CN109911110B - Stability-variable ship - Google Patents
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Abstract
The invention provides a stability-variable ship, which comprises a simulated ship body, and a numerical simulation system, an intelligent control system, a power system and a data acquisition system which are arranged on the simulated ship body; the numerical simulation system takes the real-time motion state of the target ship as input data of the integral framework of the variable stability ship, analyzes the stress condition of the target ship on six degrees of freedom through a ship motion power prediction model, converts the integral stress of the target ship into the six-degree-of-freedom equivalent stress condition of the variable stability ship by using a ship motion power conversion model, and predicts a power output value on the six degrees of freedom of the variable stability ship; the intelligent control system calculates the optimal scheme for adjusting the rotating speed and the direction angle of the power system in the current state, and performs feedback correction on the output parameters of the power system according to the parameters acquired by the data acquisition system. The invention provides a concept of a stable ship for the first time and provides a general verification platform for an artificial intelligent driving program of the ship.
Description
Technical Field
The invention relates to a special ship, in particular to a stability-variable ship.
Background
In the era of intelligent ships, the driving of ships is gradually completed by artificial intelligence programs, and how to judge that the artificial intelligence programs have the capacity of operating different ships becomes a core problem. One of the main obstacles is the great difference in the dimensions, hydrodynamic properties, etc. of different vessels. An artificial intelligence program with autonomous driving capability on a certain ship type is difficult to prove to be as effective as other ships, and the artificial intelligence program which is not verified can be directly operated on a large ship in danger in the future, so that a universal verification platform is needed.
In the process of developing modern airplanes, the stabilized airplane becomes a main means for developing a comprehensive test method of the airplane. A variable stability airplane is called an air flight simulator. The fly-by-wire simulation system is used as a special carrier for simulating air flight, and parameters of a stable flight control law can be adjusted by using a special fly-by-wire control system under the condition of not changing flight conditions, so that the performances of an airplane and the control system are variable within a larger parameter range, and even if necessary, the cockpit environment and flight instruments can be changed, the dynamic characteristics of the airplane are changed, and the control quality of other airplanes is simulated in the air.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the stability-variable ship, namely the stability-variable ship, can simulate the navigation states of target ships with different scales and different hydrodynamic characteristics and is used as a general verification platform.
The technical scheme adopted by the invention for solving the technical problems is as follows: a becomes steady ship which characterized in that: the intelligent control system comprises a simulation ship body, and a numerical simulation system, an intelligent control system, a power system and a data acquisition system which are arranged on the simulation ship body; wherein,
the power system is used for simulating the propulsion and steering of a target ship to be simulated;
the data acquisition system is used for acquiring the propulsion parameters and the real-time motion parameters of the stabilized ship in six degrees of freedom in the sailing process in real time;
the numerical simulation system is used for taking the real-time motion state of a target ship to be simulated as input data of the integral framework of the variable-stability ship, analyzing the stress condition of the target ship on six degrees of freedom through a ship motion power prediction model, converting the integral stress of the target ship into the equivalent stress condition of the six degrees of freedom of the variable-stability ship by using a ship motion power conversion model, and predicting a power output value on the six degrees of freedom of the variable-stability ship;
the intelligent control system is used for calculating the optimal scheme of adjusting the rotating speed and the direction angle of the power system in the current state according to the power output value on the six degrees of freedom of the variable stability ship, and converting the optimal scheme into corresponding output signals to be transmitted to the power system; meanwhile, according to the propulsion parameters of the stabilized ship acquired by the data acquisition system in the sailing process and the real-time motion parameters of the six-degree-of-freedom ship, the corresponding motion state of the target ship is compared, and the output parameters of the power system are corrected;
the six degrees of freedom include yaw, surge, heading, roll, surge and heave.
According to the scheme, the power system is composed of 4 full-rotation propellers, wherein the full-rotation propellers are respectively arranged on the left and the right of the bow of the simulated ship body, and the full-rotation propellers are respectively arranged on the left and the right of the stern of the simulated ship body; the 4 full-rotation propellers are directly controlled by an intelligent control system, and the output parameters of the full-rotation propellers comprise the direction angle of the full-rotation propellers and the rotating speed of the propellers; the rotating speed of the propeller is controlled to enable the full-rotation propeller to generate different thrust, and the control of the propeller thrust is realized by controlling the direction of the full-rotation propeller; the 4 full-rotation propellers generate thrust in different sizes and directions, and act on the simulated ship body to provide forward power and steering control force, so that the stress state of the stabilized ship is consistent with that of the target ship.
According to the scheme, the data acquisition system consists of an inertial measurement module IMU, a positioning system, a rotating speed sensor and an angle sensor; measuring the speed and the acceleration of the stable ship at any moment in six degrees of freedom during movement through an inertia measurement module, thereby obtaining the real-time movement state of the stable ship; measuring real-time track and course angle of a stable ship through a positioning system; measuring the propeller rotating speed of the full-rotation propeller through a rotating speed sensor; and measuring the direction angle of the full-rotation propeller through an angle sensor.
According to the scheme, the numerical simulation system mainly comprises a ship motion power prediction model and a ship motion power conversion model; analyzing the motion parameters of the target ship through a ship motion power prediction model so as to obtain the hydrodynamic characteristics of the target ship in the navigation process; converting the stress characteristic of the target ship into the equivalent stress characteristic of the stable ship through a ship motion power conversion model; obtaining the output parameters of each device in the power system by using the ship motion power prediction model again;
the ship motion power prediction model and the ship motion power conversion model are mainly established by applying an empirical regression formula related to ship maneuverability and a result obtained by a computational fluid mechanics method.
According to the scheme, the ship motion power prediction model refers to motion parameters and hydrodynamic guidance values of a known target ship during navigation, and the magnitude and the direction of an external force borne by a stabilizing ship are calculated and predicted by adopting an empirical regression formula related to ship maneuverability and a computational fluid mechanics method; and the motion parameters of the ship are calculated and predicted according to the magnitude and direction of the external force applied to the ship.
According to the scheme, the ship motion power conversion model enables the stress condition of the target ship to be equivalent to the variable stability ship according to the scaling ratio and the similar principle, the rotating speed and the angle value of each full-rotation propeller of the variable stability ship are obtained, and the consistency of the motion and the power characteristics of the variable stability ship and the target ship is achieved.
According to the scheme, the intelligent control system comprises a feedback system, a decision-making system and an execution system; the decision system further analyzes and processes the output parameters of the numerical simulation system to obtain the optimal scheme for adjusting the rotating speed and the direction angle of the 4 full-rotation propellers of the power system in the current state; the execution system converts the optimal scheme of adjusting the rotating speed and the direction angle of the 4 full-rotation propellers into corresponding output signals, and controls the direction of the full-rotation propellers and the rotating speed of the propellers; the feedback system receives the motion parameters of the stabilized ship acquired by the data acquisition system in real time and feeds the motion parameters back to the decision-making system, the decision-making system detects the fed motion parameters of the stabilized ship in real time, compares the motion parameters with original signals of a target ship, adjusts PID (proportion integration differentiation) parameters and changes the output parameters of the power system, so that the speed and the acceleration of the stabilized ship in six degrees of freedom are consistent with those of the target ship.
The invention has the beneficial effects that: the concept of a stable ship is put forward for the first time, a universal verification platform is provided for the artificial intelligent driving program of the ship, and the control effect of the artificial intelligent driving program on different target ships is verified; and providing a ship motion power prediction model and a ship motion power conversion model, and realizing the equivalent conversion function of the stress state of the target ship and the stable ship.
Drawings
FIG. 1 is an overall architecture diagram of an embodiment of the present invention.
FIG. 2 is a system architecture diagram according to an embodiment of the present invention.
Fig. 3 is a block diagram of a feedback adjustment mechanism according to an embodiment of the invention.
Fig. 4 is an overall operation structure diagram of an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following specific examples and figures.
As shown in fig. 1 to 4, the invention provides a stabilizing ship, which comprises a simulated ship body, and a numerical simulation system, an intelligent control system, a power system and a data acquisition system which are arranged on the simulated ship body.
The power system is used for simulating the propulsion and steering of the target ship to be simulated. The power system is composed of 4 full-rotation propellers, each full-rotation propeller can independently control the rotating speed and the direction angle of the propeller, and the four full-rotation propellers can finally generate combined thrust in any direction. The left and the right of the bow of the simulated ship body are respectively provided with a full-rotation propeller, and the left and the right of the stern of the simulated ship body are respectively provided with a full-rotation propeller; the 4 full-rotation propellers are directly controlled by an intelligent control system, and the output parameters of the full-rotation propellers comprise the direction angle of the full-rotation propellers and the rotating speed of the propellers; the rotating speed of the propeller is controlled to enable the full-rotation propeller to generate different thrust, and the control of the propeller thrust is realized by controlling the direction of the full-rotation propeller; the 4 full-rotation propellers generate thrust in different sizes and directions, and act on the simulated ship body to provide forward power and steering control force, so that the stress state of the stabilized ship is consistent with that of the target ship.
The data acquisition system is used for acquiring the propulsion parameters and the real-time motion parameters of the stability-variable ship in the sailing process in real time. The six degrees of freedom include yaw, surge, yaw, roll, pitch, and heave. The data acquisition system consists of an inertial measurement module IMU, a positioning system (such as a GPS and a Beidou), a rotating speed sensor and an angle sensor; measuring the speed and the acceleration of the stable ship at any moment in six degrees of freedom during movement through an inertia measurement module, thereby obtaining the real-time movement state of the stable ship; measuring real-time track and course angle of a stable ship through a positioning system; measuring the propeller rotating speed of the full-rotation propeller through a rotating speed sensor; and measuring the direction angle of the full-rotation propeller through an angle sensor.
The numerical simulation system is used for taking the real-time motion state of a target ship to be simulated as input data of the integral framework of the variable-stability ship, analyzing the stress condition of the target ship on six degrees of freedom through the ship motion power prediction model, converting the integral stress of the target ship into the six-degree-of-freedom equivalent stress condition of the variable-stability ship by using the ship motion power conversion model, and predicting the power output value on the six degrees of freedom of the variable-stability ship.
The numerical simulation system mainly comprises a ship motion power prediction model and a ship motion power conversion model; analyzing the motion parameters of the target ship through a ship motion power prediction model so as to obtain the hydrodynamic characteristics of the target ship in the navigation process; converting the stress characteristic of the target ship into the equivalent stress characteristic of the stable ship through a ship motion power conversion model; and obtaining the output parameters of each device in the power system by using the ship motion power prediction model again.
The ship motion power prediction model and the ship motion power conversion model are mainly established by applying an empirical regression formula related to ship maneuverability and a result obtained by a computational fluid mechanics method.
Furthermore, the ship motion power prediction model refers to motion parameters (a course, a navigation speed, a course angle and a course angular velocity) and hydrodynamic guidance values when a known target ship navigates, and the magnitude and the direction of an external force borne by a stable ship are calculated and predicted by adopting an empirical regression formula related to ship maneuverability and a computational fluid dynamics method; and the motion parameters of the ship are calculated and predicted according to the magnitude and direction of the external force applied to the ship.
Furthermore, the ship motion power conversion model enables the stress condition of the target ship to be equivalent to the variable stability ship according to the scaling ratio and the similar principle, so that the rotating speed and the angle value of each full-rotation propeller of the variable stability ship are obtained, and the consistency of the dynamic and power characteristics of the variable stability ship and the target ship is realized.
The intelligent control system is used for calculating the optimal scheme of adjusting the rotating speed and the direction angle of the power system in the current state according to the power output value on the six degrees of freedom of the variable stability ship, and converting the optimal scheme into corresponding output signals to be transmitted to the power system; meanwhile, according to the propulsion parameters of the stability-variable ship acquired by the data acquisition system in the process of sailing and the real-time motion parameters of the stability-variable ship in six degrees of freedom, the corresponding motion state of the target ship is compared, and the output parameters of the power system are corrected.
In further detail, the intelligent control system comprises a feedback system, a decision-making system and an execution system; the decision system further analyzes and processes the output parameters of the numerical simulation system to obtain the optimal scheme for adjusting the rotating speed and the direction angle of the 4 full-rotation propellers of the power system in the current state; the execution system converts the optimal scheme of adjusting the rotating speed and the direction angle of the 4 full-rotation propellers into corresponding output signals, and controls the direction of the full-rotation propellers and the rotating speed of the propellers; the feedback system receives the motion parameters of the stabilized ship acquired by the data acquisition system in real time and feeds the motion parameters back to the decision-making system, the decision-making system detects the fed motion parameters of the stabilized ship in real time, compares the motion parameters with original signals of a target ship, adjusts PID (proportion integration differentiation) parameters and changes the output parameters of the power system, so that the speed and the acceleration of the stabilized ship in six degrees of freedom are consistent with those of the target ship.
The invention develops a special ship with variable stability, namely a variable stability ship, by referring to the development process of an airplane. The system can simulate the control characteristics of ships with different tonnages, different powers and different flow lines through the rapid configuration of software and hardware, and enables an artificial intelligence program to verify the autonomous driving capability on the type of stable ship in advance, thereby controlling risks and improving the development safety and efficiency. The specific principle is as follows: recording the real-time motion state of the target ship through a data acquisition system of a real ship, using the recorded real-time motion state as input data of an integral framework of the variable stability ship, and analyzing the stress condition of a ship body of the target ship on six degrees of freedom through a ship motion power prediction model in a numerical simulation system according to the acquired data; and then, converting the integral stress of the target ship into the six-degree-of-freedom equivalent stress condition of the stable ship by using a ship motion power conversion model. The dynamic output value of the stabilized ship on six degrees of freedom is obtained by applying a ship motion dynamic prediction model according to the stress state of the stabilized ship, the optimal scheme for adjusting the rotating speed and the direction angle of four full-rotation propellers of the power system in the current state is calculated by a decision system in the intelligent control system according to the dynamic output value on the six degrees of freedom, and the optimal scheme is converted into corresponding output signals by an execution system in the intelligent control system and is transmitted to the power system, so that the stabilized ship and a target ship generate equivalent speed and acceleration on the six degrees of freedom. Meanwhile, the intelligent control system also compares the real-time six-degree-of-freedom motion state acquired by the variable stability ship data acquisition system with the corresponding motion state of the target ship, corrects the output parameters of the power system and ensures the accuracy of the speed and the acceleration generated by the variable stability ship in six degrees of freedom.
The invention provides a special ship with variable stability, namely a variable stability ship, which is characterized in that through analyzing hydrodynamic characteristics, motion characteristics and the like of different target ships, software and hardware are rapidly configured, output parameters of a ship power device of the variable stability ship are adjusted in real time, so that the aim of simulating the actual control characteristics of ships with different tonnages, different powers and different flow lines is fulfilled, an artificial intelligence program is used for simulating the navigation of the target ship on the variable stability ship in advance, and the autonomous driving capability of the ship is verified, so that the control capability of the artificial intelligence driving program on different ships is better verified.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (7)
1. A becomes steady ship which characterized in that: the intelligent control system comprises a simulation ship body, and a numerical simulation system, an intelligent control system, a power system and a data acquisition system which are arranged on the simulation ship body; wherein,
the power system is used for simulating the propulsion and steering of a target ship to be simulated;
the data acquisition system is used for acquiring the propulsion parameters and the real-time motion parameters of the stabilized ship in six degrees of freedom in the sailing process in real time;
the numerical simulation system is used for taking the real-time motion state of a target ship to be simulated as input data of the integral framework of the variable-stability ship, analyzing the stress condition of the target ship on six degrees of freedom through a ship motion power prediction model, converting the integral stress of the target ship into the equivalent stress condition of the six degrees of freedom of the variable-stability ship by using a ship motion power conversion model, and predicting a power output value on the six degrees of freedom of the variable-stability ship;
the intelligent control system is used for calculating the optimal scheme of adjusting the rotating speed and the direction angle of the power system in the current state according to the power output value on the six degrees of freedom of the variable stability ship, and converting the optimal scheme into corresponding output signals to be transmitted to the power system; meanwhile, according to the propulsion parameters of the stabilized ship acquired by the data acquisition system in the sailing process and the real-time motion parameters of the six-degree-of-freedom ship, the corresponding motion state of the target ship is compared, and the output parameters of the power system are corrected;
the six degrees of freedom include yaw, surge, heading, roll, surge and heave.
2. A steadier vessel according to claim 1, characterized in that: the power system consists of 4 full-rotation propellers, wherein the full-rotation propellers are respectively arranged on the left and the right of the bow of the simulated ship body, and the full-rotation propellers are respectively arranged on the left and the right of the stern of the simulated ship body; the 4 full-rotation propellers are directly controlled by an intelligent control system, and the output parameters of the full-rotation propellers comprise the direction angle of the full-rotation propellers and the rotating speed of the propellers; the rotating speed of the propeller is controlled to enable the full-rotation propeller to generate different thrust, and the control of the propeller thrust is realized by controlling the direction of the full-rotation propeller; the 4 full-rotation propellers generate thrust in different sizes and directions, and act on the simulated ship body to provide forward power and steering control force, so that the stress state of the stabilized ship is consistent with that of the target ship.
3. A steadier vessel according to claim 2, characterized in that: the data acquisition system consists of an inertial measurement module IMU, a positioning system, a rotating speed sensor and an angle sensor; measuring the speed and the acceleration of the stable ship at any moment in six degrees of freedom during movement through an inertia measurement module, thereby obtaining the real-time movement state of the stable ship; measuring real-time track and course angle of a stable ship through a positioning system; measuring the propeller rotating speed of the full-rotation propeller through a rotating speed sensor; and measuring the direction angle of the full-rotation propeller through an angle sensor.
4. A steadier vessel according to claim 1, characterized in that: the numerical simulation system mainly comprises a ship motion power prediction model and a ship motion power conversion model; analyzing the motion parameters of the target ship through a ship motion power prediction model so as to obtain the hydrodynamic characteristics of the target ship in the navigation process; converting the stress characteristic of the target ship into the equivalent stress characteristic of the stable ship through a ship motion power conversion model; obtaining the output parameters of each device in the power system by using the ship motion power prediction model again;
the ship motion power prediction model and the ship motion power conversion model are mainly established by applying an empirical regression formula related to ship maneuverability and a result obtained by a computational fluid mechanics method.
5. A steadier vessel according to claim 4, characterized in that: the ship motion power prediction model refers to motion parameters and hydrodynamic derivative values of a known target ship during navigation, and the magnitude and the direction of an external force borne by a stable ship are calculated and predicted by adopting an empirical regression formula related to ship maneuverability and a computational fluid mechanics method; and the motion parameters of the ship are calculated and predicted according to the magnitude and direction of the external force applied to the ship.
6. A steadier vessel according to claim 4, characterized in that: the ship motion power conversion model enables the stress condition of a target ship to be equivalent to a variable stability ship according to a reduced scale ratio and a similar principle, obtains the rotating speed and the angle value of each full-rotation propeller of the variable stability ship, and achieves the consistency of the motion and the power characteristics of the variable stability ship and the target ship.
7. A steadier vessel according to claim 2, characterized in that: the intelligent control system comprises a feedback system, a decision-making system and an execution system; the decision system further analyzes and processes the output parameters of the numerical simulation system to obtain the optimal scheme for adjusting the rotating speed and the direction angle of the 4 full-rotation propellers of the power system in the current state; the execution system converts the optimal scheme of adjusting the rotating speed and the direction angle of the 4 full-rotation propellers into corresponding output signals, and controls the direction of the full-rotation propellers and the rotating speed of the propellers; the feedback system receives the motion parameters of the stabilized ship acquired by the data acquisition system in real time and feeds the motion parameters back to the decision-making system, the decision-making system detects the fed motion parameters of the stabilized ship in real time, compares the motion parameters with original signals of a target ship, adjusts PID (proportion integration differentiation) parameters and changes the output parameters of the power system, so that the speed and the acceleration of the stabilized ship in six degrees of freedom are consistent with those of the target ship.
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| CN110631803B (en) * | 2019-10-31 | 2022-01-28 | 上海船舶运输科学研究所 | Wave-direction ship wave-resistant performance tester |
| CN112278176B (en) * | 2020-11-05 | 2022-03-18 | 中国船舶工业集团公司第七0八研究所 | Ship attitude control topological structure and control system |
| CN112965484B (en) * | 2021-02-03 | 2022-05-10 | 武汉理工大学 | Control system and method for stabilizing ship |
| CN113009824B (en) * | 2021-02-03 | 2022-04-26 | 武汉理工大学 | Self-adaptive strain stability control method and system for stability-variable ship and storage medium |
| CN112964250B (en) * | 2021-02-07 | 2022-04-05 | 中船重工鹏力（南京）大气海洋信息系统有限公司 | Ship motion attitude estimation method based on Beidou and dimensionality reduction IMU data |
| CN114954840B (en) * | 2022-05-30 | 2023-09-05 | 武汉理工大学 | Method, system and device for controlling stability of ship |
| CN115214850B (en) * | 2022-06-09 | 2024-05-24 | 珠海云洲智能科技股份有限公司 | Unmanned ship and protection method, protection device and medium thereof |
| CN115783159A (en) * | 2022-12-07 | 2023-03-14 | 中国船舶集团有限公司第七〇四研究所 | Ship power anti-rolling device and anti-rolling control method |
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