JP6782643B2 - Ship operation support system and ship operation support method - Google Patents

Description

The present invention relates to a ship operation support system and a ship operation support method.

A hybrid type ship that is propelled by using the electric power of an inboard storage battery is known (see, for example, Patent Document 1 and Patent Document 2). Such a hybrid type ship is equipped with a ship operation system for efficiently using the electric power of the onboard storage battery. Further, it is known that a ship that carries and operates an electric vehicle having a portable power storage device uses the power storage device as a power source (see, for example, Patent Document 3 and the like).

Japanese Unexamined Patent Publication No. 2013-209018 JP 2015-003658 Japanese Patent No. 5455765

The above-mentioned ship operation support system is required to efficiently use the electric power of the onboard storage battery and to reduce the operation cost required for one operation.

The present invention has been made in view of the above, and an object of the present invention is to provide a ship operation support system and a ship operation support method capable of suppressing the operation cost required for one operation.

The ship operation support system according to the present invention is equipped with an inboard storage battery, loads a load having a power storage device, operates a route from a first point to a second point, and charges and discharges the power storage device. It is a ship operation support system capable of the operation, the time required for the operation, the speed of the ship against water when the route is divided into a plurality of sections, the inboard power demand of the ship, and the output of the ship. , The charge / discharge amount and charge rate of the inboard storage battery and the power storage device for each section, and the constraint condition setting unit that sets the temperature of the inboard storage battery and the power storage device as constraint conditions, and under the constraint condition. The speed distribution of the watercraft for each section is minimized, with the speed of the watercraft for each section as the control variable and the operating cost from the first point to the second point as the objective function. And an arithmetic unit that performs an optimization calculation obtained by solving the onboard storage battery and the charge / discharge amount of the power storage device, and the operating cost includes the cost related to the navigation of the ship and the cost related to the charge / discharge of the power storage device. And include.

According to the present invention, in a ship capable of utilizing the electric power from the onboard storage battery and the power storage device of the load, the objective function (operating cost) is minimized under the constraint conditions including the conditions related to the power storage device. A ship operation support system that can reduce the operating cost required for one operation while reducing the required capacity of the onboard storage battery in order to perform optimization calculations obtained by solving the speed distribution to water and the amount of charge and discharge. Is obtained.

Further, the ship has an inboard power generation device, and the inboard power demand may be the sum of the power generation output of the inboard power generation device, the output of the inboard storage battery, and the output of the power storage device.

According to the present invention, it is possible to calculate the values of the ship speed distribution and the charge / discharge amount that minimize the operating cost with high accuracy by setting the inboard power demand as a constraint condition including the condition related to the power storage device.

Further, the onboard power generation device may include a renewable energy power generation device.

As a result, energy saving can be achieved, and the operating cost can be further reduced.

In addition, the calculation unit may calculate a predicted value of the amount of power generated by the renewable energy power generation device based on the weather forecast information of the route.

As a result, the operating cost can be obtained more accurately. As a result, it becomes possible to calculate the values of the ship speed distribution and the charge / discharge amount that minimize the operating cost with high accuracy.

The ship operation support method according to the present invention includes an inboard storage battery, loads a load having a power storage device, operates a route from a first point to a second point, and charges and discharges the power storage device. It is a possible ship operation support method, such as the time required for the operation, the speed of the ship against water when the route is divided into a plurality of sections, the inboard power demand of the ship, and the output of the ship. , The charge / discharge amount and charge rate of the onboard storage battery and the power storage device for each section, and the temperature of the onboard storage battery and the power storage device are set as constraint conditions, and for each section under the constraint conditions. The speed distribution to the water vessel is used as a control variable, and the operating cost from the first point to the arrival at the second point is used as the objective function, and the anti-water vessel speed for each section and the inside of the ship are minimized. The operation cost includes the cost related to the navigation of the ship and the cost related to the charge / discharge of the power storage device, including performing an optimization calculation obtained by solving the charge / discharge amount of the storage battery and the power storage device.

According to the present invention, in a ship capable of utilizing the electric power from the onboard storage battery and the power storage device of the load, the objective function (operating cost) is minimized under the constraint conditions including the conditions related to the power storage device. A ship operation support system that can reduce the operating cost required for one operation while reducing the required capacity of the onboard storage battery in order to perform optimization calculations obtained by solving the speed distribution to water and the amount of charge and discharge. Is obtained.

According to the present invention, it is possible to provide a ship operation support system and a ship operation support method capable of suppressing operation costs.

FIG. 1 is a block diagram showing an example of a ship operation support system. FIG. 2 is a block diagram showing a processing flow in the control device. FIG. 3 is a table showing an example of automobile information scheduled to be connected to a ship. FIG. 4 is a table specifically showing the constraint conditions set by the constraint condition setting unit and the contents of the control variables and objective functions used in the calculation of the calculation unit. FIG. 5 is a diagram showing ship speeds allocated for each section so that the operating cost from the first point to the second point is minimized. FIG. 6 is a diagram showing the relationship between the section and the ship speed when sailing at the ship speed allocated to each section. FIG. 7 is a flowchart showing an example of a ship operation support method. FIG. 8 is a flowchart showing the process in step S20 in more detail. FIG. 9 is a flowchart showing the process in step S120 in more detail. FIG. 10 is a diagram showing an example of a plurality of candidate routes. FIG. 11 is a flowchart showing a process for selecting an optimum route from a plurality of candidate routes.

Hereinafter, embodiments of the ship operation support system and the ship operation support method according to the present invention will be described with reference to the drawings. The present invention is not limited to this embodiment. In addition, the components in the following embodiments include those that can be easily replaced by those skilled in the art, or those that are substantially the same.

FIG. 1 is a block diagram showing an example of a ship operation support system SYS. The operation support system SYS includes a ship 10 and a control device 30. The operation support system SYS supports the operation of a ship based on, for example, the voyage plan of the ship 10, meteorological / sea condition forecast information, and initial conditions (for example, ship speed distribution).

The ship 10 is an electric propulsion ship having an inboard storage battery, a hybrid propulsion ship, and the like. Specific examples include car carriers, car ferries, passenger ships, and ships. The ship 10 is composed of a main engine 11 which is a main engine for propelling the ship 10, a generator 12 such as a turbine generator which generates electricity by power obtained from the main engine 11, and the main engine 11. A generator 13 such as a diesel generator, a renewable energy generator 14 that generates DC power such as a solar power generator, a renewable energy generator 15 that generates AC power such as a wind power generator, and these generators 12 and 13. It also has an onboard storage battery 17 capable of storing the electric power generated by the renewable energy power generation devices 14 and 15.

The ship 10 loads a load having a power storage device and operates a predetermined route (see FIG. 6 and the like) from the first point P1 to the second point P2. In the present embodiment, examples of the load having the power storage device include an electric vehicle having an automobile storage battery (or an automobile storage battery) 18 and a hybrid vehicle. The load having the power storage device may be a load having another portable power storage system different from the automobile storage battery 18.

Vessel 10 has an AC system 22 and a DC system 23. The AC system 22 and the DC system 23 are connected via a DC / AC converter 21. The generators 12 and 13, the renewable energy power generation device 15, the propulsion device 16, and the load (AC load) 19 of the other AC system are connected to the AC system 22. The renewable energy power generation device 14, the onboard storage battery 17, and the load (DC load) 20 of the other DC system are connected to the DC system 23. Further, the above-mentioned automobile storage battery 18 can be connected to the DC system 23. When the automobile storage battery 18 is connected to the DC system 23, the automobile storage battery 18 can be charged and discharged.

In the ship 10, the electric power generated by the generators 12 and 13 and the renewable energy power generators 14 and 15 is charged to the inboard storage battery 17, or the propulsion device 16, the load 19 of the other AC system, and the load 20 of the other DC system. Etc. are consumed. When the automobile storage battery 18 is connected to the DC system 23, the electric power generated by the generators 12, 13 and the renewable energy power generation devices 14 and 15 can be charged to the automobile storage battery 18.

The control device 30 divides the route from the first point P1 to the second point P2 into a plurality of sections, and calculates the anti-water vessel speed for each section. FIG. 2 is a block diagram showing a processing flow in the control device 30. The control device 30 has a constraint condition setting unit 31 that sets predetermined constraint conditions based on various input information, and based on the set constraint conditions, the speed of the watercraft for each section, the inboard storage battery 17, and the automobile. It has a calculation unit 32 for calculating the optimum value of the charge / discharge amount of the storage battery 18, and an initial condition setting unit 33 for setting initial conditions for calculation in the calculation unit 32.

As shown in FIG. 2, the constraint condition setting unit 31 is, for example, operation plan information A1, sea condition forecast information A2, weather forecast information A3, past power usage record information A4, use plan information A5 of large-scale load equipment, and connection. Information such as scheduled automobile information A6 is input. The constraint condition setting unit 31 sets the constraint condition and outputs it based on each input information.

The flight plan information A1 includes, for example, information on at least one of departure time, port entry time, route, ship speed limit section, draft, trim, and water depth. The ocean forecast information A2 includes, for example, at least one of wind direction, wind speed, tidal current (flow velocity and direction), ocean current, wave height, and wave direction. The weather forecast information A3 includes, for example, at least one of weather, temperature, and solar radiation. The sea condition forecast information A2 and the weather forecast information A3 are, for example, from the departure time of each waypoint WP on the route to the arrival time of the next waypoint WP, and may be obtained over the entire route. The past power usage record information A4 includes the data of the power usage record in the past operation. The use plan information A5 of the large-scale load equipment includes the power usage plan data of the equipment such as the propulsion device 16 having a large load, the guest room power, the air conditioning power, or the auxiliary power of the ship 10. The automobile information A6 to be connected includes the specifications of the automobile, the number of automobiles, the charge rate of the automobile storage battery 18, and the like.

Further, the constraint condition setting unit 31 converts the input sea condition forecast information A2 into a value for each time step of each waypoint WP (see FIG. 6 and the like), and outputs the converted information B1. The constraint condition setting unit 31 predicts the amount of power generated by the renewable energy power generation devices 14 and 15 based on the input weather forecast information A3, and outputs the prediction result information B2. The constraint condition setting unit 31 predicts the onboard power demand based on the input weather forecast information A3, past power usage record information A4, and use plan information A5 of large-scale load equipment, and outputs prediction result information B3. ..

The various information A1, A2, A3, A4, A5, and A6 may be categorized in more detail. FIG. 3 is a table showing an example of automobile information A6 scheduled to be connected to a ship. As shown in FIG. 3, the automobile information A6 to be connected is classified into information about a car, information about a storage battery, and other information. Information about the vehicle includes items such as vehicle type, displacement, motor output, mileage when fully charged, economic efficiency (for example, cost when traveling 1 km), and environmental friendliness (CO ₂ emissions when traveling 1 km). Can be mentioned. Vehicle types are categorized into examples of electric vehicles, plug-in hybrid vehicles, and power supply vehicles.

In addition, as information about the storage battery, items such as type, capacity, years of use, and deterioration state can be mentioned. The types of storage batteries are categorized into examples of lithium ions, examples of lead, and examples of nickel-metal hydride. In addition, other information includes items such as charging equipment and billing methods. Charging equipment is categorized into outlet type, cable type, and rapid type equipment. The billing method is categorized into hourly billing and charge / discharge amount billing. By categorizing the automobile information from multiple directions in this way, the calculation unit 32 can obtain a more accurate solution. The automobile information shown in FIG. 3 is an example, and is not limited to the above description.

FIG. 4 is a table specifically showing the constraint conditions set by the constraint condition setting unit 31 and the contents of the control variables and objective functions used in the calculation of the calculation unit 32. The constraint condition setting unit 31 is based on the various information A1, A2, A3, A4, A5, A6, B1, B2, and B3, for example, the time required for operation and each section when the route is divided into a plurality of sections. Constraints such as speed to water, inboard power demand of ship 10, output of ship 10, charge / discharge amount and charge rate of inboard storage battery 17 and automobile storage battery 18 for each section, and temperature of inboard storage battery 17 and automobile storage battery 18. To set.

Specifically, the constraints on the time required for operation include, for example, the total voyage time obtained by subtracting the departure time from the arrival time, and the transit time of the intermediate section. The constraint condition of the anti-water vessel speed for each section when the route is divided into a plurality of sections includes, for example, the upper limit and the lower limit of the anti-water vessel speed for each section. The constraint condition of the inboard power demand of the ship 10 is, for example, the sum of the outputs of the generators 12 and 13 and the renewable energy power generation devices 14 and 15, the output of the inboard storage battery 17, and the output of the automobile storage battery 18. The constraint condition of the output of the ship 10 includes, for example, the maximum output for each section of the main equipment on the ship such as the main engine 11, the generator 12, and the propulsion device 16. Constraints on the charge / discharge amount and charge rate of the inboard storage battery 17 and the automobile storage battery 18 for each section include the maximum and minimum values of the charge / discharge amount, the upper and lower limits of the charge rate, and the final value of the charge / discharge rate. The temperature constraint conditions of the inboard storage battery 17 and the automobile storage battery 18 include the temperature conditions set in the inboard storage battery 17 and the automobile storage battery 18.

In the calculation unit 32, the constraint condition output from the constraint condition setting unit 31 is input. Under the input constraint condition, the calculation unit 32 uses the speed of the watercraft for each section as a control variable, and the operating cost from the first point P1 to the second point P2 as the objective function. The optimization calculation is performed by using the speed of the ship against water for each section that minimizes the function and the charge / discharge amount of the inboard storage battery 17 and the automobile storage battery 18 as solutions, and the calculation result is output.

As shown in FIG. 4, the operating cost is the sum of the cost related to the navigation of the ship and the cost related to the charging / discharging of the automobile storage battery 18. Specifically, the cost related to the navigation of a ship is, for example, the sum of the cost required for starting and stopping the onboard equipment, the cost required for operating the ship 10, and the cost required for the maintenance of the ship 10. The cost related to charging / discharging of the automobile storage battery 18 is from the cost paid to the owner of the automobile when discharging the electric power from the automobile storage battery 18 (discharge fee), and the cost received from the owner of the automobile when charging the automobile storage battery 18. It is the value after deducting (charging fee).

The calculation unit 32 uses, as the initial condition of the optimization calculation, a constant condition for the constant speed of the water vessel in at least two sections other than the section excluding the speed limiting section where the maximum vessel speed is limited. It is configured as follows. FIG. 5 is a diagram showing ship speeds allocated for each section so that the operating cost from the first point P1 to the second point P2 is minimized. FIG. 6 is a diagram showing the relationship between the section and the ship speed when sailing at the ship speed allocated to each section.

As shown in FIG. 6, a plurality of sections (10 sections from the first section to the tenth section in the present embodiment) are set between the first point P1 and the second point P2 in the route. Of the plurality of sections, the fourth section and the seventh section are ship speed limiting sections. In addition, a plurality of waypoints WP are set in each section. Waypoints WP are evenly assigned, for example, so that the distance is constant within each section. The waypoint WP is not limited to the allocation such that the distance is constant, and may be set to, for example, a point where the sea condition forecast information A2 and the weather forecast information A3 can be acquired. Further, the waypoint WP may be set by the calculation unit 32, or the waypoint WP set in the external device may be input to the calculation unit 32 via an arbitrary interface.

The calculation unit 32 calculates the optimum value using a predetermined operation cost calculation model. For example, the constraint conditions set for each waypoint WP can be applied to the constraint conditions based on the information such as the sea condition forecast information A2 and the weather forecast information A3. Further, the calculation unit 32 calculates the operating cost in all sections for the ship speed (initial value of the ship speed) of each section defined by the initial conditions, and calculates the ship speed distribution and the charge / discharge amount of the inboard storage battery 17 and the automobile storage battery 18. change. Then, the calculation unit 32 repeatedly calculates the operating cost based on the changed value, thereby satisfying the above constraint conditions and minimizing the operating cost for the watercraft speed distribution C1 and the charge / discharge amount (charge / discharge amount). Charge / discharge plan) C2 (see FIG. 2) is calculated. The calculation unit 32 can adopt a known algorithm such as an interior point method or a sequential quadratic programming method as an algorithm for optimization calculation.

In the example shown in FIG. 5, water resistance is observed in the first to third sections, the fifth and sixth sections, and the eighth to tenth sections except the fourth and seventh sections where the maximum ship speed is restricted. The condition that the vessel speed is constant against water is used as the initial condition for the optimization calculation. In this way, the convergence of the solution of the optimization calculation is improved, and the water vessel speed distribution C1 and the charge / discharge amount C2 that minimize the operating cost from the first point P1 to the second point P2 are obtained for each section. be able to.

Note that FIG. 6 shows an example of a constant condition for the speed of the ship to water, and the first to third sections, the fifth section and the sixth section excluding the fourth section and the seventh section where the maximum ship speed is limited. It is constant in the section and the 8th to 10th sections. Even when sailing at a constant speed to the water, the speed to the ground is not constant in most cases because it is affected by the tidal current in each section.

According to the above configuration, the initial condition of the optimization calculation is the constant condition of the anti-water vessel speed at which the anti-water vessel speed is constant in at least two sections except the section where the maximum vessel speed is restricted. Use. The initial conditions are set in the initial condition setting unit 33. For this reason, the convergence of the solution of the optimization calculation is improved, and the speed distribution C1 for the water vessel and the charge / discharge amount C2 that minimize the operating cost from the first point P1 to the second point P2 are obtained for each section. be able to.

Next, the operation support method of the ship 10 according to the present embodiment will be described. The operation support method for the ship 10 divides the route from the first point P1 to the second point P2 into a plurality of sections, and calculates the water-to-water speed distribution C1 and the charge / discharge amount C2 for each section. FIG. 7 is a flowchart showing an example of an operation support method for the ship 10. As shown in FIG. 7, the operation support method for the ship 10 includes a step of setting constraint conditions (step S10) and a step of calculating the speed distribution C1 to water and the charge / discharge amount C2 (step S20).

In step S10, the constraint condition setting unit 31 determines, for example, the time required for operation and the route based on the various information A1, A2, A3, A4, A5, A6, B1, B2, and B3 for setting the constraint condition. The speed of the ship to water for each section when divided into a plurality of sections, the power demand of the ship 10 on board, the output of the ship 10, the charge / discharge amount and charge rate of the inboard storage battery 17 and the automobile storage battery 18 for each section, and the inboard storage battery 17 And the constraint conditions such as the temperature of the automobile storage battery 18 are set. The constraint condition setting unit 31 outputs the set constraint condition.

In step S20, the calculation unit 32 sets the speed of the watercraft for each section as a control variable under the constraint condition output from the constraint condition setting unit 31, and from the first point P1 to the second point P2. With the operating cost of the above as the objective function, the optimization calculation is performed and calculated using the speed distribution C1 for each section that minimizes the objective function and the charge / discharge amount C2 of the inboard storage battery 17 and the automobile storage battery 18 as solutions. Output the result.

FIG. 8 is a flowchart showing the process in step S20 in more detail. As shown in FIG. 8, in step S20, first, a condition is set from the maximum ship speed condition, the minimum ship speed condition, the measured ship speed condition, and the anti-water ship speed condition (step S110). When the condition is set, the initial value is calculated for each section, and the initial value is set for each section (step S120). Next, the optimization calculation is executed for each condition (step S130), and the solution that minimizes the operating cost is calculated for each condition (step S140). Next, the condition that minimizes the operating cost is extracted (step S150), and the solution (water vessel speed distribution C1 and charge / discharge amount C2 for each section) obtained by the extracted calculation condition is output as the optimum solution. (Step S160).

In step ST120, the initial condition of the optimization calculation is the constant condition of the anti-water vessel speed at which the anti-water vessel speed is constant in at least two sections other than the vessel speed restriction section where the maximum vessel speed is restricted. May be used as. As a result, the convergence of the solution is enhanced, and the ship speed that minimizes the operating cost from the first point P1 to the second point P2 can be obtained for each section.

FIG. 9 is a flowchart showing the process in step S120 in more detail. As shown in FIG. 9, first, the initial anti-water vessel speed is set for the section excluding the vessel speed limiting section (step S121). Next, the arrival time at the second point P2 when sailing at the set initial anti-water vessel speed is obtained (step S122). When the difference between the estimated estimated arrival time and the target arrival time is within the permissible range (YES in step S123), the set initial anti-water vessel speed is set as the anti-water vessel speed (step S124). On the other hand, if the difference between the estimated estimated arrival time and the target arrival time is not within the permissible range (NO in step S123), the initial anti-water vessel speed is corrected so as to be within the permissible range (step S125). Then, when the difference between the estimated arrival time at the second point P2 and the target arrival time when sailing at the corrected initial water vessel speed is within the permissible range (YES in step S123), the corrected initial water resistance is achieved. The ship speed is set to the water speed (step S124).

As described above, the operation support system SYS of the ship 10 according to the present embodiment is equipped with the inboard storage battery 17 and is loaded with a load (electric vehicle or the like) having a power storage device such as an automobile storage battery 18 from the first point P1. It is possible to operate the route to the second point P2 and charge / discharge the power storage device, the time required for the operation, the speed of the watercraft for each section when the route is divided into multiple sections, and the ship. Constraint condition setting unit 31 that sets the inboard power demand of 10, the output of the ship 10, the charge / discharge amount and charge rate of the inboard storage battery 17 and the automobile storage battery 18 for each section, and the temperature of the inboard storage battery 17 and the automobile storage battery 18 as constraint conditions. Under the above constraint conditions, the anti-water vessel speed for each section is used as a control variable, the operating cost from the first point P1 to the second point P2 is used as the objective function, and the objective function is set to the minimum. It is equipped with a calculation unit 32 that performs an optimization calculation that calculates the charge / discharge amount of the inboard storage battery 17 and the automobile storage battery 18 as a solution, and the operating cost is the cost related to the navigation of the ship 10. , Costs related to charging / discharging of a power storage device such as an automobile storage battery 18.

As a result, in the ship 10 capable of utilizing the electric power from the power storage device such as the inboard storage battery 17 and the automobile storage battery 18, the objective function (operation) is performed under the constraint conditions including the conditions related to the power storage device such as the automobile storage battery 18. Since the optimization calculation is performed to obtain the solution of the speed distribution C1 to the water vessel and the charge / discharge amount C2 that minimizes the cost), the operation cost required for one operation is reduced while reducing the required capacity of the inboard storage battery 17. A possible flight support system SYS is obtained. When supplying the electric power of the power storage device such as the automobile storage battery 18 to the ship 10, that is, when discharging the power storage device, the owner side of the ship 10 informs the owner of the power storage device such as the automobile storage battery 18. By providing a reward or the like, an incentive for supplying electric power to the ship 10 side can be generated.

Further, in the operation support system SYS of the ship 10 according to the present embodiment, the ship 10 has generators 12 and 13 which are inboard power generators, and the inboard power demand which is a constraint condition is the generators 12, 13 and the like. Since it is the sum of the power generation output of the onboard power generation device including, the output of the onboard storage battery 17, and the output of the power storage device such as the automobile storage battery 18, the constraint condition including the condition related to the power storage device such as the automobile storage battery 18 as the onboard power demand. By doing so, it is possible to calculate the values of the speed distribution C1 for water vessels and the charge / discharge amount C2 that minimize the operating cost with high accuracy.

Further, in the operation support system SYS of the ship 10 according to the present embodiment, since the inboard power generation device includes the renewable energy power generation devices 14 and 15, energy saving can be achieved. As a result, the operating cost can be further reduced.

Further, the operation support system SYS of the ship 10 according to the present embodiment calculates the predicted value of the power generation amount of the renewable energy power generation devices 14 and 15 based on the weather forecast information A3 of the route, so that the operation cost can be obtained more accurately. be able to. This makes it possible to calculate the values of the speed distribution to the water vessel and the charge / discharge amount that minimize the operating cost with high accuracy.

The technical scope of the present invention is not limited to the above-described embodiment, and modifications can be made as appropriate without departing from the spirit of the present invention. For example, in the above-described embodiment, the speed distribution C1 to the water vessel and the charge / discharge amount C2 to each section of the predetermined route are optimized, but when the degree of freedom in selecting the route is relatively high, The calculation unit 32 may be configured to select the optimum route that minimizes the operating cost from the plurality of candidate routes.

FIG. 10 is a diagram showing an example of a plurality of candidate routes according to the modified example. As shown in FIG. 10, the candidate route A, the candidate route B, and the candidate route C are each divided into a plurality of sections, and a plurality of waypoint WPs are set in each section. The calculation unit 32 performs optimization calculation of the speed distribution to the water vessel C1 and the charge / discharge amount C2 for each of the candidate route A, the candidate route B, and the candidate route C, and performs the optimization calculation of the candidate route A, the candidate route B, and the candidate route C. It is configured to select the optimum route that minimizes the objective function (operating cost).

The calculation unit 32 calculates the operating cost for each section of the candidate route A, the candidate route B, and the candidate route C for the ship speed (initial value of the ship speed) of each section defined by the initial conditions, and distributes the ship speed. By changing the charge / discharge amount and repeatedly calculating the operating cost, the constraint conditions (for example, the target arrival time (target voyage time) at the second point P2, the maximum ship speed limit and the minimum ship speed limit for each section) are performed. Etc.) are satisfied, and the speed distribution C1 for the water vessel and the charge / discharge amount C2 that minimize the operating cost are calculated for each candidate route A, candidate route B, and candidate route C. The minimum value of the operating cost obtained for each of the candidate route A, the candidate route B, and the candidate route C by such the optimization calculation is compared, and the one having the minimum operating cost is selected as the optimum route.

FIG. 11 is a flowchart showing a process for selecting an optimum route from a plurality of candidate routes. As shown in FIG. 11, first, a plurality of candidate routes are set (step S210). At this time, the candidate route may be set based on the presence or absence of, for example, a ship congestion prediction result, a seasonal factor, or a sudden factor (typhoon, accident, etc.). Next, the ship speed distribution and the charge / discharge amount optimization calculation are performed for the set multiple candidate routes, and the water vessel speed distribution C1 and the charge / discharge amount C2 that satisfy the constraint conditions and minimize the operating cost are candidates. Calculated for each route (step S220). Next, the optimum calculation results performed for each candidate route are compared, and the route with the minimum operating cost is selected as the optimum route (step S230). In this way, from among the plurality of candidate routes, the route that minimizes the operating cost (optimal route) and the optimization calculation result of the anti-water vessel speed distribution C1 and the charge / discharge amount C2 for the optimum route are obtained. can get.

Further, in the above embodiment, the calculation unit 32 calculates the speed distribution C1 to the water vessel and the charge / discharge amount C2 for each section between the first point P1 which is the departure point and the second point P2 which is the entry point. However, the example is not limited to this. For example, when the ship 10 reaches an intermediate point located between the first point P1 and the second point P2, the calculation unit 32 performs an optimization calculation for the section between the intermediate point and the second point P2. It may be configured to perform again and recalculate the speed distribution C1 to the water vessel and the charge / discharge amount C2 for each section between the intermediate point and the second point P2.

Further, in the above embodiment, a configuration for minimizing the operating cost of the entire route of one voyage by using a power storage device such as an automobile storage battery 18 has been described as an example, but the present invention is not limited to this. For example, if a special request is made in a specific section or period of a route and the content is known in advance, it may be added to the initial setting conditions of the optimization calculation in the above embodiment. Good. For example, when there is a request to reduce the peak power consumption during cargo handling as much as possible in the berthed section, or when a pulse-like load fluctuation occurs in a predetermined section of an icebreaker, etc. There is a case where the usable power of the total storage battery is discharged at once because the pulse weapon is used.

10 Ship 11 Main engine 12, 13 Generator 14, 15 Regenerative energy generator 16 Propulsion device 17 Onboard storage battery 18 Automobile storage battery 19, 20 Load 21 DC / AC converter 22 AC system 23 DC system 30 Control device 31 Constraint condition setting unit 32 Calculation unit 33 Initial condition setting unit A, B, C Candidate route A1 Operation plan information A2 Sea condition forecast information A3 Weather forecast information A4 Past power usage record information A5 Large-scale load facility usage plan information A6 Vehicle information to be connected B1, B2, B3 Information C1 Speed distribution to water C2 Charge / discharge amount P1 1st point P2 2nd point SYS Operation support system WP Waypoint

Claims (5)

It is a ship operation support system that is equipped with an inboard storage battery, loads a load having a power storage device, operates a route from a first point to a second point, and can charge and discharge the power storage device. hand,
The time required for the operation, the speed of the watercraft for each section when the route is divided into a plurality of sections, the power demand of the ship, the output of the ship, the inboard storage battery and the power storage device for each section. A constraint condition setting unit that sets the charge / discharge amount and charge rate, and the temperatures of the onboard storage battery and the power storage device as constraint conditions.
Under the constraints, the speed of the watercraft for each section is used as a control variable, the operating cost from the first point to the second point is used as the objective function, and the objective function is minimized. An arithmetic unit that performs optimization calculation to obtain the solution of the speed distribution to the water for each section and the charge / discharge amount of the inboard storage battery and the power storage device.
With
The operation cost is a ship operation support system including a cost related to navigation of the ship and a cost related to charging / discharging of the power storage device. The ship has an onboard power generator
The ship operation support system according to claim 1, wherein the onboard power demand is the sum of the power generation output of the onboard power generation device, the output of the onboard storage battery, and the output of the power storage device. The ship operation support system according to claim 2, wherein the onboard power generation device includes a renewable energy power generation device. The ship operation support system according to claim 3, wherein the calculation unit calculates a predicted value of the amount of power generated by the renewable energy power generation device based on the weather forecast information of the route. It is a ship operation support method that is equipped with an inboard storage battery, loads a load having a power storage device, operates a route from a first point to a second point, and can charge and discharge the power storage device. hand,
The time required for the operation, the speed of the watercraft for each section when the route is divided into a plurality of sections, the power demand of the ship, the output of the ship, the inboard storage battery and the power storage device for each section. Setting the charge / discharge amount and charge rate, and the temperatures of the onboard storage battery and the power storage device as constraint conditions.
Under the constraints, the anti-water vessel speed for each section is used as a control variable, the operating cost from the first point to the second point is used as the objective function, and the objective function is minimized. Performing an optimization calculation to obtain the solution of the speed distribution to the water for each section and the charge / discharge amount of the inboard storage battery and the power storage device.
Including
The operating cost is a method for supporting the operation of a ship, which includes a cost related to the navigation of the ship and a cost related to charging / discharging the power storage device.

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