16results about How to "Improve sailing stability" patented technology

The invention provides an automatic cruise path planning method for a water pollution monitoring and treatment unmanned ship, and the method comprises the following steps: constructing a global virtual gridding two-dimensional space model, inputting a two-dimensional contour of a cruise water area into the global virtual gridding two-dimensional space model, and obtaining a global virtual grid array; corresponding grid types are defined for all virtual grids of the global virtual grid array according to the field cruise water area, wherein the virtual grid types comprise cruise grids, obstacle grids and obstacle avoidance cruise grids; and introducing a positioning reference coordinate system for the global virtual gridding two-dimensional space model, mapping actual geographic position coordinates with each infinitesimal element point in the global virtual grid array, and determining a water bank boundary envelope domain set of the cruise water area. The method can adapt to a complex water area environment, and a water pollution monitoring and treatment unmanned ship control compensation algorithm with obstacle avoidance and self-adaptive adjustment capabilities is provided, so that the safe operation efficiency and comprehensiveness of the water environment are improved.

The invention relates to a UUV (Unmanned Underwater Vehicle) control method based on a feed-forward PID (Proportion Integration Differentiation). The objective of the invention is to solve the problems of poor precision and poor stability of a traditional PID control algorithm in UUV control. The method comprises the following steps: 1, setting an initial position and a target position of the UUV in an inertial coordinate system; 2, real-time sea wave interference information and the real state of the UUV are obtained; 3, outputting angular acceleration by the PID attitude controller; 4, outputting the optimized depth information by the filter; 5, outputting linear acceleration by the PID position controller; 6, the angular acceleration and the linear acceleration act on an executing mechanism, the thrust and the torque of a propeller are changed by controlling the rotating speed of the executing mechanism, the thrust and the torque act on the UUV, and the underwater movement track of the UUV is changed; 7, judging whether the UUV reaches the target position or not; if yes, the UUV stops sailing; and if not, repeatedly executing the steps 2-6 until the UUV reaches the target position. The method is applied to the field of UUV control.

The invention relates to the technical field of shipbuilding, and discloses a marine methanol fuel storage tank with a liquid sloshing inhibiting function, which comprises a support frame, a fuel storage tank body is arranged at the top of the support frame, an observation window is arranged at the top of the fuel storage tank body, and a discharge port is formed in one side of the fuel storage tank body. A climbing ladder is arranged on one side of the fuel storage tank body, an arch-shaped plate is arranged at the bottom of the inner wall of the fuel storage tank body and is of an arch-shaped structure, multiple sets of circulation holes are formed in the surface of the arch-shaped plate, and a buffering assembly is arranged at the top of the arch-shaped plate. A hedging assembly is arranged on the inner wall of the fuel storage tank body. The buffer assembly is used for reducing the oscillation degree of liquid in the fuel storage tank body; the hedging assembly is used for counteracting the shaking amplitude of liquid in the fuel storage tank body. Compared with the prior art, the shaking strength of part of methanol liquid can be actively counteracted, and the collision strength of the methanol liquid to the inner wall of the fuel storage tank body is effectively reduced.

The present application belongs to the technical field of unmanned boat path planning, and provides a route planning method for a high-speed unmanned boat, including the following steps: obtaining the latitude and longitude information of the mission area, starting point, end point, several must-pass points and at least one obstacle of the high-speed unmanned boat and converting them into UTM coordinates; converting the UTM coordinates into grid map coordinates, and executing the following steps on the grid map in sequence: connecting each must-pass point in sequence to obtain a first route; performing path expansion processing on each must-pass point to obtain an expanded path and a second route corresponding to each must-pass point, performing obstacle avoidance processing on the second route to obtain a third route; performing obtuse processing on the third route to obtain a planned route. The method of the present application can reasonably plan the route of a high-speed unmanned boat passing through several must-pass points in sequence.

The invention discloses a marine empennage, which relates to the technical field of ships, and comprises a ship shell of a wave-shaped flat bottom structure, and the upper end of the ship shell is fixedly connected with a deck used for covering the space in a ship and horizontally dividing the space into layers; the side, close to a deck, of the hull is fixedly connected with a cabin used for storing materials and allowing sailors to work and live, the outer wall of the side, away from the cabin, of the hull is fixedly connected with an empennage plate body used for keeping course stability and providing rotation or trim adjusting capacity, and dynamic wingspan expansion mechanisms are arranged on the two sides of the upper end of the empennage plate body. An arc wing guide swing mechanism is arranged at the center of the upper end of the empennage plate body, a trapping screen wing mechanism is arranged on one side of the tail end of the empennage plate body, plate wings and an electric telescopic rod are matched with each other, and the stress area of the empennage can be increased by improving the sailing performance and expanding the wingspan; therefore, larger lift force is generated under the condition of the same wind speed or water flow.

The invention relates to the technical field of unmanned ship control, and discloses an unmanned ship control system integrating various communication links and interfaces, comprising: a data acquisition module used for acquiring environmental parameters, control parameters and state parameters of an unmanned ship in a sailing process, and representing the parameters through a first feature sequence; the preprocessing and feature extraction module is used for processing the first feature sequence to obtain a second feature sequence; the unmanned ship state prediction module is used for predicting the position, the rolling angle, the trim angle and the power of the unmanned ship in a second preset time period according to a preset unmanned ship state prediction model; and the control parameter optimization module is used for optimizing the control parameters of the unmanned ship according to the improved genetic algorithm to obtain the optimal control parameters. According to the method, dynamic optimization of control parameters such as navigational speed, course angle and power distribution is realized, and the method can adapt to complex and changeable environments in real time.

The invention relates to the technical field of marine equipment, in particular to a vertical lifting ship floating condition adjusting device and a working method thereof. The servo motor is used for controlling the blades of the interceptor to move up and down, in cooperation with transmission of a slider-crank mechanism and positioning of a gear and a rack, the positions of the blades can be adjusted in a high-precision mode, control over the posture of a ship body under various working conditions is achieved, and meanwhile light weight of the device is fully considered in the material type selection and structure design process; and the influence of the device on the overall structural design of the ship can be effectively reduced. The blade extension amount can be automatically adjusted according to the sailing state and sailing parameters of the ship body, then the resistance in the ship body acceleration process is remarkably reduced, the ship acceleration efficiency is improved, meanwhile, the sailing posture of the ship body can be adjusted, the sailing stability is improved, fuel consumption is reduced, and the application prospect is wide.

The invention belongs to the technical field of seawater fuel cell power generation, and particularly relates to a water circulation fuel cell power system based on seawater hydrogen production and a ship. Comprising a seawater pretreatment unit used for receiving seawater and removing impurities in the seawater; the fuel supply and mixing unit is connected with the seawater pretreatment unit and is used for mixing NaBH4 and seawater to form hydrogen fuel; the hydrogen fuel cell unit is connected with the fuel supplying and mixing unit and is used for generating hydrogen through hydrolysis reaction, converting the hydrogen into direct current and generating circulating water; the circulating unit is respectively connected with the hydrogen fuel cell unit and the fuel supplying and mixing unit and is used for feeding circulating water into the fuel supplying and mixing unit; and the power unit is connected with the hydrogen fuel cell unit and used for providing power for the ship. The seawater directly participates in the hydrolysis reaction of the sodium borohydride to start the system, and the water generated by the fuel cell is recycled, so that a'water-hydrogen-electricity 'closed loop is realized, and the energy density and the space utilization rate of the ship are improved.

The invention discloses a novel ship trailing vortex control and unit cooling system in the technical field of ship engineering, which comprises a water inlet flow channel arranged on a ship deck, the water inlet flow channel is connected with a propulsion pump, the propulsion pump comprises an impeller and a guide vane, the rear end of the propulsion pump is connected with a nozzle, a driving motor is arranged on the ship deck, and a motor rotating shaft of the driving motor is connected with a pump shaft. The pump shaft is in transmission connection with the impeller, a water guide cone is arranged in the nozzle, a round hole is formed in the cone tip of the water guide cone, a first wireless electromagnetic valve is arranged in the round hole, the first wireless electromagnetic valve is connected with pressure sensor cores arranged up and down and controlled by the pressure sensor cores, a bionic flexible cavity is formed in the water guide cone, one end of the bionic flexible cavity is connected with the round hole, and the other end of the bionic flexible cavity is connected with a cooling water pipe. And a wireless electromagnetic valve II is arranged at the joint of the bionic flexible cavity and the cooling water pipe. By optimizing trailing vortex flow control and improving the cooling efficiency and the service life of the motor, the effects of saving energy and reducing consumption are achieved while the propelling efficiency is improved, and efficient and stable operation of a ship propelling system is guaranteed.

The unmanned sailboat wing sail with the telescopic and windward area changing functions comprises a fixed sailboard, a movable sailboard, a linear driving module, an opening and closing blade and a blade adjusting mechanism, the fixed sailboard and the movable sailboard are hollow wing-shaped boards, and the movable sailboard is vertically arranged on the inner side of the fixed sailboard in a sliding mode. The linear driving module drives the movable sailboard to ascend or descend, so that the movable sailboard extends out of or retracts into the inner side of the fixed sailboard. A square window is formed in the movable sailboard, and the multiple opening and closing blades are sequentially arranged on the inner side of the square window from top to bottom and are in running fit with the movable sailboard. The blade adjusting mechanism drives the opening and closing blades to rotate synchronously in the same direction, so that the square window is opened or closed. The height and the windward area of the wing sail are adjusted by introducing the structure of the liftable movable sailboards and the opening and closing blades, so that different wind speeds, sea conditions and sailing requirements are met, the sailing performance of the unmanned sailboat is optimized, the sailing thrust is precisely controlled, and the stability and the safety are improved.

This invention discloses a roll-damping, energy-storage flywheel coordinated control system and method, belonging to the interdisciplinary technical field of ship motion control and shipborne integrated power systems. Applicable to ships and offshore platforms, this invention constructs a coupled dynamic model of the entire system—ship roll, flywheel electromechanical, and ship power grid—and uses a model predictive control framework to solve a multi-objective optimization problem online, dynamically coordinating roll-damping torque demand, flywheel energy storage scheduling, and grid support commands. The system supports power command tracking, virtual synchronous machine control, and grid support modes, and generates motor electromagnetic torque commands and precession servo torque commands. A magnetic levitation bearing auxiliary circuit is used for rotor support and vibration suppression. Based on a sensing, modeling, optimization, and execution intelligent closed loop, deep dynamic coordination and global optimization of the three major functions of roll reduction, energy storage, and active grid support are achieved, effectively improving the motion stability, energy utilization efficiency, and grid operational resilience of ships and offshore platforms under complex sea conditions.

The present invention discloses a high-speed, high-sea-state submersible multi-body unmanned vehicle and a control method thereof, the multi-body unmanned vehicle comprising: a main hull, a plurality of propulsion sub-hulls, a plurality of side wings, a plurality of horizontal rudders, a tail fin and a communication sub-hull; the side wings are arranged on both sides of the main hull, one end of the side wings is connected to the main hull, the other end of the side wings is connected to one side of the propulsion sub-hull, the other side of the propulsion sub-hull is connected to the horizontal rudder, one end of the tail fin is connected to the main hull, the other end of the tail fin is connected to the communication sub-hull, and the communication sub-hull is connected to the main hull in communication; the propulsion sub-hull and the communication sub-hull are both connected to a propeller; a ballast water tank is also arranged inside the main hull, and the ballast water tank is used to adjust the water intake and drainage in the hull. The present invention can realize the functions of water navigation, semi-submersible navigation and full submersible navigation, adapt to the water and underwater operation requirements under high sea conditions, and maintain stability to the maximum extent.

The invention discloses a culture pond aquatic plant harvester forecabin collecting device which comprises a front collecting plate, the front collecting plate is rotationally installed at the front end of a floating body, a horizontal collecting plate is formed on the top face of the floating body, and the front collecting plate and the horizontal collecting plate respectively comprise rotary conveying belts capable of conveying in the forward direction and the reverse direction. Close connection is achieved, the connecting position of the front cabin and the rear cabin is ingeniously arranged through the connecting rod mechanism, and waterweeds cannot fall onto the clamping plates in the conveying process.

This application relates to the technical field of unmanned surface vessels (USVs), and in particular to a semi-submersible USV, comprising a hull, ballast assembly, and control assembly. The hull includes a base and a canopy, with the canopy fixedly connected to the top of the base. An underwater propulsion unit is mounted at the stern of the base, and a submersible propulsion unit is mounted at the stern of the canopy. The ballast assembly includes a ballast tank and a pumping unit. The ballast tank is mounted on the base, and one end of the pumping unit communicates with the ballast tank, while the other end communicates with the bottom of the base. The control assembly includes a battery, a control unit, and a communication unit. The battery and control unit are mounted inside the base, and the communication unit is fixedly connected to the top of the canopy. The battery and control unit are electrically connected, and the control unit and communication unit are also electrically connected. In calm sea conditions, the hull floats, and the submersible propulsion unit drives the hull, significantly reducing drag during movement. This application effectively reduces energy consumption during navigation.

The present invention is applicable to the technical field of bionic underwater vehicles, and provides an integrated 3D printed flexible rudder variant mechanism based on a sliding tongue structure, including a flexible rudder structure, a power structure, a skin structure and a support structure. The entire mechanism drives the sliding tongue structure to slide in the sliding tongue groove below the rigid leading edge by means of the meshing of a transmission gear and a rack. When the driving force is applied along the flexible trailing edge, the flexible trailing edge deflects upward, and when the driving force is applied along the rigid leading edge, the flexible trailing edge deflects downward, thereby realizing the deformation of the flexible rudder structure. The first deflection gear drives the inner panel to rotate to drive the flexible rudder structure to deflect as a whole. The present invention overcomes the limitations of traditional continuously deformable rudder blades in miniaturization, flutter suppression and stealth performance, realizes the dual functions of deflection and rudder type change, enables underwater vehicles to move more efficiently and stably in complex underwater flow field environments, and provides strong technical support for deep-sea exploration, underwater operations and other fields.

The invention discloses an icebreaker with variable-angle self-adaptive icebreaking shears, which serves as an efficient large-area sea area icebreaking technology and is mainly applied to icebreaking and ice cleaning operation of sea areas around operation ocean platforms near high-latitude areas and port channels and north circles. According to the icebreaking technology, the defects in the prior art are practically overcome, improvement is conducted on the basis of a double-body icebreaker, and the construction difficulty of the icebreaker is reduced on the basis that the icebreaking width is guaranteed; according to the technology, icebreaking boots are additionally arranged on the basis of a double-body icebreaker, shearing force is applied to an ice layer during icebreaking, icebreaking shears are formed, the icebreaking difficulty is reduced, and meanwhile the breaking degree of the broken ice layer is improved; the technology can adjust the height and the inclination angle of the icebreaking boot according to the actual measurement result of the ice thickness in front of the icebreaking boot, and improves the adaptability of the icebreaker to different ice thickness environments; according to the technology, the independent cabin is installed on the icebreaker, and maintenance is convenient. The method has the characteristics of high feasibility, high efficiency, practicability and the like, and has a wide application prospect in the field of icebreakers.