CN111284671A - New energy sailing boat compositely driven by wind energy and solar energy and control method thereof - Google Patents
New energy sailing boat compositely driven by wind energy and solar energy and control method thereof Download PDFInfo
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- CN111284671A CN111284671A CN201910661368.5A CN201910661368A CN111284671A CN 111284671 A CN111284671 A CN 111284671A CN 201910661368 A CN201910661368 A CN 201910661368A CN 111284671 A CN111284671 A CN 111284671A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H9/00—Marine propulsion provided directly by wind power
- B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
- B63H9/06—Types of sail; Constructional features of sails; Arrangements thereof on vessels
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- 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
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- 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
- B63H2021/171—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor making use of photovoltaic energy conversion, e.g. using solar panels
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Abstract
The invention relates to a new energy sailing boat compositely driven by wind energy and solar energy and a control method thereof, wherein the new energy sailing boat comprises a control system, a wind energy power system, an energy storage system, an electric drive system, a sensor group and a boat body; the control system comprises an upper computer and a hardware controller; the wind energy power system comprises a solar wing sail, a mast control device and a foldable mast; the energy storage system comprises a wind power generation device and a battery pack; the electric drive system comprises a drive motor, a propeller and a steering engine; the sensor group is communicated with the hardware controller and the upper computer, so that the environmental information and the navigation information of the new energy sailing boat can be sensed in real time. When strong wind exists in the environment, the wing sail of the composite solar battery pack is unfolded, wind energy is utilized to advance, meanwhile, the solar wing sail converts solar energy into electric energy to be stored in the energy storage system, and the wind energy power generation device converts redundant wind energy into electric energy to be stored in the energy storage system; when the environment is breeze, the wind energy and the electric energy are mixed to move forwards; and when no wind exists, the wind is propelled by using electric energy.
Description
Technical Field
The invention belongs to the technical field of ships, and relates to a new energy sailing ship driven by wind energy and solar energy in a composite mode and a control method of the new energy sailing ship.
Background
Ships using clean new energy have received more and more attention as a new concept ship because of environmental protection. In the field of new energy sailing ships, the following technical problems mainly exist at present:
1. the biggest shortcoming of the existing new energy sailing boat is that the sailing time and the endurance mileage are limited because the boat body is small and the energy conversion efficiency is low, and enough energy cannot be obtained. However, the ocean range of China is wide, and large-scale monitoring is needed, so that the wide application of the new energy sailing boat in the ocean field is greatly influenced by the limitation of the voyage.
2. The intellectualization is the greatest importance of the new energy sailing boat and the greatest difficulty in research, and because the new energy sailing boat needs to have the ability of sailing under severe conditions, the control is realized only by manpower, the difficulty is very high, and the energy sources cannot be economically used, various meteorological data in sailing can be monitored in real time, and an energy-saving driving strategy is very important to plan.
In a word, the biggest problem of all the existing new energy sailing boats is the limitation of voyage, and the new energy sailing boats are used as a water surface moving platform and need to carry task equipment, so that the requirements on power supply are high. The addition of mission equipment not only further reduces fuel loading, but also has a more adverse effect on the voyage. How to manufacture a new energy sailing boat with novel energy supply to achieve ultra-long endurance is one of the difficulties in the innovative development of the new energy sailing boat.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defect of limited cruising ability of the existing new energy sailing boat, and aims to provide a new energy sailing boat compositely driven by wind energy and solar energy so as to meet the use requirement of long cruising.
The invention provides a new energy sailing boat compositely driven by wind energy and solar energy and a control method thereof.
The technical scheme adopted by the invention is as follows: the utility model provides an use new forms of energy sailing boat of wind energy solar energy combined drive, includes control system, wind energy power system, energy storage system, electric drive system, sensor group and hull, its characterized in that: the control system comprises a hardware controller and an upper computer; the wind energy power system comprises a foldable solar wing sail, a mast control device and a mast; the energy storage system comprises a wind power generation device and a battery pack; the electric drive system comprises a drive motor, a propeller and a steering engine; the control system, the wind energy power system, the energy storage system and the electric drive system are all arranged on the ship body.
The sensor group, the mast control device, the electric drive system and the upper computer are electrically connected.
The sensor group comprises a sail angle detector, a pose detector, a Doppler log, a wind speed sensor, a wind direction sensor, a light intensity sensor, a water flow speed sensor, a water flow direction sensor and a position sensor; wherein the sail angle detector is arranged at the bottom of the mast, the pose detector is arranged at the bow of the ship body, and the illumination sensor, the wind speed sensor and the wind direction sensor are arranged at the top of the mast; the water flow speed and direction sensor is arranged at the bottom of the ship; the sensor is connected with the hardware controller through an electric connection or a wireless network, and data are uploaded in real time.
The solar wing sail is of a foldable design, consists of a supporting layer, a photoelectric conversion layer and a transparent protective layer, and is used for capturing wind energy to advance and converting solar energy into electric energy.
The mast control device comprises a mast folding mechanism and a mast steering control mechanism; the mast folding mechanism drives a screw rod by using a motor to fold and erect the mast, and simultaneously realizes sail collection and sail release of the solar sail; the mast steering control mechanism comprises a rotating base and a rotating motor, and executes actions under the instruction of a hardware controller.
The mast is in a tower-shaped mast, the bottom of the mast is fixedly connected to a rotating base, the rotating base is rotatably arranged on the ship body, and the direct current motor is in transmission connection with the rotating base through a transmission mechanism to control the steering of the mast; the top end of the mast is connected with a direct current motor fixed on the ship body through a wrenching rope.
The energy storage system comprises a solar wing sail, a wind power generation device and a battery pack; the wind power generation device is arranged at the top of the tower pole, and the tower pole is fixedly connected to the bow; the solar wing sail and the wind power generation device are electrically connected with the input end of the battery pack through the inverter, and the battery pack is charged by using electric energy obtained by converting solar energy and wind energy; and the output end of the battery pack is electrically connected with the sensor group, the electric drive system and the control system respectively to supply power.
The wind power generation device is arranged at the top of the tower pole, and the tower pole is fixedly connected to the bow.
The electric drive system comprises a drive motor, a propeller and a steering engine; and a propeller is arranged on a rotating shaft of the driving motor.
The ship body comprises a deck, a cabin and an upper building; an electrical equipment cabin and a motor cabin are arranged below the deck; the outside of the cabin is attached to the solar film. The bow is used for arranging a wind power system; a self-unloading arm for loading and unloading bulk cargo is arranged above the deck.
The hull of the new energy sailing boat is made of glass fiber materials, the hull is used as a main carrier of each part of the new energy sailing boat, and the hull internally comprises a framework which is used as a mounting and supporting frame of each controller.
The bottom of the cabin is provided with a plurality of groups of reinforcing ribs, a battery cabin and a propelling cabin; the propulsion cabin is provided with a driving motor and a steering engine; the battery cabin is provided with a lithium battery pack and a capacitor, stores the electric energy converted by the solar film and plays a role of ballasting; the lithium battery is arranged by adopting a profiling design so as to achieve the aim of arranging the batteries as much as possible in a limited space.
The hardware controller is connected with the electric drive system through a circuit mast control device and is connected with the sensor group through a circuit or a wireless network.
The sailing boat can adopt the forms of a single mast, a double mast and a three mast according to the carrying capacity. The hull structure may be made using a resin-based composite material.
The upper computer is electrically connected with the hardware controller or is connected with the hardware controller through a network, reads data uploaded by the sensor group acquired by the hardware controller, and sends instructions to be executed by the motor to the hardware controller.
According to the structure of the new energy sailing boat compositely driven by the wind energy and the solar energy, the corresponding control method comprises the following steps:
step 1: the upper computer reads the position and pose information of the ship, the sail orientation information, the water flow and wind data information, the current position information and the set terminal point information which are acquired by the sensor group through the hardware controller;
step 2: the upper computer automatically plans a path according to wind speed, wind direction, solar illumination, time, water flow speed, water flow direction, current position information and end point position information, and controls the track, the speed and the energy of the new energy sailing boat by controlling the mast and the steering engine;
and step 3: the power supply of the new energy sailing boat is carried out through a wind power system, an energy storage system and an electric drive system:
step 3-1: when the wind is downwind and the wind speed is high, the upper machine closes the electric drive system, and the new energy sailing boat drives the solar wing sail to generate forward power by utilizing wind energy; determining the direction of the optimal solar sail by utilizing the water flow direction, the water flow speed, the wind direction, the wind speed and the end position direction which are acquired by the sensor and utilizing a force parallelogram rule;
step 3-2: when the new energy sailing boat moves forward, the residual wind energy drives the wind power generation device to generate electricity, and the generated electricity is stored in the energy storage device; meanwhile, the solar wing sail absorbs light energy and converts the light energy into electric energy, and the electric energy is stored in an energy storage device;
step 3-3: when the wind is downwind and the wind speed is low, the solar wing sails are used for absorbing light energy and converting the light energy into electric energy, and the electric energy is stored in the energy storage device; the wind energy is utilized to drive the solar wing sail to generate certain advancing power; the stable navigation of the system is maintained through the stored electric energy; determining the direction of the optimal solar sail and the direction of the steering engine by utilizing the water flow direction, the water flow speed, the wind direction, the wind speed and the end position direction which are acquired by the sensor and using a force parallelogram rule;
step 3-4: when no wind exists or the wind is against the wind, the solar sail is retracted, and the system is maintained to sail stably through the stored electric energy; the upper computer determines the optimal steering engine direction by utilizing the water flow direction, the water flow speed and the end point position direction which are acquired by the sensor and by utilizing a force parallelogram rule, and then controls the steering of the steering engine through the hardware controller.
And 4, step 4: when the new energy sailing boat needs to turn, the upper computer realizes the turning of the sailing boat through the turning of the steering engine.
And 5: when the solar wing sail is in shore, the solar wing sail can be spread out to collect solar energy; and collecting wind energy by using a wind energy generating device.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages and effects:
the wind energy and solar energy hybrid driving system has the advantages that wind energy and solar energy hybrid driving is adopted, reliability is high, and the constraint that a sailing boat runs by the sky is solved to a greater extent.
The invention has the advantages that the large-area foldable integrated solar wing sail is adopted, compared with the prior new energy sailing boat which only covers the solar panel on the deck surface, the area of the solar wing sail is greatly increased, the absorbed solar energy is greatly increased, and the solar wing sail is beneficial to realizing the fields of passenger transport, freight transport and the like during long-term sailing.
The invention has the advantages that the sail angle detector, the pose detector, the Doppler log, the wind speed sensor, the wind direction sensor, the illuminance sensor, the water flow speed sensor, the water flow direction sensor and the position sensor are integrated, and the track, the speed, the energy and the propulsion mode of the new energy sailing boat can be optimally controlled according to the set task target and by combining the wind speed, the wind direction, the solar illuminance, the time and the water flow information through the comprehensive control of the upper computer, so that the new energy sailing boat can sail safely and in an energy-saving manner to the maximum extent, and the completion of tasks is ensured.
One effect of the invention is that the new energy sailing boat can also be used in inland river basin by adopting the foldable mast.
The invention integrates the solar sail and the wind power generation device by utilizing the sailing boat which is an old water vehicle, realizes the utilization of wind energy and electric energy as driving force, realizes zero emission of pollutants, can ensure long-time endurance, and ensures smooth sailing by utilizing electric energy driving under the conditions of breeze, no wind or headwind.
Drawings
FIG. 1 is a block diagram of the new energy sailing vessel system;
FIG. 2 is a schematic diagram of the overall structure of the new energy sailing boat;
FIG. 3 is a cross-sectional view of the solar wing sail;
fig. 4 is a schematic view of the mast control apparatus.
In the drawings, each reference numeral represents a component: 1. the new energy sailing boat is integral; 2. an upper computer; 3. a sensor group; 4. a solar wing sail; 5. a mast control device; 6. a mast; 7. a wind power generation device; 8. a battery pack; 9. a drive motor; 10. a propeller; 11. a steering engine; 12. a hull; 4-1, a transparent protective layer; 4-2, a photoelectric conversion layer; 4-3, a support layer; 5-1, a base; 5-2, rotating the motor; 5-3, folding a motor; 5-4, a screw rod.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The invention relates to a new energy sailing boat compositely driven by wind energy and solar energy, which is shown in figure 1 and comprises a control system, a wind energy power system, an energy storage system, an electric drive system, a sensor group and a boat body.
As shown in fig. 2, the new energy sailing boat 1 includes an upper computer 2, a hardware controller, a sensor group 3, a solar wing sail 4, a mast control device 5, a mast 6, a wind power generation device 7, a battery pack 8, a driving motor 9, a propeller 10, a steering engine 11, and a boat body 12. The other components of the sailboat are all arranged on the hull 12. The upper computer 2 and the hardware controller form a control system, and carry out information communication through a DuPont flat cable; the solar wing sail 4, the mast control device 5 and the mast 6 form a wind power system; the mast control device 5, the driving motor 9, the steering engine 11 and the hardware controller are electrically connected by a DuPont connector, and the sensor group 3 and the hardware controller are in information transmission through a wireless network. The new energy sailing boat body 12 is made of glass fiber reinforced plastic. The solar wing sail 4 absorbs solar energy and converts the solar energy into electric energy to be stored in the battery pack 8. The wind power generation device 7 converts wind energy into electric energy to be stored in the battery pack 8. The steering engine 11 is installed at the tail end of the new energy sailing boat body 8 and used for controlling the sailing direction of the new energy sailing boat 1. The upper computer collects position and pose information of the ship, orientation information of the sail, and data information of water flow and wind through the sensor group; the upper computer automatically plans a path according to the information of wind speed, wind direction, solar illumination, time, water flow speed and water flow direction, and controls the track, the speed and the energy of the new energy sailing boat by controlling the mast and the steering engine;
as shown in FIG. 3, the solar wing sail is foldable and comprises a transparent protective layer 4-1, a photoelectric conversion layer 4-2 and a support layer 4-3. The transparent protective layer 4-1 can be made of polyethylene and has excellent light transmittance and stronger ultraviolet resistance; the photoelectric conversion layer 4-2 is made of amorphous silicon material and has high photoelectric conversion efficiency; the support layer 4-3 is a fiber reinforced composite material, has strong toughness and strength, and can bear the pressure of wind.
As shown in the mast control device shown in FIG. 4, the folding mast 6 is supported by the rotating base 5-1, and the rotating base 5-1 is driven by the rotating motor 5-2 under the instruction of the upper computer to rotate the folding mast 6. The folding motor 5-3 can receive and release the folding mast 6 through the lead screw 5-4 according to the instruction of the upper computer.
The new energy sailing boat compositely driven by wind energy and solar energy mainly comprises the following control methods:
step 1: the upper computer reads the position and pose information of the ship, the sail orientation information, the water flow and wind data information, the current position information and the set terminal point information which are acquired by the sensor group through the hardware controller;
step 2: the upper computer automatically plans a path according to wind speed, wind direction, solar illumination, time, water flow speed, water flow direction, current position information and end point position information, and controls the track, the speed and the energy of the new energy sailing boat by controlling the mast and the steering engine;
and step 3: the power supply of the new energy sailing boat is carried out through a wind power system, an energy storage system and an electric drive system:
step 3-1: when the wind is downwind and the wind speed is high, the upper machine closes the electric drive system, and the new energy sailing boat drives the solar wing sail to generate forward power by utilizing wind energy; determining the direction of the optimal solar sail by utilizing the water flow direction, the water flow speed, the wind direction, the wind speed and the end position direction which are acquired by the sensor and utilizing a force parallelogram rule;
step 3-2: when the new energy sailing boat moves forward, the residual wind energy drives the wind power generation device to generate electricity, and the generated electricity is stored in the energy storage device; meanwhile, the solar wing sail absorbs light energy and converts the light energy into electric energy, and the electric energy is stored in an energy storage device;
step 3-3: when the wind speed is low, the solar wing sails are used for absorbing light energy and converting the light energy into electric energy, and the electric energy is stored in the energy storage device; the wind energy is utilized to drive the solar wing sail to generate certain advancing power; the stable navigation of the system is maintained through the stored electric energy; determining the direction of the optimal solar sail and the direction of the steering engine by utilizing the water flow direction, the water flow speed, the wind direction, the wind speed and the end position direction which are acquired by the sensor and using a force parallelogram rule;
step 3-4: when no wind exists or the wind is against the wind, the solar sail is retracted, and the system is maintained to sail stably through the stored electric energy; the upper computer determines the optimal steering engine direction by utilizing the water flow direction, the water flow speed and the end point position direction which are acquired by the sensor and by utilizing a force parallelogram rule, and then controls the steering of the steering engine through the hardware controller.
And 4, step 4: when the new energy sailing boat needs to turn, the upper computer realizes the turning of the sailing boat through the turning of the steering engine.
And 5: when the solar wing sail is in shore, the solar wing sail can be spread out to collect solar energy; and collecting wind energy by using a wind energy generating device.
The applicant declares that the above description is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and it should be understood by those skilled in the art that any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are within the scope and disclosure of the present invention.
Claims (12)
1. The utility model provides an use new forms of energy sailing boat of wind energy solar energy combined drive, includes control system, wind energy power system, energy storage system, electric drive system, sensor group and hull, its characterized in that: the control system comprises a hardware controller and an upper computer; the wind energy power system comprises a foldable solar wing sail, a mast control device and a mast; the energy storage system comprises a wind power generation device and a battery pack; the electric drive system comprises a drive motor, a propeller and a steering engine; the control system, the wind energy power system, the energy storage system and the electric drive system are all arranged on the ship body.
2. The new energy sailing boat using wind and solar hybrid drive according to claim 1, wherein the sensor set includes a sail angle detector, a pose detector, a doppler log, a wind speed sensor, a wind direction sensor, a light intensity sensor, a water flow speed sensor, a water flow direction sensor, and a position sensor; wherein the sail angle detector is arranged at the bottom of the mast, the pose detector is arranged at the bow of the ship body, and the illumination sensor, the wind speed sensor and the wind direction sensor are arranged at the top of the mast; the water flow speed and direction sensor is arranged at the bottom of the ship; the sensor is connected with the hardware controller through an electric connection or a wireless network, and data are uploaded in real time.
3. The new energy sailing boat using combined drive of wind energy and solar energy according to claim 1, wherein the solar wing sail is foldable in design, and is composed of a supporting layer, a photoelectric conversion layer and a transparent protective layer for capturing wind energy and converting solar energy into electric energy.
4. The new energy sailing boat using wind and solar hybrid drive according to claim 1, wherein the mast control device includes a mast folding mechanism and a mast steering control mechanism; the mast folding mechanism drives a screw rod by using a motor to fold and erect the mast, and simultaneously realizes sail collection and sail release of the solar sail; the mast steering control mechanism comprises a rotating base and a rotating motor, and executes actions under the instruction of a hardware controller.
5. The sailing boat using new energy resources driven by wind energy and solar energy in a combined mode is characterized in that the mast is in the form of a tower-shaped mast, the bottom of the mast is fixedly connected to a rotating base, the rotating base is rotatably arranged on a boat body, and the direct current motor is in transmission connection with the rotating base through a transmission mechanism to control the steering of the mast.
6. The new energy sailboat using hybrid drive of wind and solar energy according to claim 1, characterized in that the energy storage system comprises a solar wing sail, a wind power generation device and a battery pack; the wind power generation device is arranged at the top of the tower pole, and the tower pole is fixedly connected to the bow; the solar wing sail and the wind power generation device are electrically connected with the input end of the battery pack through the inverter, and the battery pack is charged by using electric energy obtained by converting solar energy and wind energy; and the output end of the battery pack is electrically connected with the sensor group, the electric drive system and the control system respectively to supply power.
7. The new energy sailing boat using wind and solar hybrid drive of claim 1, wherein the electric drive system comprises a drive motor, a propeller and a steering engine; and a propeller is arranged on a rotating shaft of the driving motor.
8. The new energy sailboat using a wind and solar hybrid drive of claim 1, wherein the hull includes a deck, a hold, and an superstructure; an electrical equipment cabin and a motor cabin are arranged below the deck; the outside of the cabin is attached to the solar film.
9. The new energy sailing boat using combined drive of wind energy and solar energy according to claim 8, characterized in that a battery compartment and a propulsion compartment are provided at the bottom of the boat cabin; the propulsion cabin is provided with a driving motor and a steering engine; the battery cabin is provided with a lithium battery pack and a capacitor, stores electric energy converted by the solar film and plays a role of ballasting; the lithium battery is arranged by adopting a profiling design so as to achieve the aim of arranging the batteries as much as possible in a limited space.
10. The new energy sailing boat using wind and solar hybrid drive according to claim 1, wherein the hardware controller is connected through a circuit mast control device, an electric drive system, a circuit or a wireless network to the sensor group.
11. The new energy sailing boat using wind energy and solar energy compound drive is characterized in that the upper computer is electrically connected or connected with the hardware controller through a network, reads data uploaded by the sensor group acquired by the hardware controller, and sends instructions to be executed by the motor to the hardware controller.
12. A control method of a new energy sailing boat driven by wind energy and solar energy in a combined mode, which is applied to the new energy sailing boat according to claims 1 to 11, and is characterized in that the implementation method comprises the following steps:
step 1: the upper computer reads the position and pose information of the ship, the sail orientation information, the water flow and wind data information, the current position information and the set terminal point information which are acquired by the sensor group through the hardware controller;
step 2: the upper computer automatically plans a path according to wind speed, wind direction, solar illumination, time, water flow speed, water flow direction, current position information and end point position information, and controls the track, the speed and the energy of the new energy sailing boat by controlling the mast and the steering engine;
and step 3: the power supply of the new energy sailing boat is carried out through a wind power system, an energy storage system and an electric drive system:
step 3-1: when the wind is downwind and the wind speed is high, the upper machine closes the electric drive system, and the new energy sailing boat drives the solar wing sail to generate forward power by utilizing wind energy; determining the direction of the optimal solar sail by utilizing the water flow direction, the water flow speed, the wind direction, the wind speed and the end position direction which are acquired by the sensor and utilizing a force parallelogram rule;
step 3-2: when the new energy sailing boat moves forward, the residual wind energy drives the wind power generation device to generate electricity, and the generated electricity is stored in the energy storage device; meanwhile, the solar wing sail absorbs light energy and converts the light energy into electric energy, and the electric energy is stored in an energy storage device;
step 3-3: when the wind is downwind and the wind speed is low, the solar wing sails are used for absorbing light energy and converting the light energy into electric energy, and the electric energy is stored in the energy storage device; the wind energy is utilized to drive the solar wing sail to generate certain advancing power; the stable navigation of the system is maintained through the stored electric energy; determining the direction of the optimal solar sail and the direction of the steering engine by utilizing the water flow direction, the water flow speed, the wind direction, the wind speed and the end position direction which are acquired by the sensor and using a force parallelogram rule;
step 3-4: when no wind exists or the wind is against the wind, the solar sail is retracted, and the system is maintained to sail stably through the stored electric energy; the upper computer determines the optimal steering engine direction by utilizing the water flow direction, the water flow speed and the end position direction which are acquired by the sensor and by utilizing a force parallelogram rule, and then controls the steering of the steering engine through the hardware controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910661368.5A CN111284671A (en) | 2019-07-22 | 2019-07-22 | New energy sailing boat compositely driven by wind energy and solar energy and control method thereof |
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| CN201910661368.5A CN111284671A (en) | 2019-07-22 | 2019-07-22 | New energy sailing boat compositely driven by wind energy and solar energy and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113479060A (en) * | 2021-07-28 | 2021-10-08 | 深圳市人工智能与机器人研究院 | Control method for automatic driving of light unmanned wing sail vehicle |
| WO2023029307A1 (en) * | 2021-09-03 | 2023-03-09 | 中山大学 | Long-cycle intelligent unmanned vehicle having strong survival power |
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| CN106394846A (en) * | 2016-10-10 | 2017-02-15 | 江苏华帝海洋工程设备制造有限公司 | Energy-saving type automatic navigation aiding control method for solar windsail ship |
| CN106741782A (en) * | 2016-12-27 | 2017-05-31 | 武汉理工大学 | A kind of unmanned boat and its navigation control method driven based on wind energy |
| CN108820177A (en) * | 2018-07-23 | 2018-11-16 | 杨力 | A kind of new energy sailing boat and its control method using wind and solar energy composite drive |
| CN108820178A (en) * | 2018-07-26 | 2018-11-16 | 杨力 | A kind of foldable solar energy wing sail of solar sailor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113479060A (en) * | 2021-07-28 | 2021-10-08 | 深圳市人工智能与机器人研究院 | Control method for automatic driving of light unmanned wing sail vehicle |
| WO2023029307A1 (en) * | 2021-09-03 | 2023-03-09 | 中山大学 | Long-cycle intelligent unmanned vehicle having strong survival power |
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