EP4359657A1 - Dispositif de régulation pour réguler un système de puissance comprenant un moteur à combustion interne et un générateur en liaison fonctionnelle d'entraînement avec le moteur à combustion interne, système de régulation comprenant un tel dispositif de régulation, système de puissance et procédé pour réguler un système de puissance - Google Patents

Dispositif de régulation pour réguler un système de puissance comprenant un moteur à combustion interne et un générateur en liaison fonctionnelle d'entraînement avec le moteur à combustion interne, système de régulation comprenant un tel dispositif de régulation, système de puissance et procédé pour réguler un système de puissance

Info

Publication number
EP4359657A1
EP4359657A1 EP22733984.3A EP22733984A EP4359657A1 EP 4359657 A1 EP4359657 A1 EP 4359657A1 EP 22733984 A EP22733984 A EP 22733984A EP 4359657 A1 EP4359657 A1 EP 4359657A1
Authority
EP
European Patent Office
Prior art keywords
control device
generator
power
internal combustion
combustion engine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22733984.3A
Other languages
German (de)
English (en)
Inventor
Armin DÖLKER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rolls Royce Solutions GmbH
Original Assignee
Rolls Royce Solutions GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rolls Royce Solutions GmbH filed Critical Rolls Royce Solutions GmbH
Publication of EP4359657A1 publication Critical patent/EP4359657A1/fr
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D41/1402—Adaptive control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/06—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving electric generators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
    • F02D31/001—Electric control of rotation speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0097—Electrical control of supply of combustible mixture or its constituents using means for generating speed signals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
    • F02D41/26—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using computer, e.g. microprocessor
    • F02D41/28—Interface circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1413—Controller structures or design
    • F02D2041/1418—Several control loops, either as alternatives or simultaneous
    • F02D2041/1419—Several control loops, either as alternatives or simultaneous the control loops being cascaded, i.e. being placed in series or nested
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2250/00—Engine control related to specific problems or objectives
    • F02D2250/18—Control of the engine output torque

Definitions

  • Control device for controlling a power arrangement comprising an internal combustion engine and a generator drivingly connected to the internal combustion engine, control arrangement with such a control device, power arrangement and method for controlling a power arrangement
  • the invention relates to a control device for controlling a power arrangement comprising an internal combustion engine and a generator drivingly connected to the internal combustion engine, a control arrangement with such a control device, a power arrangement comprising an internal combustion engine and a generator drivingly connected to the internal combustion engine, with such a control device or with such a control arrangement , and a method for controlling such a power arrangement.
  • Such a control device is typically set up to control a rotational speed of the internal combustion engine and, indirectly via this, a generator frequency of the generator which is drive-actively connected to the internal combustion engine.
  • This is problematic insofar as a comparatively dynamic variable is used for regulation.
  • the control is intrinsically comparatively less robust, from which a stationary control behavior suffers in particular.
  • the speed controller has to be parameterized in a special way in order to be able to control the generator frequency.
  • a separate adaptation is required for each speed controller of each specific power arrangement. This applies to a very special degree when the power arrangement is operated in combination with other power arrangements in isolated parallel operation or grid parallel operation, with a required total power being distributed to the various power arrangements.
  • a separate, suitable parameterization of the speed controller is necessary, possibly taking into account an external control device used for power distribution.
  • the invention is based on the object of providing a control device for controlling an internal combustion engine and a generator which is drivingly connected to the internal combustion engine comprehensive power arrangement, a control arrangement with such a control device, a power arrangement, comprising an internal combustion engine and a generator operatively connected to the internal combustion engine, with such a control device or with such a control arrangement, and a method for controlling such a power arrangement, the disadvantages mentioned not occur.
  • the object is achieved in particular by creating a control device for controlling a power arrangement comprising an internal combustion engine and a generator that is drivingly connected to the internal combustion engine, the control device being set up to record a generator power of the generator as a control variable, a control deviation as a difference in the recorded generator power to determine a target generator power, and to determine a target speed as a manipulated variable for controlling the internal combustion engine as a function of the control deviation.
  • the control device is also set up to use a control law to determine the target speed.
  • the control device is set up to be operatively connected to a control device of the internal combustion engine in such a way that the setpoint speed can be transmitted from the control device to the control device.
  • control device is designed as a generator controller and can be operatively connected to the control device of the internal combustion engine in such a way that the setpoint speed can be transmitted from the control device to the control device.
  • control device proposed here calculates the setpoint speed as a function of the control deviation determined as the difference between the detected generator power and the setpoint generator power, comparatively slow control is provided which can readjust deviations from the setpoint generator power in a robust manner.
  • the control device uses a control law for this purpose, a particularly robust configuration of the power control is achieved.
  • the dynamics for the operation of the power arrangement are provided separately from this by a speed controller implemented in the control device of the internal combustion engine. This results in a particularly robust configuration of the control device for the purpose of power control.
  • control device In addition, there is no need for independent, separate parameterization of the speed controller Internal combustion engine, which is particularly advantageous with regard to the use of the control device in a network of power arrangements, especially when the control device assigned setpoint generator power is determined in an external control unit by load distribution of a total power to the individual power arrangements. In particular, no separate adaptation of the control device to the external control device is required. Because the control device itself is designed as a generator controller and can be operatively connected to the control device of the internal combustion engine, it can be used flexibly with different internal combustion engines in different power configurations. In particular, the control device can also be used with internal combustion engines or power systems from other manufacturers.
  • a control law is understood to mean, in particular, a mathematical relationship, in particular an equation, which describes the behavior of a controller.
  • the control law describes the relationship between the manipulated variable and the control deviation.
  • the control law describes how the manipulated variable behaves as a function of the control deviation.
  • control law describes the behavior of a controller that is selected from a group consisting of a P controller, an I controller, a D controller, a PI controller, a PD controller, a PD1 controller, a PD2 controller, a PID controller, a PT 1 controller, a PT2 controller, a PI(DT1) controller, and a combination of at least two of the aforementioned controllers.
  • Lachmann is fundamentally familiar with control laws that describe the behavior of these and other controllers.
  • control law is preferably implemented in the control device, preferably in a hardware structure of the control device, or in the form of software that is executed on the control device during operation of the control device.
  • the manipulated variable it is possible, on the one hand, for the manipulated variable to be calculated explicitly as a function of the control deviation by carrying out specific calculation steps in the software; However, it is also possible for the manipulated variable to be determined as a function of the control deviation on the basis of the specific interconnection of the hardware structure of the control device, that is to say it is calculated more or less indirectly.
  • a control device is understood to mean, in particular, a control device.
  • a control arrangement is understood to mean, in particular, a control arrangement. Accordingly, a control device is understood to mean, in particular, a control device.
  • a generator controller is understood to mean, in particular, a control device that is separate from the control device of the internal combustion engine, i.e. in particular an external control unit, which is set up to regulate the generator power of the generator by specifying the target speed for the internal combustion engine, in particular the target speed as a manipulated variable to the To transmit control device of the internal combustion engine.
  • a generator controller itself is not a control device for the internal combustion engine, in particular not a so-called engine control unit (ECU).
  • the generator regulator is provided in addition to the control device for the internal combustion engine, that is to say in addition to the control unit.
  • a power arrangement is understood here in particular to be an arrangement made up of an internal combustion engine and an electric machine that can be operated as a generator, i.e. a generator, with the internal combustion engine being operatively connected to the generator in order to drive the generator.
  • the power arrangement is thus set up in particular to convert chemical energy converted into mechanical energy in the internal combustion engine into electrical energy in the generator.
  • the power arrangement is operated in particular with a plurality of - in particular a few - other power arrangements together in a network, i.e. in an isolated parallel operation, or the power arrangement is operated on a particularly larger power grid or energy supply grid, in particular a national power grid, in grid parallel operation.
  • the generator power recorded here as a controlled variable is recorded separately in particular at a plurality of power arrangements, preferably at each power arrangement of a network of power arrangements for the respective power arrangement, and is used to control the respective power arrangement.
  • the generator power recorded as a controlled variable is therefore not a total power of the network of power arrangements, but rather the power provided by the individual power arrangement.
  • the generator power is preferably not detected at a busbar to which a plurality of power arrangements are electrically connected.
  • the generator power is preferably detected at the generator of the power arrangement.
  • the target generator power is in particular a for the respective power arrangement, i. H. in particular for the respective control device, generated load share. This is in particular that part of the total load or total power that is to be provided by the respective power arrangement.
  • the target generator power is preferably generated as a load component for the respective power arrangement by an external control device or an external controller.
  • a total load is preferably recorded--particularly on the busbar--which is then divided among the individual power arrangements according to an algorithm that is preferably implemented in the external control unit.
  • the control device is set up to be connected to the external control device in order to receive the setpoint generator power from the external control device—as the load component assigned to the control device.
  • the control device preferably has an interface suitable for this.
  • control device is set up to determine the setpoint generator power itself, that is to say in particular to record the total power and to divide it among a plurality of control devices—including itself.
  • control device is preferably designed as a master control device. It preferably has an interface via which load requirements calculated for other control devices, in particular to slave control devices, can be output, for example an interface for a CAN bus.
  • control device is set up to be operatively connected to the control device of the internal combustion engine in such a way that the setpoint speed can be transmitted from the control device to the control device, i.e. can be operatively connected, means in particular that the control device has an interface suitable for this.
  • the control device is operatively connected--in particular via the interface--to the control device of the internal combustion engine in such a way that the setpoint speed can be transmitted from the control device to the control device.
  • the control device is preferably also set up to receive at least one target torque variable from the control device.
  • the interface is preferably set up in such a way that in addition to the output of the target speed, the at least one target torque variable can be received via the interface.
  • a separate, second interface to be provided for receiving the at least one setpoint torque variable.
  • the control device is set up to adapt the control law used to determine the setpoint speed as a function of at least one adaptation variable, the at least one adaptation variable being selected from a group consisting of the detected generator power, a Generator frequency, a droop size and a - calculated in particular by the control device of the internal combustion engine - target torque size.
  • the use and especially the adaptation of the control law make it possible to operate the control device in combination with a large number of different power arrangements, in particular with a large number of different internal combustion engines, without a specific adaptation to the power arrangement actually being operated, in particular to the internal combustion engine actually being operated , requirement.
  • the power arrangement, in particular the internal combustion engine can be operated virtually without any adjustments, so that the adaptation effort otherwise required with conventional control devices and methods is advantageously minimal when using the technical teaching according to the invention, preferably completely eliminated.
  • a generator frequency is understood to mean in particular the frequency of the electrical voltage induced in the generator, in particular the frequency of the electrical output voltage of the generator.
  • control law is adapted as a function of the at least one adaptation variable also advantageously makes it possible to keep a loop gain of the open control loop similar at all operating points, preferably at a predetermined value, in particular at a value parameterized by the user, across all operating points. This in turn simplifies the control behavior and at the same time also the adjustment of the control device to the specific application.
  • the control device is easy to adapt in this way and can be used easily and reliably, which last but not least also saves costs in use.
  • adaptation of the control law as a function of at least one adaptation variable is understood in particular to mean that at least one parameter determining the control law is changed as a function of the at least one adaptation variable.
  • the control law is adapted as a function of the at least one adjustment variable by changing the proportional coefficient of the control law as a function of the at least one adjustment variable.
  • the control law is determined in particular by the proportional coefficient as a parameter.
  • An adaptation variable is accordingly understood as a variable, depending on which the at least one parameter determining the control law is changed.
  • an adjustment variable is a variable on which a value of the at least one parameter that determines the control law depends.
  • the droop size is preferably a size provided and used to ensure a predetermined power distribution among a plurality of power assemblies. Droop size is also known as P grade. A finite value of a few percentage points, preferably at most 8%, preferably 4%, is preferably assigned to the droop size. The droop size also has a dampening and stabilizing effect on the behavior of the power arrangement in conjunction with other power arrangements.
  • the target torque variable is, in particular, an instantaneous torque of the internal combustion engine. It is possible for the target torque variable to be a torque in a stationary state, which is also referred to as stationary torque. Alternatively or additionally, the target torque variable is preferably a—preferably filtered—target torque or an integral component for the target torque.
  • the control law is preferably tracked as a function of the at least one adjustment variable, with it being adjusted--in particular automatically--in particular to changing operating points of the power arrangement.
  • the control device is preferably set up to limit the detected generator power downwards, in particular to a predetermined power limit value.
  • the control law is preferably determined in particular by: with the proportional coefficient k p , the predetermined, preferably specifiable loop gain v p , the droop size d, the generator frequency / G stat , the generator power P G stat , the torque M stat and the full-load torque M v .
  • the full-load torque My corresponds in particular to the torque at 100% engine power of the internal combustion engine. Such a relationship as Equation (1) is sometimes also briefly referred to as a control law.
  • Equation (1) shows that the proportional coefficient k p varies with the generator frequency / G stat and the generator power P G stat for a given loop gain v p that is kept constant, and also when the droop size d in a preferred embodiment of is different from zero, with the droop size d and the torque M stat .
  • Equation (1) can be derived in particular if one starts from the linearized representation of the control circuit according to FIG calculated, namely taking into account the complex variable s according to the following equation:
  • the control device is set up to adapt the control law by determining the proportional coefficient k p of the control law such that the predetermined loop gain v p of the open control loop is constant.
  • the control device is preferably set up to determine the proportional coefficient k p in such a way that the predetermined loop gain v p remains constant—in particular across all operating points of the power arrangement.
  • the control device is advantageously easy to adapt in this way and can be used easily and reliably. Equation (1) in particular shows that it is possible to always adjust the proportional coefficient k p in such a way that the loop gain v p is constant—particularly independently of the instantaneous operating point of the power arrangement.
  • the predetermined loop gain v p can preferably be parameterized, ie in particular can be set or specified by a user. In this way, a user of the control device or a user of a power arrangement that is operated with the control device can set the loop gain v p in a desired manner.
  • the proportional coefficient k p is then adapted to the user-selected loop gain v p in appropriately adjusted. This has the advantage that no complex tuning of the control device to the power arrangement is required.
  • the control device is set up in particular to select the proportional coefficient k p proportional to the predetermined loop gain v p .
  • the predetermined loop gain v p is preferably set once or at most infrequently by a user and otherwise kept constant. It can thus be regarded as a constant, at least during ongoing operation of the power arrangement.
  • the control device is set up to calculate the proportional coefficient k p as a function of the generator power, the generator frequency, the droop variable d and the at least one target torque variable. In this way, the proportional coefficient can be adjusted particularly flexibly and precisely.
  • the control device is preferably set up to determine the proportional coefficient k p according to equation (1).
  • control device is preferably set up to calculate the proportional coefficient k p inversely proportional to the generator power.
  • control device is preferably set up to calculate the proportional coefficient k p proportional to the generator frequency.
  • control device is preferably set up to calculate the proportional coefficient k p proportional to the droop variable d.
  • control device is preferably set up to calculate the proportional coefficient k p proportional to the target torque variable.
  • the control device is set up to calculate the proportional coefficient k p as a function of the generator power, the droop variable d and the at least one target torque variable. In this way, too, the proportional coefficient k p can be calculated flexibly and precisely, albeit with a reduced computational effort, be tracked.
  • the control device is preferably set up to set the generator frequency constant in this case. Since the generator frequency varies only slightly during ongoing operation of the power arrangement, this results in at most a small, in particular negligible, error.
  • a predetermined, constant standard frequency value is preferably selected for the generator frequency, particularly preferably--depending on the application--50 Hz or 60 Hz.
  • the control device is set up to calculate the proportional coefficient k p as a function of—in particular only—the generator power and the generator frequency. This also represents a stable option for tracking the proportional coefficient k p with a reduced computational effort at the same time, especially since the droop variable d has only a small influence on the proportional coefficient k p .
  • the control device is preferably set up to determine the proportional coefficient k p according to equation (2). Due to the small influence of the droop size on the proportional coefficient k p , Equation (2) represents a very good approximation.
  • the control device is set up to calculate the proportional coefficient k p as a function only of the generator power. Since the detected generator power is available in the control device itself, it does not have to be provided by an external controller. This configuration therefore represents a particularly robust way of calculating the proportional coefficient k p Configuration also the relationship according to equation (2) can be further simplified by using a constant generator frequency, in particular by setting the generator frequency to a predetermined standard frequency value.
  • control device is set up to calculate the proportional coefficient kp as a function of—in particular only—the droop variable and the at least one setpoint torque variable.
  • control device is preferably set up to calculate the proportional coefficient kp according to the following relationship:
  • Equation (23) Substituting Equation (23) into Equation (1) gives Equation (21) directly.
  • the control device is set up to filter a momentary actual power of the generator and to use the filtered actual power as the detected generator power.
  • the instantaneous actual power is preferably - measured directly at the generator - in particular electrically.
  • the instantaneous actual power is filtered using a PT i filter or an averaging filter, with the detected generator power resulting from the PTi filter or the averaging filter.
  • the object is also achieved by creating a control arrangement for controlling a power arrangement comprising an internal combustion engine and a generator that is drivingly connected to the internal combustion engine, which has a control device according to the invention or a control device according to one or more of the exemplary embodiments described above and a control device that is operatively connected to the control device for direct Having control of the internal combustion engine.
  • the control device is set up to transmit the setpoint speed to the control device.
  • the control device is preferably an engine regulator of the internal combustion engine.
  • the control device is particularly preferably what is known as an engine control unit (ECU).
  • the engine controller or the ECU is preferably set up to calculate at least one energization duration for at least one fuel injection valve, in particular an injector, of the internal combustion engine using the target speed—preferably via the intermediate step of a target torque.
  • the control device preferably has a speed controller, or a speed controller is implemented in the control device.
  • the speed controller is preferably designed as disclosed in patent specification DE 102008 036 300 B3.
  • the control device is set up to determine, in particular to calculate, at least one setpoint torque variable and to transmit it to the control device, with the control device being set up to determine the at least one setpoint torque Receiving size from the controller.
  • the at least one target torque variable is in particular that target torque variable which is preferably used in the control device to adapt, in particular track, the control law, in particular according to equation (1).
  • control device is set up to determine as the at least one target torque variable a variable that is selected from a group consisting of a - preferably filtered - target torque and an integral component for the target torque of a speed controller of the control device.
  • the at least one setpoint torque variable is the setpoint torque, which is used in the control device to calculate an energization duration for the fuel injection valves, in particular as a manipulated variable for the speed controller.
  • the at least one target torque variable is preferably an integral component (I component) of the target torque.
  • the object is also achieved by creating a power arrangement that has an internal combustion engine and a generator that is drivingly connected to the internal combustion engine.
  • the power arrangement has a control device according to the invention or a control device according to one or more of the exemplary embodiments described above.
  • the power arrangement has a control arrangement according to the invention or a control arrangement according to one or more of the exemplary embodiments described above.
  • the control device or the control arrangement is operatively connected to the internal combustion engine and the generator of the power arrangement.
  • the object is also achieved by a method for controlling an internal combustion engine and a generator which is drivingly connected to the internal combustion engine comprehensive power arrangement is created, wherein a generator power of the generator is detected as a controlled variable.
  • a control deviation is determined as the difference between the detected generator power and a setpoint generator power.
  • a setpoint speed is determined as a manipulated variable for controlling the internal combustion engine as a function of the control deviation.
  • the setpoint speed is determined, in particular calculated, using a control law.
  • the setpoint speed is preferably calculated in a control device designed as a generator controller and transmitted--in particular via an interface--to a control device designed as an engine controller.
  • a control device according to the invention or a control device according to one or more of the exemplary embodiments described above is preferably used to control the power arrangement.
  • a control arrangement according to the invention or a control arrangement according to one or more of the exemplary embodiments described above is preferably used within the scope of the method for controlling the power arrangement.
  • the control law used to determine the setpoint speed is preferably adapted, in particular tracked, as a function of at least one adaptation variable.
  • the at least one adjustment variable is selected from a group consisting of the detected generator power, a generator frequency, a droop variable and a setpoint torque variable—calculated in particular by the control device of the internal combustion engine.
  • control law is adjusted by determining a proportional coefficient of the control law such that a predetermined open loop gain is constant, preferably remains constant.
  • the proportional coefficient is preferably calculated as a function of the generator power, the generator frequency, the droop size and the at least one target torque size.
  • the proportional coefficient is preferably calculated as a function of the generator power, the droop size and the at least one target torque size, with the generator frequency preferably being set constant.
  • the proportional coefficient is preferably calculated as a function of—in particular only—the generator power and the generator frequency.
  • the proportional coefficient is preferably calculated as a function only of the generator power, with the generator frequency preferably being set constant.
  • the proportional coefficient is preferably calculated as a function of—in particular only—the droop variable and the at least one target torque variable.
  • An instantaneous actual power of the generator is preferably filtered and the filtered actual power is used as the detected generator power.
  • Figure 1 is a first schematic representation of an embodiment of a
  • FIG. 2 shows a second schematic illustration of the exemplary embodiment of the cable arrangement according to FIG. 1;
  • FIG. 3 shows a third schematic illustration of the exemplary embodiment of the cable arrangement according to FIG. 1;
  • FIG. 4 shows a detailed illustration of a power controller
  • FIG. 5 shows a detailed representation of a first embodiment of a method for calculating the proportional coefficient for the power control
  • FIG. 6 shows a detailed illustration of a second embodiment of a method for calculating the proportional coefficient for the power control
  • FIG. 7 shows a detailed illustration of a third embodiment of a method for calculating the proportional coefficient for the power control
  • FIG. 8 shows a detailed representation of a fourth embodiment of a method for calculating the proportional coefficient for the power control
  • FIG. 9 shows a schematic, diagrammatic representation of the functioning of an embodiment of a method for controlling a power arrangement.
  • the power arrangement 1 shows a first schematic representation of an exemplary embodiment of a power arrangement 1 with a first exemplary embodiment of a control device 3.
  • the power arrangement 1 is part of a higher-level network of a plurality of power arrangements, of which only one power arrangement 1, which is considered in more detail here, is shown.
  • the power arrangement 1 is electrically connected to a power supply system 4 , here specifically to a busbar 6 .
  • the power arrangement 1 can be operated, in particular, in island parallel operation or in grid parallel operation;
  • the power grid 4 can be a local power grid, in particular an onboard power supply of a vehicle, for example a ship, or a nationwide power grid.
  • An external control unit 8 is assigned to the power supply system 4, which divides a total power P s bahn requested at the busbar 6, which is also referred to as the total load, to the individual power arrangements 1, in particular by providing a separate setpoint generator power Pj 0 u , Psoiu P soiu, etc., is calculated.
  • a first setpoint generator power P oll assigned to the power arrangement 1 concretely shown here is referred to below for the sake of simplicity as setpoint generator power P setpoint .
  • the power arrangement 1 has an internal combustion engine 5 and a generator 9 drivingly connected to the internal combustion engine 5 via a shaft 7 shown schematically.
  • the control device 3 is operatively connected to the internal combustion engine 5 on the one hand and to the generator 9 on the other hand.
  • the generator 9 is electrically connected to the busbar 6 in a manner that is not explicitly shown here.
  • control device 3 is set up to control the power arrangement 1, it being set up to supply a generator power P G of the generator 9 as a controlled variable record in order to determine a control deviation as the difference between the detected generator power P G and the setpoint generator power P set and to determine a setpoint speed n set as a manipulated variable for controlling the internal combustion engine 5 as a function of the control deviation.
  • the control device 3 is also set up to use a control law to determine the target speed n target .
  • the control device 3 is designed as a generator controller and is operatively connected to a control device 11 of the internal combustion engine 5 in such a way that the setpoint speed n setpoint can be transmitted from the control device 3 to the control device 11 . At the same time, this enables a particularly robust power control and a diverse range of uses for the control device 3, in particular with a large number of power arrangements 1.
  • the control device 3 is preferably set up to adapt the control law used to determine the setpoint speed n set as a function of at least one adjustment variable, the at least one adjustment variable being selected from a group consisting of the detected generator power P G , a generator frequency f G , a droop variable d and a target torque variable—calculated in particular by the control device of the internal combustion engine.
  • the regulating device 3 and the control device 11 together form a regulating arrangement 13 for regulating the power arrangement 1.
  • the control device 11 is preferably designed as an engine regulator, in particular as an engine control unit (ECU).
  • the control device 11 is set up in particular to calculate the at least one target torque variable and to transmit it to the control device 3 , with the control device 3 being set up to receive the at least one target torque variable from the control device 11 .
  • control device 11 is preferably set up to determine a variable as the target torque variable that is selected from a group consisting of a—preferably filtered—target torque M set and an integral component of a speed controller—shown in FIG 21 of the control device 11 , in particular an integral component M s l oU of the target torque M
  • a variable as the target torque variable that is selected from a group consisting of a—preferably filtered—target torque M set and an integral component of a speed controller—shown in FIG 21 of the control device 11 , in particular an integral component M s l oU of the target torque M
  • Another input variable of the control device 3 is optionally the droop variable d.
  • the control device 11 also has the target speed n set and a detected speed n actual as input variables . From this, the control device 11 calculates a speed control deviation. From this speed control deviation, the control device 11 finally calculates an energization duration BD for controlling fuel injection valves of the internal combustion engine 5. The control device 11 preferably first calculates the setpoint torque M soll from the speed control deviation and from this in turn the energization duration BD.
  • FIG. 2 shows a second schematic representation of the exemplary embodiment of the power arrangement 1 according to FIG. 1, in particular in the form of a block diagram.
  • An actual power Pi St detected at the generator 9 is preferably filtered in a power filter 15, and the filtered actual power Pi St is used as the detected generator power Po.
  • the power filter 15 is preferably a PTi filter or an average filter.
  • the power filter 15 is preferably part of the control device 3, which also has a power controller 17, which calculates the setpoint speed n setpoint from the deviation ep as the difference between the setpoint generator power P setpoint and the detected generator power Po.
  • the control device 11 has a speed filter 19, which is preferably designed as a PTi filter or averaging filter.
  • a measured speed n mess that is preferably used to calculate a speed control deviation e n results from filtering the actual speed n ist measured directly on the internal combustion engine 5 using the speed filter 19.
  • the control device 11 also has the speed controller 21, which is Speed control deviation e n the target torque M is and preferably from this - in a manner not shown - the energization duration BD calculated.
  • a controlled system 23 of the speed control circuit assigned to the speed controller 21 comprises the internal combustion engine 5, the shaft 7 and the generator 9. The meaning of the droop size d is explained in more detail below:
  • a differential speed An is preferably calculated on the basis of the droop variable d, an effective desired speed e ff being calculated by adding the differential speed An to the desired speed nsoii .
  • the effective set speed n eff is used to calculate the speed control deviation e n by subtracting the measured speed n mess from the effective set speed n ejf .
  • the differential speed An is calculated in a calculation block 25 .
  • Input variables of the calculation block 25 are the integral component M g0ll of the setpoint torque M soii calculated by the speed controller 21, the droop size d, a full-load torque Mv, and a nominal speed n N for the internal combustion engine 5, the nominal Speed h g can be 1500 min 1 , for example.
  • the differential speed An is preferably calculated according to the following equation:
  • the droop size d is preferably set to a finite value, in particular in the single-digit percentage range, preferably to a maximum of 8%, preferably to 4%.
  • the droop variable d can be predetermined, ie in particular parameterized, by a user of the power arrangement 1 or the control device 3 .
  • the droop variable d can also be set to zero, in this case both in the control device 3 and in the control device 11. If the droop variable d is equal to zero, the differential speed An also disappears at the same time, so that the result is the effective setpoint -Speed is not equal to the target speed n soii .
  • the droop variable d is different from zero, the following results: If the internal combustion engine 5 is running under full load, the integral component of the setpoint torque M setpoint is equal to the full-load Torque Mv, so that the differential speed An becomes equal to zero. On the other hand, if the internal combustion engine 5 is idling, the integral component is equal to zero, and the Differential speed An is equal to the percentage of the nominal speed hN determined by the droop size d. If the rated speed nv is 1500 rpm and the droop size d is 4 %, the value of the differential speed An varies between 0 rpm at full load and 60 rpm when idling. FIG.
  • FIG. 3 shows a third schematic representation of the power arrangement 1 according to FIG. 1, in this case as a linearized block diagram.
  • the individual controllers are represented by transmission blocks with correspondingly assigned transmission functions.
  • the controlled system 23 in FIG. 3 is shown divided into two transmission blocks, namely a transmission block assigned to the internal combustion engine 5, characterized by the transmission function with the setpoint torque M set as Input variable and the actual speed nist as the output variable, and a generator 9 associated transfer block, characterized by the transfer function, with the same input variable, namely the target torque M soii , and the actual power P, si as the output variable.
  • the speed controller 21 is represented by a first multiplication element 27 for calculating a proportional component of the setpoint torque M set by multiplication with the speed proportional coefficient, and a first integration element 29 for the calculation of the integral component of the target torque M SOÜ by multiplying it by a term with the reset time and the complex variable s.
  • the speed controller 21 thus has a PI transmission behavior here, since the first multiplication element 27 has a proportional transmission behavior and the first integration element 29 has an integral transmission behavior.
  • the calculation block 25 is given a negative sign here by the linearization, so that the differential speed An calculated in the calculation block 25 is now subtracted from the setpoint speed n setpoint . Due to the linearization, the differential speed An is calculated in the calculation block 25 according to the following modified equation:
  • FIG. 4 shows a schematic representation of a power controller 17 according to FIG. 3, which is preferably implemented as a PI controller.
  • the control deviation ep is first multiplied by the proportional coefficient, so that a proportional component h for the target Speed n Soii results.
  • a second integrator 31 an integral component n for the desired speed n soii is calculated from the proportional component hz 0 ⁇ i by dividing by the product of the reset time with the complex variable s, which then becomes the Proportional component hz o1i is added. This results in the setpoint speed n setpoint as the output variable.
  • the transfer function of the power controller 17 is thus given by:
  • the proportional coefficient is preferably calculated according to equation (1).
  • the control law is in particular adapted in that the proportional coefficient k p is determined in such a way that the predetermined loop gain v p is constant, in particular remains constant.
  • FIG. 5 shows a detailed representation of a first embodiment of a method for calculating the proportional coefficient for the power control according to equation (1).
  • a second multiplication element 33 the predetermined loop gain v p by a factor of 450, the generator frequency fc. stat , the reciprocal of the generator power Pc. stat , and an output of a summation element 35 multiplied.
  • the proportional coefficient k is given as Output of the second multiplication element 33.
  • the summation element 35 the number 1 is added to the output of a third multiplication element 37.
  • the droop variable d is multiplied by the torque M stat and the reciprocal of the full-load torque My.
  • the reciprocal of the full-load torque My is formed in a first reciprocal value element 39 from the full-load torque My.
  • the torque M stat can be determined in two different ways: On the one hand from the integral component delayed by a sampling step ta .
  • a switch 41 provided for switching between the two types of calculation is arranged in the upper switch position according to FIG.
  • the torque M stat can be calculated from the setpoint torque M setpoint calculated by the control device 11 . This too is first delayed by a sampling step t 1 , then filtered by a torque filter 43, the torque filter 43 preferably being a PTi filter or a mean value filter. This calculation is active when the switch 41 is in the lower switch position according to FIG.
  • the generator frequency fc.stat is preferably calculated by using a frequency filter 45 to filter an actual frequency fi st , which is preferably detected at the generator 9 .
  • the frequency filter 45 is not shown explicitly in FIG. 1 for reasons of simplification.
  • the generator power Pc.stat is preferably calculated by first filtering the actual power P, i using the power filter 15 and then limiting it downwards in a limiting element 47 to a predetermined power limit value P m in .
  • the reciprocal of the generator power Pc.stat limited in this way is then calculated in a second reciprocal element 49 .
  • the reciprocal value calculated in this way is then fed to the second multiplication element 33 .
  • Both the power filter 15 and the limiting element 47 are not shown explicitly in FIG. 1 for reasons of simplification.
  • FIG. 6 shows a detailed representation of a second embodiment of a method for calculating the proportional coefficient k p for the power control according to equation (21).
  • the predetermined loop gain v p is multiplied by the factor 45 ⁇ 10 4 /p, the reciprocal value of the torque Mstat, and the output of the summation element 35.
  • the proportional coefficient k p results in turn as the output of the second multiplication element 33.
  • the torque M stat is branched off from the calculation for the third multiplication element 37, and its reciprocal value is formed in a third reciprocal value element 51. Otherwise, the calculation is carried out as described in connection with FIG.
  • Fig. 7 shows a detailed illustration of a third embodiment of a method for calculating the proportional coefficient k p for the power control according to equation (19) and thus for a constant generator frequency with a standard frequency value of 50 Hz v p multiplied by the factor 22500 and the reciprocal of the generator power Pc.stat.
  • the proportional coefficient k p results in turn as the output of the second multiplication element 33.
  • the reciprocal value of the generator power Pc.stat is calculated as was described in connection with FIG.
  • FIG. Fig. 8 shows a detailed representation of a fourth embodiment of a method for calculating the proportional coefficient k p for the power control according to equation (20) and thus for a constant generator frequency with a standard frequency value of 60 Hz.
  • the proportional coefficient k p results in turn as the output of the second multiplication element 33.
  • the reciprocal value of the generator power Pc.stat is calculated as was described in connection with FIG.
  • the proportional coefficient k p can preferably also be calculated according to one of the equations (2), (3), (17), or (18).
  • Figure 9 shows a schematic, diagrammatic representation of the process.
  • a first time diagram at a) shows the total power Ps rail measured on the busbar 6 - this is identical to the value 0 kW up to a first point in time ti.
  • the total power Ps rail suddenly changes to a specific value P L and subsequently remains at this value.
  • a second time diagram at b) shows the setpoint generator power P setpoint , which is transmitted to the control device 3 by the external control device 8 . Since the setpoint generator power Psoii is calculated in the external control unit 8, there is a time delay before the setpoint generator power Psoii is available in the control device 3. For clarification and specification, it is assumed here that there is an island parallel operation of four identical power arrangements 1, with the total power Ps rail being to be distributed evenly over all four power arrangements 1. For this reason, the setpoint generator power P setpoint rises suddenly at a second point in time h to a value P t J and subsequently remains identical to this value.
  • the time delay between the first point in time t 1 and the second point in time t 2 is preferably two sampling steps, ie a total time span of 10 ms given a sampling time of 5 ms.
  • a third time diagram at c) shows two curves:
  • a first dashed curve shows the instantaneous actual power Pi st generated by the individual generator 9 of the individual power arrangement 1 . Since the total power Ps rail from the generators 9 of the four Power arrangements 1 must be made available together in equal parts, the actual power Pi St increases— also at the first point in time ti—suddenly to the value P / J4.
  • a second, solid curve shows the detected generator power P G , which is obtained by filtering from the actual power Pi St . Since the detected generator power P G is the output variable of a filter, it increases—starting from the first point in time ti—with a time delay and has settled at the value P / J4 at a third point in time ti.
  • a fourth time diagram at d) shows the course over time of the setpoint speed n setpoint .
  • a sixth timing diagram at f) is the time course Differential speed An shown.
  • the fast activation shown in the first time diagram represents an example--as shown in the second diagram--an activation of a 50% fast--related to full load--and preferably corresponds to a torque of 5000 Nm.
  • the droop size d is set to a value of 4%.
  • the internal combustion engine 5 Up to the first point in time ti, the internal combustion engine 5 is in a load-free state, so that—as shown in the sixth time diagram—a value of 60 rpm results for the differential speed An. Since a sum of the target speed n soii and the differential speed At a target frequency for the generator 9 of 50 Hz, an effective target speed n e ff of 1500 rpm—the value of the nominal speed H N —must result, the target speed is n target up to the first point in time ti 1440 minutes "1 . The integral term is up to the first Time ti 0 Nm.
  • the setpoint generator power P setpoint is increased to the value P / J4. This now results in a positive control deviation ep.
  • the setpoint speed n setpoint is increased. Since the effective setpoint speed n, j] is increased at the same time as the setpoint speed n setpoint, the result is a positive speed control deviation e n , so that the integral component M sl oU of the speed controller 21 is increased. This leads to the differential speed An being reduced. Since the setpoint generator power P soii is increased to 50% of the maximum power, the differential speed An drops at a value of the droop size d of 4% to the value 30 min 1 . This value is reached at the third point in time A.
  • the setpoint speed n setpoint increases by 30 min- 1 to the value 1470 min- 1 by the third point in time.
  • the integral component M g0ll reaches 50% of the maximum torque at the third point in time with the value 5000 Nm. From the third point in time, the system is in a steady state.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Eletrric Generators (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

L'invention concerne un dispositif de régulation (3) pour réguler un système de puissance (1) comprenant un moteur à combustion interne (5) et un générateur (9) en liaison fonctionnelle d'entraînement avec le moteur à combustion interne (5). Le dispositif de régulation (3) est conçu pour acquérir une puissance de générateur (PG) relative au générateur (9) en tant que grandeur réglée, déterminer un écart de régulation (eP) en tant que différence entre la puissance de générateur (PG) acquise et une puissance de générateur de consigne (Psoll) et déterminer un couple de consigne (nsoll) en tant que grandeur réglante pour la commande du moteur à combustion interne (5) en fonction de l'écart de régulation (eP). Le dispositif de régulation (3) est en outre conçu pour utiliser une loi de régulation pour déterminer le couple de consigne (nsoll). Le dispositif de régulation (3) est conçu pour être relié fonctionnellement à un dispositif de commande (11) du moteur à combustion interne (5) de telle sorte que le couple de consigne (nsoll) puisse être transmis par le dispositif de régulation (3) au dispositif de commande (11).
EP22733984.3A 2021-06-22 2022-06-21 Dispositif de régulation pour réguler un système de puissance comprenant un moteur à combustion interne et un générateur en liaison fonctionnelle d'entraînement avec le moteur à combustion interne, système de régulation comprenant un tel dispositif de régulation, système de puissance et procédé pour réguler un système de puissance Pending EP4359657A1 (fr)

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DE102021206421.3A DE102021206421A1 (de) 2021-06-22 2021-06-22 Regeleinrichtung zur Regelung einer eine Brennkraftmaschine und einen mit der Brennkraftmaschine antriebswirkverbundenen Generator umfassenden Leistungsanordnung, Regelanordnung mit einer solchen Regeleinrichtung, Leistungsanordnung und Verfahren zur Regelung einer Leistungsanordnung
PCT/EP2022/066833 WO2022268783A1 (fr) 2021-06-22 2022-06-21 Dispositif de régulation pour réguler un système de puissance comprenant un moteur à combustion interne et un générateur en liaison fonctionnelle d'entraînement avec le moteur à combustion interne, système de régulation comprenant un tel dispositif de régulation, système de puissance et procédé pour réguler un système de puissance

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DE102021206419B3 (de) * 2021-06-22 2022-11-24 Rolls-Royce Solutions GmbH Regeleinrichtung zur Regelung einer eine Brennkraftmaschine und einen mit der Brennkraftmaschine antriebswirkverbundenen Generator umfassenden Leistungsanordnung, Regelanordnung mit einer solchen Regeleinrichtung, Leistungsanordnung und Verfahren zur Regelung einer Leistungsanordnung

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JP3385986B2 (ja) 1998-12-18 2003-03-10 本田技研工業株式会社 シリーズハイブリッド車の出力制御装置
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DE102008036300B3 (de) 2008-08-04 2010-01-28 Mtu Friedrichshafen Gmbh Verfahren zur Steuerung einer Brennkraftmaschine in V-Anordnung
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US20240110531A1 (en) 2024-04-04
WO2022268783A1 (fr) 2022-12-29
DE102021206421A1 (de) 2022-12-22
US12270353B2 (en) 2025-04-08

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