Ship propulsion system comprising a control that is adapted with regard to dynamics

• US 6,752,670 B2
• Filed: 11/12/2002
• Issued: 06/22/2004
• Est. Priority Date: 01/14/2000
• Status: Expired due to Fees

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Geil, Günter
• Primary Examiner(s): Morano, S. Joseph
• Assistant Examiner(s): Olson, Lars A.
• Application Number:
  US10/181,044
• Publication Number:
  US 20030124919A1
• Time in Patent Office: 588 Days
• Field of Search: 440/1, 440/2, 440/4, 318/147, 318/148, 290/17
• US Class Current: 440/1
• CPC Class Codes: B63H 2005/1258 with electric power transmission to propellers, i.e. with integrated electric propeller motors
• CPC Class Codes: B63H 21/213 Levers or the like for controlling the engine or the transmission, e.g. single hand control levers
• CPC Class Codes: B63H 21/22 the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridge; Arrangements of order telegraphs
• CPC Class Codes: B63H 23/24 electric dynamo-electric machines H02K
• CPC Class Codes: B63H 5/08 of more than one propeller
• CPC Class Codes: B63H 5/10 of coaxial type, e.g. of counter-rotative type
• CPC Class Codes: B63H 5/125 movably mounted with respect to hull, e.g. adjustable in direction , e.g. podded azimuthing thrustersoutboard units or Z-drives B63H20/00; movably mounted for steering purposes only, rudders carrying propellers B63H25/42

Abstract

A ship propulsion system includes a ship electrical system and an electric propulsion system that is supplied with power from the electrical system, and which is equipped with a cascade control for the propeller motor. The rotational speed of the propeller motor is preset by a higher-order controller whose command variable is issued by the throttle lever. Filters means are provided for suppressing impairments to the ship'"'"'s operation that result due to the high dynamics of the propulsion system.

Claims

1. A ship propulsion system for a ship including an electrical on-board power supply network, comprising:

a control lever arrangement, including a control lever, adapted to emit a control lever signal corresponding to the position of the control lever,

a source for production of electrical power,

an electrical actuating device, including a power input, a power output and a control input, wherein the power input is connected to the source;

an electric propeller motor, adapted to drive a ship'"'"'s propeller and connected to the power output of the actuating device;

a rotation speed sensor, adapted to emit a rotation speed signal corresponding to the rotation speed of the ship'"'"'s propeller;

a regulator device, including a regulator output, a nominal value input and an actual value input, wherein the control lever signal is fed into the nominal value input and the rotation speed signal is fed into the actual value input, and wherein the regulator output is connected to the control input of the actuating device; and

filter means for suppressing rates of change of instantaneous values of the electrical power, emitted by the actuating device to the propeller motor, which cause adverse effects on the ship operation.

2. The ship propulsion system as claimed in claim 1, wherein the instantaneous value includes at least one of the value of a DC voltage and the root mean square value of an AC voltage.

3. The ship propulsion system as claimed in claim 1, wherein the instantaneous value is the frequency of an AC voltage.

4. The ship propulsion system as claimed in claim 1, wherein the adverse effects include oscillations in the ship'"'"'s hull, caused by torque fluctuations from the propeller motor.

5. The ship propulsion system as claimed in claim 1, wherein the adverse effects include at least one of voltage spikes and frequency fluctuations in the on-board power supply network, caused by excessively fast movement of the control lever in the sense of reducing the rotation speed of the propeller motor.

6. The ship propulsion system as claimed in claim 1, wherein the adverse effects include at least one of voltage spikes, voltage dips and frequency fluctuations in the on-board power supply network, caused by load changes on the propeller caused by at least one of rudder movements, changes to the propeller pitch and, in the case of ships with other propulsion runs, changes to the rotation speed of another propulsion run.

7. The ship propulsion system as claimed in claim 1, wherein the adverse effects are formed by dynamic changes to the ship'"'"'s propeller as a function of the speed of motion.

8. The ship propulsion system as claimed in claim 1, wherein the filter means include first filter means for suppressing amplitude fluctuations in the signal at the control input, when at least one of the frequency of the amplitude fluctuations is above a predetermined limit, and the amplitude of the amplitude fluctuations is below a predetermined limit.

9. The ship propulsion system as claimed in claim 8, wherein the first filter means include amplitude filters.

10. The ship propulsion system as claimed in claim 8, wherein the first filter means include frequency filters.

11. The ship propulsion system as claimed in claim 8, wherein the first filter means are located upstream of the actual value input, such that the actual value signal is supplied via the first filter means.

12. The ship propulsion system as claimed in claim 8, wherein the first filter means are arranged between the regulator output and the control input.

13. The ship propulsion system as claimed in claim 8, wherein the first filter means are integrated in the regulator device.

14. The ship propulsion system as claimed in claim 8, wherein the first filter means are designed to be adaptive, such that the respective filter characteristic value is dependent on the rotation speed of the ship'"'"'s propeller.

15. The ship propulsion system as claimed in claim 8, wherein the first filter means include a filter means control input into which the rotation speed signal is fed.

16. The ship propulsion system as claimed in claim 1, wherein the regulator device includes a PI characteristic.

17. The ship propulsion system as claimed in claim 1, wherein at least one of the regulator device and the first filter means is designed to operate in at least one of digital form, analog form and mixed analog/digital form.

18. The ship propulsion system as claimed in claim 1, wherein at least one of the regulator device and the filter means is in the form of a program in at least one of a microprocessor and a microcontroller.

19. The ship propulsion system as claimed in claim 1, wherein the regulator device includes, in series, a proportional regulator, an integral regulator and an addition element, with one input of the proportional regulator forming an input into which the closed-loop control difference is fed, one output of the proportional regulator being connected to one input of an integral regulator, and the output of the proportional regulator and the output of the integral regulator being connected to inputs of the addition element, whose output forms the regulator output and is fed back to the input of the proportional regulator.

20. The ship propulsion system as claimed in claim 19, wherein the feedback is set such that it results in a steady-state closed-loop control error of approximately 0.2% to 2%.

21. The ship propulsion system as claimed in claim 20, wherein the steady-state closed-loop control error is compensated for by a corrected nominal value n*.

22. The ship propulsion system as claimed in claim 21, wherein a nominal value compensation n_L* is carried out as a function of an estimated load.

23. The ship propulsion system as claimed in claim 22, wherein the estimated load is determined on the basis of a characteristic from an uncompensated rotation speed nominal value.

24. The ship propulsion system as claimed in claim 1, wherein the actuating device is in the form of a regulator, whose nominal value input forms the control input for the actuating device.

25. The ship propulsion system as claimed in claim 1, wherein the actuating device emits at its power output, a DC voltage whose value is dependent on the position of the control lever.

26. The ship propulsion system as claimed in claim 1, wherein the actuating device emits at its power output an AC voltage, whose frequency is dependent on the position of the control lever.

27. The ship propulsion system as claimed in claim 1, wherein the actuating device is designed such that the current which the actuating device emits to the propeller motor is adjusted via the signal at the control input.

28. The ship propulsion system as claimed in claim 1, wherein the filter means includes second filter means including a controlled ramp-up transmitter, which defines a ramp-up time within which the rotation speed of the propeller motor follows the position of the control lever in the sense of acceleration as a function of a characteristic.

29. The ship propulsion system as claimed in claim 28, wherein the characteristic is continuous in the sense that the characteristic has no discontinuities.

30. The ship propulsion system as claimed in claim 28, wherein the second filter means are located between the control lever and the nominal value input of the closed-loop control device.

31. The ship propulsion system as claimed in claim 28, wherein the second filter means includes a control input into which the rotation speed signal is fed.

32. The ship propulsion system as claimed in claim 28, wherein the ramp-up time is at least one of constant and short, and slightly rising and short, in the rotation speed range between 0 and approximately ⅓

of the rated rotation speed.

33. The ship propulsion system as claimed in claim 28, wherein the ramp-up time rises more sharply with the rotation speed of the propeller motor for a rotation speed range of the propeller motor above ¼

of the rated rotation speed.

34. The ship propulsion system as claimed in claim 33, wherein the ramp-up time rises even more sharply with the rotation speed of the propeller motor than for the rotation speed range which is below half the rated rotation speed than for an upper rotation speed range of the propeller motor which is above half the rated rotation speed.

35. The ship propulsion system as claimed in claim 28, wherein the second filter means is designed to operate in at least one of digital form, in analog form, and in mixed digital/analog form.

36. The ship propulsion system as claimed in claim 28, wherein a ramp-down time, which is predetermined in the second filter means, is at most equal to the ramp-up time, which is dependent on the rotation speed, in the rotation speed ranges of the propeller motor up to ¼

.

37. The ship propulsion system as claimed in claim 28, wherein a ramp-down time, which is predetermined in the second filter means, is at most constant as the rotation speed of the propeller motor decreases.

38. The ship propulsion system as claimed in claim 28, wherein a ramp-down time, which is predetermined in the second filter means, is continuous, in the sense that it has no discontinuities.

39. The ship propulsion system as claimed in claim 28, wherein a ramp-down time, which is predetermined in the second filter means, is approximately 0.2 s per rpm.

40. The ship propulsion system as claimed in claim 1, wherein the filter means includes third filter means which limit the rate of change of the power consumption by the propeller motor.

41. The ship propulsion system as claimed in claim 40, wherein the third filter means are set up to limit the rate of change of the output variable from the closed-loop control device for the electrical actuating device, taking into account limit values which are dependent on the source which feeds electrical power to the on-board power supply network.

42. The ship propulsion system as claimed in claim 40, wherein the third filter means are designed such that they limit the rate of change of the output variable in one direction, which is referred to as at least one of a ramp-up time and ramp-up rate of change, to a different value than the rate of change of the output variable in the other direction, which is referred to as at least one of a ramp-down time and ramp-down rate of change.

43. The ship propulsion system as claimed in claim 42, wherein at least either the value for the ramp-up time or the value for the ramp-down time, which is or are limited by the third filter means, can be varied in the same sense as the change in the magnitude of the actual rotation speed of the electric propeller motor.

44. The ship propulsion system as claimed in claim 41, wherein, in a lower rotation speed range of the electric propeller motor or of the ship'"'"'s propeller, a ramp-up time and a ramp-down time, which are predetermined by the third filter means, are matched to a maximum permissible rate of change of a wattless component emitted by the source which feeds the on-board power supply network.

45. The ship propulsion system as claimed in claim 41, wherein the source includes at least two generators, and wherein at least one of a ramp-up time and a ramp-down time, predetermined by the third filter means, are variable in the opposite sense to a change in at least one of the number and physical size of the active generators.

46. The ship propulsion system as claimed in claim 41, wherein at least one of a ramp-up time and a ramp-down time, predetermined by the third filter means, is variable as a function of the operating state of the source.

47. The ship propulsion system as claimed in claim 41, wherein the third filter means are designed such that a window is provided, within which the limiting of at least one of a ramp-up time and of a ramp-down time does not operate.

48. The ship propulsion system as claimed in claim 47, wherein the position of the window is essentially synunetrical with respect to the output variable, at least in one range of the output variable from the closed-loop control device, such that limiting occurs at approximately the same rate of change in both directions.

49. The ship propulsion system as claimed in claim 47, wherein, in order to provide the window, the output signal from the closed-loop control device is fed back into a control input of the third filter means.

50. The ship propulsion system as claimed in claim 47, wherein the size of the window can be adjusted such that a reactive current in the on-board power supply network, which results from the rate of change of the power consumption of the propeller motor, produces a voltage drop which is within the maximum permissible voltage tolerance of the on-board power supply network across a reactance of the source.

51. The ship propulsion system as claimed in claim 47, wherein the source includes at least two generators, and wherein the size of the window is larger than the number of active generators.

52. The ship propulsion system as claimed in claim 41, wherein a ramp-up time and a ramp-down time of the current nominal value are varied in the same sense as the change in the magnitude of the actual rotation speed of the electric propeller motor.

53. The ship propulsion system as claimed in claim 41, wherein a ramp-up time and a ramp-down time of the current nominal value are varied in inverse proportion to the number and physical size of the generators which feed electrical power into the on-board power supply network.

54. The ship propulsion system as claimed in claim 41, wherein the third filter means are designed such that they operate on a microprocessor basis, in at least one of analog form and in mixed digital/analog form.

55. The ship propulsion system as claimed in claim 22, wherein the estimated load is determined on the basis of a characteristic from the rotation speed actual value.

56. The ship propulsion system as claimed in claim 1, wherein the filter means includes second filter means including a controlled ramp-up transmitter, which defines a ramp-up time within which the rotation speed of the propeller motor follows the position of the control lever in the sense of acceleration as a function of the rotation speed of the propeller motor.

57. The ship propulsion system as claimed in claim 28, wherein a ramp-up time rises more sharply with the rotation speed of the propeller motor for a rotation speed range of the propeller motor above ⅓

of the rated rotation speed.

58. The ship propulsion system as claimed in claim 28, wherein a ramp-down time, which is predetermined in the second filter means, is at most equal to a ramp-up time, which is dependent on the rotation speed, in the rotation speed ranges of the propeller motor up to ⅓

, of the rated rotation speed.

59. The ship propulsion system as claimed in claim 28, wherein a ramp-down time, which is predetermined in the second filter means, is considerably shorter than a ramp-up time, which is dependent on the rotation speed, in the subsequent rotation speed range of the propeller motor.

60. The ship propulsion system as claimed in claim 42, wherein at least either the value for the ramp-up time or the value for the ramp-down time, which is or are limited by the third filter means, can be varied in proportion to the magnitude of the actual rotation speed of the electric propeller motor.

61. The ship propulsion system as claimed in claim 41, wherein the source includes at least two generators, and wherein at least one of a ramp-up time and a ramp-down time, predetermined by the third filter means, are variable in inverse proportion to at least one of the number and physical size of the active generators.

62. The ship propulsion system as claimed in claim 47, wherein the size of the window can be adjusted such that a reactive current in the on-board power supply network, which results from the rate of change of the power consumption of the propeller motor, produces a voltage drop which is within the maximum permissible voltage tolerance of the on-board power supply network across a reactance of a synchronous generator.

63. The ship propulsion system as claimed in claim 41, wherein a ramp-up time and a ramp-down time of the current nominal value are varied in proportion to the magnitude of the actual rotation speed of the electric propeller motor.