CN114879668B - Control method for electric ship, electric ship and computer-readable storage medium - Google Patents
Control method for electric ship, electric ship and computer-readable storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 239000011159 matrix material Substances 0.000 claims abstract description 48
- 230000007613 environmental effect Effects 0.000 claims abstract description 38
- 238000013139 quantization Methods 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 45
- 238000005259 measurement Methods 0.000 claims description 12
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- 238000010586 diagram Methods 0.000 description 11
- 238000004364 calculation method Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
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- 238000012937 correction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 230000004927 fusion Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Abstract
The application discloses a control method of an electric ship, the electric ship and a computer readable storage medium. The control method of the electric ship comprises the steps of acquiring self data and environmental information of the electric ship; carrying out quantization and blurring treatment on the environment information to obtain a blurring interface matrix; establishing a database based on the endurance mileage data of the electric ship; acquiring reference navigation information of the electric ship based on the fuzzy interface matrix, a preset rule base and a database, wherein the reference navigation information comprises a reference navigation speed, a reference tilting angle and a reference power; correcting the reference navigation information of the electric ship by comparing the current navigation information to obtain navigation parameters; based on the navigation parameters, a navigation instruction is acquired, and navigation of the electric ship is controlled based on the navigation instruction. Through the mode, the electric ship can be comprehensively controlled based on the data and the environmental information of the electric ship, so that the endurance mileage of the electric ship is improved.
Description
Technical Field
The present application relates to the field of ship technology, and in particular, to a control method of an electric ship, and a computer-readable storage medium.
Background
Currently, electric ships are increasingly applied to industries such as water entertainment, fishery, exploration and the like due to the characteristics of modernization, environmental protection, silence and the like. When the battery capacity of the electric ship is fixed, the endurance mileage of the electric ship is particularly important.
In the prior art, the optimization of the endurance mileage of the electric ship is generally based on modeling modes, such as a genetic algorithm, a simulated annealing algorithm and the like, but the modeling modes have the following problems: 1. the influence factors on the optimization of the endurance mileage of the electric ship are not fully considered, and the calculation force requirement on the main controller is higher; 2. the robustness of the control scheme realized based on the modeling mode is weak, and the estimated deviation of the endurance mileage of the electric ship is larger.
Disclosure of Invention
The application provides a control method of an electric ship, the electric ship and a computer readable storage medium.
The application adopts a technical scheme that: provided is a control method for an electric ship, the control method comprising:
acquiring self data and environmental information of the electric ship; carrying out quantization and blurring treatment on the environment information to obtain a blurring interface matrix; establishing a database based on the endurance mileage data of the electric ship; acquiring reference navigation information of the electric ship based on the fuzzy interface matrix, a preset rule base and a database, wherein the reference navigation information comprises a reference navigation speed, a reference tilting angle and a reference power; correcting the reference navigation information of the electric ship by comparing the current navigation information to obtain navigation parameters; based on the navigation parameters, a navigation instruction is acquired, and navigation of the electric ship is controlled based on the navigation instruction.
The method for obtaining the fuzzy interface matrix comprises the following steps of:
acquiring environment information and a membership function preset by the environment information; and obtaining a fuzzy interface matrix corresponding to the environmental information based on the environmental information and the membership function.
The method for acquiring the reference navigation information of the electric ship based on the fuzzy interface matrix, a preset rule base and a database comprises the following steps:
performing matrix intersection operation on the fuzzy interface matrix, the rule base and the database to obtain a fuzzy reasoning relation matrix of the environment information, the rule base and the database; and calculating the reference navigation information based on the weight coefficient of the fuzzy inference relation matrix and the environment information.
Wherein the weight coefficient is set based on an operation state of the electric ship.
Wherein, the self data of the electric ship comprises ship fixing data; the environmental information comprises temperature, wind direction, wind power, water flow speed, residual capacity of a ship battery, a ship tilting angle, ship power, ship attitude and ship navigational speed.
Wherein, the control method of the electric ship further comprises:
obtaining the model of the electric ship; and acquiring ship fixing data based on the model of the electric ship, wherein the ship fixing data comprise the battery capacity and rated power of the electric ship.
Before the step of establishing the database based on the endurance mileage data of the electric ship, the method further comprises the following steps:
calibrating different influencing factors of the sailing of the electric ship, and acquiring the endurance mileage data of the electric ship under the different influencing factors; wherein the influencing factors include: temperature, wind direction, wind force, tilting angle, residual battery capacity, water flow speed, ship power and ship navigational speed.
The other technical scheme adopted by the application is as follows: there is provided an electric ship including: measurement system, main control unit and drive arrangement.
The measuring system is used for acquiring self data and environmental information of the electric ship; the main controller is connected with the measuring system and is used for realizing the control method of the electric ship; the driving device is connected with the main controller and used for providing ship power to the main controller.
Wherein the measurement system comprises: the device comprises a tilting sensor, a water flow speed sensor, a wind direction and wind power measuring instrument, an inertial sensor and a positioning system.
The lifting sensor is connected with the main controller and used for providing the lifting angle of the ship to the main controller; the water flow speed sensor is connected with the main controller and is used for providing the water flow speed to the main controller; the wind direction and wind power measuring instrument is connected with the main controller and is used for providing wind direction and wind power to the main controller; the inertial sensor is connected with the main controller and used for providing the ship attitude and temperature to the main controller; the positioning system is connected with the main controller and is used for providing the ship speed to the main controller.
The other technical scheme adopted by the application is as follows: there is provided a computer-readable storage medium having stored therein program instructions that are executed to implement the control method of the electric ship of any one of the above.
According to the control method of the electric ship, the self data and the environment information of the electric ship are obtained, the environment information is quantized and then subjected to fuzzification processing to obtain the fuzzy interface matrix of the environment information, the navigation speed, the reference tilting angle and the reference power of the electric ship are obtained based on the fuzzy reference matrix, the preset rule base and the database established based on the navigation mileage data of the electric ship, and then the reference navigation information is corrected to obtain the optimal navigation parameters of the electric ship, so that the electric ship is controlled, the comprehensive control of the electric ship is realized, the navigation mileage maximization of the electric ship is realized, and the energy efficiency control of the electric ship is improved.
Drawings
FIG. 1 is a schematic electrical structure of an embodiment of the electric vessel of the present application;
FIG. 2 is a schematic flow chart of a first embodiment of a control method of the electric vessel of the present application;
FIG. 3 is a schematic diagram of one embodiment of database creation of the present application;
FIG. 4 is a schematic diagram showing a specific flow of step S102 in FIG. 2 of the present application;
FIG. 5 is a schematic diagram of one embodiment of a membership function of the present application;
FIG. 6 is a graph showing membership at a water flow rate of 0.03m/s for the present application;
FIG. 7 is a schematic diagram showing a specific flow of step S103 in FIG. 2 of the present application;
FIG. 8 is a schematic flow chart of a second embodiment of a control method of the electric vessel of the present application;
FIG. 9 is a schematic flow chart diagram of an embodiment of a control method of the electric vessel of the present application;
FIG. 10 is a schematic diagram of an embodiment of a computer-readable storage medium of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Currently, electric ships are increasingly applied to industries such as water entertainment, fishery, exploration and the like due to the characteristics of modernization, environmental protection, silence and the like. Under the condition that the battery capacity of the electric ship is certain, the electric ship can achieve the maximum endurance mileage.
In the prior art, the optimization of the range of the electric ship has more problems, the influence factors of the optimization of the range of the electric ship are not fully considered, the calculation force requirement on the main controller is higher, the robustness of the control scheme realized based on the modeling mode is weak, the estimation deviation of the range of the electric ship is larger, and the dynamic adjustment decision is not carried out on the electric ship.
In order to solve the above-mentioned problems, the present application first proposes an electric ship 100, referring to fig. 1, fig. 1 is an electrical schematic diagram of an embodiment of the electric ship of the present application. As shown in fig. 1, the electric ship 100 of the present embodiment includes: the system comprises a measurement system 10, a main controller 20, a driving device 30 and an outboard motor 40.
The measurement system 10 is used for acquiring self data and environmental information of the electric ship 100; the main controller 20 is connected with the measurement system 10 for realizing the control method of the electric ship 100 of any one of the above; the driving device 30 is connected with the main controller 20 and is used for providing ship power to the main controller 20; the outboard motor 40 is connected with the main controller 20, and the main controller 20 provides decision commands based on the self data and environmental information of the measurement of the fusion measurement system 10, thereby controlling the power of the outboard motor 40, and the outboard motor 40 simultaneously transmits real-time ship power to the main controller 20
The measurement system 10 transmits the measured self data and environmental information of the electric ship 100 to the main controller 20, such as temperature, wind direction, wind force, tilting angle, remaining battery power, current flow rate, ship power, ship speed, etc.
The main controller 20 receives and fuses the own data and the environmental information and provides a sailing instruction, thereby controlling the power of the electric ship 100 to achieve the purpose of maximum endurance mileage of the electric ship 100. The main controller 20 is connected to the outboard motor 40, and controls the outboard motor 40 to control the navigation of the electric ship 100.
The driving device 30 may be provided as a throttle, and the throttle may be configured as a screw type structure, and the power of the electric ship 100 may be adjusted by screwing a handle of the throttle. In other embodiments, the driving device 30 may have other structures as long as the power adjusting function of the electric ship 100 can be achieved, and the present invention is not limited thereto.
Specifically, referring to FIG. 1, a measurement system 10 includes: the device comprises a tilting sensor 11, a water flow speed sensor 12, a wind direction wind power measuring instrument 13, an inertial sensor 14 and a positioning system 15.
The heave sensor 11 is connected with the main controller 20 and is used for providing the heave angle of the ship to the main controller 20; the water flow speed sensor 12 is connected with the main controller 20 and is used for providing the water flow speed to the main controller 20; the wind direction and wind power measuring instrument 13 is connected with the main controller 20 and is used for providing wind direction and wind power to the main controller 20; the inertial sensor 14 is connected with the main controller 20 for providing the ship attitude and temperature to the main controller 20; the positioning system 15 is connected to the main controller 20 for providing the vessel speed to the main controller 20.
The lifting sensor 11 is further provided with an electric lifting control device, the electric lifting control device is used for adjusting the pitching angle of the hull of the electric ship 100, and the lifting sensor 11 detects the lifting angle of the ship and sends the lifting angle to the main controller 20; the water flow speed sensor 12 measures and calculates the current water flow speed of the electric ship 100 in the sailing water area, and sends the water flow speed information to the main controller 20; the wind direction and wind power measuring instrument 13 measures and calculates the wind direction of the current electric ship 100 when sailing, wherein the wind direction comprises the information of upwind angle, resistance and the like of the current environment; the inertial sensor 14 measures the hull attitude and temperature information of the electric ship 100 including information such as pitch angle, yaw angle, roll angle, and barometric pressure temperature; the positioning system 15 may be a global positioning system or other positioning systems, but is not limited thereto, and the positioning system 15 measures the current navigation speed of the electric ship 100, provides the current navigation speed to the main controller 20, and may also be used to obtain the position information of the current electric ship 100.
The present application further provides a control method for an electric ship, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the control method for an electric ship of the present application. The control method of the electric ship of the present embodiment may be implemented by a method as shown in fig. 2, and specifically includes steps S101 to S106:
step S101: and acquiring self data and environmental information of the electric ship.
The main controller acquires own data and environmental information of the electric ship. The self data and the environmental information of the electric ship are acquired based on a measuring system of the electric ship, wherein the measuring system comprises sensors of various electric ships, and the sensors are used for acquiring and measuring the self data and the environmental information of the ship.
Specifically, the self data of the electric ship includes ship-fixing data; the environmental information comprises temperature, wind direction, wind power, water flow speed, residual capacity of a ship battery, a ship tilting angle, ship power, ship attitude and ship navigational speed.
The temperature is the current ambient temperature, the wind direction and the wind power are the wind speed and the wind power grade of the current environment, and the water flow velocity is the water flow velocity of the current electric ship sailing water area.
Step S102: and carrying out quantization and blurring processing on the environment information to obtain a blurring interface matrix.
The main controller obtains environment information, performs quantization and blurring processing on the environment information, for example, can perform quantization and blurring processing on water flow velocity, adopts membership functions to divide flow velocity grades, determines membership degree of current water flow velocity, and obtains a membership degree matrix of the water flow velocity, namely a blurring interface matrix of the water flow velocity.
And the main controller performs quantization and blurring processing on all the acquired environmental information to obtain a blurring interface matrix corresponding to all the environmental information.
Step S103: and establishing a database based on the endurance mileage data of the electric ship.
Referring to fig. 3, fig. 3 is a schematic diagram of an embodiment of database creation in the present application. The method mainly comprises the steps of establishing a database, and mainly considering all influence factors influencing the endurance mileage of the electric ship. And (3) calibrating a certain influence factor by adopting a control variable method, namely keeping other influence factors unchanged, collecting the continuous voyage mileage data of the electric ship, and storing the continuous voyage mileage data into a database to establish the database.
Specifically, before the step of establishing the database based on the range data of the electric ship, the method further comprises the following steps:
calibrating different influencing factors of the sailing of the electric ship, and acquiring the endurance mileage data of the electric ship under the different influencing factors; wherein the influencing factors include: temperature, wind direction, wind force, tilting angle, residual battery capacity, water flow speed, ship power and ship navigational speed.
For example, when the navigation speed of the ship is marked, other influencing factors are kept unchanged, and the navigation speed of the ship is acquired at intervals of 1km/h, and a group of continuous voyage mileage data is stored in a database; when the lift-off angle is calibrated, other influencing factors are kept unchanged, and a group of continuous voyage mileage data are collected every 1 degree for the lift-off angle and stored in a database. And calibrating the influence factors, converging the collected endurance mileage data of the electric ship, and establishing a large database.
Compared with the prior art, the method and the device consider a plurality of influence factors influencing the navigation of the electric ship when the database is established, have high robustness, provide effective data resources for the subsequent fuzzy decision, and are beneficial to improving the accuracy of the continuous voyage mileage estimation.
Step S104: and acquiring reference navigation information of the electric ship based on the fuzzy interface matrix, a preset rule base and a database, wherein the reference navigation information comprises a reference navigation speed, a reference tilting angle and reference power.
The main controller carries out fuzzy decision based on the fuzzy interface matrix, the preset rule base and the established database corresponding to all the acquired environmental information, and when the main controller carries out fuzzy decision, the preset rule base and the established database provide theoretical support for the fuzzy decision. The preset rule base is control experience of the electric ship, which is obtained by expert through a large number of experimental summaries, and the basic syntax of the rule base is expressed as follows: if … …, … … format, for example: if the speed is slow, the power is increased; if the power is low, power is reduced, etc.
The main controller calculates based on the fuzzy interface matrix corresponding to all the acquired environmental information, a preset rule base and an established database, and acquires reference navigation information of the electric ship after fuzzy reasoning and defuzzification, wherein the reference navigation information comprises a reference navigation speed, a reference tilting angle and reference power.
Step S105: and correcting the reference navigation information of the electric ship by comparing the current navigation information to obtain navigation parameters.
And the main controller corrects the acquired reference navigation information of the electric ship by comparing the current navigation information to acquire the optimal navigational speed, the optimal power and the optimal tilting angle of the electric ship, thereby acquiring the navigation parameters of the electric ship.
Step S106: based on the navigation parameters, a navigation instruction is acquired, and navigation of the electric ship is controlled based on the navigation instruction.
The main controller obtains the navigation instruction of the current electric ship based on navigation parameters, and controls the electric control ship based on the navigation instruction so as to achieve the purpose that the cruising mileage of the electric ship is maximum.
Compared with the prior art, the control method of the electric ship is characterized in that the self data and the environment information of the electric ship are obtained, the environment information is quantized and then subjected to fuzzification processing to obtain a fuzzy interface matrix of the environment information, the navigation speed, the reference tilting angle and the reference power of the electric ship are obtained based on the fuzzy reference matrix, the preset rule base and the database established based on the navigation mileage data of the electric ship, and then the reference navigation information is corrected to obtain the optimal navigation parameters of the electric ship, so that the electric ship is controlled, the comprehensive control of the electric ship is realized, the maximum navigation mileage of the electric ship is realized, and the energy efficiency control of the electric ship is improved.
Optionally, referring to fig. 4, fig. 4 is a schematic flowchart of step S102 in fig. 2 of the present application. The present embodiment may implement step S102 by the method shown in fig. 4, where the specific implementation steps include steps S201 to S202:
step S201: and acquiring environment information and a membership function preset by the environment information.
The main controller firstly acquires all the environmental information through the measurement system 10, and then acquires the preset membership function corresponding to the environmental information.
Referring to fig. 5, fig. 5 is a schematic diagram of an embodiment of a membership function according to the present application. Taking the current water flow velocity processing as an example, the water flow velocity of the current sailing water area of the electric ship and the corresponding Z-shaped, S-shaped and triangular membership functions are obtained, and as shown in figure 5, the water flow velocity is divided into 7 grades from-0.3 m/S to 0.3m/S, namely PB (large concurrent flow), PM (medium concurrent flow), PS (small concurrent flow), ZO (static state), NS (small counter flow), NM (medium counter flow) and NB (large counter flow).
Step S202: and obtaining a fuzzy interface matrix corresponding to the environmental information based on the environmental information and the membership function.
The main controller can acquire the fuzzy interface matrix corresponding to the environment information based on the environment information acquired by the measuring system and the membership functions.
Taking a fuzzy interface matrix for obtaining the flow velocity of water as an example, please refer to fig. 6, fig. 6 is a schematic diagram of membership degree with the flow velocity of water of 0.03 m/s. Taking the water flow rate collected by the measuring system as an example, the water flow rate is 0.03m/s, the water flow rate is 0 for NB, 0 for NM, 0.7 for ZO, 0.3 for PS, 0 for PM and PB, and the membership matrix is represented as [ 00 0 0.6 0.4 00 ]. Namely, for the water flow rate of 0.03m/s, 70% of the water flow rate is considered to be static ZO,30% of the water flow rate is small forward flow PS, and the membership matrix is a fuzzy interface matrix of the water flow rate.
Compared with the prior art, the control method of the electric ship in the embodiment can reduce the calculation force requirement on the main controller and improve the calculation efficiency of the control method of the electric ship by quantizing and blurring the environmental information.
Optionally, referring to fig. 7, fig. 7 is a schematic flowchart of step S103 in fig. 2 of the present application. The present embodiment may implement step S103 by the method shown in fig. 7, and the specific implementation steps include steps S301 to S302:
step S301: and performing matrix intersection operation on the fuzzy interface matrix, the rule base and the database to obtain the fuzzy reasoning relation matrix of the environment information, the rule base and the database.
After acquiring the corresponding fuzzy interface matrixes of all environment information, the main controller performs matrix traffic operation on the rule base, the database and the fuzzy interface matrixes based on the preset theoretical support of the rule base and the established database when performing fuzzy decision, so as to acquire a plurality of fuzzy inference relation matrixes of the environment information, the rule base and the database.
And step S302, calculating reference navigation information based on the fuzzy inference relation matrix and the weight coefficient of the environment information.
The main controller performs merging operation based on the fuzzy inference relation matrix, then performs deblurring by adopting a weighted average method, calculates an output value of the reference navigation information, and the output value has the following formula:
wherein V is i Fuzzy interface matrix for environment information, K i As the weight coefficient, V o Is an output value of the reference voyage information.
Specifically, the weight coefficient is set based on the operation state of the electric ship.
Weight coefficient K i According to the running state of the electric ship, the influence of the water flow velocity on the maximum mileage of the electric ship in the running of the electric ship is larger, and the weight coefficient of the water flow velocity is increased.
Fuzzy inference based on environmental information in an application scenarioThe physical relationship matrix is [8.0 6.2 6.0 7.3 5.2 ]]I.e. 8.0km/h for reference speed given by current temperature reasoning, 6.2km/h for reference speed given by wind direction and force, 6.0km/h for reference speed given by water flow rate, 7.3km/h for reference speed given by vessel attitude, 5.2km/h for reference speed given by battery residual capacity, e.g. a selected weight coefficient matrix of [0.2 0.3 0.1 0.1 0.3 ]]Then the reference navigational speed V is obtained after weighted average o The method comprises the following steps:
in other embodiments, other methods may be used to perform the deblurring, so long as the function of deblurring is satisfied, which is not limited herein.
The present application further provides a control method for an electric ship, referring to fig. 8, fig. 8 is a schematic flow chart of a second embodiment of the control method for an electric ship of the present application. The control method of the electric ship of the present embodiment may be implemented by a method as shown in fig. 8, and specifically includes steps S401 to S408:
step S401: and obtaining the model of the electric ship.
And the main controller acquires the model of the electric ship after being started.
Step S402: and acquiring ship fixing data based on the model of the electric ship, wherein the ship fixing data comprise the battery capacity and rated power of the electric ship.
The main controller may obtain the ship fixing data of the electric ship based on the model of the electric ship based on the internet, wherein the ship fixing data includes the battery capacity, the rated power, etc., and in other embodiments, the main controller may obtain the ship fixing data of the electric ship in other manners, which is not limited herein.
Step S403: and acquiring self data and environmental information of the electric ship.
Step S403 corresponds to step S101, and will not be described here.
Step S404: and carrying out quantization and blurring processing on the environment information to obtain a blurring interface matrix.
Step S404 corresponds to step S102, and will not be described here.
Step S405: and establishing a database based on the endurance mileage data of the electric ship.
Step S405 corresponds to step S103, and is not described here.
Step S406: and acquiring reference navigation information of the electric ship based on the fuzzy interface matrix, a preset rule base and a database, wherein the reference navigation information comprises a reference navigation speed, a reference tilting angle and reference power.
Step S406 corresponds to step S104, and will not be described here.
Step S407: and correcting the reference navigation information of the electric ship by comparing the current navigation information to obtain navigation parameters.
Step S407 corresponds to step S105, and will not be described here.
Step S408: based on the navigation parameters, a navigation instruction is acquired, and navigation of the electric ship is controlled based on the navigation instruction.
Step S408 corresponds to step S106, and will not be described here.
In an application scenario, please refer to fig. 9, fig. 9 is a flow chart of an embodiment of a control method of the electric ship of the present application.
As shown in fig. 9, a specific embodiment of the control method of the electric ship of the present application specifically includes steps S501 to S505:
step S501: and obtaining the model of the electric ship.
The main controller firstly obtains the current electric model of the electric ship, obtains ship fixing information based on the ship model, and the ship fixing information comprises battery capacity, rated power and the like.
Step S502: environmental information is collected.
The measurement system collects environmental information such as temperature, wind force, wind direction, water flow speed, ship attitude, ship power, tilting angle, battery residual quantity and ship navigational speed, and sends the collected environmental information to the main controller.
Step S503: and carrying out fuzzy quantization processing on the environment information and carrying out fuzzy decision based on a preset rule base and a database.
And the main controller performs fuzzy and quantitative processing on all acquired environmental information to obtain a corresponding fuzzy interface matrix, and performs fuzzy decision. Theoretical support is provided by a preset rule base and a database in fuzzy decision, wherein the database is established as shown in fig. 3, the rule base is a control experience which is summarized by experts through a large number of experiments, and the basic syntax is expressed as follows: … … format if … …, for example: if the speed is slow, the power is increased; if the power is low, power is reduced, etc. And performing matrix intersection operation on the rule base, the database and the fuzzy interfaces to obtain a plurality of fuzzy inference relation matrixes of the environment information and the knowledge base, and performing parallel operation on the obtained fuzzy inference relation matrixes.
Step S504: and performing deblurring treatment to obtain the reference navigational speed, the reference tilting angle and the reference power of the electric ship.
The main control adopts a weighted average method to deblur, and the reference navigational speed, the reference tilting angle and the reference power are obtained after the fuzzy reasoning and the deblur.
Step S505: correcting the reference navigational speed, the reference turning angle and the reference power to obtain navigational parameters, and giving instructions to the electric ship based on the navigational parameters.
The controller makes correction after comparing current navigational speed, tilting angle and power, acquires navigational parameters, acquires navigational instructions based on the navigational parameters, and controls the electric ship to navigate based on the navigational instructions so as to achieve the purpose of maximum cruising mileage under certain electric energy.
Optionally, the present application further proposes a computer readable storage medium. Referring to fig. 10, fig. 10 is a schematic structural diagram of an embodiment of a computer readable storage medium of the present application.
The computer readable storage medium 200 of the embodiment of the present application stores therein the program instructions 210, and the program instructions 210 are executed to implement the multi-signal alarm policy selection method described above.
The computer readable storage medium 200 of the present embodiment may be, but is not limited to, a usb disk, an SD card, a PD optical drive, a mobile hard disk, a high capacity floppy drive, a flash memory, a multimedia memory card, a server, etc.
In addition, the above-described functions, if implemented in the form of software functions and sold or used as a separate product, may be stored in a mobile terminal-readable storage medium, that is, the present application also provides a storage device storing program data that can be executed to implement the method of the above-described embodiment, the storage device may be, for example, a U-disk, an optical disk, a server, or the like. That is, the present application may be embodied in a software product that includes instructions for causing a smart terminal to perform all or part of the steps of the methods described in the various embodiments.
In the description of the present application, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., may be considered as a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device (which can be a personal computer, server, network device, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions). For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
The foregoing description is only exemplary embodiments of the present application and is not intended to limit the scope of the present application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the present application.
Claims (9)
1. A control method of an electric ship, comprising:
acquiring self data and environmental information of the electric ship;
carrying out quantization and blurring processing on the environment information to obtain a blurring interface matrix;
establishing a database based on the endurance mileage data of the electric ship;
performing matrix intersection operation on the fuzzy interface matrix, a preset rule base and the database to obtain a fuzzy reasoning relation matrix of the environment information, the rule base and the database; calculating reference voyage information based on the fuzzy inference relation matrix and the weight coefficient of the environmental information, wherein the reference voyage information comprises a reference voyage speed, a reference upwarp angle and a reference power;
correcting the reference navigation information of the electric ship by comparing the current navigation information to obtain navigation parameters;
and acquiring a sailing instruction based on the sailing parameter, and controlling the electric ship to sail based on the sailing instruction.
2. The method according to claim 1, wherein the quantizing and blurring the environmental information to obtain a blurred interface matrix comprises:
acquiring the environment information and a membership function preset by the environment information;
and obtaining the fuzzy interface matrix corresponding to the environment information based on the environment information and the membership function.
3. The control method of an electric ship according to claim 1, characterized in that the weight coefficient is set based on an operation state of the electric ship.
4. The control method of an electric ship according to claim 1, wherein the self data of the electric ship includes ship-fixing data; the environmental information comprises temperature, wind direction, wind power, water flow velocity, ship battery residual capacity, ship tilting angle, ship power, ship attitude and ship navigational speed.
5. The control method of an electric ship according to claim 4, further comprising:
obtaining the model of the electric ship;
and acquiring the ship fixing data based on the model of the electric ship, wherein the ship fixing data comprises the battery capacity and rated power of the electric ship.
6. The method of controlling an electric ship according to claim 1, further comprising, before the step of creating a database based on the range data of the electric ship:
calibrating different influencing factors of the navigation of the electric ship, and acquiring the endurance mileage data of the electric ship under the different influencing factors;
wherein the influencing factors include: temperature, wind direction, wind force, tilting angle, residual battery capacity, water flow speed, ship power and ship navigational speed.
7. An electric ship, comprising:
the measuring system is used for acquiring self data and environmental information of the electric ship;
a main controller; connected to the measuring system for implementing the control method of the electric vessel according to any one of claims 1-6;
and the driving device is connected with the main controller and used for providing ship power to the main controller.
8. The electric vessel according to claim 7, wherein the measurement system comprises:
the lifting sensor is connected with the main controller and used for providing a ship lifting angle to the main controller;
the water flow speed sensor is connected with the main controller and is used for providing the water flow speed to the main controller;
the wind direction and wind power measuring instrument is connected with the main controller and is used for providing wind direction and wind power to the main controller;
the inertial sensor is connected with the main controller and is used for providing the ship attitude and temperature to the main controller;
and the positioning system is connected with the main controller and used for providing the ship speed to the main controller.
9. A computer-readable storage medium, characterized in that it has stored therein program instructions that are executed to implement the control method of an electric ship as claimed in any one of claims 1-6.
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| CN117203124A (en) * | 2023-04-25 | 2023-12-08 | 广东逸动科技有限公司 | Maintenance control method, device, propeller, system, equipment and storage medium |
| CN117452954B (en) * | 2023-12-20 | 2024-04-02 | 北京海兰信数据科技股份有限公司 | Navigation method of ship and terminal equipment |
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