CN118070427A - Wind sailing boat motion state optimization energy-saving control system and method - Google Patents
Wind sailing boat motion state optimization energy-saving control system and method Download PDFInfo
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Abstract
The embodiment of the invention discloses a wind sailing boat motion state optimization energy-saving control system and method, wherein the system comprises the following steps: the system comprises a ship motion state information interaction module, a sailing ship motion identification module, a sailing ship oil consumption analysis module, a sailing ship motion optimization energy-saving analysis module and a sailing ship motion state optimization control module; the sailing boat motion identification model module is used for identifying the sailing boat motion states under different sailing environments; the wind sailing boat oil consumption analysis module determines the total sailing resistance and the main engine power and oil consumption data of the wind sailing boat; the wind sailing boat motion optimizing energy-saving analysis module calculates the corresponding wind sailing boat energy efficiency level and determines the best motion state data of the wind sailing boat; the wind sail boat motion state optimizing control module adjusts the control command based on the wind sail boat optimal motion state data of the wind sail boat in order to realize the optimizing control of the wind sail boat motion state. The method solves the problem that the traditional energy efficiency optimization analysis of the sailing boat does not consider the motion state optimization of the sailing boat.
Description
Technical Field
The invention relates to the technical field of ship wind energy application and energy efficiency optimization management, in particular to a system and a method for optimizing and energy-saving control of a sailing ship motion state.
Background
The wind-based navigation assisting ship can effectively reduce the fuel consumption of a ship host by using wind energy as an auxiliary power source, so that the carbon dioxide emission is reduced, the wind-based navigation assisting ship has important significance for improving the energy efficiency level of the ship, the new energy-based navigation assisting ship well meets the requirement of sustainable development, and the wind-based navigation assisting ship is a representation of the global environment-friendly emission reduction advocate actively responded by the shipping industry.
The ship motion state plays an important role in influencing navigation efficiency and economy, and the motion state in the invention refers to the motion state parameters such as the course, the trim, the roll and the like of the ship in navigation, has important influence on the navigation resistance, the navigation speed and the fuel consumption of the ship, and can improve the navigation efficiency, reduce the resistance of the ship in the navigation process, reduce the fuel consumption and the operation cost and improve the competitiveness of the ship by optimizing the ship motion state.
In the running process of the sailing boat, the wind area of the boat is increased due to the additional installation of the large sails, the motion state is more easily influenced by environmental changes, and when the environmental changes enable the sailing boat to generate transverse force, the boat is more easily subjected to the conditions of transverse inclination and bow-rolling, so that the sailing resistance of the boat is influenced. When the motion state of the ship changes, the wet area and the geometric shape below the waterline of the ship body also change correspondingly, so that the total sailing resistance of the sailing ship is influenced, and meanwhile, the motion state of the sailing ship also influences the boosting effect and the overall resistance of the sailing ship, so that the overall energy consumption level of the sailing ship is influenced. At present, the energy efficiency optimization of the sailing boat is concentrated on the independent and combined optimization of the navigational speed and the navigational route, the research on the motion state of the sailing boat is mostly analysis on the stability of the boat, and the research on the motion state optimization control of the sailing boat to improve the energy efficiency of the sailing boat is deficient, so that the energy efficiency level of the sailing boat needs to be further improved.
Disclosure of Invention
Based on the method, in order to solve the defects existing in the prior art, a system and a method for optimizing the motion state of a sailing boat for energy saving control are particularly provided.
In order to achieve the above object, the technical scheme of the present invention is as follows:
The utility model provides a wind sailing boat motion state optimization energy-saving control system which characterized in that includes: the system comprises a ship motion state information interaction module, a sailing ship motion identification model module, a sailing ship oil consumption analysis module, a sailing ship motion optimization energy-saving analysis module and a sailing ship motion state optimization control module;
The ship motion state information interaction module is used for storing first ship data and providing data interaction service for other modules in the system, wherein the first ship data comprises basic parameters of a sailing ship and historical sailing environment data;
The sailing boat motion identification model module is used for identifying the sailing boat motion states under different sailing environments based on the first ship data and the second ship data;
The wind sailing boat oil consumption analysis module is used for determining the total sailing resistance of the wind sailing boat under different motion states based on the motion states corresponding to the wind sailing boat and the sailing environment, so as to obtain the main engine power and oil consumption data of the wind sailing boat under different motion states;
the wind sailing boat motion optimization energy-saving analysis module is used for calculating the energy efficiency level of the corresponding wind sailing boat based on the oil consumption data of the wind sailing boat host under different motion states, determining the optimal motion state of the wind sailing boat when the energy efficiency level of the wind sailing boat is optimal, and feeding back the data of the optimal motion state of the wind sailing boat to the wind sailing boat motion state optimization control module;
the wind sailing boat motion state optimizing control module is used for adjusting control commands based on the wind sailing boat optimal motion state data so as to realize optimizing control of the wind sailing boat motion state.
Optionally, in one embodiment, the wind sailing boat motion recognition model module includes:
The motion recognition data acquisition submodule is used for interacting with the ship motion state information interaction module to acquire first ship data and acquiring second ship data in real time, and the second ship data at least comprises real-time sailing data of a sailing ship;
The black box motion recognition sub-model is used for recognizing the motion states of the sailing ships in different navigation environments based on the first ship data and the second ship data so as to obtain current ship motion state data;
And the self-adaptive updating sub-model is used for carrying out self-adaptive updating on the model parameters of the black box motion identification sub-model.
Optionally, in one embodiment, the black box motion recognition sub-model adopts a recognition model with four-degree-of-freedom motion recognition capability of a sailing boat, that is, the recognition model is used for taking first ship data and second ship data as input features, taking a speed change rate of the four-degree-of-freedom motion data of the sailing boat as an output response, and obtaining current ship motion state data, where the four-degree-of-freedom motion data of the sailing boat includes a ship advancing speed and an angular speed (rolling, pitching, heading) of the ship rotating around x, y and z axes respectively; in a coordinate system taking a ship as a reference system, taking the gravity center G of the ship as a coordinate origin, and taking an x-axis as a cross section perpendicular to the ship so as to be positive to the bow; the y-axis is taken as being perpendicular to the middle longitudinal section so as to point to the starboard; the z axis is taken to be perpendicular to the water plane, and the pointing keel is taken as positive;
the model formula corresponding to the identification model with the four-degree-of-freedom motion identification capability of the sailing boat is as follows
In the above formulae, m represents the mass of the ship; a represents a speed of advance in the x-axis direction; x represents acting force applied to the ship in the X-axis direction; i x represents the moment of inertia of the ship about the x-axis; i y represents the moment of inertia of the ship around the y-axis; i z represents the moment of inertia of the ship about the z-axis; p represents the angular velocity of rotation of the vessel about the x-axis; q represents the angular velocity of rotation of the vessel about the y-axis; r represents the angular velocity of rotation of the vessel around the z-axis; k represents the transverse moment acting on the ship; e represents a pitching moment acting on the vessel; n represents a yaw moment acting on the ship, wherein the directions of p, q and r accord with the right-hand screw rule;
The external force and the external moment which are correspondingly acted on the sail boat are shown in the formulas (5) to (8):
X＝XH+XP+XR+XWing+XWind+XWave (5)
K＝KH+KP+KR+KWing+KWind+KWave (6)
E＝EH+EP+ER+EWing+EWind+EWave (7)
N＝NH+NP+NR+NWing+NWind+NWave (8)
Where each subscript H, P, R, wing represents a hull, a propeller, a rudder, and a sail in a static and Wave-static environment, and winds and Wave represent environmental disturbance Wind and Wave, respectively, X H、XP、XR、XWing、XWind、XWave represents an external force acting on the hull of the sail-assisted ship, an external force acting on the propeller of the sail-assisted ship, an external force acting on the rudder of the sail-assisted ship, an external force acting on the sail of the sail-assisted ship, an acting force of Wind on the whole ship, and an acting force of Wave on the whole ship, K H、KP、KR、KWing、KWind、KWave represents a roll moment acting on the hull of the sail-assisted ship, a roll moment acting on the propeller of the sail-assisted ship, a roll moment acting on the rudder of the sail-assisted ship, a roll moment acting on the sail of the sail-assisted ship, a roll moment acting on the whole ship, and a roll moment acting on the whole ship, E H、EP、ER、EWing、EWind、EWave represents a pitching moment acting on the hull of the sail-assisted ship, a pitching moment acting on the propeller of the sail-assisted ship, a pitching moment acting on the rudder of the sail-assisted ship, a pitching moment acting on the sail of the sail-assisted ship, a pitching moment of Wind to the whole ship and a pitching moment of waves to the whole ship, respectively, and N H、NP、NR、NWing、NWind、NWave represents a pitching moment acting on the hull of the sail-assisted ship, a pitching moment acting on the propeller of the sail-assisted ship, a pitching moment acting on the rudder of the sail-assisted ship, a pitching moment acting on the sail of the sail-assisted ship, a pitching moment of Wind to the whole ship and a pitching moment of waves to the whole ship, respectively.
Optionally, in one embodiment, the wind turbine fuel consumption analysis module includes:
The sailing resistance calculation sub-model of the sailing boat is used for determining the sailing total resistance of the sailing boat based on the motion state corresponding to the sailing boat and the sailing environment;
the wind sailing boat power calculation sub-model is used for determining wind sailing boat host power data based on the total sailing resistance of the wind sailing boat;
the wind sailing boat oil consumption calculation sub-model is used for determining wind sailing boat oil consumption data based on the wind sailing boat main engine power data;
The model formula of the wind sailing boat power calculation sub-model is as follows:
wherein,
ηO＝(KT·J)/(KQ·2π) (10)
ηH＝(1-t)/(1-w) (11)
VA＝(1-w)VS (13)
Wherein P M represents the power of the main engine of the sailing boat; r t represents the total sailing resistance of the sailing boat; f sail represents the total thrust of the sail; v S represents the vessel speed; η S denotes shafting transfer efficiency; η O represents the water-opening efficiency of the propeller; η H represents the hull efficiency; η R denotes the relative rotation efficiency of the propeller; j represents a propeller speed coefficient; k T denotes the propeller thrust coefficient; k Q denotes the propeller torque coefficient; t represents a thrust derating coefficient, and w represents an accompanying flow coefficient; h p represents the propeller progress; d represents the diameter of the propeller; v A denotes the propeller speed; n represents the rotational speed of the propeller;
the model formula of the wind sailing boat oil consumption calculation sub-model is as follows:
QM＝(PM+PS)·ge·T1+PM·ge·T2 (14)
QAux＝PAux·gAux·T3 (15)
Qt＝QM+QAux (16)
Wherein Q M represents the consumption of the main engine oil; p M represents the wind sailing boat host power; p S represents the shaft generator power; g e represents the main engine fuel consumption rate; t 1 represents the on-sailing time of the shaft generator; t 2 represents the unopened sailing time of the shaft generator; q Aux represents the sub-oil consumption; p Aux denotes the auxiliary power; g Aux represents the fuel consumption rate of the auxiliary machine; t 3 represents the starting navigation time of the auxiliary machine; q t represents the total fuel consumption of the ship voyage.
Optionally, in one embodiment, the calculation formula of the energy efficiency level of the wind turbine is:
Wherein: EE sail-ship represents the energy efficiency level of the wind sailing boat; q t represents the total fuel consumption of the sailing times of the wind sailing boat; Representing fuel carbon dioxide emissions factors; m represents cargo capacity; l represents the voyage mileage of the wind sailing boat.
In addition, in order to solve the defects existing in the prior art, a wind sailing boat motion state optimization energy-saving control method based on the wind sailing boat motion state optimization energy-saving control system is also provided, and the method specifically comprises the following steps:
s1, acquiring first ship data through the ship motion state information interaction module;
s2, acquiring second ship data through the sailing ship motion identification model module and combining the first ship data to identify the sailing ship motion state in the current sailing environment;
S3, determining the total sailing resistance of the sailing boat under different motion states through the sailing boat oil consumption analysis module, and further obtaining the host power and oil consumption data of the sailing boat under different motion states;
s4, calculating and analyzing the energy efficiency level of the sailing boat in each motion state according to the first ship data and the oil consumption data of the sailing boat, and obtaining the optimal reference motion state of the sailing boat by taking the optimal energy efficiency level of the sailing boat as a basis;
S5, analyzing the floating state and stability of the sailing boat under the optimal reference motion state to obtain an analysis result of the floating state and stability of sailing of the sailing boat;
and S6, based on the analysis results of the energy efficiency level, the floating state and the stability of the sailing boat, deciding a motion state with the optimal energy efficiency level of the sailing boat meeting the requirements of the floating state and the stability, and further controlling the sailing boat.
In addition, in order to solve the deficiencies of the prior art, a computer readable storage medium is provided, comprising computer instructions which, when executed on a computer, cause the computer to perform the method.
The implementation of the embodiment of the invention has the following beneficial effects:
After the technology is adopted, the problems of low energy efficiency level and high energy consumption of the whole ship caused by higher resistance of the conventional sailing ship due to improper movement state are solved, so that the movement state optimization of the conventional sailing ship is realized; furthermore, the optimal motion state of the sailing boat is obtained, so that the sailing resistance of the sailing boat can be reduced, and the overall energy consumption of the sailing boat is reduced; the obtained wind sailing boat can guide the selection of rudder angle, the control of attack angle of the wind sailing boat, the distribution condition of the boat when the boat leaves the port and loads, and the use condition of exchanging oil and water tanks in the sailing process after the boat is in the optimal motion state, so that the boat can sail in the optimal motion state, and the energy efficiency level of the boat is improved. The wind sailing boat motion state optimization energy-saving control system and the wind sailing boat motion state optimization energy-saving control method have important significance and application value for further excavating the energy efficiency improvement potential of the boat.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Wherein:
FIG. 1 is a schematic diagram of a wind sailing boat motion state optimizing energy-saving control system according to the invention;
FIG. 2 is a schematic view of a four degree of freedom motion of the wind sailing boat according to the present invention;
FIG. 3 is a flowchart of a method for optimizing the motion state of a sailing boat according to the present invention;
FIG. 4 is a flow chart of the analysis of the buoyancy and stability of the sailing boat according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. It will be understood that the terms first, second, etc. as used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present application. Both the first element and the second element are elements, but they are not the same element.
In this embodiment, a system for optimizing the motion state of a sailing boat for energy saving control is specifically provided, as shown in fig. 1-2, and is characterized by comprising: the system comprises a ship motion state information interaction module, a sailing ship motion identification model module, a sailing ship oil consumption analysis module, a sailing ship motion optimization energy-saving analysis module and a sailing ship motion state optimization control module;
The ship motion state information interaction module is used for storing first ship data and providing data storage and interaction services for other modules in the system, wherein the first ship data comprises basic parameters of a sailing ship and historical sailing environment data;
The sailing boat motion identification model module is used for identifying the sailing boat motion states under different sailing environments based on the first ship data and the second ship data;
The wind sailing boat oil consumption analysis module is used for determining the total sailing resistance of the wind sailing boat under different motion states based on the motion states corresponding to the wind sailing boat and the sailing environment, so as to obtain the main engine power and oil consumption data of the wind sailing boat under different motion states;
the wind sailing boat motion optimization energy-saving analysis module is used for calculating the energy efficiency level of the corresponding wind sailing boat based on the oil consumption data of the wind sailing boat host under different motion states, determining the optimal motion state of the wind sailing boat when the energy efficiency level of the wind sailing boat is optimal, and feeding back the data of the optimal motion state of the wind sailing boat to the wind sailing boat motion state optimization control module;
the wind sailing boat motion state optimizing control module is used for adjusting control commands based on the wind sailing boat optimal motion state data so as to realize optimizing control of the wind sailing boat motion state.
The problems of low energy efficiency level and high energy consumption of the whole ship caused by high resistance of the sailing ship due to improper movement state in the traditional energy consumption analysis process can be solved based on the mutual coordination and matching of the functional modules; the ship motion state information interaction module provides a data interaction channel and an information storage function for other functional modules, and after the sailing ship motion recognition model module recognizes the sailing ship motion states under different sailing environments, the sailing ship oil consumption analysis module and the sailing ship motion optimization energy-saving analysis module cooperate to finish the decision of the optimal motion state of the sailing ship; after the optimal motion state of the sailing boat is obtained, the rudder angle can be guided to be selected, the attack angle of the sailing boat can be controlled, the distribution condition of the sailing boat when the sailing boat leaves the port and the use condition of the oil and water tanks in the sailing process can be exchanged, so that the sailing boat can sail in the optimal motion state, and the energy efficiency level of the sailing boat can be effectively improved.
In some specific embodiments, the ship motion state information interaction module is respectively connected with the sailing ship motion identification model module, the sailing ship energy consumption analysis module, the sailing ship motion state optimization control module and the sailing ship motion optimization energy-saving analysis module, and provides a data interaction service channel for the modules so as to realize linkage and synergy among the modules, wherein the data interaction service comprises a data integration arrangement service, a data transmission service and an information sharing service; the data integration and arrangement service comprises, but is not limited to, integrating system data with different address sources, formats, characteristics and properties, and unifying the integrated data in a database to solve the problems of the distribution and the isomerism of the data; the system data comprises, but is not limited to, basic parameters of a sailing boat (such as the mass, cargo carrying capacity and the like of the sailing boat), sea state information (such as wind speed, wind direction, wave height and the like of the sailing boat) and sailing data, wherein the sailing data comprises, but is not limited to, the sailing speed, the attack angle of the sailing boat, the trim angle, the bow angle and the like.
Wherein, in some specific embodiments, the sailing boat motion recognition model module includes:
The data acquisition submodule is a motion identification data acquisition submodule, and is used for interacting with the ship motion state information interaction module to acquire first ship data and acquire second ship data in real time, wherein the second ship data at least comprises real-time sailing data of a sailing ship;
The black box motion recognition sub-model is used for recognizing the motion states of the sailing ships in different navigation environments based on the first ship data and the second ship data so as to obtain current ship motion state data;
And the self-adaptive updating sub-model is used for carrying out self-adaptive updating on the model parameters of the black box motion identification sub-model.
In one more specific embodiment, the black box motion recognition sub-model adopts a recognition model with four-degree-of-freedom motion recognition capability of a sailing boat, namely, the recognition model is used for taking first ship data and second ship data as input features, taking the speed change rate of the four-degree-of-freedom motion data of the sailing boat as output response, and obtaining current ship motion state data, wherein the four-degree-of-freedom motion data of the sailing boat comprise ship advancing speeds (motion along the x axis direction) and angular speeds of rotation of the ship around x, y and z axes respectively, namely, rolling data (rolling rotation motion taking the x axis as an axis), pitching data (pitching rotation motion taking the y axis as an axis), and bow shaking data (rotation motion taking the z axis as an axis); the black box motion recognition sub-model integrates and processes ship navigation data based on the following four-degree-of-freedom motion model of the sailing ship, and the specific process comprises the following steps:
In a coordinate system taking a ship as a reference system, taking the gravity center G of the ship as a coordinate origin, and taking an x-axis as a cross section perpendicular to the ship so as to be positive to the bow; the y-axis is taken as being perpendicular to the middle longitudinal section so as to point to the starboard; the z axis is taken to be perpendicular to the water plane, and the pointing keel is taken as positive;
the model formula corresponding to the identification model with the four-degree-of-freedom motion identification capability of the sailing boat is as follows:
In the above formulae, m represents the mass of the ship; a represents a speed of advance in the x-axis direction; x represents acting force applied to the ship in the X-axis direction; i x represents the moment of inertia of the ship about the x-axis; i y represents the moment of inertia of the ship around the y-axis; i z represents the moment of inertia of the ship about the z-axis; p represents the angular velocity of rotation of the vessel about the x-axis; q represents the angular velocity of rotation of the vessel about the y-axis; r represents the angular velocity of rotation of the vessel around the z-axis; k represents the transverse moment acting on the ship; e represents a pitching moment acting on the vessel; n represents a yaw moment acting on the ship, wherein the directions of p, q and r accord with the right-hand screw rule;
wherein, corresponding external force and external moment acting on the sail navigation assisting ship are shown in formulas (5) to (8):
X＝XH+XP+XR+XWing+XWind+XWave (5)
K＝KH+KP+KR+KWing+KWind+KWave (6)
E＝EH+EP+ER+EWing+EWind+EWave (7)
N＝NH+NP+NR+NWing+NWind+NWave (8)
Where each subscript H, P, R, wing represents a hull, a propeller, a rudder, and a sail in a static and Wave-static environment, and winds and Wave represent environmental disturbance Wind and Wave, respectively, X H、XP、XR、XWing、XWind、XWave represents an external force acting on the hull of the sail-assisted ship, an external force acting on the propeller of the sail-assisted ship, an external force acting on the rudder of the sail-assisted ship, an external force acting on the sail of the sail-assisted ship, an acting force of Wind on the whole ship, and an acting force of Wave on the whole ship, K H、KP、KR、KWing、KWind、KWave represents a roll moment acting on the hull of the sail-assisted ship, a roll moment acting on the propeller of the sail-assisted ship, a roll moment acting on the rudder of the sail-assisted ship, a roll moment acting on the sail of the sail-assisted ship, a roll moment acting on the whole ship, and a roll moment acting on the whole ship, E H、EP、ER、EWing、EWind、EWave represents a pitching moment acting on the hull of the sail-assisted ship, a pitching moment acting on the propeller of the sail-assisted ship, a pitching moment acting on the rudder of the sail-assisted ship, a pitching moment acting on the sail of the sail-assisted ship, a pitching moment of Wind to the whole ship and a pitching moment of waves to the whole ship, respectively, and N H、NP、NR、NWing、NWind、NWave represents a pitching moment acting on the hull of the sail-assisted ship, a pitching moment acting on the propeller of the sail-assisted ship, a pitching moment acting on the rudder of the sail-assisted ship, a pitching moment acting on the sail of the sail-assisted ship, a pitching moment of Wind to the whole ship and a pitching moment of waves to the whole ship, respectively.
Preferably, when analyzing the relevant data information acquired in the sailing process of the sailing boat, such as the basic parameters of the boat, the sailing environment data and the motion state data stored in the boat motion state information interaction module, environment data such as the sailing speed, rudder angle, heading angle, sail chord direction, wind speed, wind direction and wave height acquired by the sensor can be used as input characteristics by adopting a support vector machine and other methods, and the speed change rate of four degrees of freedom of the boat advancing speed and the angular speed of the boat rotating around the x, y and z axes is used as output response, so that the black box motion identification model capable of effectively predicting and identifying the four degrees of freedom of the boat is established.
Preferably, when the self-adaptive updating sub-model carries out self-adaptive updating on the model parameters of the black box motion identification sub-model, the self-adaptation of the wind sailing boat motion identification model can be improved by adopting a sliding time window self-adaptive updating method and the like, namely, the model is updated by using the latest collected data information at intervals, so that the model can adapt to the change of the motion state of the boat, the accuracy of the model is ensured, and the model is corrected and improved along with the time.
In some specific embodiments, the wind sailing boat fuel consumption analysis module includes: the sailing resistance calculation sub-model of the sailing boat is used for determining the sailing total resistance of the sailing boat based on the motion state corresponding to the sailing boat and the sailing environment; the wind sailing boat power calculation sub-model is used for determining wind sailing boat host power data based on the total sailing resistance of the wind sailing boat; and the wind sailing boat oil consumption calculation sub-model is used for determining wind sailing boat oil consumption data based on the wind sailing boat main engine power data.
In some more specific embodiments, the sailing resistance calculation sub-model is used for calculating and analyzing the ship resistance of the sailing boat under different motion states and sailing environment conditions (i.e. different wind speeds, wind directions, wave heights, etc.), that is, based on the sailing boat speed, range and actual sea state information, i.e. wind speeds, wind directions, wave heights, etc., a sailing resistance model of the sailing boat is constructed for calculation, and the formula of the sailing resistance model of the sailing boat is as follows:
Wherein R t represents the total sailing resistance of the sailing boat; alpha represents the attack angle of the sail, namely the included angle between the chord direction of the sail and the relative wind direction; v S represents the vessel speed; v represents the relative wind speed; ζ represents wave height; beta represents a transverse inclination angle; Representing pitch angle; gamma denotes the yaw angle. The sailing resistance calculation sub-model of the sailing boat adopts the existing hydrodynamics, establishes a three-dimensional ship model based on sailing environmental conditions of the sailing boat and related data of the sailing boat by adopting a numerical calculation method, further calculates the sailing resistance of the sailing boat in different motion states, and further analyzes the ship oil consumption and power because the ship resistance condition is related to the running state of the sailing boat and the ship oil consumption is influenced, namely, on the basis of the calculation of the resistance, the ship oil consumption in different motion states is calculated by constructing the sailing boat oil consumption calculation sub-model, and the calculated oil consumption data is transmitted to the ship motion state information interaction module and the sailing boat motion optimization energy-saving analysis module so as to finish analysis and evaluation of the energy-saving condition of the ship. The wind sailing boat oil consumption calculation sub-model calculates the power of a wind sailing boat host on the basis of calculation and analysis of the total resistance of the wind sailing boat.
In some more specific embodiments, the model formula of the wind sail boat power calculation sub-model is:
wherein,
ηO＝(KT·J)/(KQ·2π) (11)
ηH＝(1-t)/(1-w) (12)
VA＝(1-w)VS (14)
Wherein P M represents the power of the main engine of the sailing boat; r t represents the total sailing resistance of the sailing boat; f sail represents the total thrust of the sail; v S represents the vessel speed; η S denotes shafting transfer efficiency; η O represents the water-opening efficiency of the propeller; η H represents the hull efficiency; η R denotes the relative rotation efficiency of the propeller; j represents a propeller speed coefficient; k T denotes the propeller thrust coefficient; k Q denotes the propeller torque coefficient; t represents a thrust derating coefficient, and w represents an accompanying flow coefficient; h p represents the propeller progress; d represents the diameter of the propeller; v A denotes the propeller speed; n represents the rotational speed of the propeller;
In some more specific embodiments, the model formula of the wind turbine fuel consumption calculation sub-model is:
QM＝(PM+PS)·ge·T1+PM·ge·T2 (15)
QAux＝PAux·gAux·T3 (16)
Qt＝QM+QAux (17)
Wherein Q M represents the consumption of the main engine oil; p M represents the wind sailing boat host power; p S represents the shaft generator power; g e represents the main engine fuel consumption rate; t 1 represents the on-sailing time of the shaft generator; t 2 represents the unopened sailing time of the shaft generator; q Aux represents the sub-oil consumption; p Aux denotes the auxiliary power; g Aux represents the fuel consumption rate of the auxiliary machine; t 3 represents the starting navigation time of the auxiliary machine; q t represents the total fuel consumption of the ship voyage.
In some specific embodiments, the wind sailing boat motion optimization energy-saving analysis module can realize energy-saving effect analysis of wind sailing boat motion state optimization control, specifically, the wind sailing boat motion optimization energy-saving analysis module obtains relevant basic data of boat energy efficiency calculation based on the boat motion state information interaction module, and wind sailing boat oil consumption data under different motion states obtained by the wind sailing boat energy consumption analysis module calculation, calculates corresponding wind sailing boat energy efficiency level, determines the wind sailing boat optimal motion state when the wind sailing boat energy efficiency level is optimal, and feeds back the wind sailing boat optimal motion state data to the wind sailing boat motion state optimization control module;
In some specific embodiments, the wind sailing boat motion state optimization control module mainly functions to control the motion state of the boat based on the data information of the wind sailing boat motion recognition model module, the wind sailing boat energy consumption analysis module and the wind sailing boat motion optimization energy saving analysis module, calculate the boat energy consumption under different motion states (such as according to the boat energy consumption calculation analysis results under different motion states and sailing environment conditions) by changing the motion state of the wind sailing boat, and compare and analyze the boat energy consumption under different motion states and sailing conditions, so as to obtain the motion state with the best energy efficiency (lowest) under different sailing conditions, and on the basis, control the motion state of the boat by controlling rudder angles, controlling the angle of attack, using oil and water tanks and the like, namely, the wind sailing boat motion state optimization control module is used for adjusting control commands based on the data of the optimal motion state of the wind sailing boat so as to realize the optimal manipulation control of the motion state of the wind sailing boat.
The control command comprises a rudder angle control command, a sail attack angle control command and an optimized assembly reminding command; the rudder angle control command can adjust the bow angle and the heading of the ship through controlling the rudder angle; adjusting the transverse inclination angle of the ship and the boosting force of the sail by controlling the attack angle of the sail; the optimized assembly reminding command is used for reminding a user of optimized assembly of a cargo loading position, and optimized configuration and allocation of an oil tank, a water tank and a ballast water tank to adjust trim and trim angles of a ship, and the optimized data can be used for obtaining a corresponding database by training simulation based on a neural network in advance and giving guiding advice in the use process; the loading stage takes the weight of the goods as guidance according to the optimal motion state, the goods are allocated, and the initial state of the ship, namely the initial trim and trim angle, is controlled.
The energy efficiency level of the wind sailing boat is calculated by the following formula,
Wherein: EE sail-ship represents the energy efficiency level of the wind sailing boat; q t represents the total fuel consumption of the sailing times of the wind sailing boat; Representing fuel carbon dioxide emissions factors; m represents cargo capacity; l represents the voyage mileage of the wind sailing boat. The design principle of the module is as follows:
Based on the calculation of the ship resistance in the scheme, the ship oil consumption is closely related to the ship roll angle, the pitching angle, the bow-roll angle and the like, the energy efficiency of the ship in each motion state is calculated, the optimal motion state information of the sailing ship when the energy efficiency is optimal is obtained, the optimal motion state information of the sailing ship comprises a navigational speed, a sailing attack angle, a ship pitch angle, a transverse pitch angle and a bow-roll angle, the optimal motion state information of the sailing ship is sent to a sailing ship motion state optimization control module, and each parameter is regulated and controlled to be sailed under the optimal motion state (the navigational speed, the sailing attack angle, the longitudinal pitch angle, the transverse pitch angle and the bow-roll angle of the ship).
Based on the same inventive concept, the invention also provides a wind sailing boat motion state optimizing energy-saving control method based on the wind sailing boat motion state optimizing energy-saving control system, which is shown in fig. 3, calculates the output power and the oil consumption of a wind sailing boat host under different motion states based on the data information obtained by the boat motion state information interaction module, obtains the oil consumption and the energy efficiency level of the wind sailing boat under different motion states, calculates and obtains the optimal motion state of the wind sailing boat under different sea conditions by taking the optimal energy efficiency level of the wind sailing boat as a target, and analyzes the energy saving effect under the optimal motion state of the wind sailing boat, and specifically comprises the following steps:
s1, acquiring first ship data through the ship motion state information interaction module;
S2, acquiring second ship data through the sailing ship motion identification model module and combining the first ship data, and identifying the sailing ship motion state in the current sailing environment, for example, constructing a sailing ship motion identification model with four degrees of freedom of forward movement, rolling, pitching and rolling based on the data information of the sailing ship;
S3, determining the total sailing resistance of the sailing boat under different motion states through the sailing boat oil consumption analysis module, and further obtaining the host power and oil consumption data of the sailing boat under different motion states; the method comprises the steps of calculating the resistance of the sailing boat in different motion states under specific sailing environment conditions, and calculating to obtain the power of a main engine of the sailing boat in different motion states on the basis of the resistance, so as to obtain the oil consumption of the sailing boat in different motion states;
s4, calculating and analyzing the energy efficiency level of the sailing boat under each motion state according to the first ship data (such as basic parameter information of the sailing boat) and the oil consumption data of the sailing boat, and obtaining the optimal reference motion state of the sailing boat by taking the optimal energy efficiency level of the sailing boat as a basis;
S5, analyzing the floating state and stability of the sailing boat under the optimal reference motion state to obtain an analysis result of the floating state and stability of sailing boat navigation so as to ensure the safety and reliability of sailing boat navigation;
and S6, based on the analysis results of the energy efficiency level, the floating state and the stability of the sailing boat, deciding a motion state with the optimal energy efficiency level of the sailing boat meeting the requirements of the floating state and the stability, and further controlling the sailing boat.
Specifically, the analysis of the buoyancy and stability of the ship in step S5, as shown in fig. 4, includes the following steps:
S51, judging whether the ship energy efficiency analysis feedback navigation data under the reference motion meets the ship buoyancy performance requirement according to the ship energy efficiency analysis feedback navigation data, wherein the ship buoyancy balance condition meets the following formula:
Wherein W represents the weight of the ship; delta represents the buoyancy of the vessel; b represents a floating center of the ship, and the specific position is (X B,YB,ZB); g represents the center of gravity of the ship, and the specific position is (X B,YB,ZB); representing the trim angle of the vessel; θ represents a ship transverse inclination angle;
S52, if the reference motion state meets the ship floating state balance condition in S51, performing analysis and judgment on the ship stability in step S53; if the reference motion state does not meet the ship floating state balance condition in the step S51, the next-stage ship motion state data is reselected, and the step S51 is repeated to analyze and judge the ship floating state until the ship floating state balance condition is met;
S53, judging whether the ship stability condition requirement is met according to the optimal ship motion state data meeting the ship floating state, wherein the ship stability judgment requirement meets the following conditions:
(1) Initial stability (angle theta of transverse inclination of ship is smaller than 10-15 degree)
Wherein GM represents the primary stability height of the ship; m represents the center of the ship, and the specific position is (X M,YM,ZM); r represents the center radius; GZ represents the ship stationarity moment arm; m s represents the vessel stabilizing moment.
(2) High inclination angle stability (angle θ of vessel heel is greater than 10 ° to 15 °, or upper deck edge begins to be watered)
S54, if the reference ship motion state meets the ship stability condition in S53, determining that the motion state is the optimal motion state of the ship; if the reference motion state does not satisfy the ship stability condition in S53, the next stage of ship motion state data is selected, and steps S51, S52, and S53 are repeated to determine.
Based on the same inventive concept, the invention also proposes a computer-readable storage medium comprising computer instructions, which when run on a computer, cause the computer to perform the method.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (6)
1. The utility model provides a wind sailing boat motion state optimization energy-saving control system which characterized in that includes: the system comprises a ship motion state information interaction module, a sailing ship motion identification model module, a sailing ship oil consumption analysis module, a sailing ship motion optimization energy-saving analysis module and a sailing ship motion state optimization control module;
The ship motion state information interaction module is used for storing first ship data and providing data interaction service for other modules in the system, wherein the first ship data comprises basic parameters of a sailing ship and historical sailing environment data;
The sailing boat motion identification model module is used for identifying the sailing boat motion states under different sailing environments based on the first ship data and the second ship data;
The wind sailing boat oil consumption analysis module is used for determining the total sailing resistance of the wind sailing boat under different motion states based on the motion states corresponding to the wind sailing boat and the sailing environment, so as to obtain the main engine power and oil consumption data of the wind sailing boat under different motion states;
the wind sailing boat motion optimization energy-saving analysis module is used for calculating the energy efficiency level of the corresponding wind sailing boat based on the oil consumption data of the wind sailing boat host under different motion states, determining the optimal motion state of the wind sailing boat when the energy efficiency level of the wind sailing boat is optimal, and feeding back the data of the optimal motion state of the wind sailing boat to the wind sailing boat motion state optimization control module;
the wind sailing boat motion state optimizing control module is used for adjusting control commands based on the wind sailing boat optimal motion state data so as to realize optimizing control of the wind sailing boat motion state.
2. The wind sailing boat motion state optimization energy-saving control system of claim 1, wherein the wind sailing boat motion recognition model module includes:
The motion recognition data acquisition submodule is used for interacting with the ship motion state information interaction module to acquire first ship data and acquiring second ship data in real time, and the second ship data at least comprises real-time sailing data of a sailing ship;
The black box motion recognition sub-model is used for recognizing the motion states of the sailing ships in different navigation environments based on the first ship data and the second ship data so as to obtain current ship motion state data;
And the self-adaptive updating sub-model is used for carrying out self-adaptive updating on the model parameters of the black box motion identification sub-model.
3. The wind sailing boat motion state optimization energy-saving control system according to claim 2, wherein the black box motion recognition sub-model adopts a recognition model with four-degree-of-freedom motion recognition capability of the wind sailing boat, namely the recognition model is used for taking first boat data and second boat data as input features, taking the speed change rate of the four-degree-of-freedom motion data of the wind sailing boat as output response, and obtaining current boat motion state data, wherein the four-degree-of-freedom motion data of the wind sailing boat comprise the boat advancing speed and the angular speeds of the boat rotating around x, y and z axes respectively; in a coordinate system taking a ship as a reference system, taking the gravity center G of the ship as a coordinate origin, and taking an x-axis as a cross section perpendicular to the ship so as to be positive to the bow; the y-axis is taken as being perpendicular to the middle longitudinal section so as to point to the starboard; the z axis is taken to be perpendicular to the water plane, and the pointing keel is taken as positive;
the model formula corresponding to the identification model with the four-degree-of-freedom motion identification capability of the sailing boat is as follows
In the above formulae, m represents the mass of the ship; a represents a speed of advance in the x-axis direction; x represents acting force applied to the ship in the X-axis direction; i x represents the moment of inertia of the ship about the x-axis; i y represents the moment of inertia of the ship around the y-axis; i z represents the moment of inertia of the ship about the z-axis; p represents the angular velocity of rotation of the vessel about the x-axis; q represents the angular velocity of rotation of the vessel about the y-axis; r represents the angular velocity of rotation of the vessel around the z-axis; k represents the transverse moment acting on the ship; e represents a pitching moment acting on the vessel; n represents a yaw moment acting on the ship, wherein the directions of p, q and r accord with the right-hand screw rule;
The external force and the external moment which are correspondingly acted on the sail boat are shown in the formulas (5) to (8):
X＝XH+XP+XR+XWing+XWind+XWave (5)
K＝KH+KP+KR+KWing+KWind+KWave (6)
E＝EH+EP+ER+EWing+EWind+EWave (7)
N＝NH+NP+NR+NWing+NWind+NWave (8)
Where each subscript H, P, R, wing represents a hull, a propeller, a rudder, and a sail in a static and Wave-static environment, and winds and Wave represent environmental disturbance Wind and Wave, respectively, X H、XP、XR、XWing、XWind、XWave represents an external force acting on the hull of the sail-assisted ship, an external force acting on the propeller of the sail-assisted ship, an external force acting on the rudder of the sail-assisted ship, an external force acting on the sail of the sail-assisted ship, an acting force of Wind on the whole ship, and an acting force of Wave on the whole ship, K H、KP、KR、KWing、KWind、KWave represents a roll moment acting on the hull of the sail-assisted ship, a roll moment acting on the propeller of the sail-assisted ship, a roll moment acting on the rudder of the sail-assisted ship, a roll moment acting on the sail of the sail-assisted ship, a roll moment acting on the whole ship, and a roll moment acting on the whole ship, E H、EP、ER、EWing、EWind、EWave represents a pitching moment acting on the hull of the sail-assisted ship, a pitching moment acting on the propeller of the sail-assisted ship, a pitching moment acting on the rudder of the sail-assisted ship, a pitching moment acting on the sail of the sail-assisted ship, a pitching moment of Wind to the whole ship and a pitching moment of waves to the whole ship, respectively, and N H、NP、NR、NWing、NWind、NWave represents a pitching moment acting on the hull of the sail-assisted ship, a pitching moment acting on the propeller of the sail-assisted ship, a pitching moment acting on the rudder of the sail-assisted ship, a pitching moment acting on the sail of the sail-assisted ship, a pitching moment of Wind to the whole ship and a pitching moment of waves to the whole ship, respectively.
4. The wind turbine motion state optimization energy saving control system of claim 1, wherein the wind turbine fuel consumption analysis module comprises:
The sailing resistance calculation sub-model of the sailing boat is used for determining the sailing total resistance of the sailing boat based on the motion state corresponding to the sailing boat and the sailing environment;
the wind sailing boat power calculation sub-model is used for determining wind sailing boat host power data based on the total sailing resistance of the wind sailing boat;
the wind sailing boat oil consumption calculation sub-model is used for determining wind sailing boat oil consumption data based on the wind sailing boat main engine power data;
The model formula of the wind sailing boat power calculation sub-model is as follows:
wherein,
ηO＝(KT·J)/(KQ·2π) (10)
ηH＝(1-t)/(1-w) (11)
VA＝(1-w)VS (13)
Wherein P M represents the power of the main engine of the sailing boat; r t represents the total sailing resistance of the sailing boat; f sail represents the total thrust of the sail; v S represents the vessel speed; η S denotes shafting transfer efficiency; η O represents the water-opening efficiency of the propeller; η H represents the hull efficiency; η R denotes the relative rotation efficiency of the propeller; j represents a propeller speed coefficient; k T denotes the propeller thrust coefficient; k Q denotes the propeller torque coefficient; t represents a thrust derating coefficient, and w represents an accompanying flow coefficient; h p represents the propeller progress; d represents the diameter of the propeller; v A denotes the propeller speed; n represents the rotational speed of the propeller;
the model formula of the wind sailing boat oil consumption calculation sub-model is as follows:
QM＝(PM+PS)·ge·T1+PM·ge·T2 (14)
QAux＝PAux·gAux·T3 (15)
Qt＝QM+QAux (16)
Wherein Q M represents the consumption of the main engine oil; p M represents the wind sailing boat host power; p S represents the shaft generator power; g e represents the main engine fuel consumption rate; t 1 represents the on-sailing time of the shaft generator; t 2 represents the unopened sailing time of the shaft generator; q Aux represents the sub-oil consumption; p Aux denotes the auxiliary power; g Aux represents the fuel consumption rate of the auxiliary machine; t 3 represents the starting navigation time of the auxiliary machine; q t represents the total fuel consumption of the ship voyage.
5. The wind turbine motion state optimization energy saving control system of claim 4, wherein the wind turbine energy efficiency level is calculated by the formula:
Wherein: EE sail-ship represents the energy efficiency level of the wind sailing boat; q t represents the total fuel consumption of the sailing times of the wind sailing boat; c CO2 represents a fuel carbon dioxide emission factor; m represents cargo capacity; l represents the voyage mileage of the wind sailing boat.
6. A method for optimizing energy saving control of a windsurfing boat motion state based on the windsurfing boat motion state optimizing energy saving control system according to any one of claims 1 to 5, comprising the steps of:
s1, acquiring first ship data through the ship motion state information interaction module;
s2, acquiring second ship data through the sailing ship motion identification model module and combining the first ship data to identify the sailing ship motion state in the current sailing environment;
S3, determining the total sailing resistance of the sailing boat under different motion states through the sailing boat oil consumption analysis module, and further obtaining the host power and oil consumption data of the sailing boat under different motion states;
s4, calculating and analyzing the energy efficiency level of the sailing boat in each motion state according to the first ship data and the oil consumption data of the sailing boat, and obtaining the optimal reference motion state of the sailing boat by taking the optimal energy efficiency level of the sailing boat as a basis;
S5, analyzing the floating state and stability of the sailing boat under the optimal reference motion state to obtain an analysis result of the floating state and stability of sailing of the sailing boat;
and S6, based on the analysis results of the energy efficiency level, the floating state and the stability of the sailing boat, deciding a motion state with the optimal energy efficiency level of the sailing boat meeting the requirements of the floating state and the stability, and further controlling the sailing boat.
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