CN117341953A - Thrust distribution method based on ship water jet propeller - Google Patents
Thrust distribution method based on ship water jet propeller Download PDFInfo
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- CN117341953A CN117341953A CN202311646349.8A CN202311646349A CN117341953A CN 117341953 A CN117341953 A CN 117341953A CN 202311646349 A CN202311646349 A CN 202311646349A CN 117341953 A CN117341953 A CN 117341953A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 172
- 238000000034 method Methods 0.000 title claims abstract description 125
- 238000013178 mathematical model Methods 0.000 claims abstract description 61
- 238000006243 chemical reaction Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims description 33
- 239000011159 matrix material Substances 0.000 claims description 18
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000005299 abrasion Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 description 13
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H2011/004—Marine propulsion by water jets using the eductor or injector pump principle, e.g. jets with by-pass fluid paths
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H2011/006—Marine propulsion by water jets with propulsive medium supplied from sources external to propelled vessel, e.g. water from public water supply
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of ship dynamic positioning control, and provides a thrust distribution method based on a ship water jet propeller, which comprises the following steps: s100, establishing a first thrust mathematical model of the ship water-jet propeller; s200, establishing a second thrust mathematical model of the ship propeller; s300, establishing a horizontal plane three-degree-of-freedom thrust model according to the first thrust mathematical model and the second thrust mathematical model; s400, building a thrust distribution mathematical model according to the horizontal plane three-degree-of-freedom thrust model; s500, solving a thrust distribution mathematical model by adopting sequential quadratic programming to obtain control instructions corresponding to the ship water jet propeller and the ship propeller respectively. According to the invention, the propeller model is combined with the thrust distribution model, and then the thrust distribution solution is carried out, so that the control instruction of the propeller is directly obtained, the conversion from the thrust to the propeller control can be avoided, the optimal characteristic of the output distribution instruction is ensured, and the accuracy of ship positioning and the safety of sailing are improved.
Description
Technical Field
The invention relates to the technical field of ship dynamic positioning control, in particular to a thrust distribution method based on a ship water jet propeller.
Background
The dynamic positioning system can resist the interference of the external marine environment by depending on the propeller of the ship, so as to keep the position and heading of the ship, has the characteristics of strong maneuverability and no limitation by water depth, and gradually becomes the development trend of the marine working industry matched equipment. The dynamic positioning system mainly comprises a control system, a measuring system, a propulsion system and a dynamic system. The control system is a core of the dynamic positioning system, and calculates the control force and moment required for keeping the preset position or heading of the ship by combining the ship motion state information; the measuring system is used for providing real-time and accurate ship position and attitude information; the propulsion system mainly comprises various execution mechanisms, and generates thrust in response to control instructions so as to resist the external environment; the power system is responsible for providing power distribution and management and meets the requirements of various working conditions.
The thrust distribution is the most core module in the control system, and the task of the thrust distribution is to reasonably distribute the three-degree-of-freedom control force/moment output by the controller to each executing mechanism according to a certain distribution strategy. Thrust distribution can be attributed to an optimization problem, and energy consumption, actuator abrasion, thrust errors and other factors need to be comprehensively considered in the distribution process.
The water jet propeller is marine propulsion equipment like a propeller, and the working principle is similar to that of an aviation jet propeller, and the forward power is obtained by the reaction force. Compared with the traditional propeller, the water-jet propeller has higher efficiency, smaller noise and adaptability to shallow water environment. Unlike conventional propellers, which have 3 control variables, namely rotational speed, steering angle and back-off angle, wherein the steering angle is mainly used to control the direction of the nozzle of the water jet propeller, so as to change the thrust direction, the control quantity is basically the same as the azimuth angle of the full-rotation propeller, but the steering angle range of the water jet propeller is generally between [ -25 degrees, 25 degrees ]; the rotation speed and the inverted bucket angle jointly influence the thrust of the water jet propeller.
The existing scheme adopted by the thrust distribution of the water jet propeller is basically consistent with the traditional full-rotation thrust distribution, the thrust size and the thrust direction of the water jet propeller are obtained by constructing an optimization model, wherein the thrust direction is equal to the steering angle of the water jet propeller, and in the aspect of the thrust size processing, the existing scheme basically adopts simplified processing, namely only the full-opening or full-closing state of the inverted bucket angle is considered. When the bucket angle is fully opened, the water spraying propeller generates the maximum forward force at the current rotating speed; when the bucket angle is fully closed, the water jet propeller generates the maximum negative force at the current rotating speed, and the bucket angle of the water jet propeller is only used for controlling the front-back water jet direction of the water jet propeller.
The actual bucket angle of the water jet propeller is not a discrete quantity, namely, the state of the bucket angle is not single full open and full close, and the bucket angle has certain time consumption when switching the open and close states, so the traditional water jet propeller scheme has the following defects:
thrust loss can be generated in the switching process of the bucket angle, and if the time consumed in the switching process of the bucket angle is long, control oscillation or divergence can be caused;
the fully open or fully closed pouring angle is a singular structure to some extent, and the thrust of the propeller is likely to fluctuate within 0 without the external environment or with little environment, which can cause the pouring angle to always switch between open and closed. The traditional full-rotation propeller can solve the problems by the biasing force, but the water jet propeller is limited by the steering angle and cannot be biased, so that the abrasion of the water jet propeller is increased once the situation occurs; on the other hand, the ship cannot be positioned normally.
Disclosure of Invention
The present invention is directed to solving at least one of the technical problems existing in the related art. Therefore, the invention provides a thrust distribution method based on the ship water-jet propeller, which can directly obtain the control instruction of the propeller, avoid the conversion between the thrust and the propeller control, ensure the optimal characteristic of the output distribution instruction and ensure the normal positioning and running of the ship.
The invention provides a thrust distribution method based on a ship water jet propeller, which comprises the following steps:
s100, establishing a first thrust mathematical model of the ship water-jet propeller;
s200, establishing a second thrust mathematical model of the ship propeller;
s300, establishing a horizontal plane three-degree-of-freedom thrust model according to the first thrust mathematical model and the second thrust mathematical model;
s400, building a thrust distribution mathematical model according to the horizontal plane three-degree-of-freedom thrust model;
s500, solving a thrust distribution mathematical model by adopting sequential quadratic programming to obtain control instructions corresponding to the ship water jet propeller and the ship propeller respectively.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S100, a first thrust mathematical model is adoptedThe method comprises the following steps:
in the method, in the process of the invention,is the density of water; />Is the flow rate; />Is the nozzle velocity; />The navigational speed of the ship is set; />Is a momentum utilization factor;
wherein the ship is atA low-speed or zero-speed condition,the first thrust mathematical model is converted into:
。
according to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S100, the method further comprises the following steps:
when the ship water-jet propeller works, the flow of water sucked into a water inlet at the bottom of the ship is accelerated by the ship water-jet propeller and then is sprayed;
according to the opening and closing angle of the ship reversing hopper, part of the jet water flows into the ship reversing hopper, and the rest jet water flows to the rear of the ship for ejection;
wherein, the water flow injected into the ship reversing hopper is set as the water flow entering the hopper, the water flow sprayed to the rear of the ship is the direct water flow, and the water flow of the hopperAnd the flow of the direct water jet->The calculation formula of (2) is as follows:
in the method, in the process of the invention,is the opening and closing angle of the car hopper>Is the maximum opening and closing angle of the car hopper.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S100, the method further comprises the following steps:
according to the flow rate of the water flow into the bucketAnd the flow of the direct water jet->Obtain the thrust of direct water jet->And reverse thrust of reversing bucket->The calculation formula is as follows:
further:
in the method, in the process of the invention,is the cross-sectional area of the water inlet at the bottom of the ship>Is the cross section area of a water outlet at the bottom of the ship;
based on spout speedRotational speed of the water jet propulsion of the ship +.>The conversion can be obtained in a corresponding proportion relation:
；
the ship bucket angle is controlled in percentage, and the variable is definedThe conversion can be obtained:
in the method, in the process of the invention,the thrust coefficient of the ship water jet propeller.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S200, a second thrust mathematical model is adoptedThe method comprises the following steps:
in the method, in the process of the invention,for the thrust coefficient of the ship propeller, +.>Is the rotational speed of the ship propeller.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S300, a horizontal plane three-degree-of-freedom thrust model is as follows:
in the method, in the process of the invention,，/>，/>respectively in turn->Longitudinal force, transverse force and heading moment generated by each loading propeller; />Is->Thrust generated by the loading propellers; />Is->Loading the azimuth of the propeller; />Is->The position of the loading propellers relative to the centre of rotation of the vessel;
wherein the loading propeller is a ship water jet propeller or a ship propeller.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S300, the method further comprises the following steps:
the three-degree-of-freedom thrust generated by the loading propeller is overlapped to obtain a thrust distribution control instructionThe calculation formula is:
in the method, in the process of the invention,the number of loading propellers is set.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S400, a thrust distribution mathematical model is as follows:
in the method, in the process of the invention,a weight matrix related to the number of loading propellers; />Setting the number of loading propellers; />Is->The rotational speed of the loading propeller; />Is a three-degree-of-freedom thrust error->Is->Transpose of->For positive diagonal three-dimensional matrix->Is a relaxation variable; />For loading the wear of the propeller +.>Azimuth for loading the propeller; />Loading the azimuth angle of the propeller for the previous moment; />Determining a diagonal matrix for the positive relative to the number of loading propellers; />The abrasion loss of the reverse bucket of the ship water-jet propeller is +.>Is the opening and closing angle percentage of a reversing bucket of the ship water-jet propeller, and is +.>The opening and closing angle percentage of the inverted hopper at the previous moment is +.>The weight matrix is related to the number of the ship water jet propellers;
distributing control instructions for thrust force,/->Configuring a matrix for loading propellers,>for loading the rotational speed of the propeller +.>Loading the rotation speed of the propeller for the last moment, < >>For loading the difference between the current rotational speed of the propeller and the rotational speed of the previous moment, +.>For loading the difference between the current azimuth of the propeller and the azimuth of the previous moment, +.>The difference value between the current opening and closing angle percentage of the reversing bucket and the opening and closing angle percentage at the previous moment is obtained;
wherein the loading propeller is a ship water jet propeller or a ship propeller.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, the ship water jet propeller is configured in a matrixThe expression is:
in the method, in the process of the invention,is->Azimuth angles of the water jet propellers of the ships; />Is->The opening and closing angle percentages of reversing hoppers of the water jet propellers of the ships; />Is->Thrust coefficients of the water jet propellers of the ships; />Is the cross section area of a water inlet at the bottom of the ship; />Is the cross section area of a water outlet at the bottom of the ship; />Is->Longitudinal distance of each ship water jet propeller from the center of the ship; />Is->The lateral distance of each ship water jet propeller from the center of the ship.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, the ship propeller is configured in a matrixThe expression is:
in the method, in the process of the invention,is->Azimuth angles of the ship propellers; />Is->Thrust coefficients of the individual marine propulsion vessels;is->Longitudinal distance of each ship propeller from the center of the ship; />Is->The lateral distance of each ship propeller from the center of the ship.
The above technical solutions in the embodiments of the present invention have at least one of the following technical effects:
the invention provides a thrust distribution method based on a ship water jet propeller, which comprises the following steps:
s100, establishing a first thrust mathematical model of the ship water-jet propeller;
s200, establishing a second thrust mathematical model of the ship propeller;
s300, establishing a horizontal plane three-degree-of-freedom thrust model according to the first thrust mathematical model and the second thrust mathematical model;
s400, building a thrust distribution mathematical model according to the horizontal plane three-degree-of-freedom thrust model;
s500, solving a thrust distribution mathematical model by adopting sequential quadratic programming to obtain control instructions respectively corresponding to the ship water jet propeller and the ship propeller; by combining the propeller model with the thrust distribution model and then carrying out thrust distribution solution, the control instruction of the propeller is directly obtained, the conversion from thrust to propeller control can be avoided, the optimal characteristic of the output distribution instruction is ensured, and the accuracy of ship positioning and the safety of sailing are improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a thrust distribution method based on a ship water jet propeller.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are 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.
In the description of the present specification, 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 embodiments of the present invention. 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.
The following describes a thrust distribution method based on a ship water jet propeller according to the present invention with reference to fig. 1, and the loading propeller according to the present invention is a ship propeller mounted on a ship and a ship water jet propeller, wherein the ship propeller is a propeller without water jet function, and the ship water jet propeller is a propeller with water jet function. The method specifically comprises the following steps:
s100, establishing a first thrust mathematical model of the ship water-jet propeller;
s200, establishing a second thrust mathematical model of the ship propeller;
s300, establishing a horizontal plane three-degree-of-freedom thrust model according to the first thrust mathematical model and the second thrust mathematical model;
s400, building a thrust distribution mathematical model according to the horizontal plane three-degree-of-freedom thrust model;
s500, solving a thrust distribution mathematical model by adopting sequential quadratic programming to obtain control instructions corresponding to the ship water jet propeller and the ship propeller respectively.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S100, a first thrust mathematical model is adoptedThe method comprises the following steps:
in the method, in the process of the invention,is the density of water; />Is the flow rate; />Is the nozzle velocity; />The navigational speed of the ship is set; />Is a momentum utilization factor;
wherein, the ship is in a low-speed or zero-speed state,the first thrust mathematical model is converted into:
。
according to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S100, the method further comprises the following steps:
when the ship water-jet propeller works, the flow of water sucked into a water inlet at the bottom of the ship is accelerated by the ship water-jet propeller and then is sprayed;
according to the opening and closing angle of the ship reversing hopper, part of the jet water flows into the ship reversing hopper, and the rest jet water flows to the rear of the ship for ejection;
wherein, the water flow injected into the ship reversing hopper is set as the water flow entering the hopper, the water flow sprayed to the rear of the ship is the direct water flow, and the water flow of the hopperAnd the flow of the direct water jet->The calculation formula of (2) is as follows:
in the method, in the process of the invention,is the opening and closing angle of the car hopper>Is the maximum opening and closing angle of the car hopper.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S100, the method further comprises the following steps:
according to the flow rate of the water flow into the bucketAnd the flow of the direct water jet->Obtain the thrust of direct water jet->And reverse thrust of reversing bucket->The calculation formula is as follows:
further:
in the method, in the process of the invention,is the cross-sectional area of the water inlet at the bottom of the ship>Is the cross section area of a water outlet at the bottom of the ship;
based on spout speedRotational speed of the water jet propulsion of the ship +.>The conversion can be obtained in a corresponding proportion relation:
；
the ship bucket angle is controlled in percentage, and the variable is definedThe conversion can be obtained:
in the method, in the process of the invention,the thrust coefficient of the ship water jet propeller.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S200, a second thrust mathematical model is adoptedThe method comprises the following steps:
in the method, in the process of the invention,for the thrust coefficient of the ship propeller, +.>Is the rotational speed of the ship propeller.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S300, a horizontal plane three-degree-of-freedom thrust model is as follows:
in the method, in the process of the invention,，/>，/>respectively in turn->Longitudinal force, transverse force and heading moment generated by each loading propeller; />Is->Thrust generated by the loading propellers; />Is->Loading the azimuth of the propeller; />Is->The position of the loading propellers relative to the centre of rotation of the vessel;
wherein the loading propeller is a ship water jet propeller or a ship propeller.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S300, the method further comprises the following steps:
the three-degree-of-freedom thrust generated by the loading propeller is overlapped to obtain a thrust distribution control instructionThe calculation formula is:
in the method, in the process of the invention,the number of loading propellers is set.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, in the step S400, a thrust distribution mathematical model is as follows:
/>
in the method, in the process of the invention,a weight matrix related to the number of loading propellers; />Setting the number of loading propellers; />Is->The rotational speed of the loading propeller; />Is a three-degree-of-freedom thrust error->Is->Transpose of->For positive diagonal three-dimensional matrix->Is a relaxation variable; />For loading the wear of the propeller +.>Azimuth for loading the propeller; />Loading the azimuth angle of the propeller for the previous moment; />Determining a diagonal matrix for the positive relative to the number of loading propellers; />The abrasion loss of the reverse bucket of the ship water-jet propeller is +.>Reverse bucket opening and closing angle for ship water-jet propellerPercentage of degree (L)>The opening and closing angle percentage of the inverted hopper at the previous moment is +.>The weight matrix is related to the number of the ship water jet propellers;
distributing control instructions for thrust force,/->Configuring a matrix for loading propellers,>for loading the rotational speed of the propeller +.>Loading the rotation speed of the propeller for the last moment, < >>For loading the difference between the current rotational speed of the propeller and the rotational speed of the previous moment, +.>For loading the difference between the current azimuth of the propeller and the azimuth of the previous moment, +.>The difference value between the current opening and closing angle percentage of the reversing bucket and the opening and closing angle percentage at the previous moment is obtained;
wherein the loading propeller is a ship water jet propeller or a ship propeller.
According to the thrust distribution method based on the ship water jet propeller provided by the invention, the ship water jet propeller is configured in a matrixThe expression is: />
In the method, in the process of the invention,is->Azimuth angles of the water jet propellers of the ships; />Is->The opening and closing angle percentages of reversing hoppers of the water jet propellers of the ships; />Is->Thrust coefficients of the water jet propellers of the ships; />Is the cross section area of a water inlet at the bottom of the ship; />Is the cross section area of a water outlet at the bottom of the ship; />Is->Longitudinal distance of each ship water jet propeller from the center of the ship; />Is->The lateral distance of each ship water jet propeller from the center of the ship.
According to the invention, a ship based ship is providedThrust distribution method of ship water jet propeller and ship propeller configuration matrixThe expression is:
in the method, in the process of the invention,is->Azimuth angles of the ship propellers; />Is->Thrust coefficients of the individual marine propulsion vessels;is->Longitudinal distance of each ship propeller from the center of the ship; />Is->The lateral distance of each ship propeller from the center of the ship.
The embodiment of the invention provides a thrust distribution method based on a ship water jet propeller, which specifically comprises the following steps:
the ship in this embodiment is provided with two ship water jet propellers (first water jet propeller and second water jet propeller), four ship propellers (first full-rotation propeller, second full-rotation propeller, first channel propeller and second channel propeller). Establishing a ship horizontal plane coordinate system, wherein the position coordinate of the first water jet rotating propeller is (-56.5, -12.0); the position coordinates of the second water jet rotating propeller are (-56.5, 12.0); the position coordinates of the first full-circle propeller are (-42.0, -22); the position coordinate of the second full-circle propeller is (-42.0,22); the first channel mover has a position coordinate (32.0,0); the second channel mover has a position coordinate (37.4,0).
Further, the cross-sectional area of the water inlet at the bottom of the vessel is the same as the cross-sectional area of the water outlet at the bottom of the vessel, that is,//>=1。/>
the thrust coefficient of each propeller is obtained through identification, and the thrust coefficient of the first water-jet rotating propellerAnd the thrust coefficient of the second water jet propulsion +.>The method comprises the steps of carrying out a first treatment on the surface of the Thrust coefficient of first full-circle propellerThrust coefficient of the second full-circle propeller +.>Thrust coefficient of first channel propellerThrust coefficient of the second channel propeller +.>。
S100, establishing a first thrust mathematical model of the ship water-jet propeller;
wherein, the first thrust mathematical model of the first water jet rotating propeller is:
；
the first thrust mathematical model of the second water jet rotating propeller is as follows:
。
s200, establishing a second thrust mathematical model of the ship propeller;
the second thrust mathematical model of the first full-rotation propeller is as follows:
；
the second thrust mathematical model of the second full-rotation propeller is as follows:
；
the second thrust mathematical model of the first channel propeller is:
；
the second thrust mathematical model of the second channel propeller is:
。
s300, establishing a horizontal plane three-degree-of-freedom thrust model according to the first thrust mathematical model and the second thrust mathematical model;
。
s400, building a thrust distribution mathematical model according to the horizontal plane three-degree-of-freedom thrust model;
/>
wherein,，/>，。
/>
，/>，，/>。
in the constraint of the inequality,for the rotation speed of the propeller at the previous moment, +.>For the azimuth of the propeller at the previous moment, +.>The percentage of the opening and closing angle of the inverted hopper at the previous moment. />Respectively representing the minimum and maximum variation ranges of the rotating speed, the azimuth angle and the opening and closing angle percentage of the reversing bucket in turn.
Wherein the maximum rotation speed of the first water jet rotating propeller and the second water jet rotating propeller isMinimum rotational speed +.>The method comprises the steps of carrying out a first treatment on the surface of the The maximum rotational speed of the first full-circle propeller and the second full-circle propeller is +.>The minimum rotation speed isThe method comprises the steps of carrying out a first treatment on the surface of the The maximum rotation speed of the first channel propeller and the second channel propeller isMinimum rotational speed +.>。
The maximum azimuth angle of the first water jet rotating propeller and the second water jet rotating propeller isMinimum azimuth angle +.>The method comprises the steps of carrying out a first treatment on the surface of the The percentage of the opening and closing angle of the maximum reversing bucket isThe percentage of the opening and closing angle of the minimum reverse hopper is +.>The method comprises the steps of carrying out a first treatment on the surface of the The maximum azimuth angle of the first full-circle propeller and the second full-circle propeller is +.>Minimum azimuth angle isThe method comprises the steps of carrying out a first treatment on the surface of the The azimuth angles of the first channel propeller and the second channel propeller are。
The maximum change rate of the rotation speed of the first water jet rotating propeller and the second water jet rotating propeller isThe minimum rate of change is +.>The method comprises the steps of carrying out a first treatment on the surface of the The maximum change rate of the rotation speeds of the first full-circle propeller and the second full-circle propeller is +.>The minimum rate of change is +.>The method comprises the steps of carrying out a first treatment on the surface of the The maximum rate of change of the rotational speeds of the first channel propeller and the second channel propeller is +.>The minimum rate of change is +.>。
The maximum change rate of azimuth angles of the first water jet rotating propeller and the second water jet rotating propeller isThe minimum rate of change is +.>The method comprises the steps of carrying out a first treatment on the surface of the The maximum change rate of the opening and closing angle percentage of the reversing bucket is +.>The minimum rate of change is +.>The method comprises the steps of carrying out a first treatment on the surface of the The maximum change rate of azimuth angles of the first full-circle propeller and the second full-circle propeller isThe minimum rate of change is +.>。
S500, solving a thrust distribution mathematical model by adopting sequential quadratic programming to obtain control instructions respectively corresponding to the ship water jet propeller and the ship propeller; the thrust coefficient is obtained by constructing a mathematical model of the water-jet propeller and adopting an identification means, the propeller model is combined with a thrust distribution model, and then the thrust distribution solution is carried out, so that the control instruction of the propeller is directly obtained.
The invention provides a thrust distribution method based on a ship water jet propeller, which comprises the following steps:
s100, establishing a first thrust mathematical model of the ship water-jet propeller;
s200, establishing a second thrust mathematical model of the ship propeller;
s300, establishing a horizontal plane three-degree-of-freedom thrust model according to the first thrust mathematical model and the second thrust mathematical model;
s400, building a thrust distribution mathematical model according to the horizontal plane three-degree-of-freedom thrust model;
s500, solving a thrust distribution mathematical model by adopting sequential quadratic programming to obtain control instructions respectively corresponding to the ship water jet propeller and the ship propeller; by combining the propeller model with the thrust distribution model and then carrying out thrust distribution solution, the control instruction of the propeller is directly obtained, the conversion from thrust to propeller control can be avoided, the optimal characteristic of the output distribution instruction is ensured, and the accuracy of ship positioning and the safety of sailing are improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The thrust distribution method based on the ship water jet propeller is characterized by comprising the following steps of:
s100, establishing a first thrust mathematical model of the ship water-jet propeller;
s200, establishing a second thrust mathematical model of the ship propeller;
s300, establishing a horizontal plane three-degree-of-freedom thrust model according to the first thrust mathematical model and the second thrust mathematical model;
s400, building a thrust distribution mathematical model according to the horizontal plane three-degree-of-freedom thrust model;
s500, solving a thrust distribution mathematical model by adopting sequential quadratic programming to obtain control instructions corresponding to the ship water jet propeller and the ship propeller respectively.
2. The method for distributing thrust based on a marine water jet propeller as set forth in claim 1, wherein in said step S100, a first thrust mathematical modelThe method comprises the following steps:
in the method, in the process of the invention,is the density of water; />Is the flow rate; />Is the nozzle velocity; />The navigational speed of the ship is set; />Is a momentum utilization factor;
wherein, the ship is in a low-speed or zero-speed state,the first thrust mathematical model is converted into:
。
3. the method for distributing thrust based on a marine water jet propeller as set forth in claim 2, wherein in the step S100, further comprising:
when the ship water-jet propeller works, the flow of water sucked into a water inlet at the bottom of the ship is accelerated by the ship water-jet propeller and then is sprayed;
according to the opening and closing angle of the ship reversing hopper, part of the jet water flows into the ship reversing hopper, and the rest jet water flows to the rear of the ship for ejection;
wherein, the water flow injected into the ship reversing hopper is set as the water flow entering the hopper, the water flow sprayed to the rear of the ship is the direct water flow, and the water flow of the hopperAnd the flow of the direct water jet->The calculation formula of (2) is as follows:
in the method, in the process of the invention,is the opening and closing angle of the car hopper>Is the maximum opening and closing angle of the car hopper.
4. The method for distributing thrust based on a marine water jet propeller as set forth in claim 3, wherein in the step S100, further comprising:
according to the flow rate of the water flow into the bucketAnd the flow of the direct water jet->Obtain the thrust of direct water jet->And reverse thrust of reversing bucketThe calculation formula is as follows:
further:
in the method, in the process of the invention,is the cross-sectional area of the water inlet at the bottom of the ship>Is the cross section area of a water outlet at the bottom of the ship;
based on spout speedRotational speed of the water jet propulsion of the ship +.>The conversion can be obtained in a corresponding proportion relation:
；
the ship bucket angle is controlled in percentage, and the variable is definedThe conversion can be obtained:
in the method, in the process of the invention,the thrust coefficient of the ship water jet propeller.
5. The method for distributing thrust based on a marine water jet propeller as set forth in claim 1, wherein in said step S200, a second thrust mathematical modelThe method comprises the following steps:
in the method, in the process of the invention,for the thrust coefficient of the ship propeller, +.>Is the rotational speed of the ship propeller.
6. The thrust distribution method based on a marine water jet propeller according to claim 1, wherein in the step S300, a horizontal plane three-degree-of-freedom thrust model is:
in the method, in the process of the invention,，/>，/>respectively in turn->Longitudinal force, transverse force and heading moment generated by each loading propeller;is->Thrust generated by the loading propellers; />Is->Loading the azimuth of the propeller; />Is->The position of the loading propellers relative to the centre of rotation of the vessel;
wherein the loading propeller is a ship water jet propeller or a ship propeller.
7. The method for distributing thrust based on a marine water jet propulsion system as claimed in claim 6, wherein in the step S300, further comprising:
the three-degree-of-freedom thrust generated by the loading propeller is overlapped to obtain a thrust distribution control instructionThe calculation formula is:
in the method, in the process of the invention,the number of loading propellers is set.
8. The method for distributing thrust based on a marine water jet propeller according to claim 1, wherein in the step S400, the mathematical model of thrust distribution is:
in the method, in the process of the invention,a weight matrix related to the number of loading propellers; />Setting the number of loading propellers; />Is->The rotational speed of the loading propeller; />Is a three-degree-of-freedom thrust error->Is->Transpose of->For positive diagonal three-dimensional matrix->As a relaxation variable；/>For loading the wear of the propeller +.>Azimuth for loading the propeller; />Loading the azimuth angle of the propeller for the previous moment; />Determining a diagonal matrix for the positive relative to the number of loading propellers;the abrasion loss of the reverse bucket of the ship water-jet propeller is +.>Is the opening and closing angle percentage of a reversing bucket of the ship water-jet propeller, and is +.>The opening and closing angle percentage of the inverted hopper at the previous moment is +.>The weight matrix is related to the number of the ship water jet propellers;
distributing control instructions for thrust force,/->Configuring a matrix for loading propellers,>in order to load the rotational speed of the propeller,loading the rotation speed of the propeller for the last moment, < >>To load the difference between the current rotation speed of the propeller and the rotation speed at the previous moment,for loading the difference between the current azimuth of the propeller and the azimuth of the previous moment, +.>The difference value between the current opening and closing angle percentage of the reversing bucket and the opening and closing angle percentage at the previous moment is obtained;
wherein the loading propeller is a ship water jet propeller or a ship propeller.
9. The method for distributing thrust based on a marine water jet propulsion system according to claim 8, wherein the marine water jet propulsion system is configured in a matrixThe expression is:
in the method, in the process of the invention,is->Azimuth angles of the water jet propellers of the ships; />Is->Water jet propulsion of individual vesselsThe percentage of the opening and closing angle of the reversing bucket of the device; />Is->Thrust coefficients of the water jet propellers of the ships; />Is the cross section area of a water inlet at the bottom of the ship; />Is the cross section area of a water outlet at the bottom of the ship; />Is->Longitudinal distance of each ship water jet propeller from the center of the ship; />Is->The lateral distance of each ship water jet propeller from the center of the ship.
10. The method for distributing thrust based on a marine water jet propulsion system according to claim 8, wherein the marine propulsion system is configured in a matrixThe expression is:
in the method, in the process of the invention,is->Azimuth angles of the ship propellers; />Is->Thrust coefficients of the individual marine propulsion vessels; />Is->Longitudinal distance of each ship propeller from the center of the ship; />Is->The lateral distance of each ship propeller from the center of the ship.
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