Mode Transition Control of Parallel Gas-Electric Hybrid Power System with Uncertain Delay

doi:10.16183/j.cnki.jsjtu.2023.473

Abstract

Abstract:

Parallel gas-electric hybrid systems have broad application prospects in low-carbon ships due to their few emissions and dynamic performance. However, uncertain delays in multiple actuators during mode transition can cause violent fluctuations in the shaft speed along the power drive. In this paper, a cascaded internal mode control (IMC) consisting of filters with explicit nominal delay is proposed to improve speed tracking performance and eliminate the effect of delay. A dynamic model of the marine driveline is developed, and the cascade IMC is designed based on the driveline mechanism with the clutch serving as the separating component. The cascade IMC consists of an anti-saturation compensator, a two-stage tracking controller, and a two-stage anti-interference controller. Finally, the small-gain theorem is derived to ensure robust stability conditions, taking the upper bound of the uncertain delays into consideration. The results of simulation and dynamometer test show that the cascaded IMC has excellent robustness in handling uncertain delays, significantly reduces shaft jerk, and ensures smooth mode transition.

Key words: gas-electric hybrid power system, mode transition control, uncertain delay, cascaded internal mode control (IMC), robustness

CLC Number:

U661.31+3

FU Shenglai, CHEN Li, CHEN Ziqiang. Mode Transition Control of Parallel Gas-Electric Hybrid Power System with Uncertain Delay[J]. Journal of Shanghai Jiao Tong University, 2025, 59(9): 1225-1236.

Figures/Tables 12

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参数	取值	参数	取值
J_e/(kg·m²)	1.85	k₁/(N·m·rad^-1)	600
J_c1/(kg·m²)	0.03	k₂/(N·m·rad^-1)	30 000
J_c2/(kg·m²)	0.03	i₁	4.5
J_pro/(kg·m²)	2.50	i₂	3
J_fd/(kg·m²)	0.30	τ₁/s	0.20
J_tm/(kg·m²)	0.40	τ₂/s	0.10
c₁/(N·m·s·rad^-1)	30	τ₃/s	0.03
c₂/(N·m·s·rad^-1)	1 000	D/m	1.05
c_e/(N·m·s·rad^-1)	0.03	K_Q	0.015
c_tm/(N·m·s·rad^-1)	0.03	ρ/(kg·m^-3)	1 025

位置	转速均方根误差/(rad·s^-1)
位置	鲁棒级联IMC	全极点近似级联IMC	广义逆IMC
发动机侧	0.366	0.429	2.206
螺旋桨侧	0.079	0.163	1.662

不确定度/%	位置	转速均方根误差/(rad·s^-1)
不确定度/%	位置	鲁棒级联IMC	全极点近似级联IMC
-50	发动机侧	3.195	4.139
	螺旋桨侧	0.029	0.228
50	发动机侧	2.995	4.952
	螺旋桨侧	0.147	0.235