Mode Transition Control of Parallel Gas-electric Hybrid Ships Based on Clutch Slipping Torque Estimation
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.H owever,the clutch slipping torque was uncertain,making the nominal values deviated from the ac-tual 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 natu-ral 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.
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