Intelligent current control method and system for ship neodymium magnetic motor

Abstract

The invention provides an intelligent current control method and system for a ship neodymium magnetic motor, and the method comprises the steps: inputting the state of a ship into a ship hydrodynamic model for analysis through combining with a set ship speed, and determining a power demand; determining a control parameter adaptive to the power demand from a control table of the neodymium magnetic motor; wherein the state of the ship comprises an attitude set for describing the attitude of the ship and a counterweight set for describing the weight distribution condition of the ship. The attitude set is constructed on the basis of detection results obtained by infrared laser distance measuring devices arranged at a plurality of preset first positions on a ship edge; the counterweight set is constructed on the basis of detecting the load in each cabin through weight sensors configured in each preset second position in the ship. According to the intelligent current control method and system for the ship neodymium magnetic motor, accurate driving of the ship-driven neodymium magnetic motor is realized.

Description

Technical Field

[0001] The present invention relates to the field of computer control technology, and particularly relates to a method and system for intelligent current control of a neodymium magnetic motor for ships. Background Art

[0002] A new energy ship is a ship that uses electric energy as the energy to drive the motor; a neodymium magnetic motor is a power element made of neodymium magnetic materials; due to its high efficiency and output power, the neodymium magnetic materials have good magnetic consistency and uniformity, which helps to improve the control accuracy and response speed of the motor, and can be designed to be lightweight, and can be well applied to the drive of ships; how to achieve intelligent control of the drive in this application scenario is a technical problem that needs to be solved urgently. Summary of the Invention

[0003] One of the purposes of the present invention is to provide a method and system for intelligent current control of a neodymium magnetic motor for ships, so as to achieve accurate driving of the neodymium magnetic motor for ship driving.

[0004] A method for intelligent current control of a neodymium magnetic motor for ships provided by an embodiment of the present invention includes:

[0005] Combining the state of the ship and the set ship speed, inputting them into the ship hydrodynamic model for analysis to determine the power demand;

[0006] Determining the control parameters adapted to the power demand from the control table of the neodymium magnetic motor.

[0007] Preferably, the state of the ship includes: an attitude set describing the attitude of the ship and a counterweight set describing the weight distribution of the ship.

[0008] Preferably, the attitude set is constructed based on the detection results obtained by infrared laser ranging devices arranged at multiple preset first positions along the ship's edge; the specific construction steps are as follows:

[0009] Retrieving the data conversion tables corresponding to each infrared laser ranging device;

[0010] Converting the detection result data and sorting the converted data in the order of the numbers of the infrared laser ranging devices.

[0011] Preferably, the counterweight set is constructed based on the load detected by weight sensors arranged at each preset second position inside the ship, and the specific construction steps are as follows:

[0012] Filling the load detected by the weight sensors into a pre-configured counterweight set template to obtain the counterweight set.

[0013] Preferably, the ship hydrodynamic model is pre-adapted, and the adaptation steps are as follows:

[0014] Retrieve a model adapted to the state set describing the water state around the ship from the pre-analyzed and configured model library as the ship hydrodynamic model;

[0015] Among them, the state set is constructed based on the water body parameters measured by water body parameter measuring devices arranged at a plurality of preset second positions near the bottom on the side of the ship.

[0016] The present invention also provides an intelligent current control system for a ship neodymium magnet motor, including: a demand module and a control module; among them, the demand module inputs the state of the ship and the set ship speed into the ship hydrodynamic model for analysis to determine the power demand; the control module determines the control parameters adapted to the power demand from the control table of the neodymium magnet motor.

[0017] Preferably, the state of the ship includes: an attitude set describing the ship attitude and a counterweight set describing the ship weight distribution.

[0018] Preferably, the attitude set is constructed based on the detection results obtained by infrared laser ranging devices arranged at a plurality of preset first positions on the ship's edge; the specific construction steps are as follows:

[0019] Retrieve the data conversion tables corresponding to the respective infrared laser ranging devices;

[0020] Convert the detection result data and sort the converted data in the order of the numbers of the infrared laser ranging devices.

[0021] Preferably, the counterweight set is constructed based on the loads detected in each cabin by weight sensors arranged at a plurality of preset second positions inside the ship; the specific construction steps are as follows:

[0022] Fill the loads detected by the weight sensors into the pre-configured counterweight set template to obtain the counterweight set.

[0023] Preferably, the ship hydrodynamic model is pre-adapted, and the adaptation steps are as follows:

[0024] Retrieve a model adapted to the state set describing the water state around the ship from the pre-analyzed and configured model library as the ship hydrodynamic model;

[0025] Among them, the state set is constructed based on the water body parameters measured by water body parameter measuring devices arranged at a plurality of preset second positions near the bottom on the side of the ship.

[0026] Other features and advantages of the present invention will be described in the subsequent description, and part of them will be obvious from the description, or understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained through the structures specifically pointed out in the written description and the drawings.

[0027] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Description of the Drawings

[0028] The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, but do not constitute a limitation to the present invention. In the accompanying drawings:

[0029] Figure 1 It is a schematic diagram of an intelligent current control method for a neodymium magnetic motor of a ship in an embodiment of the present invention;

[0030] Figure 2 It is a schematic diagram of an intelligent current control system for a neodymium magnetic motor of a ship in an embodiment of the present invention. Detailed Embodiments

[0031] The following describes the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0032] Embodiment 1

[0033] The embodiment of the present invention provides an intelligent current control method for a neodymium magnetic motor of a ship, as Figure 1 shown, including:

[0034] Step 1: Combine the state of the ship with the set ship speed, input them into the ship hydrodynamic model for analysis, and determine the power demand;

[0035] Step 2: Determine the control parameters adapted to the power demand from the control table of the neodymium magnetic motor.

[0036] Among them, the state of the ship includes: an attitude set describing the attitude of the ship and a counterweight set describing the weight distribution of the ship.

[0037] Among them, the attitude set is constructed based on the detection results obtained by infrared laser ranging devices arranged at multiple preset first positions along the ship's edge; the specific construction steps are as follows:

[0038] Retrieve the data conversion tables corresponding to the respective infrared laser ranging devices;

[0039] Convert the detection result data, and sort the converted data in the order of the numbers of the infrared laser ranging devices.

[0040] The infrared laser ranging device emits infrared laser from the ship's edge to the water surface for ranging, that is, it measures the height from the configured position of the infrared laser ranging device at the ship's edge to the water surface. The draft depth data can be obtained by converting the height data through a data conversion table. Since the heights at which the infrared laser ranging devices are configured (from the ship's bottom plane to the configured positions) may vary, the corresponding data conversion tables are also different. In addition, at least four infrared laser ranging devices are configured to accurately describe the attitude, which are respectively located at the bow, stern, and both sides of the ship. In addition, more devices can be appropriately configured according to the size of the hull.

[0041] Among them, the weight set is constructed based on the loads detected by the weight sensors configured at various preset second positions inside the ship. The specific construction steps are as follows:

[0042] Fill the loads detected by the weight sensors into the pre-configured weight set template to obtain the weight set.

[0043] The weight set mainly describes the weight distribution of the ship. By comprehensively considering the weight distribution, it can avoid the situation where when the weight shifts to one side, the power output to the other side is too large, resulting in a capsizing accident. Since the weight distribution of the ship is mainly divided into fixed weight (such as the ship's own weight and facility weight) and variable weight (such as goods), the fixed weight is generally known, and the variable weight is detected by the weight sensors. Based on this, the determination of the weight distribution can be achieved. Among them, there are initial data and undetermined data (determined according to the detection values of the weight sensors) in the weight set template. The determination of each data in the weight set can be the initial data or the sum of the initial data and the undetermined data. When constructing the weight set template, first perform finite element segmentation on the hull, and judge the composition of each finite element after segmentation. When the components can be determined to be all fixed weights (only the hull and equipment and other inherent objects), directly determine the fixed weight and fill it into the position of the weight set template corresponding to this finite element. When the components are determined to be a combination of fixed weight and variable weight, first calculate the fixed weight, and then add the detection data during the construction of the weight set.

[0044] For the cutting of finite elements, the method of equi-proportion grid cutting can be adopted. However, in this method, there may be a situation where one cabin corresponds to multiple finite elements, and it is not conducive to the detection and allocation of weight sensors. To address this issue, the following segmentation method is used when dividing finite elements: First, determine the boundaries of each cabin, and check whether the size of the cabin is smaller than a preset threshold. When it is smaller, use the boundary of the cabin as the segmentation line for finite element segmentation; when it is greater than or equal to the threshold, perform an average segmentation so that each unit after segmentation is smaller than the preset threshold, and use the segmentation boundary and the cabin boundary as the segmentation line for finite element segmentation; extend the segmentation line and perform a primary segmentation of the hull; determine whether each block after the primary segmentation exceeds the preset volume. When it exceeds, perform a secondary equal-division segmentation until all segmented blocks are smaller than the preset volume; then arrange the segmented blocks according to their positional relationships to form the corresponding relationship between each element on the counterweight set template and the finite elements; based on this, determine the fixed weight and variable weight, and then construct the counterweight set template.

[0045] Among them, the ship hydrodynamic model is pre-adapted, and the adaptation steps are as follows:

[0046] Retrieve a model that is compatible with the state set describing the water state around the ship from the pre-analyzed and configured model library as the ship hydrodynamic model;

[0047] Among them, the state set is constructed based on the water body parameters measured by the water body parameter measurement devices configured at multiple preset second positions near the bottom on the side of the ship.

[0048] When a ship sails in water, its simulated operation mainly considers two aspects. One is the situation of the ship itself, and the other is the situation of the water body (factors such as water flow, water density, water temperature, etc.). Therefore, when the situation of the ship is known, it is necessary to analyze the situation of the water body in order to retrieve the appropriate ship hydrodynamic model. One way to monitor the state of the water body can be to obtain its detection data by linking to fixed water body detection devices located around the ship at a distance. Although the data obtained in this way is stable, there is still a certain distance from the ship and it cannot accurately represent the situation around the hull. Another way can be achieved by water body parameter measurement devices configured at multiple preset second positions near the bottom on the side of the ship. However, this method is affected by the factor of ship movement. This influence is mainly in the detection of the water flow direction and has little influence on the detection of water temperature and water density, etc. Therefore, how to accurately detect the water flow during the movement of the ship and ensure the accuracy of the state set construction can be achieved by configuring one, that is, at least four water body parameter measurement devices around the ship for measurement respectively. The specific analysis steps after measurement are as follows: Quantify and sort in order the measured values representing the water flow velocity, the moving direction and speed of the ship to obtain an analysis set. Based on the analysis set, retrieve the corresponding analysis results from the pre-configured water flow analysis library. The analysis results are the direction and speed of the water flow. The analysis results in the water flow analysis library are in one-to-one correspondence with the analysis set, and the water flow analysis library is specifically configured according to the situation of the ship.

[0049] Among them, based on the power demand and the control table of the neodymium magnetic motor, control parameters are determined, including:

[0050] Retrieve the control parameters corresponding to the demand set in the control table.

[0051] Among them, the demand set is constructed based on decomposing the power demand through a preset mechanical decomposition model to obtain decomposed power description parameters.

[0052] The control table is pre-analyzed and constructed. In the control table, the demand set is in one-to-one correspondence with the control parameters. The control parameters include the current of the motor, the output direction of the power output device of the ship, etc.

[0053] Embodiment 2

[0054] The embodiment of the present invention provides a method for intelligent control of the current of a ship's neodymium magnetic motor, including:

[0055] Combine the state of the ship with the set ship speed and input it into the ship hydrodynamic model for analysis to determine the power demand.

[0056] Determine the control parameters adapted to the power demand from the control table of the neodymium magnetic motor.

[0057] Make a correction judgment based on the state data and the set ship speed.

[0058] When it is determined to be a correction, obtain the control parameters at a pre-set previous moment, the actual control effect after being controlled by the control parameters, and the desired control effect as correction analysis data;

[0059] Analyze the correction analysis data to obtain a correction value and correct the control parameters;

[0060] Among them, according to the state data and the set ship speed, perform a correction judgment, including:

[0061] When the current speed is less than or equal to the value obtained by multiplying the set ship speed by a pre-set coefficient, no correction is performed;

[0062] And / or,

[0063] Extract features from the state data, and combine the extracted feature parameters with a pre-configured stability evaluation library to determine the stability parameters;

[0064] When the stability parameter is less than or equal to a pre-set parameter threshold, no correction is performed.

[0065] This embodiment mainly considers the precise control of the ship and the safety of movement on the basis of Embodiment 1. In terms of precise control, by using the control parameters at a pre-set previous moment, the actual control effect after being controlled by the control parameters, and the desired control effect as correction analysis data; analyzing the correction analysis data to obtain a correction value and correcting the control parameters to achieve further precise control; when correcting, first judge the scenario, whether correction is needed and whether it can be corrected; for example, when the current speed is much less than the set ship speed, no correction is needed; when analyzing the state of the ship and finding that the ship is unstable (tilted, poor weight distribution, etc.), correction may increase the risk of capsizing, so correction cannot be performed;

[0066] When extracting features from the state data, combine the extracted feature parameters with a pre-configured stability evaluation library to determine the stability parameters; the feature parameters extracted during the process include: the change range of the draft depth at each position of the ship, the maximum and minimum draft depths, the weight at each position of the ship, etc.; the feature parameters in the stability evaluation library are in one-to-one correspondence with the stability parameters; the larger the stability parameter, the more stable the ship and the smaller the risk; on the contrary, the risk is greater; when the stability parameter is less than or equal to a pre-set parameter threshold, no correction is performed, which can effectively avoid the driving risk of the ship.

[0067] Embodiment 3

[0068] The embodiment of the present invention provides a method for intelligent current control of a ship neodymium magnet motor, including:

[0069] Input the state of the ship, combined with the set ship speed, into the ship hydrodynamic model for analysis to determine the power demand;

[0070] Determine the control parameters adapted to the power demand from the control table of the neodymium magnet motor.

[0071] Based on the power demand and the control table of the neodymium magnet motor, determine the control parameters, including:

[0072] Retrieve the control parameters corresponding to the demand set in the control table;

[0073] Among them, the demand set is constructed based on decomposing the power demand through a preset mechanical decomposition model to obtain the decomposed power description parameters.

[0074] After determining the control parameters based on the power demand and the control table of the neodymium magnet motor, it further includes:

[0075] Retrieve the power combination scheme from the power combination table based on the control parameters;

[0076] Analyze the power combination scheme to determine the control scheme for each neodymium magnet motor;

[0077] Among them, the power combination table is analyzed and configured based on the configuration position of the neodymium magnet motors on the ship and the state of the neodymium magnet motors.

[0078] This embodiment corresponds to the case where a ship is driven by multiple motors. According to the configuration position of the motors on the ship and the configuration of the propellers, a power combination table is constructed in advance. During actual control, the power combination scheme is inferred based on the power combination table and the control parameters, and then each motor is controlled according to the control scheme of each motor in the power combination scheme. When configuring the power combination table, the situations of each motor are also considered, such as factors like the usage time of the motor and the output efficiency of the motor, to achieve reasonable work distribution.

[0079] Embodiment 4

[0080] The present invention also provides an intelligent current control system for a ship's neodymium magnet motor, as Figure 2 shown, including: a demand module 1 and a control module 2; among them, the demand module 1 inputs the state of the ship, combined with the set ship speed, into the ship hydrodynamic model for analysis to determine the power demand; the control module 2 determines the control parameters adapted to the power demand from the control table of the neodymium magnet motor.

[0081] Among them, the state of the ship includes: an attitude set describing the attitude of the ship and a counterweight set describing the weight distribution of the ship.

[0082] Among them, the attitude set is constructed based on the detection results obtained by infrared laser ranging devices arranged at multiple preset first positions along the ship's edge; the specific construction steps are as follows:

[0083] Retrieve the data conversion tables corresponding to each infrared laser ranging device;

[0084] Convert the detection result data and sort the converted data in the order of the numbers of the infrared laser ranging devices.

[0085] Among them, the counterweight set is constructed based on detecting the load in each cabin by weight sensors configured at various preset second positions inside the ship. The specific construction steps are as follows:

[0086] Fill the load detected by the weight sensor into a pre-configured counterweight set template to obtain the counterweight set.

[0087] Among them, the ship hydrodynamic model is pre-adapted, and the adaptation steps are as follows:

[0088] Retrieve, from the pre-analyzed and configured model library, a model adapted to the state set describing the water state around the ship as the ship hydrodynamic model;

[0089] Among them, the state set is constructed based on the water body parameters measured by water body parameter measuring devices configured at multiple preset second positions near the bottom on the side of the ship.

[0090] Embodiment 5

[0091] The present invention also provides an intelligent current control system for a ship neodymium magnet motor, including: a demand module and a control module; among them, the demand module inputs the state of the ship, combined with the set ship speed, into the ship hydrodynamic model for analysis to determine the power demand; the control module determines the control parameters adapted to the power demand from the control table of the neodymium magnet motor.

[0092] It further includes: a correction module;

[0093] The correction module performs the following operations:

[0094] Make a correction judgment based on the state data and the set ship speed;

[0095] When it is judged to be a correction, obtain the control parameters at a previous preset moment, the actual control effect and the desired control effect after being controlled by the control parameters as the correction analysis data;

[0096] Analyze the correction analysis data to obtain a correction value and correct the control parameters;

[0097] Among them, making a correction judgment based on the state data and the set ship speed includes:

[0098] When the current speed is less than or equal to the value obtained by multiplying the set ship speed by a preset coefficient, no correction is made;

[0099] And / or,

[0100] Extract features from the status data, and combine the extracted feature parameters with the pre-configured stability evaluation library to determine the stability parameters;

[0101] When the stability parameter is less than or equal to the preset parameter threshold, no correction is performed.

[0102] Embodiment 6

[0103] The present invention also provides an intelligent current control system for a ship neodymium magnetic motor, including: a demand module and a control module. In order to cope with stable control under some special situations (special geographical locations and special weather), the intelligent current control system for a ship further includes: a trigger module; the trigger module is used to comprehensively analyze the state of the ship, the position of the ship, and the water body state to analyze whether there is a scenario in the pre-configured trigger library; when it exists, enter the trigger analysis mode; in the trigger analysis mode, the control module further performs the following operations: obtain corresponding analysis data from the data platform according to the parameter set on which the trigger analysis is based; parse the analysis data to determine the state set (data describing the state of the ship, water body, etc.), the demand set, the control parameters, and the control effect, and analyze the adjustment value therefrom (specifically, it can be analyzed through an adjustment value analysis library); determine the weight corresponding to each analysis data according to the time corresponding to each analysis data, the parameter set, the parameter set corresponding to the analysis data, and the preset weight analysis library; adjust the control parameters according to the sum of the products of the adjustment value corresponding to each analysis data and the corresponding weight.

[0104] Among them, determining the weight corresponding to each analysis data according to the time corresponding to each analysis data, the parameter set, the parameter set corresponding to the analysis data, and the preset weight analysis library includes: arranging the differences between the data of the time, parameter set, and the parameter set corresponding to the analysis data of each analysis data in order to form an array corresponding to the analysis data, and arranging the arrays in the order from near to far according to the time of each analysis data to form a sequence; using this data as the weight analysis data set; retrieving the corresponding weight set from the weight analysis library with the weight analysis data set; the weight set is an N*1 sequence; each row corresponds to the weight corresponding to an analysis data; among them, the weight analysis data set in the weight analysis library is in one-to-one correspondence with the weight set;

[0105] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these changes and modifications.

Claims

1. A current intelligent control method for a marine neodymium motor, characterized in that: include: The ship's status, combined with the set ship speed, is input into the ship's hydrodynamic model for analysis to determine the power demand; Determine the control parameters that are appropriate to the power requirements from the control table for the neodymium motor.

2. The current intelligent control method of a marine neodymium motor according to claim 1, characterized in that: The state of the ship includes: an attitude set describing the ship's attitude and a weight set describing the ship's weight distribution.

3. The current intelligent control method of a marine neodymium motor according to claim 2, characterized in that: The posture set is constructed based on the detection results obtained by the infrared laser ranging devices configured at multiple preset first positions on the edge of the ship; the specific construction steps are as follows: Retrieve the data conversion table corresponding to each infrared laser ranging device; The detection result data is converted and the converted data is sorted according to the serial number sequence of the infrared laser distance measuring device.

4. The current intelligent control method of a marine neodymium motor according to claim 2, characterized in that: The weight set is constructed based on detecting the load in each cabin by weight sensors configured at each preset second position in the ship. The specific construction steps are as follows: Fill the load detected by the weight sensor into the pre-configured weight set template to obtain the weight set.

5. The current intelligent control method of a marine neodymium motor according to claim 1, characterized in that: The ship hydrodynamic model is pre-adapted, and the adaptation steps are as follows: From the model library that is analyzed and configured in advance, a model that is adapted to the state set describing the state of the water body around the ship is retrieved as the ship hydrodynamic model; The state set is constructed based on water parameters measured by water parameter measuring devices arranged at a plurality of preset second positions on the side of the ship close to the bottom.

6. A current intelligent control system for a marine neodymium motor, characterized in that: include: Demand module and control module; the demand module inputs the ship's state, combined with the set ship speed, into the ship's hydrodynamic model for analysis to determine the power demand; the control module determines the control parameters that are suitable for the power demand from the control table of the neodymium motor.

7. The current intelligent control system for a marine neodymium motor according to claim 6, characterized in that: The state of the ship includes: an attitude set describing the ship's attitude and a weight set describing the ship's weight distribution.

8. The current intelligent control system for a marine neodymium motor according to claim 7, characterized in that: The posture set is constructed based on the detection results obtained by the infrared laser ranging devices configured at multiple preset first positions on the edge of the ship; the specific construction steps are as follows: Retrieve the data conversion table corresponding to each infrared laser ranging device; The detection result data is converted and the converted data is sorted according to the serial number sequence of the infrared laser distance measuring device.

9. The current intelligent control system for a marine neodymium motor according to claim 8, characterized in that: The weight set is constructed based on detecting the load in each cabin by weight sensors configured at each preset second position in the ship. The specific construction steps are as follows: Fill the load detected by the weight sensor into the pre-configured weight set template to obtain the weight set.

10. The current intelligent control system for a marine neodymium motor according to claim 6, characterized in that: The ship hydrodynamic model is pre-adapted, and the adaptation steps are as follows: From the model library that is analyzed and configured in advance, a model that is adapted to the state set describing the state of the water body around the ship is retrieved as the ship hydrodynamic model; The state set is constructed based on water parameters measured by water parameter measuring devices arranged at a plurality of preset second positions on the side of the ship close to the bottom.

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