economy, power and emission, consequently can make the engine get the best performances. But the developing process of the electronic control system is so complicated, need great financial and labor supports.
With the help of using the mathematical models and advanced software to model and simulate the engine and its control methods, the design steps of the control will be understood and mastered, the control strategy will be verified, and the control parameters will be optimized by us. In the beginning, using the MATLAB/SIMULINK software as a platform, a mean value model of turbocharged diesel engine is built according to the working principle of each part of turbocharged diesel engine in this paper, which provides a good controlled object for the design and verification of control strategies. Then, there is traditional research on PID control effects in the step of the speed control of this model. By analyzing the problems in the traditional PID algorithm, fuzzy logic control is combined with PID control, thus can apply the expert's control experience into the system. So an intelligent fuzzy self-tuning PID controller is established, and the simulation results show the obvious improvement of the engine control performance, overshooting is decreased and response speed is improved. At last, a simple and practical diesel controlling system design and simulation user interface is established. By simple operation the controller parameter can be set and the model can be simulated, thus the impact of each control parameter to control effect of the diesel engine can be understood and mastered.
The research made in this paper is the prophase work of developing the actual controller, the more importance is that a more advanced design idea is brought up and practiced, which plays a positive role in further understanding and mastering of the diesel engine's design procedure, undertaking the optimization of controller parameterconveniently, as well as shortening its development cycle.
引文
[1]杜仲,欧阳明高,方铁刚.车用柴油机电控系统的设计.电子技术与应用 2000.7.
[2]L.Guzzella and A.Amstutz.Control of Diesel Engines.IEEE Control Systems Magazine,No.4,2006
[3]Weeks Robert W,Moskwa John J.Automotive Engine Modeling for Real-Time Control Using MATLAB/SIMULINK.SAE Paper 950417
[4]赵国光.船舶动力装置自动化.上海:上海交通大学出版社,1993.
[5]翁史烈.船舶动力装置仿真技术[M].上海:上海交通大学出版社,1991.
[6]顾宏中.柴油机工作过程[M].北京:国防工业出版社,1987.
[7]顾宏中.涡轮增压柴油机性能研究.上海:上海交通大学出版社,1998.
[8]张维竞.舰船动力装置系统仿真.上海:上海交通大学出版社,2006.
[9]郭江华,梁述海等.舰用柴油机建模方法综述.上海:船舶工程,2005:2:58-60.
[10]金波.采用并联型液压系统的水轮机调速器控制系统研究:(博士学位论文).杭州:浙江大学,1998.
[11]龚金科,刘孟祥等.用Simulink实现柴油机的建模与仿真.湖南:湖南大学学报自然科学版,VOL26(4):p38-41,2002.
[12]M.H.Ghaemi.Instantaneous Value Model of Ship Propulsion System.The second international scientific symposium on Automatic Control of Ship Propulsion and Ocean Engineering System,Gdansk,Poland,2005:23-33.
[13]张会生,翁史烈等.舰船动力装置传动系统动态仿真研究.北京:系统仿真学报,2005,17(2):504-506.
[14]Jonathan Chauvin,Gilles Corde.Real-time Combustion Torque Estimation on a Diesel Engine Test Bench Using an Adaptive Fouier Basis Decomposition.43~(rd) IEEE Conference on Decision and Control,Philadelphia,2004:1765-1792.
[15]田靓,高孝洪,陈辉.基于Matlab/Simulink的船舶主柴油机转速控制系统的动态仿真.上海:船舶工程,2006(2):18-21.
[16]孙建波.船舶柴油主推进装置及其控制系统的建模与仿真研究:(博士学位论文)大连:大连海事大学,2007.4
[17]赵翔宁.大型低速船用柴油机转速控制仿真研究:(硕士学位论文)大连:大连海事大学,2007.4
[18]Jonathan Chauvin,Gilles Corde.Real-time Combustion Torque Estimation on a Diesel Engine Test Bench Using an Adaptive Fouier Basis Decomposition.43~(rd) IEEE Conference on Decision and Control,Philadelphia,2004:1765-1792.
[19]Berglund S.A Drivetrain Simulation Module for Turbocharged Engines.Licentiate Thesis,Machine and Vehicle Design,Chalmers University of Technology,Goteborg,Sweden,1994
[20]Akira Ohata,Akihiko Sugiki,Yoshikazu Ohta.Engine Modeling Based on Projection Method and Conservation Laws.Proceedings of the 2004 IEEE,Taipei,2004:1420-1424.
[21]N.Lawrence,H.Y.P.Kortekaas.DECSIM-A PC-Based Diesel Engine Cycle and Cooling System Simulation Program.Mathematical and Computer Modelling,2001:3:565-575.
[22]R.D.Reitz,C.J.Rutland.Development and Testing of Diesel Engine CFD Models.Prog.Energy Combust.SCI,Britain,1995(21):173-196.
[23]Hendricks,Elbert.A Compact,Comprehensive Model of Large Turbocharged Two-stroke Diesel Engines.SAE Paper No.861190,1986
[24]冯国胜,杨绍普,程京平.基于神经网络的柴油机性能建模.天津:内燃机学报,Vol23(2),p182-186,2005.
[25]陆金铭.船舶推进装置的MATLAB仿真.上海:船舶工程,2002(5):38-40.
[26]李华.用模糊控制实现PID参数自整定的研究.甘肃:甘肃科学学报,2003(1):74-79.
[27]李晨晖.模糊控制技术现状与展望.山东:青海大学学报,2001(1):54-56.
[28]王立新.模糊系统与模糊控制.北京:清华大学出版社,2005.
[29]李国勇.智能控制及其MATLAB实现.北京:电子工业出版社,2005.
[30]李国勇,李维民主编.人工智能及其应用.北京:电子工业出版社,2007.普通高等教育“十一五”国家级规划教材
[31]Simulink User's Guide,The Math Works Inc.,24 Prime Park Way,Natick,Ma01760,USA,April 1993.
[32]张志永.精通MATLAB 6.5版.北京:北京航空航天大学出版社,2003.
[2]L.Guzzella and A.Amstutz.Control of Diesel Engines.IEEE Control Systems Magazine,No.4,2006
[3]Weeks Robert W,Moskwa John J.Automotive Engine Modeling for Real-Time Control Using MATLAB/SIMULINK.SAE Paper 950417
[4]赵国光.船舶动力装置自动化.上海:上海交通大学出版社,1993.
[5]翁史烈.船舶动力装置仿真技术[M].上海:上海交通大学出版社,1991.
[6]顾宏中.柴油机工作过程[M].北京:国防工业出版社,1987.
[7]顾宏中.涡轮增压柴油机性能研究.上海:上海交通大学出版社,1998.
[8]张维竞.舰船动力装置系统仿真.上海:上海交通大学出版社,2006.
[9]郭江华,梁述海等.舰用柴油机建模方法综述.上海:船舶工程,2005:2:58-60.
[10]金波.采用并联型液压系统的水轮机调速器控制系统研究:(博士学位论文).杭州:浙江大学,1998.
[11]龚金科,刘孟祥等.用Simulink实现柴油机的建模与仿真.湖南:湖南大学学报自然科学版,VOL26(4):p38-41,2002.
[12]M.H.Ghaemi.Instantaneous Value Model of Ship Propulsion System.The second international scientific symposium on Automatic Control of Ship Propulsion and Ocean Engineering System,Gdansk,Poland,2005:23-33.
[13]张会生,翁史烈等.舰船动力装置传动系统动态仿真研究.北京:系统仿真学报,2005,17(2):504-506.
[14]Jonathan Chauvin,Gilles Corde.Real-time Combustion Torque Estimation on a Diesel Engine Test Bench Using an Adaptive Fouier Basis Decomposition.43~(rd) IEEE Conference on Decision and Control,Philadelphia,2004:1765-1792.
[15]田靓,高孝洪,陈辉.基于Matlab/Simulink的船舶主柴油机转速控制系统的动态仿真.上海:船舶工程,2006(2):18-21.
[16]孙建波.船舶柴油主推进装置及其控制系统的建模与仿真研究:(博士学位论文)大连:大连海事大学,2007.4
[17]赵翔宁.大型低速船用柴油机转速控制仿真研究:(硕士学位论文)大连:大连海事大学,2007.4
[18]Jonathan Chauvin,Gilles Corde.Real-time Combustion Torque Estimation on a Diesel Engine Test Bench Using an Adaptive Fouier Basis Decomposition.43~(rd) IEEE Conference on Decision and Control,Philadelphia,2004:1765-1792.
[19]Berglund S.A Drivetrain Simulation Module for Turbocharged Engines.Licentiate Thesis,Machine and Vehicle Design,Chalmers University of Technology,Goteborg,Sweden,1994
[20]Akira Ohata,Akihiko Sugiki,Yoshikazu Ohta.Engine Modeling Based on Projection Method and Conservation Laws.Proceedings of the 2004 IEEE,Taipei,2004:1420-1424.
[21]N.Lawrence,H.Y.P.Kortekaas.DECSIM-A PC-Based Diesel Engine Cycle and Cooling System Simulation Program.Mathematical and Computer Modelling,2001:3:565-575.
[22]R.D.Reitz,C.J.Rutland.Development and Testing of Diesel Engine CFD Models.Prog.Energy Combust.SCI,Britain,1995(21):173-196.
[23]Hendricks,Elbert.A Compact,Comprehensive Model of Large Turbocharged Two-stroke Diesel Engines.SAE Paper No.861190,1986
[24]冯国胜,杨绍普,程京平.基于神经网络的柴油机性能建模.天津:内燃机学报,Vol23(2),p182-186,2005.
[25]陆金铭.船舶推进装置的MATLAB仿真.上海:船舶工程,2002(5):38-40.
[26]李华.用模糊控制实现PID参数自整定的研究.甘肃:甘肃科学学报,2003(1):74-79.
[27]李晨晖.模糊控制技术现状与展望.山东:青海大学学报,2001(1):54-56.
[28]王立新.模糊系统与模糊控制.北京:清华大学出版社,2005.
[29]李国勇.智能控制及其MATLAB实现.北京:电子工业出版社,2005.
[30]李国勇,李维民主编.人工智能及其应用.北京:电子工业出版社,2007.普通高等教育“十一五”国家级规划教材
[31]Simulink User's Guide,The Math Works Inc.,24 Prime Park Way,Natick,Ma01760,USA,April 1993.
[32]张志永.精通MATLAB 6.5版.北京:北京航空航天大学出版社,2003.