CN112309172A - Method and device for monitoring and balancing operation state of hydrofoil ship - Google Patents
Method and device for monitoring and balancing operation state of hydrofoil ship Download PDFInfo
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Abstract
The invention discloses a method and a device for monitoring and balancing the running state of a hydrofoil ship, which are characterized by comprising the following steps: s100: configuring a six-axis gyroscope, an acceleration sensor and a speed sensor at the hydrofoil acting force balance center of a hydrofoil ship; s200: configuring a real-time data return terminal; s300: processing the returned data in real time; s400: calculating the attitude, evaluating whether the current attitude is abnormal, and transmitting the attitude data to an attitude balancing evaluation module; s500: the attitude trim evaluation module analyzes the attitude data and judges whether to call dynamic balance adjustment; s600: judging whether to carry out dynamic balance adjustment: calculating a ballast adjustment strategy using the horizontal inclination vector; s700: performing dynamic balance adjustment: and calling a dynamic balance adjusting mechanism to realize dynamic balance. In addition, the invention also discloses a device for monitoring and balancing the running state of the hydrofoil ship, which comprises: the attitude data acquisition module, the attitude evaluation module, the balancing evaluation module and the dynamic balance adjustment module.
Description
Technical Field
The invention belongs to the field of water transportation and ship operation control, relates to hydrofoil ship operation control, and particularly relates to a method and a device for monitoring and balancing the operation state of a hydrofoil ship.
Background
The hydrofoil ship is a special ship designed based on hydrodynamics, and during operation, the hydrofoil ship separates a ship body from the water surface by utilizing lift force generated by high-speed operation of a hydrofoil in water, so that high-speed operation is realized. The hydrofoil vessel in the high-speed operation stage needs to satisfy the safety condition that the center of gravity is always within the designed range. If the object is detached from the hydrofoil or the position of the passenger is changed, the center of gravity is changed. At this point, to ensure smooth operation of the vessel, the center of gravity needs to be readjusted to meet the safety requirements expected by the design.
In order to ensure the stable gravity center of the ship body, ballast is usually fixed and the positions of passengers are fixed in the traditional method, so that the method cannot deal with the change of load bearing objects during the operation and use of the ship, and the application range and the scene of the ship, particularly a hydrofoil ship, are greatly limited.
In the prior art, when the state of a ship is detected, a level meter is usually used for detecting the state of the ship, the method can measure the inclination state of the ship at any time, but the detection method is usually only used for early warning and cannot play a role in balancing the ship body. The simple early warning can inform the passengers to adjust the state of the ship, but has great defects in the timeliness of posture adjustment and the convenience of operation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method and a device for monitoring and balancing the running state of a hydrofoil ship. The invention comprises the following steps:
s100: configuring a six-axis gyroscope, an acceleration sensor and a speed sensor at the hydrofoil acting force balance center of the hydrofoil ship;
s200: configuring a real-time data return terminal;
s300: processing the returned data in real time;
s400: calculating the attitude, evaluating whether the current attitude is abnormal, and transmitting the attitude data to an attitude balancing evaluation module;
s500: the attitude trim evaluation module analyzes the attitude data and judges whether to call dynamic balance adjustment;
s600: judging whether to carry out dynamic balance adjustment: calculating a ballast adjustment strategy using the horizontal inclination vector;
s700: performing dynamic balance adjustment: and calling a dynamic balance adjusting mechanism to realize dynamic balance.
Preferably, the step S200 includes the steps of:
s201: adopting a microcontroller to construct the real-time data return terminal: the microcontroller is coupled to the data processing center through a high-speed wired network and creates a long connection to ensure that a connection channel is unobstructed;
s202: the six-axis gyroscope, the acceleration sensor and the speed sensor are coupled to the real-time data return terminal through serial ports, and the serial ports are 485 interfaces;
s203: the real-time data return terminal controls each sensor to acquire data;
s204: and the collected data is transmitted back to the data processing center.
Preferably, the step S300 includes the steps of:
s301: the data processing center receives and temporarily stores the X-axis inclination angle, the Y-axis inclination angle, the Z-axis inclination angle, the acceleration data and the speed from the real-time data return terminal;
s302: sequentially acquiring an X-axis inclination angle, a Y-axis inclination angle, a Z-axis inclination angle, acceleration and speed by taking 4 bytes as a group, and respectively recording the parameters as: x, z, y, a, s;
s303: and sending the acquired X-axis inclination angle, Y-axis inclination angle, Z-axis inclination angle, acceleration and speed to a data analysis module for analysis.
Preferably, the step S400 includes the steps of:
s401: receiving x, z, y, a and s and temporarily storing in a temporary storage area;
s402: respectively obtaining N groups of nearest values of x, z, y, a and s, respectively eliminating the values exceeding a change threshold value in each parameter, respectively carrying out arithmetic average calculation on the values of each parameter which is not eliminated, and then recording the values as cx, cy, cz, ca and cs, wherein N is a natural number greater than 1, and the change threshold value is not less than 5% and not greater than 25%;
s403: and sending the cx, cy, cz, ca and cs to a posture trim evaluation module.
Preferably, the step S500 includes the steps of:
s501: the attitude trim evaluation module receives the cx, cy, cz, ca and cs;
s502: respectively judging whether the differences between the cx, cy and cz and the values of the respective design parameters are within a first deviation range, if so, executing a step S508, otherwise, executing a step S503, wherein the first deviation range is not less than-5% and not more than 5%;
s503: respectively judging whether the differences between the values of the cx, the cy and the cz and the design parameters are all in a second deviation range, if so, executing a step S507, otherwise, executing a step S504, wherein the second deviation range is greater than or equal to-10% and less than-5%, or less than or equal to 10% and greater than 5%;
s504: respectively judging whether the differences between the cx and the cy and the values of the design parameters are within a third deviation range, if so, executing a step S505, otherwise, executing a step S508, wherein the third deviation range is less than-10% or more than 10%;
s505: setting cz and cy as two vectors which are vertical to each other, setting cz as a vector in a plane which is vertical to the horizontal plane of the ship and is parallel to the longitudinal axis direction of the ship body, and setting cy as a vector in a plane which is vertical to the horizontal plane of the ship and is vertical to the longitudinal axis direction of the ship body;
s506: initiating a posture adjusting instruction to the control center, acquiring a horizontal inclination vector, executing the step S600 and simultaneously executing the step S507;
s507: sending out early warning to an early warning module to remind an operator;
s508: the currently received parameters are discarded and step S501 is performed.
Preferably, the step S600 includes the steps of:
s601: receiving the cz, cy, cs and ca;
s602: comparing cs with a safety adjustment threshold speed sa, if cs is greater than or equal to sa, triggering a deceleration mechanism, and reducing the output power of the engine until cs is less than sa, wherein the safety adjustment threshold speed is a natural number which is greater than 0 and less than 65, and the unit is kilometer per hour;
s603: monitoring the value of ca, triggering a balancing action if ca is smaller than an acceleration threshold value, and continuously reducing the output power of the engine if ca is not smaller than the acceleration threshold value, wherein the acceleration threshold value is plus or minus 0.1m/s2。
Preferably, the step S700 includes the steps of:
s701: the ballast lattice at the bottom of the ship is configured to be a nine-palace lattice structure, the 5 th ballast lattice is configured in the center of the nine-palace lattice structure, ballast liquid is stored in the 5 th ballast lattice, and the rest ballast lattices are respectively coupled with the 5 th ballast lattice through a control valve and a bidirectional water pump;
s702: configuring an execution terminal based on a microcontroller, coupling each relay with a corresponding control valve to control the opening and closing of each control valve, and coupling the execution terminal to a control center by adopting a serial port, wherein the serial port is a 485 interface;
s703: after receiving cy and cz, if ca is not larger than the acceleration threshold and cs is smaller than or equal to sa, acquiring the direction and deflection angle of a horizontal inclination vector;
s704: setting a 5 th ballast cell as an origin according to the direction and the deflection angle of the obtained horizontal inclination vector, and setting a cy direction to point to the right side of the ship as a positive value and point to the left side of the ship as a negative value; setting the cz direction pointing to the stern as a positive value and pointing to the bow as a negative value;
if cy is greater than zero and cz is equal to zero, opening the control valve of the 4 th ballast compartment and drawing ballast liquid from the 5 th ballast compartment into the target compartment, the current target compartment being the 4 th ballast compartment;
if cy is less than zero and cz is equal to zero, opening a 6 th ballast compartment control valve and pumping ballast liquid from the 5 th ballast compartment into a target compartment, wherein the current target compartment is the 6 th ballast compartment;
if cy is equal to zero and cz is greater than zero, opening a 2 nd ballast compartment control valve and pumping ballast liquid from the 5 th ballast compartment into a target compartment, wherein the current target compartment is the 2 nd ballast compartment;
if cy is equal to zero and cz is less than zero, opening the 8 th ballast compartment control valve and pumping ballast liquid from the 5 th ballast compartment into the target compartment, wherein the current target compartment is the 8 th ballast compartment;
if cy is less than zero and cz is less than zero, opening the control valve of the ballast grids 6, 8 and 9, and pumping ballast liquid from the ballast grid 5 into the target grid, wherein the current target grid is the ballast grid 6, 8 and 9;
if cy is less than zero and cz is greater than zero, opening the 2 nd, 3 rd and 6 th ballast grid control valves, and pumping ballast liquid from the 5 th ballast grid into a target grid, wherein the current target grid is the 2 nd, 3 rd and 6 th ballast grids;
if cy is larger than zero and cz is smaller than zero, opening the control valve of the 4 th, 7 th and 8 th ballast grids, and pumping ballast liquid from the 5 th ballast grid into the target grid, wherein the current target grid is the 4 th, 7 th and 8 th ballast grids;
if cy is greater than zero and cz is greater than zero, opening the 1 st, 2 nd and 4 th ballast grid control valves, and pumping ballast liquid from the 5 th ballast grid into a target grid, wherein the current target grid is the 1 st, 2 nd and 4 th ballast grids;
s705: the ballast liquid is pumped into the ballast compartment in the opposite direction of the inclination direction by step S704, thereby realizing dynamic adjustment of the ballast liquid, and when cy is equal to zero and cz is equal to zero, the ballast liquid is stopped from being pumped, and the center of gravity is stabilized;
s706: when the balance is needed again after the balance, the ballast liquid in the opposite cabin of the direction to be adjusted is extracted to the 5 th ballast cabin, and the step S704 is repeated, thereby realizing the dynamic balance.
Preferably, the microcontroller is a stm32 interconnect type family of microcontrollers.
An apparatus for monitoring and balancing the operational status of a hydrofoil craft, comprising: a posture data acquisition module, a posture evaluation module, a trim evaluation module and a dynamic balance adjustment module, wherein,
the attitude data acquisition module: detecting the running state of the hydrofoil ship by adopting each sensor, collecting data and sending the data to a data processing center for processing;
a posture evaluation module: evaluating the attitude of the ship body according to the attitude data of the ship body to confirm the actual running state of the hydrofoil ship, and handing the actual running state to a control center for processing;
a trim evaluation module: judging whether to execute dynamic balance adjustment or not according to the evaluation result of the attitude evaluation module;
the dynamic balance adjusting module: and receiving an instruction from the control center, and performing dynamic adjustment on the ballast liquid to realize balance adjustment of the ship body.
The invention has the beneficial effects that:
1. the change condition and the trend of each data of the ship body are sensed in real time;
2. evaluating the posture of the ship body in real time, and triggering early warning or posture adjustment execution;
3. evaluating the abnormal posture of the ship body in operation, and deciding whether to trigger dynamic balance adjustment or not;
4. the hull is trim-matched using ballast liquid conditioning.
Drawings
FIG. 1 is a general flow diagram of a method provided by the present invention;
FIG. 2 is a schematic view of a ballast compartment arrangement in the process provided by the present invention;
fig. 3 is a schematic block diagram of an apparatus of an embodiment of the present invention.
Detailed Description
Fig. 1 shows a general flow chart of the method provided by the present invention. As shown in fig. 1, the method comprises the following steps:
s100: configuring a six-axis gyroscope, an acceleration sensor and a speed sensor at the hydrofoil acting force balance center of a hydrofoil ship;
s200: configuring the real-time data return terminal, wherein the step S200 comprises the following steps:
s201: the stm32 interconnection type series of microcontrollers are adopted to construct a real-time data return terminal: the microcontroller is coupled to the data processing center through a high-speed wired network and creates a long connection to ensure that a connection channel is unobstructed;
s202: the six-axis gyroscope, the acceleration sensor and the speed sensor are coupled to the real-time data return terminal through 485 interfaces;
s203: the real-time data return terminal controls each sensor to acquire data;
s204: the collected data is transmitted back to the data processing center.
S300: processing the returned data in real time, wherein step S300 comprises the following steps:
s301: the data processing center receives and temporarily stores the X-axis inclination angle, the Y-axis inclination angle, the Z-axis inclination angle, the acceleration data and the speed from the real-time data return terminal;
s302: sequentially acquiring an X-axis inclination angle, a Y-axis inclination angle, a Z-axis inclination angle, acceleration and speed by taking 4 bytes as a group, and respectively recording the parameters as: x, z, y, a, s;
s303: and sending the acquired X-axis inclination angle, Y-axis inclination angle, Z-axis inclination angle, acceleration and speed to a data analysis module for analysis.
S400: calculating the attitude, evaluating whether the current attitude is abnormal, and transmitting the attitude data to an attitude trim evaluation module, wherein the step S400 comprises the following steps:
s401: receiving x, z, y, a and s and temporarily storing in a temporary storage area;
s402: respectively obtaining 10 groups of nearest numerical values of x, z, y, a and s, respectively eliminating the numerical values exceeding 20% in each parameter, respectively carrying out arithmetic average calculation on the numerical values of each parameter which is not eliminated, and recording the numerical values as cx, cy, cz, ca and cs;
s403: and sending the cx, cy, cz, ca and cs to the attitude trim evaluation module.
S500: the attitude trim evaluation module analyzes the attitude data and determines whether to invoke dynamic balance adjustment, and step S500 includes the following steps:
s501: the attitude trim evaluation module receives cx, cy, cz, ca and cs;
s502: respectively judging whether the differences between the cx, cy and cz and the values of the respective design parameters are in the range of-5% to 5%, if so, executing a step S508, otherwise, executing a step S503;
s503: respectively judging whether the differences between the values of the cx, the cy and the cz and the design parameters are in the range of more than or equal to-10% and less than-5%, or in the range of less than or equal to 10% and more than 5%, if so, executing a step S507, otherwise, executing a step S504;
s504: respectively judging whether the differences between the cx and the cy and the values of the design parameters are less than-10% or more than 10%, if so, executing a step S505, otherwise, executing a step S508;
s505: setting cz and cy as two vectors which are vertical to each other, setting cz as a vector in a plane which is vertical to the horizontal plane of the ship and is parallel to the longitudinal axis direction of the ship body, and setting cy as a vector in a plane which is vertical to the horizontal plane of the ship and is vertical to the longitudinal axis direction of the ship body;
s506: initiating a posture adjusting instruction to the control center, acquiring a horizontal inclination vector, executing the step S600 and simultaneously executing the step S507;
s507: sending out early warning to an early warning module to remind an operator;
s508: the currently received parameters are discarded and step S501 is performed.
S600: judging whether to carry out dynamic balance adjustment: calculating a ballast adjustment strategy using the horizontal inclination vector;
step S600 includes the following steps:
s601: receiving cz, cy, cs and ca;
s602: comparing cs with a safety adjustment threshold speed sa, if cs is greater than or equal to sa, triggering a speed reduction mechanism, and reducing the output power of the engine until cs is less than sa, wherein the safety adjustment threshold speed sa is 10 km/h;
s603: monitoring the value of ca, triggering a balancing action if ca is smaller than an acceleration threshold value, and continuously reducing the output power of the engine if ca is not smaller than the acceleration threshold value, wherein the acceleration threshold value is plus or minus 0.1m/s2。
S700: performing dynamic balance adjustment: calling a dynamic balance adjusting mechanism to realize dynamic balance, wherein the step S700 comprises the following steps:
figure 2 shows a schematic view of the ballast compartment arrangement in the process provided by the present invention.
S701: as shown in fig. 2, the ballast grid at the bottom of the ship is configured to be a nine-palace grid structure, the 5 th ballast grid is configured at the center of the nine-palace grid structure, the 5 th ballast grid stores ballast liquid, and the rest ballast grids are respectively coupled with the 5 th ballast grid through a control valve and a bidirectional water pump;
s702: configuring an execution terminal based on stm32 interconnection type series microcontroller, coupling each relay with a corresponding control valve for controlling the opening and closing of each control valve, and coupling the execution terminal with a control center by a 485 interface, wherein each relay can select an electromagnetic valve;
s703: after receiving cy, cz, if ca is not more than 0.1m/s2When cs is less than or equal to 10 kilometers per hour, the direction and deflection angle of the horizontal inclination vector are obtained;
s704: setting a 5 th ballast cell as an origin according to the direction and the deflection angle of the obtained horizontal inclination vector, and setting a cy direction to point to the right side of the ship as a positive value and point to the left side of the ship as a negative value; setting the cz direction pointing to the stern as a positive value and pointing to the bow as a negative value;
if cy is greater than zero and cz is equal to zero, opening the control valve of the 4 th ballast compartment and drawing ballast liquid from the 5 th ballast compartment into the target compartment, the current target compartment being the 4 th ballast compartment;
if cy is less than zero and cz is equal to zero, opening a 6 th ballast compartment control valve and pumping ballast liquid from the 5 th ballast compartment into a target compartment, wherein the current target compartment is the 6 th ballast compartment;
if cy is equal to zero and cz is greater than zero, opening a 2 nd ballast compartment control valve and pumping ballast liquid from the 5 th ballast compartment into a target compartment, wherein the current target compartment is the 2 nd ballast compartment;
if cy is equal to zero and cz is less than zero, opening the 8 th ballast compartment control valve and pumping ballast liquid from the 5 th ballast compartment into the target compartment, wherein the current target compartment is the 8 th ballast compartment;
if cy is less than zero and cz is less than zero, opening the control valve of the ballast grids 6, 8 and 9, and pumping ballast liquid from the ballast grid 5 into the target grid, wherein the current target grid is the ballast grid 6, 8 and 9;
if cy is less than zero and cz is greater than zero, opening the 2 nd, 3 rd and 6 th ballast grid control valves, and pumping ballast liquid from the 5 th ballast grid into a target grid, wherein the current target grid is the 2 nd, 3 rd and 6 th ballast grids;
if cy is larger than zero and cz is smaller than zero, opening the control valve of the 4 th, 7 th and 8 th ballast grids, and pumping ballast liquid from the 5 th ballast grid into the target grid, wherein the current target grid is the 4 th, 7 th and 8 th ballast grids;
if cy is greater than zero and cz is greater than zero, opening the 1 st, 2 nd and 4 th ballast grid control valves, and pumping ballast liquid from the 5 th ballast grid into a target grid, wherein the current target grid is the 1 st, 2 nd and 4 th ballast grids;
s705: the ballast liquid is pumped into the ballast compartment in the opposite direction of the inclination direction by step S704, thereby realizing dynamic adjustment of the ballast liquid, and when cy is equal to zero and cz is equal to zero, the ballast liquid is stopped from being pumped, and the center of gravity is stabilized;
s706: when the balance is needed again after the balance, the ballast liquid in the opposite cabin of the direction to be adjusted is extracted to the 5 th ballast cabin, and the step S704 is repeated, thereby realizing the dynamic balance.
The method solves the technical problem that no method for monitoring and balancing the running state of the hydrofoil ship exists in the prior art.
The invention also provides a device for monitoring and balancing the running state of the hydrofoil ship. Fig. 3 shows a schematic block diagram of an apparatus 100 according to an embodiment of the invention, the apparatus 100 comprising, as shown in fig. 3:
attitude data acquisition module 101: detecting the running state of the hydrofoil ship by adopting each sensor, collecting data and sending the data to a data processing center for processing;
the pose evaluation module 102: evaluating the attitude of the ship body according to the attitude data of the ship body to confirm the actual running state of the hydrofoil ship, and handing the actual running state to a control center for processing;
trim evaluation module 103: judging whether to execute dynamic balance adjustment or not according to the evaluation result of the attitude evaluation module;
dynamic balance adjustment module 104: and receiving an instruction from the control center, and performing dynamic adjustment on the ballast liquid to realize balance adjustment of the ship body.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations are possible to those skilled in the art in light of the above teachings, and that all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (9)
1. A method of monitoring and balancing the operational status of a hydrofoil vessel, comprising the steps of:
s100: configuring a six-axis gyroscope, an acceleration sensor and a speed sensor at the hydrofoil acting force balance center of the hydrofoil ship;
s200: configuring a real-time data return terminal;
s300: processing the returned data in real time;
s400: calculating the attitude, evaluating whether the current attitude is abnormal, and transmitting the attitude data to an attitude balancing evaluation module;
s500: the attitude trim evaluation module analyzes the attitude data and judges whether to call dynamic balance adjustment;
s600: judging whether to carry out dynamic balance adjustment: calculating a ballast adjustment strategy using the horizontal inclination vector;
s700: performing dynamic balance adjustment: and calling a dynamic balance adjusting mechanism to realize dynamic balance.
2. The method of monitoring and balancing the operational status of a hydrofoil craft as claimed in claim 1 wherein said step S200 includes the steps of:
s201: adopting a microcontroller to construct the real-time data return terminal: the microcontroller is coupled to the data processing center through a high-speed wired network and creates a long connection to ensure that a connection channel is unobstructed;
s202: the six-axis gyroscope, the acceleration sensor and the speed sensor are coupled to the real-time data return terminal through serial ports, and the serial ports are 485 interfaces;
s203: the real-time data return terminal controls each sensor to acquire data;
s204: and the collected data is transmitted back to the data processing center.
3. The method of monitoring and balancing the operational status of a hydrofoil craft as claimed in claim 1 wherein said step S300 includes the steps of:
s301: the data processing center receives and temporarily stores the X-axis inclination angle, the Y-axis inclination angle, the Z-axis inclination angle, the acceleration data and the speed from the real-time data return terminal;
s302: sequentially acquiring an X-axis inclination angle, a Y-axis inclination angle, a Z-axis inclination angle, acceleration and speed by taking 4 bytes as a group, and respectively recording the parameters as: x, z, y, a, s;
s303: and sending the acquired X-axis inclination angle, Y-axis inclination angle, Z-axis inclination angle, acceleration and speed to a data analysis module for analysis.
4. The method of monitoring and balancing the operational status of a hydrofoil craft as claimed in claim 1 wherein said step S400 includes the steps of:
s401: receiving x, z, y, a and s and temporarily storing in a temporary storage area;
s402: respectively obtaining N groups of nearest values of x, z, y, a and s, respectively eliminating the values exceeding a change threshold value in each parameter, respectively carrying out arithmetic average calculation on the values of each parameter which is not eliminated, and then recording the values as cx, cy, cz, ca and cs, wherein N is a natural number greater than 1, and the change threshold value is not less than 5% and not greater than 25%;
s403: and sending the cx, cy, cz, ca and cs to a posture trim evaluation module.
5. The method of monitoring and balancing the operational status of a hydrofoil craft as claimed in claim 1 wherein said step S500 includes the steps of:
s501: the attitude trim evaluation module receives the cx, cy, cz, ca and cs;
s502: respectively judging whether the differences between the cx, cy and cz and the values of the respective design parameters are within a first deviation range, if so, executing a step S508, otherwise, executing a step S503, wherein the first deviation range is not less than-5% and not more than 5%;
s503: respectively judging whether the differences between the values of the cx, the cy and the cz and the design parameters are all in a second deviation range, if so, executing a step S507, otherwise, executing a step S504, wherein the second deviation range is greater than or equal to-10% and less than-5%, or less than or equal to 10% and greater than 5%;
s504: respectively judging whether the differences between the cx and the cy and the values of the design parameters are within a third deviation range, if so, executing a step S505, otherwise, executing a step S508, wherein the third deviation range is less than-10% or more than 10%;
s505: setting cz and cy as two vectors which are vertical to each other, setting cz as a vector in a plane which is vertical to the horizontal plane of the ship and is parallel to the longitudinal axis direction of the ship body, and setting cy as a vector in a plane which is vertical to the horizontal plane of the ship and is vertical to the longitudinal axis direction of the ship body;
s506: initiating a posture adjusting instruction to the control center, acquiring a horizontal inclination vector, executing the step S600 and simultaneously executing the step S507;
s507: sending out early warning to an early warning module to remind an operator;
s508: the currently received parameters are discarded and step S501 is performed.
6. The method of monitoring and balancing the operational status of a hydrofoil craft as claimed in claim 1 wherein said step S600 includes the steps of:
s601: receiving the cz, cy, cs and ca;
s602: comparing cs with a safety adjustment threshold speed sa, if cs is greater than or equal to sa, triggering a deceleration mechanism, and reducing the output power of the engine until cs is less than sa, wherein the safety adjustment threshold speed is a natural number which is greater than 0 and less than 65, and the unit is kilometer per hour;
s603: monitoring the value of ca, triggering a balancing action if ca is smaller than an acceleration threshold value, and continuously reducing the output power of the engine if ca is not smaller than the acceleration threshold value, wherein the acceleration threshold value is plus or minus 0.1m/s2。
7. The method of monitoring and balancing the operational status of a hydrofoil craft as claimed in claim 1 wherein said step S700 includes the steps of:
s701: the ballast lattice at the bottom of the ship is configured to be a nine-palace lattice structure, the 5 th ballast lattice is configured in the center of the nine-palace lattice structure, ballast liquid is stored in the 5 th ballast lattice, and the rest ballast lattices are respectively coupled with the 5 th ballast lattice through a control valve and a bidirectional water pump;
s702: configuring an execution terminal based on a microcontroller, coupling each relay with a corresponding control valve to control the opening and closing of each control valve, and coupling the execution terminal to a control center by adopting a serial port, wherein the serial port is a 485 interface;
s703: after receiving cy and cz, if ca is not larger than the acceleration threshold and cs is smaller than or equal to sa, acquiring the direction and deflection angle of a horizontal inclination vector;
s704: setting a 5 th ballast cell as an origin according to the direction and the deflection angle of the obtained horizontal inclination vector, and setting a cy direction to point to the right side of the ship as a positive value and point to the left side of the ship as a negative value; setting the cz direction pointing to the stern as a positive value and pointing to the bow as a negative value;
if cy is greater than zero and cz is equal to zero, opening the control valve of the 4 th ballast compartment and drawing ballast liquid from the 5 th ballast compartment into the target compartment, the current target compartment being the 4 th ballast compartment;
if cy is less than zero and cz is equal to zero, opening a 6 th ballast compartment control valve and pumping ballast liquid from the 5 th ballast compartment into a target compartment, wherein the current target compartment is the 6 th ballast compartment;
if cy is equal to zero and cz is greater than zero, opening a 2 nd ballast compartment control valve and pumping ballast liquid from the 5 th ballast compartment into a target compartment, wherein the current target compartment is the 2 nd ballast compartment;
if cy is equal to zero and cz is less than zero, opening the 8 th ballast compartment control valve and pumping ballast liquid from the 5 th ballast compartment into the target compartment, wherein the current target compartment is the 8 th ballast compartment;
if cy is less than zero and cz is less than zero, opening the control valve of the ballast grids 6, 8 and 9, and pumping ballast liquid from the ballast grid 5 into the target grid, wherein the current target grid is the ballast grid 6, 8 and 9;
if cy is less than zero and cz is greater than zero, opening the 2 nd, 3 rd and 6 th ballast grid control valves, and pumping ballast liquid from the 5 th ballast grid into a target grid, wherein the current target grid is the 2 nd, 3 rd and 6 th ballast grids;
if cy is larger than zero and cz is smaller than zero, opening the control valve of the 4 th, 7 th and 8 th ballast grids, and pumping ballast liquid from the 5 th ballast grid into the target grid, wherein the current target grid is the 4 th, 7 th and 8 th ballast grids;
if cy is greater than zero and cz is greater than zero, opening the 1 st, 2 nd and 4 th ballast grid control valves, and pumping ballast liquid from the 5 th ballast grid into a target grid, wherein the current target grid is the 1 st, 2 nd and 4 th ballast grids;
s705: the ballast liquid is pumped into the ballast compartment in the opposite direction of the inclination direction by step S704, thereby realizing dynamic adjustment of the ballast liquid, and when cy is equal to zero and cz is equal to zero, the ballast liquid is stopped from being pumped, and the center of gravity is stabilized;
s706: when the balance is needed again after the balance, the ballast liquid in the opposite cabin of the direction to be adjusted is extracted to the 5 th ballast cabin, and the step S704 is repeated, thereby realizing the dynamic balance.
8. A method of monitoring and balancing the operational status of a hydrofoil craft according to claim 2 wherein said microcontroller is a stm32 interconnection type family of microcontrollers.
9. An apparatus for monitoring and balancing the operational status of a hydrofoil craft, comprising: a posture data acquisition module, a posture evaluation module, a trim evaluation module and a dynamic balance adjustment module, wherein,
the attitude data acquisition module: detecting the running state of the hydrofoil ship by adopting each sensor, collecting data and sending the data to a data processing center for processing;
a posture evaluation module: evaluating the attitude of the ship body according to the attitude data of the ship body to confirm the actual running state of the hydrofoil ship, and handing the actual running state to a control center for processing;
a trim evaluation module: judging whether to execute dynamic balance adjustment or not according to the evaluation result of the attitude evaluation module;
the dynamic balance adjusting module: and receiving an instruction from the control center, and performing dynamic adjustment on the ballast liquid to realize balance adjustment of the ship body.
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