Abstract: During the mode transition from motor-only propelling mode to compound propelling mode of parallel gas-electric hybrid ships, the torque coupling was conducted via the slipping clutch. However, the clutch slipping torque was uncertain, making the nominal values deviated from the actual ones. The mode transition control was degraded based on the nominal values, leading to the jerk of the propulsion shafting. To address this problem, a mode transition control strategy was proposed based on the clutch slipping torque estimation. The clutch slipping torque was estimated by combining the disturbance observer and unknown input observer. The control law of the traction motor and natural gas engine was developed based on the estimated value, respectively. Simulation and experimental results validate the accuracy of the estimator and the effectiveness of the proposed mode transition control strategy.

Key words: gas-electric hybrid ship, mode transition, torque estimation, clutch

摘要： 在并联式气电混合动力船舶由纯电到混动的模式切换过程中，需要通过离合器的滑摩作用来完成动力的耦合，然而离合器滑摩扭矩具有很大的不确定性，导致其名义值偏离实际值，使得基于名义值的模式切换控制失效，造成传动轴系冲击。针对上述问题，提出了一种基于离合器滑摩扭矩估计的模式切换控制方法。采用扰动观测器与未知输入观测器结合的方式实现了离合器滑摩扭矩的估计，并基于估计值设计了驱动电机以及天然气发动机扭矩控制律。仿真与台架试验结果表明，所提的离合器滑摩扭矩估计方法有较好的估计效果，基于估计值的模式切换控制策略能够有效减小轴系冲击。

关键词: 气电混合动力船舶, 模式切换, 扭矩估计, 离合器