CN116513407A

CN116513407A - Control system and control method of semi-submerged ship

Info

Publication number: CN116513407A
Application number: CN202310487972.7A
Authority: CN
Inventors: 季周历; 钱子洋; 史宗鹰; 曹耀初; 姚明珠; 顾笑冬
Original assignee: 702th Research Institute of CSIC
Current assignee: 702th Research Institute of CSIC
Priority date: 2023-04-28
Filing date: 2023-04-28
Publication date: 2023-08-01
Anticipated expiration: 2043-04-28
Also published as: CN116513407B; CN117622422A

Abstract

The application relates to a control system and a method of a semi-submerged ship, wherein state data of a ship propulsion device are used for controlling the ship to run so as to achieve the corresponding working state, and the control system comprises: the operation module is used for acquiring first state data of the propulsion device; the detection module is used for detecting the operation data of the ship; the processing module can obtain second state data of the propulsion device based on the operation data; the judging module can obtain the deviation value of the first state data and the second state data and output a judging result based on the relation between the deviation value and a preset threshold value; and the control module can output corresponding control signals according to the judging result and control the ship to run based on the control signals. According to the method and the device, the working state of the ship can be adjusted in real time according to the operation data, the propulsion device cannot be frequently adjusted, and the ship is ensured to maintain a stable working state within a certain threshold range.

Description

Control system and control method of semi-submerged ship

Technical Field

The application relates to the technical field of semi-submersible vessels, in particular to a control system and a control method for a semi-submersible vessel.

Background

With the economic development, the demand for the ship transportation speed is gradually increasing. Propulsion units with semi-submerged propellers (Surface Piercing Propeller, SPP, short for semi-submerged propellers, also called surface propellers) are used by an increasing number of high-speed vessels. The semi-submerged propeller is a propeller which only half of the blades are submerged in water during high-speed operation and can work normally. The motion process of the semi-submersible vessel is complex to control, the control process of the traditional semi-submersible vessel is generally mainly realized by personnel operation, the control of the vessel motion can not be adjusted in real time according to external changes, and the marine complex situation is difficult to deal with.

Disclosure of Invention

In view of the above, it is necessary to provide an automatic control system and control method for a semi-submersible vessel that can stably cope with a complex external environment.

In one aspect, a control system for a semi-submerged vessel is provided, the state data of a vessel propulsion device being used for controlling the vessel to operate to achieve the corresponding operating state, the control system comprising:

the operation module is used for acquiring first state data of the propulsion device, and the first state data are used for controlling the ship to realize a first working state;

the detection module is used for detecting the operation data of the ship, wherein the operation data comprises navigation positioning data or ship environment data;

the processing module is connected with the detection module and can acquire second state data of the propulsion device based on the operation data, and the second state data is used for controlling the ship to realize a second working state;

the judging module is connected with the processing module and the operating module; the judging module can obtain the deviation value of the first state data and the second state data, and output a judging result based on the relation between the deviation value and a preset threshold value;

the control module is connected with the operation module and the judging module, and can output corresponding control signals according to the judging result and control the ship to run based on the control signals.

In some embodiments, when the deviation value is less than the threshold value, the determination is that the propulsion device remains controlled based on the first status data; when the deviation value is greater than or equal to the threshold value, the judging module can correct the first state data based on the second state data and obtain third state data, and the judging result is that the propulsion device is controlled based on the third state data.

In some embodiments, when the deviation value is less than the threshold value, the determination is that the propulsion device remains controlled based on the first status data; when the deviation value is greater than or equal to the threshold value, the operation module can acquire fourth state data different from the first state data, the judging module can correct the first state data according to the fourth state data and acquire third state data, and the judging result is that the propulsion device is controlled based on the third state data.

In some embodiments, when the deviation value is less than the threshold value, the determination is that the propulsion device remains controlled based on the first status data; and when the deviation value is greater than or equal to the threshold value, the judgment result is that the propulsion device is controlled based on the second state data.

In some embodiments, the control system further includes a display module, where the display module is connected to the operation module and the processing module, and is capable of displaying the required operation data and status data in real time.

In some embodiments, the display module includes an interface unit and a plurality of preset data display units, where the interface unit is capable of displaying the required data display units, and the plurality of data display units are respectively used to display different operation data or state data; one or more of the data display units can be invoked and loaded to the interface unit based on the operation data acquired by the operation module.

In some embodiments, the display module further includes a storage unit, and the data included in the plurality of data display units may be stored in the storage unit in the form of a data packet.

In some embodiments, the display module further includes a calling unit capable of generating a calling instruction based on the operation data, and a plurality of interface units corresponding to the data display unit; the data display unit can be loaded to the interface unit through the interface unit based on the call instruction.

In some embodiments, the display module is built based on a dynamic link library.

In one aspect, a method for controlling a semi-submerged ship is provided, wherein state data of a ship propulsion device is used for controlling the ship to run so as to achieve the corresponding working state, and the method comprises the following steps:

acquiring first state data of the propulsion device, wherein the first state data is used for controlling the ship to realize a first working state;

detecting operation data of the ship, wherein the operation data comprises navigation positioning data or ship environment data;

obtaining second state data of the propulsion device based on the operation data, wherein the second state data is used for controlling the ship to realize a second working state;

obtaining a deviation value of the first state data and the second state data, and outputting a judging result based on a relation between the deviation value and a preset threshold value;

and outputting a corresponding control signal according to the judging result, and controlling the ship to run based on the control signal.

According to the control system and the control method of the semi-submerged ship, the second state data is obtained by acquiring the ship operation data, and the corresponding control signal is output based on the deviation value of the second state data and the set first state data, so that the ship operation state can be adjusted in real time according to the operation data; meanwhile, the state of the propulsion device is not frequently adjusted on the basis of the relation between the deviation value and the set threshold value for adjusting the working state of the ship, so that the ship is ensured to maintain a stable working state within a certain threshold value range.

Drawings

FIG. 1 is a schematic diagram of a control system according to an embodiment of the present disclosure;

FIG. 2 is a cross-sectional view of a semi-submerged propulsion device according to an embodiment of the present application mounted to a tailboard;

FIG. 3 is a schematic view of a semi-submerged propulsion device according to an embodiment of the present disclosure with a portion of the drive assembly removed;

FIG. 4 is a schematic diagram of a display module of a control system according to an embodiment of the disclosure;

fig. 5 is a flow chart of a control method according to an embodiment of the present application.

Detailed Description

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is, however, susceptible of embodiment in many other forms than those described herein and similar modifications can be made by those skilled in the art without departing from the spirit of the application, and therefore the application is not to be limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

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.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Referring to fig. 1, fig. 1 is a schematic diagram of a control system of a semi-submersible vessel according to an embodiment of the present application, where the working states of the semi-submersible vessel at least include a first working state and a second working state. The switching of the different working states can be achieved by means of a semi-submerged propulsion device 1, the semi-submerged propulsion device 1 comprising a drive assembly 10, an adjustment assembly 30 and a propulsion assembly 20 cooperating with each other, the semi-submerged propulsion device 1 having state data controlling the operation of the vessel to achieve the different working states, the state data comprising first state data and second state data of the propulsion device. The control system 400 is used for controlling the semi-submersible vessel to adapt to external environment changes so as to achieve corresponding working conditions. The control system 400 includes an operation module 410, a detection module 420, a processing module 430, a determination module 440, a control module 450, an alarm module 460, and a display module 470. The operation module 410 is configured to obtain first status data input from the outside. The first state data is used for controlling the ship to achieve a first working state. The detection module 420 is configured to detect operational data of the vessel, the operational data including navigational positioning data or vessel environmental data. The processing module 430 is coupled to the detection module 420, and the processing module 430 is capable of obtaining second status data based on the operational data. The second state data is used for controlling the ship to realize the second working state. The judging module 440 connects the processing module 430 and the operating module 410. The judging module 440 can obtain the deviation value of the first state data and the second state data, judge the relationship between the deviation value and the preset threshold value, and output the judging result to the control module 450. The control module 450 is used for converting the state data into a control signal for controlling the motion of the semi-submerged propeller 1, and the control module 450 is connected with the operation module 410 and the judgment module 440. The control module 450 can output corresponding control signals according to the judging result, and control the ship to run based on the control signals, specifically, the control signals comprise corresponding signals for controlling the actions of all components of the semi-submerged propeller propelling device 1. The display module 470 is connected to the operation module 410, the detection module 420, and the processing module 430, and is capable of displaying the required operation data and status data in real time. The above-mentioned "connection" refers to an electrical connection formed by a wire or to a virtual connection relationship in a system.

The structure and principle of the semi-submerged propeller 1 will be briefly described below. As shown in fig. 2, the semi-submerged propulsion device 1 is provided at the transom 2 of the vessel. The semi-submerged propulsion device 1 comprises a drive assembly 10, a propulsion assembly 20 and an adjustment assembly 30. The drive assembly 10 provides power to the action of the propulsion assembly 20. The propulsion assembly 20 acts to drive the movement of the watercraft. The adjusting assembly 30 is used for adjusting the motion of the propulsion assembly 20 to adjust the motion state of the water transportation means, such as the motion speed and direction.

The drive assembly 10 includes an output shaft that outputs a driving force, the output shaft rotating about a first axis 101. The drive assembly 10 includes a prime mover 12, a transmission unit 13, and a driver 14. The prime mover 12 is configured to output driving force, and the prime mover 12 may be a diesel engine, a gasoline engine, an electric motor, or the like, without limitation. The transmission unit 13 is connected to the output shaft of the prime mover 12, and the transmission unit 13 is used to adjust the drive output from the prime mover 12 to a desired range, for example: the speed, torque and driving direction of the output of the prime motor 12 are adjusted according to actual requirements so as to meet the use requirements. The driving member 14 is connected between the transmission unit 13 and the propulsion assembly 20, and is used for transmitting the power output by the transmission unit 13 to the propulsion assembly 20, so that the propulsion assembly 20 acts according to actual requirements. The prime mover 12, the transmission unit 13 and the driving member 14 are all connected in sequence along said first axis, in this embodiment the output of the driving member being the output shaft of the driving assembly 10.

In other embodiments, one or more of the transmission unit 13 and the driving member 14 may not be provided, the output shaft of the prime mover 12 may be directly connected to the propulsion unit 20, and the adjustment of the rotational speed, torque and movement direction of the output of the prime mover 12 may be achieved by electronic control.

The semi-submerged vessel has at least two states, an operating state and a stopped state, by semi-submerged is meant that the propulsion assembly 20 is at least partly above the water surface when the semi-submerged propulsion device 1 is in the operating state. Propulsion assembly 20 includes at least one paddle that moves under the drive of drive assembly 10, which may have paddles that interact with the water to produce thrust that drives the movement of the watercraft. Compared with other types of propulsion devices, the semi-submerged propeller propulsion device has higher propulsion efficiency, when the paddles move at a high speed, the semi-submerged propeller propulsion device not only can obtain higher water-opening efficiency, but also can greatly reduce the appendage resistance because accessories such as a propeller shaft are exposed out of the water surface, and in addition, the diameters of the paddles can be free from the limitation of other structures. Further, when the blade runs in water, the back pressure of the blade is reduced to form a suction surface, and if the pressure of a certain part is reduced to the saturated vapor pressure of the water, steam and other gases escaping from the water form bubbles to be attached to the surface of the blade, so that cavitation bubbles are formed. Cavitation is a major cause of degradation of propeller surfaces, vibration, noise, and performance. The semi-immersed paddle rotates to alternately enter water, generated cavitation bubbles can be replaced by air cavities near the suction paddle when the paddle is out of the water, a ventilation state is formed, cavitation bubbles cannot be smoothly formed, cavitation bubble degradation of the surface of the paddle is avoided, underwater vibration and noise of the paddle are reduced, and the service life of the paddle is prolonged.

Referring to fig. 3, propulsion assembly 20 is coupled to the output shaft of drive assembly 10, and at least two first propulsion assembly 201 and second propulsion assembly 202 are disposed in parallel. In the embodiment disclosed in the application, the number of driving assemblies 10 is two, and the two driving assemblies 10 are respectively connected with the first propulsion assembly 201 and the second propulsion assembly 202. In this embodiment, the first propulsion assembly 201 and the second propulsion assembly 202 have the same structure and the same size, and therefore, only one propulsion assembly will be described below as an example, and the same structure will not be repeated. Correspondingly, the driving assembly 10 can comprise a first driving assembly 11 independently driving the first propulsion assembly 201 to move and a second driving assembly 15 independently driving the second propulsion assembly 202 to move, and the first driving assembly 11 and the second driving assembly 15 are similar in structure. In other embodiments, only one driving assembly 10 may be provided, and accordingly, the driving assembly 10 includes a prime mover 12 and two sets of mutually independent transmission units and driving members, where the prime mover 12 outputs driving forces in the same direction and power at the same time, and the two sets of independent transmission units can change the power and direction of the driving forces as required, and transmit the driving forces to the propulsion assembly 20 through the driving members.

The first propulsion assembly 201 comprises a connection mount 220 in driving connection with the output shaft and a propeller 210 in movable connection with the connection mount 220. The connecting seat 220 is internally provided with a transmission structure for transmitting the driving force of the driving assembly 10, and further, the central axis of the connecting seat 220 can be coincident with the first axis 101. The propeller 210 rotates about the second axis 203 under the action of the drive assembly 10 to interact with the water to propel the watercraft. Meanwhile, the propeller 210 is rotatably connected with the connection base 220, and the propeller 210 as a whole can rotate in multiple degrees of freedom through the adjustment assembly 30 while rotating around the second axis 203 through the connection base 220.

The propeller 210 includes propeller blades 211, a propeller housing 212, and a propeller shaft 213. The propeller blade 211 is disposed at one end of the paddle rod 213, the other end of the paddle rod 213 is movably connected with the connection seat 220, the paddle housing 212 is sleeved outside the paddle rod 213, one end of the paddle housing is close to the paddle rod 213, and the other end of the paddle housing is close to or movably connected to the connection seat 220. The number of propeller blades 211 is at least 4, in this embodiment, as shown, 5 or 6.

The adjustment assembly 30 includes a pitch mechanism 310, a rudder mechanism 320, and a linkage 330. One end of the first propulsion assembly 201 and the second propulsion assembly 202 are in a fixed position on the water craft tailgate 2, and the other end of the first propulsion assembly 201 and the second propulsion assembly 202 are connected by a propeller linkage 330. Further, the propeller rods 330 connect the propellers of the first propulsion assembly 201 and the second propulsion assembly 202, and the propeller rods 330 allow adjacent propellers 210 to be adjusted simultaneously. Adjacent propellers 210 may be arranged substantially parallel, with the propeller shaft 330 being arranged perpendicular or out of plane to the propellers 210. The adjustment assembly 30 includes at least two pitch mechanisms 310 and two steering mechanisms 320, only one of which is described herein, disposed in correspondence with the first propulsion assembly 201 and the second propulsion assembly 202, respectively. One end of the pitching mechanism 310 is movably connected with the tail plate 2, and the other end is movably connected with the propeller 210. One end of the steering mechanism 320 is movably connected with the tail plate 2, and the other end is movably connected with the propeller 210. The pitch mechanism 310 is capable of performing telescopic movement for adjusting the lifting angle of the propeller 210 relative to the plane of the water surface, i.e. the pitch mechanism 310 is used for adjusting the lifting angle of the propeller 210 in a first plane, and the second axis 203 intersects with the central axis of the pitch mechanism 310 to form the first plane. It should be noted that the second propulsion assembly 202 also has a corresponding first plane, which is not described herein. The second pitch mechanism 310 controls drag and thrust by controlling the lift of the propeller 210, and thus the volume of the submerged portion of the propeller 210. The steering mechanism 320 performs telescopic movement for adjusting the swing angle of the second axis 203 with respect to the first axis 101 in the horizontal direction, i.e. adjusting the swing angle of the first plane with respect to the first axis 101. The steering mechanism 320 controls the angle between the propeller 210 and the advancing direction of the water transportation means by controlling the swing of the propeller 210, so that the semi-submerged propeller 1 generates a thrust in the skewed and advancing direction to steer the water transportation means.

The telescopic movements of the pitch mechanism 310 and the rudder mechanism 320 cooperate to enable the propeller 210 to rotate about one end of the propeller 210 as a pivot point and to position the propeller 210 at a desired preset position. When the propeller 210 is required to be positioned at a desired preset position, i.e., when the swing angle and the lift angle are required to be fixed, the telescopic movement process of the pitch mechanism 310 and the rudder mechanism 320 can be fixed at the corresponding telescopic stroke. Specifically, the maximum value of the elevation angle is less than or equal to the maximum value of the swing angle, and one end of the propeller 210 connected to the connection seat 220 serves as a pivot point, so that the other end, i.e., the free end, of the propeller 210 rotates around the first axis 101 within the range defined by the elliptical path to be adjusted to a desired position. The total stroke of the telescopic movement of the pitching mechanism is smaller than or equal to that of the telescopic movement of the steering mechanism, so that the maximum value of the lifting angle is smaller than or equal to that of the swinging angle. The maximum value of the lifting angle is smaller than or equal to the maximum value of the swinging angle, so that the adjustment of the propulsion assembly 20 by the adjusting assembly 30 is more stable, and even in a working state, the pitching mechanism 310 and the steering mechanism 320 need to be adjusted simultaneously to finish adjustment of different movement states of the water transportation means, for example, lifting thrust is needed to accelerate while deflecting a route, the movement process of the water transportation means can be ensured to be stable, and the problems of out of control, inaccurate movement and the like are solved. The lifting angle is greater than or equal to 5 degrees and less than or equal to 30 degrees, and the swinging angle is greater than or equal to 5 degrees and less than or equal to 75 degrees. Further, the lifting angle is greater than or equal to 10 degrees and less than or equal to 20 degrees, and the swinging angle is greater than or equal to 15 degrees and less than or equal to 60 degrees. In the above angle range, the trim mechanism 310 and the rudder mechanism 320 of the adjusting assembly 30 can complete adjustment at the same time, and the switching of the motion state of the water transportation means is more stable, the overcoming resistance is small, the stress is stable, and the adjusting efficiency is high.

The pitch mechanism 310 and/or the rudder mechanism 320 comprises a piston rod and an oil cylinder, one end of the piston rod is connected with the oil cylinder, the other end of the piston rod is connected with the tail board 2 or the propeller 210 of the water transportation means, one end of the oil cylinder is connected with the piston rod, the other end of the oil cylinder is connected with the tail board 2 or the propeller 210 of the water transportation means, and the piston rod can perform linear reciprocating motion in the oil cylinder so as to adjust the lifting angle and the swinging angle. In the present embodiment, the pitch mechanism 310 and the steering mechanism 320 are hydraulic devices, and the piston rod reciprocates in the hydraulic cylinder to drive the propeller 210 to move. The hydraulic device further comprises a pump, a power supply, a liquid reservoir, etc., all arranged inside the water transportation means, i.e. on the opposite side of the tailgate 2 from the propeller 210, and a fluid conduit connected to the hydraulic cylinder through the tailgate 2.

The first status data acquired by the operation module 410 includes status data of the driving assembly 10, the propulsion assembly 20, and the adjustment assembly 30, and specifically, the first status data may include, but is not limited to: the rotational speed and power of the prime mover 12 of the drive assembly 10, the current telescopic travel, lift angle and swing angle of the pitch and rudder mechanisms 310 and 320. The data acquired by the operation module 410 is input by an operator after manually observing the external environment or after observing the data displayed by the display module 470. The first state data can be used as initial data for controlling the starting movement of the ship, the ship is instructed to switch from a stopped state to a working state, the state is maintained to operate, and the first state is used as the initial state of the current sailing of the ship. The operation module 410 may also obtain fourth state data that is different from the first state data.

The marine environmental data acquired by the detection module 420 includes, but is not limited to: water quality and ecological environment information (such as chlorophyll concentration, suspended sediment content, colored soluble organic matters, and the like) of the water, ocean dynamic environment information (sea water temperature, sea surface wind field, sea surface height, sea waves, ocean currents, ocean gravity field, and the like), marine organisms, ocean chemistry, submarine geology, sediment, underwater topography, sea ice, sea pollution, and the like. The navigational positioning data acquired by the detection module 420 includes, but is not limited to: ocean water color, sea surface temperature, sea surface height, sea surface wind field, sea waves, ocean currents, salinity, offshore targets, islands, coastal zones, navigation real-time positions and target positions. The detection module 420 may be built based on a satellite navigation device or an AIS device (Automatic Identification Systems).

The processing module 430 processes the operational data calculations and generates second state data that corresponds one-to-one to the first state data, including, but not limited to: the rotational speed and power of the prime mover 12 of the drive assembly 10, the current telescopic travel, lift angle and swing angle of the pitch and rudder mechanisms 310 and 320.

The first state data and the second state data correspond to the corresponding structures of the semi-submerged propeller 1, the judging module 440 may calculate the corresponding deviation value according to the corresponding data, for example, the first state data is the acquired lifting angle, and the judging module 440 reads the lifting angle in the second state data and calculates the deviation value of the first state data and the second state data. The control module 450 may be directly configured to generate a control signal for controlling the corresponding structure, for example, the first state data or the second state data is a rotation speed, and the control module 450 may generate a control signal for controlling the prime mover 12 to implement the rotation speed according to the rotation speed data.

When the deviation value calculated by the judging module 440 is smaller than the threshold value, the output judging result is that the holding ship continues to operate in the first working state, that is, the judging result is that the holding ship continues to operate in the first state data to control the semi-submerged propeller 1. When the deviation value calculated by the judging module 440 is greater than or equal to the threshold value, the judging module 440 can correct the first state data based on the second state data and obtain the third state data, and the judging result is that the semi-submerged propeller 1 is controlled to adjust the working state by adopting the third state data. When the external environment changes, the ship is required to adjust the motion state because the external influence deviates from the original track, or the ship is required to change the working state to counteract the effect of the external influence, and the initial state which is originally set needs to be adjusted in real time. The above-mentioned judgement process is implemented in real time, and the third state data according to which the regulation is made into new first state data before next regulation.

In other embodiments, when the deviation value calculated by the determining module 440 is greater than or equal to the threshold value, the determining module 440 outputs a determination result based on the second state data as a basis for generating the control signal, so as to switch the ship from the first working state to the second working state. When the first state data of the ship cannot be corrected or the corrected state data can cause more inconvenient adjustment of the working state of the ship, the second state data can be used as a basis for generating a control signal to control the ship to adjust to the second working state for operation.

When the deviation value is greater than or equal to the threshold value, the judging module 440 has a first judging result. The operation module 410 can obtain the fourth status data, and the judging module 440 can adjust the first judging result according to the fourth status data to form and output the second judging result. Further, the operation module 410 and the display module 470 are integrated. The display module 470 may give a prompt for the first determination result, and the operator inputs related information according to the prompt displayed by the display module 470, where the related information may include a scheme for correcting the first state data, an instruction for whether to use the second state data, or an instruction for whether to use the third state data, and the operation module 410 may be capable of obtaining the related information as the fourth state data.

In some implementations of this embodiment, the first operating state and the second operating state are the same level of operating state, and the first operating state and the second operating state may include the following cases. The first operating state of the vessel is a constant motion state at a first speed, at which time the prime mover 12 is at a first rotational speed, and the second operating state of the vessel is a constant motion state at a second speed, at which time the prime mover 12 is at a second rotational speed. The first operating state of the vessel is a constant motion state at a first speed, at which time the trim mechanism 310 is at a first lift angle, and the second operating state of the vessel is a constant motion state at a second speed, at which time the trim mechanism 310 is at a second lift angle. The same level refers to the same type of data and different action amplitudes corresponding to the same structure between the first state data corresponding to the first working state and the second state data corresponding to the second working state, and the participation of the multi-structure and multi-type state data is not involved.

In some implementations of this embodiment, the first operating state and the second operating state are different levels of operating states, which may include the following. The first operating state of the ship is a uniform motion state, and the second operating state of the ship is an acceleration or deceleration motion state in which the driving assembly 10 and the adjusting assembly 30 are matched. The first operating state of the vessel is when the adjustment assembly 30 is not in operation and the first axis 101 is parallel to the second axis 203, and the second operating state of the vessel is when the adjustment assembly is in operation such that the first axis 101 is at an angle to the second axis 203. The first operating state of the ship is an adjustment operation of one of the trim mechanism 310 and the steering mechanism 320, and the second operating state of the ship is an adjustment operation of both the trim mechanism 310 and the steering mechanism 320. Correspondingly, the above-mentioned "different levels" refer to different types of action amplitudes corresponding to different types or corresponding to the same structure between the first state data corresponding to the first working state and the second state data corresponding to the second working state, and involve participation of multiple structures or multiple types of state data.

For the same level of operation, the determining module 440 presets a first threshold. The determination module 440 presets a second threshold for different levels of operating conditions. The operating states of different levels have larger adjustment amplitude for the propulsion device or relate to a plurality of structures, so that the value of the first threshold value is smaller than or equal to the second threshold value, when the adjustment between the same levels is related, the ship can be more stably adjusted from the first operating state to the second operating state, and when the adjustment between the different levels is related, the condition that the adjustment of the first state data is needed is not omitted because the threshold value is set too small.

The display module 470 as shown in fig. 4 includes an interface unit 471, a calling unit 474, an interface unit 473, a storage unit 475, and a preset plurality of data display units 472. The interface unit 471 can display the data display unit 472 as needed, and the plurality of data display units 472 are used to display different operation data or status data, respectively. One or more of the data display units 472 can be invoked and loaded to the interface unit 471 based on the operation data acquired by the operation module 410. The plurality of data display units 472 can be stored in the storage unit 475 in the form of data packets. The calling unit 474 can generate a calling instruction based on the operation data, the interface unit 473 is in one-to-one correspondence with the data display unit 472, and the data display unit 472 can load the calling instruction to the interface unit 472 through the interface unit 473.

The data display unit 472 may be a virtual unit and the display module 470 is built based on a dynamic link library. A Dynamic Link Library (DLL) is a library that contains code and data that can be used by multiple programs simultaneously. The display module 470 may be modularized between units by using DLLs, and may be composed of relatively independent data packets, so that the required functions may be individually invoked. Since the data display units 472 are independent of each other, the loading speed of the program is faster, and the data display units 472 are loaded only when the corresponding function is requested. In addition, updates can be more easily applied to the respective data display units 472 without affecting other parts of the program. When the module 470 is in operation, corresponding units are loaded through dynamic links according to the requirement, so that the storage and operation space of the control system is saved, and the module is convenient to integrate with other modules of the ship. The data display unit 472 and the dynamic link memory corresponding to the data display unit 472 are stored in the storage unit 475, and addresses of both are available through the calling unit 474. The dynamic link library is a compiled executable code file comprising at least one function, e.g. sum, max, sin functions may be included in the dynamic link library aa. In other embodiments, the data display unit 472 may also be a physical unit, and the display module 470 further includes a driving unit for corresponding the data display unit 472 to the interface unit.

The memory unit 475 used in the present embodiment may include at least one of nonvolatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.

The various modules in the control system 400 described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules of the control system 400 may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor invokes operations corresponding to the above modules.

As shown in fig. 5, based on the same inventive concept, the present embodiment further provides a control method of a semi-submerged ship, where the control method is implemented based on the above modules, and the same parts are not described herein in detail, and the control method includes the following steps:

s100, acquiring first state data of the propulsion device, wherein the first state data are used for controlling the ship to achieve the first state.

S200, detecting to obtain operation data of the ship, wherein the operation data comprise navigation positioning data or ship environment data.

And S300, obtaining second state data of the propulsion device based on the operation data, wherein the second state data are used for controlling the ship to realize the second state.

S400, obtaining deviation values of the first state data and the second state data, judging the relation between the deviation values and a preset threshold value, and outputting a judging result.

S500, outputting a corresponding control signal according to the judging result, and controlling the ship to run based on the control signal. Specifically, the control signals control the motion of the components of the semi-submerged propeller 1 to achieve the operation of the ship in different working states.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A control system for a semi-submerged vessel, the state data of the propulsion devices of the vessel being used for controlling the operation of the vessel to achieve a corresponding operating state, characterized in that the control system comprises:

2. The control system of a semi-submersible vessel according to claim 1, wherein when the deviation value is less than the threshold value, the determination is to keep controlling the propulsion device based on the first state data; when the deviation value is greater than or equal to the threshold value, the judging module can correct the first state data based on the second state data and obtain third state data, and the judging result is that the propulsion device is controlled based on the third state data.

3. The control system of a semi-submersible vessel according to claim 1, wherein when the deviation value is less than the threshold value, the determination is to keep controlling the propulsion device based on the first state data; when the deviation value is greater than or equal to the threshold value, the operation module can acquire fourth state data different from the first state data, the judging module can correct the first state data according to the fourth state data and acquire third state data, and the judging result is that the propulsion device is controlled based on the third state data.

4. The control system of a semi-submersible vessel according to claim 1, wherein when the deviation value is less than the threshold value, the determination is to keep controlling the propulsion device based on the first state data; and when the deviation value is greater than or equal to the threshold value, the judgment result is that the propulsion device is controlled based on the second state data.

5. The control system of a semi-submersible vessel according to claim 1, further comprising a display module that connects the operation module and the processing module, capable of displaying the desired operational data and status data in real time.

6. The control system of a semi-submerged ship according to claim 5, wherein the display module comprises an interface unit and a plurality of preset data display units, the interface unit is capable of displaying the required data display units, and the plurality of data display units are respectively used for displaying different operation data or state data; one or more of the data display units can be invoked and loaded to the interface unit based on the operation data acquired by the operation module.

7. The control system of a semi-submersible vessel according to claim 6 wherein the display module further includes a memory unit in which data contained by a plurality of the data display units can be stored in the form of data packets.

8. The control system of a semi-submersible vessel according to claim 6, wherein the display module further includes a calling unit capable of generating a calling instruction based on the operation data, and a plurality of interface units corresponding to the data display unit; the data display unit can be loaded to the interface unit through the interface unit based on the call instruction.

9. A control system for a semi-submersible vessel according to any one of claims 5 to 8 wherein the display module is built based on a dynamic link library.

10. A control method of a semi-submerged ship, wherein state data of a ship propulsion device is used for controlling the ship to run so as to achieve the corresponding working state, the control method comprising: