Abstract
A turbocharged diesel engine numerical model, suitable for real-time ship manoeuvre simulation, is presented in this paper. While some engine components (mainly the turbocharger, intercooler and manifolds) are modelled by a filling and emptying approach, the cylinder simulation is based on a set of five-dimensional numerical matrices (each matrix is generated by means of a more traditional thermodynamic model based on in-cylinder actual cycle). The new cylinder calculation approach strongly reduces the engine transient computation time, making it possible to transform the simulation model into a real-time executable application. As a case study, the simulation methodology is applied to a high speed four stroke turbocharged marine diesel engine, whose design and off design running data are available from the technical sheet. In order to verify the suitability of the proposed model in real-time simulation applications, a yacht propulsion plant simulator is developed. Numerical results in ship acceleration and deceleration manoeuvres are shown, reducing the simulation running time of 99% in comparison with the corresponding in-cylinder actual cycle engine model.
Highlights
For ship propulsion controller development and tuning [1,2,3], or for crew training purposes [4,5,6], it is essential to have reliable simulators that are able to predict in real time the behaviour of all the system components involved
Real Time Hardware in the Loop (RT HIL) simulation consists of an in-test setup where the real hardware controller can exchange data with the ship propulsion models that are simulated in real-time
From a practical point of view, the adoption of this approach required us to face two challenges: running the model in real time mode and interfacing it with the real controller. This was successfully achieved for ship propulsion applications equipped with marine gas turbines [3]
Summary
For ship propulsion controller development and tuning [1,2,3], or for crew training purposes [4,5,6], it is essential to have reliable simulators that are able to predict in real time the behaviour of all the system components involved (engine, mechanical power transmission, propeller, rudder, hull, etc.). For the turbocharger (TC) system modelling, a thermodynamic approach (based on steady state TC compressor and turbine performance maps, dynamic mass ad energy equations for the manifolds and intercooler simulation) increases the simulation running time very slightly; on the contrary, the same cannot be stated as far as the in-cylinders phenomena assessment. For this engine component, the actual cycle approach requires a complicated step-by-step calculation procedure, based on the crank-angle variation, that strongly increases the computation time. This result is essential for the development of a diesel engine real-time simulator, since a fast simulation process can be more transformed into a real-time executable application
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