CN111284668B - Intelligent combined control and push system for double-oar pod of small waterplane twin-hull boat - Google Patents

Intelligent combined control and push system for double-oar pod of small waterplane twin-hull boat Download PDF

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CN111284668B
CN111284668B CN202010185612.8A CN202010185612A CN111284668B CN 111284668 B CN111284668 B CN 111284668B CN 202010185612 A CN202010185612 A CN 202010185612A CN 111284668 B CN111284668 B CN 111284668B
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propeller
pod
propulsion
main
nacelle
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CN111284668A (en
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汪保江
杨松林
李阳洋
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Jiangsu University of Science and Technology
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Jiangsu University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B63H2005/1254—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis
    • B63H2005/1256—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis with mechanical power transmission to propellers

Abstract

The invention provides an intelligent combined control system of a double-oar pod of a small waterplane twin-hull boat, which comprises a motor propeller propulsion system, a pod propulsion system and a comprehensive optimization control system. Compared with various maneuvering propulsion systems at present, the invention combines the traditional propeller and the pod and determines various parameters of the maneuvering propulsion system based on the optimal calculation of the maneuvering propulsion performance; the intelligent control system for the closed-loop course and the speed is formed by carrying optimized control rules, so that the comprehensive performance of the ship body can be improved, the steering of the ship body is more flexible, the motion attitude and the speed course control of the ship can be changed by operating the propulsion system in complex sea conditions, and the safety and the economy are improved.

Description

Intelligent combined control and push system for double-oar pod of small waterplane twin-hull boat
Technical Field
The invention relates to a ship control system, in particular to a small waterplane surface ship double-propeller pod combined control system, and belongs to the technical field of ship engineering.
Background
In the marine field, marine propulsion means include electric propulsion, pod propulsion, diesel propulsion, water jet propulsion and magnetohydrodynamic propulsion. In recent years, with the development of the ship industry in China, the research on a ship control propulsion system becomes a hot spot. The invention focuses on how to optimally design an economical and reasonable control propulsion system capable of improving the performance of the ship and intellectualization, and the mode of comprehensively propelling the modern shipbuilding is a hotspot problem of the modern shipbuilding industry.
Therefore, the operation of the propulsion system comprehensively needs to consider the importance degree of each performance (including course stability, maneuverability and propulsion performance) so as to improve the sailing performance and the economical efficiency of the ship to the maximum extent. Parameters such as a propulsion system (a steering engine, motor power, propeller geometric dimension) and the like are determined through an intelligent optimization algorithm.
The propulsion efficiency of the single propulsion mode described above is affected in different sea conditions. And the formed waves formed by wind on the sea surface are irregular, and the formed waves are irregular in height and length, disordered and changeable instantly and irregularly. At present, the ship has low propelling efficiency under complex sea conditions, and the propelling mode has weak strain capacity. It is necessary to further research the ship control and propulsion system, solve a series of problems of the ship control and propulsion system, improve the propulsion efficiency of the ship control and propulsion system, the overall performance of the ship, and the reliability and practicability, and make the ship control and propulsion system safer and more economic.
Under the motor propulsion mode, the ship body needs to finish steering by the differential operation of the propellers positioned at the two sides of the ship body when turning, and the mode has lower flexibility. However, pod propulsion has better steering performance, so that combining a pod propulsion system and a motor propulsion system and controlling with an integrated optimization control system is a development direction of a ship steering propulsion system.
Disclosure of Invention
The invention aims to overcome the problems and the defects in the prior art, improve the operation and propulsion effect of a boat, optimize the operation and propulsion mode and the performance of the boat, and enable the boat to have excellent performance of keeping and changing the course, thereby providing the intelligent combined operation and propulsion system of the twin-paddle pod of the small-waterplane twin-hull boat. The boat can fully utilize the comprehensively optimized control propulsion system to adjust the running state of the boat in real time under the complex sea condition, so that the control propulsion system is more flexible and practical, and the comprehensive performances of propulsion, control and the like of the boat are improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the intelligent combined control and push system comprises a motor propeller propulsion system, a pod propulsion system and a comprehensive optimization control system, wherein the comprehensive optimization control system comprises a single chip microcomputer, a wave measuring instrument, a high-precision attitude measuring instrument, a GPS (global position system) and a course measuring instrument, the wave measuring instrument is used for measuring wave parameters, the high-precision attitude measuring instrument is used for measuring navigation attitude parameters of the boat, the GPS is used for measuring the navigation position of the boat, the course measuring instrument is used for measuring the course of the boat, and the single chip microcomputer controls the motor propeller propulsion system and the pod propulsion system according to data measured by the wave measuring instrument, the high-precision attitude measuring instrument, the GPS and the course measuring instrument.
Further, motor propeller propulsion system includes screw one, screw two, shaft coupling one, shaft coupling two, transmission shaft one, transmission shaft two, DC brushless motor one and DC brushless motor two, DC brushless motor one passes through shaft coupling one with two transmission of transmission shaft are connected, transmission shaft two with two transmission of screw are connected, DC brushless motor two passes through shaft coupling two with a transmission shaft transmission is connected, transmission shaft one with a transmission of screw is connected, screw one with two are located hull afterbody along hull central line symmetrical arrangement of screw.
Further, the diameters of the first propeller and the second propeller do not exceed 2/3 of the draught of the boat.
Further, the pod propulsion system comprises a DC brushless motor III, a transmission gear I, a transmission gear II, a transmission shaft III, a bevel gear I, a bevel gear II, a steering engine, a transmission shaft IV, a propeller III, a bevel gear IV, a bevel gear III, a propulsion shaft, a propeller IV, a coupler and a pod, the DC brushless motor III is in transmission connection with the transmission shaft III through the coupler, the transmission shaft III is provided with the bevel gear I, the bevel gear I is meshed with the bevel gear II, the bevel gear II is arranged at one end of the transmission shaft IV, the other end of the transmission shaft IV is provided with the bevel gear III, the bevel gear III is meshed with the bevel gear IV, the bevel gear IV is arranged on the propulsion shaft, the propulsion shaft is arranged in the pod, two ends of the propulsion shaft extend out of the pod, two ends of the propulsion shaft are respectively provided with the propeller III and the propeller IV, the pod is in transmission connection with the steering engine, and the pod is located at the center of the bow and is one sixth to one fifth of the ship length away from the bow.
Further, the single chip microcomputer controls the first direct current brushless motor, the second direct current brushless motor and the third direct current brushless motor according to data measured by the wave measuring instrument, the high-precision attitude measuring instrument, the GPS and the course measuring instrument.
The intelligent combined control system of the twin-propeller pod of the small waterplane twin-hull boat, provided by the invention, is different from the existing pod type electric hybrid propulsion system, and can better distribute the positions of the pod and the propeller and optimally determine the motor power and the geometric parameter size of the propeller based on the control of the performance of the propulsion system. The nacelle steering is reasonably adjusted under different sea conditions, the bow nacelle can steer simultaneously when the differential rotation of the propeller at the tail part of the ship realizes the steering, so that the steering performance of the ship body is optimized, the propeller, the nacelle and shipborne sensors (a wave measuring instrument, a high-precision attitude measuring instrument, a GPS (global positioning system) and a course measuring instrument) form a closed-loop navigational speed intelligent control system under an optimized control rule in a single chip microcomputer, and the motion attitude and the navigational speed adjustment of the ship body can be better changed in sea waves, so that the running state of the ship is better improved, the safety is improved, and the operation cost is saved.
Preferably, the propeller of the motor propeller propulsion system is arranged at the tail part of the ship body, the pod of the pod propulsion system is arranged at the position, in the center of the head part of the ship body, of one sixth to one fifth of the ship length away from the ship head, and the pod is connected into a cabin containing a transmission motor through a transmission shaft and a universal shaft joint, so that the propeller is driven to push through the rotation of the motor; the motor power and the propeller geometric parameters are calculated and determined based on the optimal performance (mainly comprising the comprehensive optimal heading stability, maneuverability and propulsion performance) of the control propulsion system, and the calculation comprises the following steps:
(1) design variables
Optimizing design variables includes: the length L of the main ship floating body, the width B of the main ship floating body, the draft T and the square coefficient CbLength of water line LwWidth of sheet C0Diameter D of main propulsion propellerPDisc surface ratio of main propulsion propeller AeoPitch ratio P of main propulsion propellerDPMain propulsion propeller speed N, nacelle propeller diameter D1PNacelle propeller disc surface ratio A1eoNacelle propeller pitch ratio P1DPNacelle Propeller speed N1, nacelle shaft longitudinal position l1lpVertical position l of the nacelle shaft1vpDesign speed of flight VS。
(2) Objective function
Integrating three sub-objective functions (in the form of power exponent product) of course stability, maneuverability and propulsion performance into a total objective function:
f(x)＝f1(x)α1·f2(x)α2·f3(x)α3，α1×α2×α3＝1,a1＞0,a2＞0,a3＞0
wherein f is1(x) The target function of course stability is expressed as:
f1(x)＝C＝Y′vN′r-N′v(Y′r-m′)
of formula (II) to (III)'v,Y′r,N′v,N′rThe dimensionless velocity hydrodynamic derivative, m' is the dimensionless hull mass;
wherein f is2(x) The objective function P (turn index) for maneuverability represents the change in the heading angle per unit rudder angle of the steered vessel within one captain. It is used to measure the maneuverability of a ship. The index P is used for reflecting the capability of ship turning property, the larger the value of P is, the better the turning property is, the easier the course is changed, and the expression is as follows:
Figure GDA0002481924090000051
in the formula, K' is a dimensionless gyration index; t' is a dimensionless helm-responsive index;
wherein f is3(x) For the objective function of the propulsion performance (including main propulsion and pod propulsion), the expression is as follows:
f3(x)＝P.Cβ1·P.C1 β2＝(ηHηRηSη0)β1·(η1Hη1Rη1Sη1o)β2，
β 1 ═ β 2 ═ 1, and β 1 > β 2 > 0
In the formula eta0The efficiency of opening water for the main propeller is improved; etaHThe hull efficiency is mainly pushed; etaRMainly push the phaseEfficiency of rotation; etasMainly pushing shafting efficiency; eta10Opening water efficiency for pod propellers; eta1HFor pod hull efficiency; eta1RThe relative rotational efficiency of the nacelle; eta1sFor pod shafting efficiency;
constraint conditions are as follows: (1) restraining the hydrostatic buoyancy; (2) thrust resistance balance constraint; (3) the torque balance constraint is that the torque supplied to the propeller by the main engine is equal to the hydrodynamic torque born by the propeller; (4) the propeller needs to meet cavitation constraint; (5) initial stability and high constraint; (6) and (5) rolling period constraint.
And (3) carrying out optimization calculation on the comprehensive optimization mathematical model (design variables, constraint conditions and objective functions) through a modern intelligent optimization algorithm (genetic algorithm) to obtain a final parameter (steering engine, motor power and propeller geometric parameters) optimization result.
Preferably, the method comprises the following steps: the pod of the pod propulsion system is positioned in the center of the head of the ship body and is one sixth to one fifth of the ship length away from the bow, and the steering engine can drive the streamline pod with the lower fin to steer through 360-degree steering in a plane. When the ship sails, the wave measuring instrument can measure wave parameters around the ship body, the shipborne high-precision attitude measuring instrument measures the self motion attitude of the ship, then the self motion attitude is converted into an electric signal and transmitted to the comprehensive optimization control system through a circuit, and the comprehensive optimization control system based on the optimization control rule controls the propellers (the first propeller and the second propeller) of the motor propeller propulsion system and the propellers (the third propeller and the fourth propeller) of the pod propulsion system to rotate in a differential mode and the pod steering, so that the flexibility of the ship body in the sailing process is improved.
Furthermore, the single chip microcomputer of the comprehensive optimization control system can adopt STM32 or other models, and the wave measuring instrument, the high-precision attitude measuring instrument, the GPS and the heading measuring instrument (such as an electronic compass and the like) form a closed-loop heading and speed intelligent control system together with a steering engine, a motor power and a propeller and a control rule which is implanted into the single chip microcomputer and is based on the optimal consideration of rapidity and control characteristics.
Has the advantages that:
compared with various control propulsion systems at present, the invention combines the traditional propeller and the pod and determines various parameters of the control propulsion system based on optimal calculation of control propulsion performance; the intelligent control system for the closed-loop course and the speed is formed by carrying the optimized control rule, the comprehensive performance of the ship body can be improved, the steering of the ship body is more flexible, the motion attitude and the speed course control of the ship can be changed by operating the propulsion system in a complex sea condition, and the safety and the economy are improved, so the intelligent control system has a wide prospect.
Drawings
FIG. 1 is a top view of an embodiment of the present invention;
FIG. 2 is a front view of an embodiment of the present invention;
FIG. 3 is a left side view of an embodiment of the present invention;
FIG. 4 is an enlarged partial view of a portion of a pod in the pod propulsion system in an implementation of the present invention.
Detailed Description
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, 2 and 3, the intelligent combined maneuvering system for the twin-paddle pod of the small-waterplane area catamaran comprises a motor propeller propulsion system, a pod propulsion system and a comprehensive optimization control system, wherein the comprehensive optimization control system comprises a single chip microcomputer 303, a wave measuring instrument 301, a high-precision attitude measuring instrument 302, a GPS304 and a heading measuring instrument 305, the wave measuring instrument 301 is used for measuring wave parameters, the high-precision attitude measuring instrument 302 is used for measuring navigation attitude parameters of the boat, the GPS304 is used for measuring the navigation position of the boat, the heading measuring instrument 305 is used for measuring the heading of the boat, and the single chip microcomputer 303 controls the motor propeller propulsion system and the pod propulsion system according to data measured by the wave measuring instrument 301, the high-precision attitude measuring instrument 302, the GPS304 and the heading measuring instrument 305.
As shown in fig. 1, the motor propeller propulsion system includes a first propeller 101, a second propeller 102, a first coupler 103, a second coupler 104, a first transmission shaft 105, a second transmission shaft 106, a first dc brushless motor 107 and a second dc brushless motor 108, wherein the first dc brushless motor 107 is in transmission connection with the second transmission shaft 106 through the first coupler 103, the second transmission shaft 106 is in transmission connection with the second propeller 102, the second dc brushless motor 108 is in transmission connection with the first transmission shaft 105 through the second coupler 104, the first transmission shaft 105 is in transmission connection with the first propeller 101, and the first propeller 101 and the second propeller 102 are symmetrically arranged along a center line of a ship body at the tail of the ship body.
The diameters of the first propeller 101 and the second propeller 102 are not more than 2/3 of the draught of the boat.
As shown in fig. 2 and 4, the pod propulsion system comprises a dc brushless motor three 201, a transmission gear one 202, a transmission gear two 203, a transmission shaft three 204, a bevel gear one 205, a bevel gear two 206, a steering engine 207, a transmission shaft four 208, a propeller three 209, a bevel gear four 210, a bevel gear three 211, a propulsion shaft 212, a propeller four 213, a coupling 214 and a pod 215, the dc brushless motor three 201 is in transmission connection with the transmission shaft three 204 through the coupling 214, the transmission shaft three 204 is provided with the bevel gear one 205, the bevel gear one 205 is engaged with the bevel gear two 206, the bevel gear two 206 is arranged at one end of the transmission shaft four 208, the other end of the transmission shaft four 208 is provided with the bevel gear three 211, the bevel gear three 211 is engaged with the bevel gear four 210, the bevel gear four 210 is arranged on the propulsion shaft 212, and the propulsion shaft 212 is arranged in the pod 215, two ends of the propulsion shaft 212 extend out of the pod 215, two ends of the propulsion shaft 212 are respectively provided with the third propeller 209 and the fourth propeller 214, the pod 215 is in transmission connection with the steering engine 207, and the pod 215 is positioned in the center of the bow and is one sixth to one fifth of the length of the bow.
The single chip microcomputer 303 controls the first dc brushless motor 107, the second dc brushless motor 108, and the third dc brushless motor 201 according to data measured by the wave measuring instrument 301, the high-precision attitude measuring instrument 302, the GPS304, and the heading measuring instrument 305.
The integrated optimization control system controls the motor propeller propulsion system and the pod propulsion system based on the following algorithm. The method specifically comprises the following steps:
(1) determining design variables
Optimizing design variables includes: the length L of the main ship floating body, the width B of the main ship floating body, the draft T and the square coefficient CbLength of water line LwWidth of sheet body C0Diameter D of main propulsion propellerPDisc surface ratio of main propulsion propeller AeoPitch ratio P of main propulsion propellerDPMain propulsion propeller speed N, nacelle propeller diameter D1PNacelle propeller disc surface ratio A1eoNacelle propeller pitch ratio P1DPNacelle Propeller speed N1, nacelle shaft longitudinal position l1lpVertical position l of the nacelle shaft1vpDesign speed of flight VS。
(2) Optimizing a mathematical model to determine an objective function
Integrating three sub-objective functions (weight is distributed in the form of power exponent product) of course stability, maneuverability and propulsion performance into a total objective function: ,
f(x)＝f1(x)α1·f2(x)α2·f3(x)α3，α1×α2×α3＝1,a1＞0,a2＞0,a3＞0
wherein, f1(x) The target function of course stability is expressed as:
f1(x)＝C＝Y′vN′r-N′v(Y′r-m′)
of formula (II) to (III)'v,Y′r,N′v,N′rThe dimensionless velocity hydrodynamic derivative, m' is the dimensionless hull mass;
wherein f is2(x) Is composed ofThe objective function P (turn index) of maneuverability represents the change in heading angle per unit rudder angle of the steered vessel within one captain. It is used to measure the maneuverability of a ship. The index P is used for reflecting the capability of ship turning property, the larger the value of P is, the better the turning property is, the easier the course is changed, and the expression is as follows:
Figure GDA0002481924090000091
wherein K' is a dimensionless rotation index; t' is a dimensionless helm-responsive index;
wherein, f3(x) The expression of the objective function of the propulsion performance is as follows:
f3(x)＝P.Cβ1·P.C1 β2＝(ηHηRηSη0)β1·(η1Hη1Rη1Sη1o)β2，
β 1 ═ β 2 ═ 1, and β 1 > β 2 > 0
In the formula eta0The open water efficiency of the main propeller is improved; etaHThe hull efficiency is mainly pushed; etaRThe relative rotation efficiency of the main push rod is obtained; etasMainly pushing the shaft system efficiency; eta10Opening the water efficiency for pod propellers; eta1HFor pod hull efficiency; eta1RThe relative rotational efficiency of the nacelle; eta1sFor pod shafting efficiency;
Figure GDA0002481924090000092
in the formula: kTThe thrust coefficient of the main thrust propeller; kQThe main thrust propeller torque coefficient; vSDesigning a navigational speed for the main propeller; omega is the wake flow fraction of the main propeller; n is the rotating speed of the main propeller; d is the diameter of the main propeller. K1TIs the nacelle propeller thrust coefficient; k1QIs the nacelle propeller torque coefficient; v1SDesigning a navigational speed for the pod; omega1(ii) a nacelle wake score; n is1Is a hoistThe rotational speed of the cabin propeller; d1Is the nacelle propeller diameter.
Hull efficiency of main thrust propeller
Figure GDA0002481924090000093
Pod propeller hull efficiency
Figure GDA0002481924090000094
In the formula, t is the thrust derating fraction of the main propeller; omega is the wake fraction of the main propeller; t is t1Is the nacelle propeller thrust derating fraction; omega1Is the nacelle propeller wake fraction.
Relative rotation efficiency can be calculated by adopting the formula of Holter Lopple:
Figure GDA0002481924090000101
CP＝Cb/Cm
in the formula, AE/A0Is the disc surface ratio; cPIs a prismatic coefficient; l iscbThe longitudinal floating center position is 0.5L before.
Constraint conditions are as follows: (1) the static water floatability constraint (2) the thrust resistance balance constraint (3) and the torque balance constraint, namely the torque supplied by the main machine to the propeller is equal to the hydrodynamic torque born by the propeller (4), and the propeller needs to meet the cavitation constraint (5) and the initial stability high constraint (6) and the rolling period constraint.
And (3) carrying out optimization calculation on the comprehensive optimization mathematical model (design variables, constraint conditions and objective functions) through a modern intelligent optimization algorithm (genetic algorithm) to obtain a final parameter (steering engine, motor power and propeller geometric parameters) optimization result, wherein the motor power is selected through optimization to obtain each parameter of the propeller and the optimized ship model size conversion.
The comprehensive optimization control system utilizes the single chip microcomputer 303, the wave measuring instrument 301, the high-precision attitude measuring instrument 302, the GPS304 and the heading measuring instrument (305, in complex sea conditions, the wave measuring instrument 301 will measure the wave conditions around the hull, the high-precision attitude measuring instrument 302 will measure the attitude of the hull, then feeding back to the single chip microcomputer 303 through an electric signal, wherein the single chip microcomputer 303 controls the first dc brushless motor 107 and the second dc brushless motor 108 to operate at the same rotation speed, which is different from the rotation speed of the third dc brushless motor 201, so that the first propeller 101, the second propeller 102 and the third propeller 209 rotate at different speeds, and the fourth propeller 213 rotates at different speeds, the steering engine 207 drives the pod 215 to steer while rotating, so that the ship body obtains thrust in different directions, therefore, the ship body can reasonably adjust the running attitude of the ship body under the complex sea condition to adapt to the complex sea condition.
The carried single chip microcomputer 303 is responsible for processing input electric signals and feeding back electric signals to be output, the GPS304 and the heading measuring instrument 305 are responsible for measuring a ship body track deviation L and a heading deviation theta, and the steering engine 207, the first direct current brushless motor 107, the second direct current brushless motor 108 and the third direct current brushless motor 201 are responsible for executing control signals. Designing fuzzy control, taking a heading deviation angle theta and a track deviation L as input quantities of the fuzzy control, and taking a rotating angle delta of the pod propulsion system and rotating speeds n of the first direct current brushless motor 107 and the second direct current brushless motor 1081And n2The rotating speed n of the DC brushless motor III 2013As an output of the fuzzy control.
The invention has higher economical efficiency and practicability, has perfect and supplementary significance for the current control propulsion system of the small waterplane area twin-hull boat, and has better reference value for the arrangement and optimization of other propulsion control systems of similar boat types.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (2)

1. The utility model provides a little waterline face binary ships and light boats oar pod intelligence combination is controlled and is pushed system which characterized in that: the comprehensive optimization control system comprises a motor propeller propulsion system, a pod propulsion system and a comprehensive optimization control system, wherein the comprehensive optimization control system comprises a single chip microcomputer (303), a wave measuring instrument (301), a high-precision attitude measuring instrument (302), a GPS (304) and a course measuring instrument (305), the wave measuring instrument (301) is used for measuring wave parameters, the high-precision attitude measuring instrument (302) is used for measuring navigation attitude parameters of a boat, the GPS (304) is used for measuring the navigation position of the boat, the course measuring instrument (305) is used for measuring the course of the boat, and the single chip microcomputer (303) controls the motor propeller propulsion system and the pod propulsion system according to data measured by the wave measuring instrument (301), the high-precision attitude measuring instrument (302), the GPS (304) and the course measuring instrument (305);
the motor propeller propulsion system comprises a propeller I (101), a propeller II (102), a coupler I (103), a coupler II (104), a transmission shaft I (105), a transmission shaft II (106), a direct current brushless motor I (107) and a direct current brushless motor II (108), wherein the direct current brushless motor I (107) is in transmission connection with the transmission shaft II (106) through the coupler I (103), the transmission shaft II (106) is in transmission connection with the propeller II (102), the direct current brushless motor II (108) is in transmission connection with the transmission shaft I (105) through the coupler II (104), the transmission shaft I (105) is in transmission connection with the propeller I (101), and the propeller I (101) and the propeller II (102) are symmetrically arranged at the tail of a ship body along the center line of the ship body; wherein the diameter of the first propeller (101) and the second propeller (102) does not exceed 2/3 of the boat draft;
the pod propulsion system comprises a DC brushless motor III (201), a transmission gear I (202), a transmission gear II (203), a transmission shaft III (204), a bevel gear I (205), a bevel gear II (206), a steering engine (207), a transmission shaft IV (208), a propeller III (209), a bevel gear IV (210), a bevel gear III (211), a propulsion shaft (212), a propeller IV (213), a coupler (214) and a pod (215), wherein the DC brushless motor III (201) is in transmission connection with the transmission shaft III (204) through the coupler (214), the transmission shaft III (204) is provided with the bevel gear I (205), the bevel gear I (205) is meshed with the bevel gear II (206), the bevel gear II (206) is arranged at one end of the transmission shaft IV (208), the other end of the transmission shaft IV (208) is provided with the bevel gear III (211), the bevel gear III (211) is meshed with the bevel gear IV (210), the bevel gear IV (210) is installed on the propulsion shaft (212), the propulsion shaft (212) is installed in the nacelle (215), two ends of the propulsion shaft (212) extend out of the nacelle (215), two ends of the propulsion shaft (212) are respectively provided with the propeller III (209) and the propeller IV (213), the nacelle (215) is in transmission connection with the steering engine (207), and the nacelle (215) is located in the center of the head of the boat and is one sixth to one fifth of the length of the boat from the head;
the comprehensive optimization control system controls the motor propeller propulsion system and the pod propulsion system, and the optimization of control parameters comprises the following contents:
(1) determining design variables
Optimizing design variables includes: the length L of the boat main floating body, the width B of the boat main floating body, the draft T and the square coefficient CbLength of water line LwWidth of sheet C0Diameter D of main propulsion propellerPDisc surface ratio of main propulsion propeller AeoPitch ratio P of main propulsion propellerDPMain propulsion propeller speed N, nacelle propeller diameter D1PPod propeller disc surface ratio A1eoNacelle propeller pitch ratio P1DPNacelle Propeller speed N1, nacelle shaft longitudinal position l1lpVertical position l of the nacelle shaft1vpDesign speed of flight VS；
(2) Optimizing a mathematical model to determine an objective function
Integrating three sub-objective functions (weight is distributed in the form of power exponent product) of course stability, maneuverability and propulsion performance into a total objective function:
f(x)＝f1(x)α1·f2(x)α2·f3(x)α3，α1×α2×α3＝1,a1＞0,a2＞0,a3＞0
wherein f is1(x) The target function of course stability is expressed as:
f1(x)＝C＝Y′vN′r-N′v(Y′r-m′)
in the formula, Yv′,Yr′,N′v,N′rThe dimensionless velocity hydrodynamic derivative, m' is the dimensionless hull mass;
wherein f is2(x) An objective function P (turning index) for maneuverability represents the initial angle change value caused by each unit steering angle of a steered ship in a ship length; it is used to measure the maneuverability of the ship; the index P is used for reflecting the capability of ship turning property, the larger the value of P is, the better the turning property is, the easier the course is changed, and the expression is as follows:
Figure FDA0003485035750000021
wherein K' is a dimensionless rotation index; t' is a dimensionless helm-responsive index;
wherein, f3(x) The expression of the objective function of the propulsion performance is as follows:
f3(x)＝P.Cβ1·P.C1 β2＝(ηHηRηSη0)β1·(η1Hη1Rη1Sη1o)β2，
β 1 ═ β 2 ═ 1, and β 1 > β 2 > 0
In the formula eta0The efficiency of opening water for the main propeller is improved; etaHThe hull efficiency is mainly pushed; etaRThe relative rotation efficiency of the main push rod is obtained; etasMainly pushing shafting efficiency; eta10Opening water efficiency for pod propellers; eta1HFor pod hull efficiency; eta1RThe relative rotational efficiency of the nacelle; eta1sFor pod shafting efficiency;
Figure FDA0003485035750000031
in the formula: kTThe thrust coefficient of the main thrust propeller; k isQThe main thrust propeller torque coefficient; vSDesigning a navigational speed for the main propeller; omega is the wake flow fraction of the main propeller; n is the rotating speed of the main propeller; d is the diameter of the main propeller; k1TIs the pod propeller thrust coefficient; k1QIs the nacelle propeller torque coefficient; v1SDesigning a navigational speed for the pod; omega1(ii) a nacelle wake score; n is1The rotational speed of the pod propeller; d1Is nacelle propeller diameter;
hull efficiency of main propeller
Figure FDA0003485035750000032
Pod propeller hull efficiency
Figure FDA0003485035750000033
In the formula, t is the thrust derating fraction of the main propeller; omega is the wake flow fraction of the main propeller; t is t1Is the nacelle propeller thrust derating fraction; omega1Wake fraction for pod propeller;
relative rotation efficiency can be calculated by adopting the formula of Holter Lopple:
Figure FDA0003485035750000034
CP＝Cb/Cm
in the formula, AE/A0Is the disc surface ratio; cPIs a prismatic coefficient; l iscbThe longitudinal floating center position is 0.5L before;
constraint conditions are as follows: (1) the method comprises the following steps of (1) hydrostatic buoyancy constraint, (2) thrust resistance balance constraint, (3) torque balance constraint, namely that the torque supplied by a main engine to a propeller is equal to hydrodynamic torque borne by the propeller, (4) the propeller needs to meet cavitation constraint, (5) initial stability high constraint, and (6) rolling period constraint.
2. The intelligent combined operation and propulsion system of the double-oar pod of the small waterplane area catamaran as claimed in claim 1, characterized in that: and the singlechip (303) controls the first direct current brushless motor (107), the second direct current brushless motor (108) and the third direct current brushless motor (201) according to data measured by the wave measuring instrument (301), the high-precision attitude measuring instrument (302), the GPS (304) and the heading measuring instrument (305).
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