Ship anchoring gravitational potential energy recovery method and recovery system

Abstract

The invention relates to the technical field of ship energy recovery, in particular to a ship anchoring gravitational potential energy recovery method and system. The system comprises an anchor chain roller, a two-way anchor machine motor, a speed-increasing transmission mechanism, a power generation mechanism, a composite energy storage assembly and an intelligent controller, the anchor chain roller is connected with the two-way anchor machine motor and the speed-increasing transmission mechanism, and the speed-increasing transmission mechanism, the power generation mechanism and the energy storage assembly are sequentially connected; the intelligent controller is connected with the speed-increasing transmission mechanism and the power generation mechanism; during anchoring, the two-way anchor machine motor enters a power generation mode, gravitational potential energy formed by anchoring drives the anchor chain roller to rotate so as to convert the gravitational potential energy into mechanical energy, the mechanical energy is transmitted to the power generation mechanism through rotation of the speed increasing transmission mechanism, and the power generation mechanism generates power based on the mechanical energy and transmits the generated electric energy to the composite energy storage assembly for storage. The recovery of the gravitational potential energy generated during anchoring is realized, and the waste of the gravitational potential energy generated during anchoring is avoided.

Description

Technical Field

[0001] This application relates to the technical field of ship energy recovery, and particularly to a method and system for recovering the gravitational potential energy of a ship during anchoring. Background Art

[0002] With the wide application of electric ships, the requirements for the ship energy recovery efficiency are constantly increasing. Currently, during the anchoring process, the potential energy generated by the release of the anchor chain under the action of gravity is usually ignored and not effectively utilized, resulting in energy waste. The traditional anchor winch system lacks an energy recovery mechanism. Especially in the context where electric ships have higher requirements for energy efficiency and endurance, the problem of energy waste caused by the unutilized gravitational potential energy is more serious.

[0003] Therefore, the existing technology still needs to be improved. Summary of the Invention

[0004] The technical problem to be solved by this application is to provide a method and system for recovering the gravitational potential energy of a ship during anchoring in view of the deficiencies of the existing technology.

[0005] To solve the above technical problem, in the first aspect of this application, a system for recovering the gravitational potential energy of a ship during anchoring is provided. The system specifically includes: A two-way anchor winch motor, used as the power source for anchoring and retrieving the anchor; An anchor chain drum, connected to the two-way anchor winch motor, used to drive the anchor chain wound around the anchor chain drum to perform anchoring and retrieving operations, and convert the gravitational potential energy formed during the anchoring process into mechanical energy; A speed increasing transmission mechanism, connected to the anchor chain drum, used to increase the speed of the anchor chain drum to transmit the mechanical energy; A power generation mechanism, connected to the speed increasing transmission mechanism, used to generate electricity under the drive of the speed increasing transmission mechanism to convert mechanical energy into electrical energy; A composite energy storage component, connected to the power generation mechanism, used to store the electrical energy generated by the power generation mechanism; An intelligent controller, connected to the speed increasing transmission mechanism and the power generation mechanism, used to dynamically adjust the speed increasing transmission mechanism and the power generation mechanism.

[0006] For the above-mentioned system for recovering the gravitational potential energy of a ship during anchoring, wherein, the speed increasing transmission mechanism includes: A speed increasing component, whose input end is connected to the anchor chain drum, used to increase the speed of the rotation of the anchor chain drum; A magnetic powder clutch, connected to the output end of the speed increasing component, used to perform stepless adjustment on the power generation mechanism.

[0007] The described ship anchor dropping gravitational potential energy recovery system, wherein the ship anchor dropping gravitational potential energy recovery system further includes a safety protection component for protecting the safe operation of the ship anchor dropping gravitational potential energy recovery system, and wherein the safety protection component includes one or more of a mechanical brake, a dual-redundancy hydraulic brake, and an emergency bypass switch.

[0008] The described ship anchor dropping gravitational potential energy recovery system, wherein the composite energy storage component includes a supercapacitor bank and a lithium battery bank. When the state of charge of the supercapacitor bank does not reach a preset threshold, the composite energy storage component performs transient energy storage through the supercapacitor bank; when the state of charge of the supercapacitor bank reaches the preset threshold, the composite energy storage component performs steady-state energy storage through the lithium battery bank.

[0009] The second aspect of the present application provides a method for recovering the gravitational potential energy of a ship anchor dropping, which is applied to the ship anchor dropping gravitational potential energy recovery system. The described method for recovering the gravitational potential energy of a ship anchor dropping specifically includes: When the ship is in the anchor dropping state, obtain the energy storage state data of the composite energy storage component; According to the energy storage state data, switch the charging state of the composite energy storage component to the first charging state or the second charging state; The first charging state is to control the supercapacitor bank in the composite energy storage component to be connected to the DC bus, and charge the supercapacitor bank with the electric energy generated by the power generation mechanism; The second charging state is to control the lithium battery bank in the composite energy storage component to be connected to the DC bus, and charge the lithium battery bank with the electric energy generated by the power generation mechanism.

[0010] The described method for recovering the gravitational potential energy of a ship anchor dropping, wherein before obtaining the energy storage state data of the composite energy storage component when the ship is in the anchor dropping state, the method further includes: Real-time monitor the tension of the anchor chain; When the tension of the anchor chain is greater than a preset threshold, determine that the ship is in the anchor dropping state, and drive the power generation mechanism to rotate through the speed increasing transmission mechanism.

[0011] The described method for recovering the gravitational potential energy of a ship anchor dropping, wherein when the ship is in the anchor dropping state, the method further includes: Real-time collect the water entry depth of the anchor body and the energy recovery efficiency; Calculate the target torque of the power generation mechanism according to the water entry depth and the energy recovery efficiency; Adjust the output torque of the speed increasing transmission mechanism according to the target torque, so that the actual torque of the power generation mechanism tracks the target torque.

[0012] The described method for recovering the gravitational potential energy of a ship anchor dropping, wherein adjusting the output torque of the speed increasing transmission mechanism according to the target torque specifically includes: Obtain the current actual torque of the power generation mechanism; Based on the current actual torque and the target torque, output the excitation current corresponding to the speed increasing transmission mechanism through the intelligent controller, and apply the excitation current to the magnetic powder clutch in the speed increasing transmission mechanism to control the output torque of the speed increasing transmission mechanism.

[0013] The ship anchor dropping gravitational potential energy recovery method described above, wherein the method further includes: When the ship is in the state of retrieving the anchor, obtain the power load of the two-way windlass motor; According to the power load, switch the charging state of the composite energy storage component to the first discharging state or the second discharging state; The first discharging state is to control the battery pack in the composite energy storage component to supply power to the two-way windlass motor; The second discharging state is to control the battery pack and the super capacitor in the composite energy storage component to supply power to the two-way windlass motor in a hybrid manner.

[0014] The ship anchor dropping gravitational potential energy recovery method described above, wherein the method further includes: Real-time monitor the working parameters of the ship anchor dropping gravitational potential energy recovery system; When the working parameters are in an abnormal state, perform abnormal protection on the ship anchor dropping gravitational potential energy recovery system, wherein the abnormal protection includes one or more of overvoltage protection, overcurrent protection, and charge state imbalance current protection.

[0015] Beneficial effects: Compared with the prior art, the present application provides a ship anchor dropping gravitational potential energy recovery method and a recovery system. The system includes an anchor chain drum, a two-way windlass motor, a speed increasing transmission mechanism, a power generation mechanism, a composite energy storage component, and an intelligent controller. The anchor chain drum is respectively connected to the two-way windlass motor and the speed increasing transmission mechanism. The speed increasing transmission mechanism, the power generation mechanism, and the energy storage component are connected in sequence. The intelligent controller is connected to the speed increasing transmission mechanism and the power generation mechanism. When dropping the anchor, the two-way windlass motor enters the power generation mode. The gravitational potential energy formed by dropping the anchor drives the anchor chain drum to rotate to convert the gravitational potential energy formed by dropping the anchor into mechanical energy. The mechanical energy drives the speed increasing transmission mechanism to rotate to transmit the mechanical energy to the power generation mechanism. The power generation mechanism generates electricity based on the mechanical energy and transmits the generated electric energy to the composite energy storage component for storage. And during the power generation process of the two-way windlass motor, the power generation mechanism will be controlled in real time through the intelligent controller to realize the recovery of the gravitational potential energy generated when dropping the anchor, avoiding the waste of the gravitational potential energy generated when dropping the anchor. At the same time, the electric energy obtained by converting the gravitational potential energy can also be used to provide electric energy for the ship, reducing the dependence of the ship on external charging facilities and improving the endurance of the electric ship. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a principle block diagram of a ship anchor dropping gravitational potential energy recovery system provided by an embodiment of the present application.

[0018] Figure 2 It is a schematic diagram of the module layer frame of a ship anchor dropping gravitational potential energy recovery system provided by an embodiment of the present application.

[0019] Figure 3 It is a flowchart of a ship anchor dropping gravitational potential energy recovery method provided by an embodiment of the present application.

[0020] Figure 4 It is a schematic flowchart of a specific example of a ship anchor dropping gravitational potential energy recovery method provided by an embodiment of the present application.

[0021] Figure 5 It is a control principle flowchart of a PI controller. Detailed implementation manners

[0022] An embodiment of the present application provides a ship anchor dropping gravitational potential energy recovery method and a recovery system. To make the purpose, technical solutions and effects of the present application clearer and more definite, the following further describes the present application in detail with reference to the drawings and by way of examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0023] Those skilled in the art of this technology can understand that unless specifically stated, the singular forms "a", "an", "the" and "said" used herein may also include the plural forms. It should be further understood that the term "including" used in the specification of the present application means the presence of the described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more related listed items.

[0024] Those skilled in the art can understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as the general understanding of those of ordinary skill in the field to which this application belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with their meaning in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless specifically defined as here.

[0025] It should be understood that the sequence numbers and magnitudes of the steps in this embodiment do not imply the order of execution. The order of execution of each process is determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0026] Through research, it is found that with the increasing global emphasis on environmental protection and sustainable development, the shipbuilding industry is gradually transforming towards electrification. All-electric ships use an electric propulsion system, which can not only achieve zero carbon emissions but also significantly improve the energy efficiency and operation flexibility of ships. However, electric ships often face the problem of insufficient battery endurance under long-term navigation and high-load operation conditions. Especially in situations where frequent starting, stopping, and anchoring are required, the battery consumption is relatively rapid, and the ship has a high dependence on external charging facilities, which will affect the endurance of electric ships.

[0027] To solve the above problems, this application provides a ship anchoring gravitational potential energy recovery system, which includes an anchor chain drum, a two-way anchor winch motor, a speed increasing transmission mechanism, a power generation mechanism, a composite energy storage component, and an intelligent controller. The anchor chain drum is respectively connected to the two-way anchor winch motor and the speed increasing transmission mechanism. The speed increasing transmission mechanism, the power generation mechanism, and the energy storage component are connected in sequence. The intelligent controller is connected to the speed increasing transmission mechanism and the power generation mechanism. When anchoring, the two-way anchor winch motor enters the power generation mode, and the gravitational potential energy formed by anchoring drives the anchor chain drum to rotate to convert the gravitational potential energy formed by anchoring into mechanical energy. The mechanical energy drives the speed increasing transmission mechanism to rotate to transmit the mechanical energy to the power generation mechanism. The power generation mechanism generates electricity based on this mechanical energy and transmits the generated electric energy to the composite energy storage component for storage. And during the power generation process of the two-way anchor winch motor, the power generation mechanism will be controlled in real time through the intelligent controller to realize the recovery of the gravitational potential energy generated during anchoring, avoiding the waste of the gravitational potential energy generated during anchoring. At the same time, the electric energy obtained by converting this gravitational potential energy can also be used to provide electric energy for the ship, reducing the ship's dependence on external charging facilities and improving the endurance of electric ships.

[0028] The following further illustrates the application content by describing the embodiments in conjunction with the drawings.

[0029] The embodiments of this application provide a ship anchoring gravitational potential energy recovery system, such as Figure 1As shown in the figure, the system includes an anchor chain drum 2, a two-way anchor winch motor 1, a speed increasing transmission mechanism 3, a power generation mechanism 5, a composite energy storage component 6, and an intelligent controller 7. The anchor chain drum 2 is connected to the two-way anchor winch motor 1 through a transmission shaft. The two-way anchor winch motor 1 provides power for the anchor chain drum 2. The anchor chain drum 2 drives the anchor chain wound thereon to move, so as to drive the anchor connected to the anchor chain to perform the operation of retrieving the anchor and dropping the anchor. During the process of dropping the anchor, the anchor chain drum 2 converts the gravitational potential energy formed by dropping the anchor into mechanical energy, and transmits the mechanical energy to the speed increasing transmission mechanism 3. The input end of the speed increasing transmission mechanism is connected to the transmission shaft of the anchor chain drum 2 through an electromagnetic clutch 4, and its output end is coupled to the rotor of the power generation mechanism 5. The speed of the anchor chain drum is increased through the speed increasing transmission mechanism 3 to provide high-speed rotation for the power generation mechanism 5. The power generation mechanism 5 generates electric energy under the drive of high-speed rotation, and transmits the electric energy to the composite energy storage component for storage. The composite energy storage component supplies the stored electric energy to the electric ship power distribution system, realizing the effective recovery of the gravitational potential energy generated during the process of dropping the anchor. In addition, by supplying power to the electric ship power distribution system with the recovered electric energy, the dependence of the electric ship on external charging facilities is reduced, thereby improving the endurance of the electric ship.

[0030] The two-way anchor winch motor 1 is configured with a power generation mode and an electric mode. During the stage of retrieving the anchor, the two-way anchor winch motor 1 switches to the electric mode to provide power for the ship to assist in the operation of retrieving the anchor; while during the stage of dropping the anchor, the two-way anchor winch motor 1 switches to the power generation mode. Through the collaborative work with the power generation mechanism, multi-level energy storage is realized, the efficiency of generating electricity based on the gravitational potential energy generated during dropping the anchor is enhanced, and thus the total amount of energy recovery is improved. Among them, the two-way anchor winch motor 1 can adopt types such as permanent magnet synchronous motors, and the rated power of the two-way anchor winch motor needs to meet the preset requirements. The preset requirements can be , where represents the rated power of the two-way anchor winch motor, represents the mass of the anchor body, represents the acceleration of gravity, represents the maximum designed falling speed of the anchor chain, represents the total efficiency of the system.

[0031] The speed increasing transmission mechanism 3 includes a speed increasing component 31 and a magnetic powder clutch 32. The speed increasing component 31 is used to increase the rotational speed of the drive shaft of the two-way windlass motor, and the magnetic powder clutch 32 is used to continuously adjust the transmission torque of the power generation mechanism. The speed increasing component can adopt a planetary gearbox, and its speed increasing ratio can be flexibly set according to actual requirements. For example, the speed increasing ratio range of the planetary gearbox can be set between 1:20 and 1:50, such as 1:35. It can increase the low speed (5 - 20 RPM) of the anchor chain drum to the high-efficiency speed range (1500 - 3000 RPM) of the power generation mechanism. The magnetic powder clutch can achieve continuous adjustment of the transmission torque (0 - 450 N·m) by adjusting the excitation current to adapt to the working conditions at different water depths. In addition, in order to enhance the safety of the speed increasing transmission mechanism, the speed increasing transmission mechanism can also be equipped with an overload protection coupling, which can automatically mechanically disengage when the torque exceeds the preset threshold. In addition, an electromagnetic clutch can be installed between the speed increasing transmission mechanism and the anchor chain drum. The electromagnetic clutch is used to control the connection state (engagement or disconnection) between the speed increasing transmission mechanism and the anchor chain drum, thereby controlling the operation of the power generation mechanism.

[0032] The power generation mechanism 5 is used to convert the mechanical energy transmitted by the speed increasing transmission mechanism 3 into electrical energy. That is to say, the power generation mechanism 5 rotates under the drive of the speed increasing transmission mechanism 3, converts the mechanical energy transmitted by the speed increasing transmission mechanism 3 into electrical energy, and stores the electrical energy in the composite energy storage component 6 to provide the ship with an electrical energy recovery function. Among them, the power generation mechanism 5 can adopt a synchronous power generation mechanism, which has high energy conversion efficiency and stability, and can ensure that the mechanical energy is effectively converted into electrical energy during the release process of the anchor chain drum.

[0033] The composite energy storage component 6 includes a supercapacitor bank and a lithium battery bank. Both the supercapacitor bank and the lithium battery bank are electrically connected to the power generation mechanism through a bidirectional DC / DC converter. The current generated by the power generation mechanism is transmitted to the supercapacitor bank and / or the lithium battery bank through the bidirectional DC / DC converter, and the recovered energy is stored through the supercapacitor bank and / or the lithium battery bank. Among them, the supercapacitor bank is used for transient energy storage, and the lithium battery bank is used for steady-state energy storage. For example, when the state of charge of the supercapacitor bank does not reach the preset threshold, the composite energy storage component performs transient energy storage through the supercapacitor bank (such as the instantaneous charge and discharge rate ≥ 5C); when the state of charge of the supercapacitor bank reaches the preset threshold, the composite energy storage component performs steady-state energy storage through the lithium battery bank (such as the instantaneous charge and discharge rate = 1C).

[0034] In addition, in order to improve the safety of the ship's anchor dropping gravitational potential energy recovery system, the ship's anchor dropping gravitational potential energy recovery system may further include a safety protection component for protecting the safe operation of the ship's anchor dropping gravitational potential energy recovery system. Among them, the safety protection component may include one or more of a mechanical brake, a dual-redundancy hydraulic brake, and an emergency bypass switch; the mechanical brake is used for mechanical braking when it is detected that the generated power exceeds the rated value for a preset continuous duration (exceeding 30% of the rated value for 2 seconds); the dual-redundancy hydraulic brake is coaxially installed with the anchor chain drum, and the response time is less than a preset duration (such as 0.5 seconds, etc.), and the emergency bypass switch is used to forcibly disconnect the connection between the speed increasing transmission mechanism and the power generating mechanism.

[0035] To further illustrate the ship's anchor dropping gravitational potential energy recovery system provided by the embodiments of the present application, the ship's anchor dropping gravitational potential energy recovery system will be described from the modular architecture level below.

[0036] As Figure 2 shown, from the modular architecture level, the ship's anchor dropping gravitational potential energy recovery system includes an anchor chain operation layer, a mechanical transmission and energy conversion layer, an energy storage management layer, an intelligent control layer, and a safety protection layer.

[0037] The anchor chain operation layer includes an anchor chain drum and a two-way anchor winch motor. The anchor dropping and retrieving operations are performed through the anchor chain operation layer. The anchor chain drum is connected to the anchor body through the anchor chain, and the gravitational potential energy of the falling anchor body is converted into mechanical energy.

[0038] The mechanical transmission and energy conversion layer includes a speed increasing transmission mechanism and a power generating mechanism. The speed increasing component in the speed increasing transmission mechanism is connected to the input end of the magnetic powder clutch, and the output end of the magnetic powder clutch is coupled to the power generating mechanism through a spline shaft. The speed increasing component raises the low-speed rotation of the anchor chain drum to the high-efficiency speed range of the power generating mechanism. The magnetic powder clutch can steplessly adjust the transmitted torque through the exciting current, and the power generating mechanism generates electricity under the action of the transmitted torque adjusted by the magnetic powder clutch.

[0039] The energy storage management layer includes a composite energy storage component. The composite energy storage component is electrically connected to the power generating mechanism. The electric energy generated by the power generating mechanism is rectified into direct current by a three-phase rectifier, and the direct current is transmitted to a bidirectional DC / DC converter through a DC bus, and then transmitted to the composite energy storage component through the DC / DC converter, and the electric energy is stored by the composite energy storage component.

[0040] The intelligent control layer includes an intelligent controller, which dynamically adjusts the speed-increasing transmission mechanism and the power generation mechanism so that the actual torque of the power generation mechanism is equal to the target torque corresponding to the gravitational potential energy formed during anchoring. The intelligent controller also manages the composite energy storage component to adjust the discharge state of the composite energy storage component according to the energy storage state data of the composite energy storage component. Specifically, when the state of charge of the supercapacitor unit does not reach the preset threshold, the composite energy storage component performs transient energy storage through the supercapacitor unit; when the state of charge of the supercapacitor unit reaches the preset threshold, the composite energy storage component performs steady-state energy storage through the lithium battery unit.

[0041] The safety protection layer includes a safety protection component, and a multi-stage braking mechanism is implemented through the safety protection component to protect the safe operation of the ship's anchoring gravitational potential energy recovery system.

[0042] The embodiment of the present application provides that through the mutual assistance of the anchor chain operation layer, the mechanical transmission and conversion layer, the energy storage management layer, the intelligent control layer, and the safety protection layer, with the anchor chain drum as the core power input end, the gravitational potential energy is converted into electrical energy through electromechanical coupling, and efficient recovery is achieved through multi-stage energy storage and adaptive control. This not only avoids the waste of gravitational potential energy but also provides power support for the electric ship power distribution system.

[0043] Based on the above ship's anchoring gravitational potential energy recovery system, the embodiment of the present application provides a method for recovering the ship's anchoring gravitational potential energy, as Figure 3 shown. The method for recovering the ship's anchoring gravitational potential energy specifically includes: S10. When the ship is in the anchoring state, obtain the energy storage state data of the composite energy storage component; S20. Switch the charging state of the composite energy storage component to the first charging state or the second charging state according to the energy storage state data.

[0044] Specifically, the energy storage state data is used to reflect the energy storage state of the composite energy storage component. According to this energy storage state data, the charging state of the composite energy storage component can be determined. The charging state is used to reflect the charging efficiency of the composite energy storage component. Among them, the charging state includes the first charging state and the second charging state. The first charging state means that the composite energy storage component adopts transient energy storage, and the second charging state means that the composite energy storage component adopts steady-state energy storage. The energy storage state data is the measurement basis for determining whether the composite energy storage component adopts transient energy storage or steady-state energy storage. Based on this energy storage state data, it can be determined whether the composite energy storage component adopts transient energy storage or steady-state energy storage.

[0045] Further, the composite energy storage component includes a supercapacitor bank and a lithium battery bank. The supercapacitor bank can perform transient energy storage, and the lithium battery bank can perform steady-state energy storage. Therefore, when the charging state switches to the first charging state, the supercapacitor bank in the composite energy storage component can be controlled to access the DC bus, and the electric energy generated by the power generation mechanism is used to charge the supercapacitor bank. When the charging state switches to the second charging state, the lithium battery bank in the composite energy storage component can be controlled to access the DC bus, and the electric energy generated by the generator is used to charge the lithium battery bank.

[0046] For example, as Figure 4 shown, the energy storage state data is the state of charge of the supercapacitor bank. The switching thresholds for the first charging state and the second charging state are set to 85%. After obtaining the state of charge of the supercapacitor bank, the state of charge of the supercapacitor bank will be compared with 85%. If the state of charge of the supercapacitor bank is less than 85%, the charging state of the composite energy storage component will be switched to the first charging state, and transient energy storage will be performed through the supercapacitor bank. If the state of charge of the supercapacitor bank is greater than or equal to 85%, the charging state of the composite energy storage component will be switched to the second charging state, and steady-state energy storage will be performed through the lithium battery bank.

[0047] Of course, it should be noted that when it is detected that the ship is in the anchoring state, the charging state of the composite energy storage component is first configured to the first charging state, that is, transient energy storage is started to connect the supercapacitor bank to the DC bus for energy storage. Then, the charging working state of the composite energy storage component is determined according to the energy storage state data, which can not only quickly store the electric energy generated by the power generation mechanism, but also reduce the switching times of the charging working state.

[0048] In one implementation, since the ship can anchor, retrieve the anchor, and keep the anchor chain wound around the anchor chain drum, the ship state can be determined. That is, first, it is detected whether the ship is in the anchoring state, the retrieving state, or the state of keeping the anchor chain wound around the anchor chain drum. Then, when it is detected that the ship is in the anchoring state, the energy storage state data of the composite energy storage component is obtained. Based on this, before obtaining the energy storage state data of the composite energy storage component when the ship is in the anchoring state, the method further includes: Real-time monitoring of the anchor chain tension; When the anchor chain tension is greater than the preset threshold, it is determined that the ship is in the anchoring state.

[0049] Specifically, the anchor chain tension can be detected by an anchor chain tension sensor installed on the anchor chain, that is, the anchor chain tension can be real-time monitored by the anchor chain tension sensor. The preset threshold is the basis for determining the anchoring state. When the anchor chain tension is greater than the preset threshold, it indicates that the ship is in the anchoring state; conversely, when the anchor chain tension is less than or equal to the preset threshold, it indicates that the ship is not in the anchoring state.

[0050] Further, when the ship is at anchor, it indicates that energy recovery is required, and the energy recovery mode will be activated. That is, when the ship is at anchor, when obtaining the energy storage state data of the composite energy storage component, the connection state between the anchor chain drum and the speed increasing transmission mechanism will also be adjusted (such as by adjusting the electromagnetic clutch between the anchor chain drum and the speed increasing transmission mechanism), so that the anchor chain drum is engaged with the speed increasing transmission mechanism (such as closing the electromagnetic clutch between the anchor chain drum and the speed increasing transmission mechanism), and the rotation speed of the anchor chain drum is increased through the speed increasing transmission mechanism and then transmitted to the power generation mechanism to drive the power generation mechanism to rotate, so that the generator generates electricity based on the recovered gravitational potential energy.

[0051] In one implementation, during the anchoring process, the power generation mechanism can be adjusted in real time so that the actual torque of the power generation mechanism matches the target torque corresponding to the gravitational potential energy, so as to improve the power generation efficiency of the power generation mechanism. Based on this, during the energy recovery process, the method may further include: Real-time collection of the water depth of the anchor body and the energy recovery efficiency; Calculating the target torque of the generator according to the water depth and the energy recovery efficiency; Adjusting the output torque of the speed increasing transmission mechanism according to the target torque, so that the actual torque of the power generation structure tracks the target torque.

[0052] Specifically, the water depth is the depth of the anchor body relative to the horizontal plane, which can be detected by a water depth sensor. That is, a water depth sensor can be provided on the anchor body to collect the water depth of the anchor body in real time. Of course, in actual applications, the water depth can also be collected in other ways. For example, the water depth of the anchor body can be calculated according to the driving force applied to the anchor body during anchoring, the buoyancy of water, and the anchoring time, etc.

[0053] The energy recovery efficiency is used to reflect the conversion efficiency of gravitational potential energy into mechanical energy. Among them, the energy recovery efficiency can be expressed as: ; Among them, Represents a system constant, Represents a time constant, Represents the anchoring duration, Represents the energy recovery efficiency.

[0054] Further, after obtaining the water depth and the energy recovery efficiency, the target torque of the power generation mechanism can be calculated according to the water depth and the energy recovery efficiency. Among them, the calculation formula of the target torque can be: ; Among them, Represents the target torque, Represents the mass of the anchor body, represents the acceleration due to gravity, represents the radius of the anchor chain drum, represents the transmission ratio, represents the energy recovery efficiency.

[0055] Furthermore, after obtaining the target torque, the output torque of the speed increasing transmission mechanism can be adjusted based on the target torque to adjust the torque of the power generation mechanism, so that the torque of the power generation mechanism follows the target torque. Among them, the output torque of the speed increasing transmission mechanism can be controlled based on an intelligent controller. Specifically, adjusting the output torque of the speed increasing transmission mechanism according to the target torque specifically includes: obtaining the current actual torque of the power generation mechanism; Based on the current actual torque and the target torque, the exciting current corresponding to the speed increasing transmission mechanism is output through the intelligent controller, and the exciting current is applied to the magnetic powder clutch in the speed increasing transmission mechanism to control the output torque of the speed increasing transmission mechanism.

[0056] Specifically, the current actual torque is the actual torque of the power generation mechanism at the current moment, and the target torque is the torque expected to be adopted by the power generation mechanism. That is to say, the current actual torque can be adjusted with the target torque as the target so that the current actual torque follows the target torque. Among them, when controlling the current actual torque of the power generation mechanism to follow the target torque, the current actual torque and the target torque can be input into the intelligent controller, the exciting current corresponding to the speed increasing transmission mechanism is output through the intelligent controller, and then the magnetic powder clutch is controlled based on the exciting current to adjust the output torque of the speed increasing transmission mechanism, and further adjust the torque of the power generation mechanism.

[0057] The intelligent controller can adopt a fuzzy IP controller to determine the exciting current through fuzzy IP control. Specifically, as Figure 5 shown, the current actual torque and the target torque are used as input variables, and the exciting current is used as an output variable. The current actual torque and the target torque are input into the intelligent controller, and the intelligent controller determines the exciting current based on a pre-set fuzzy rule set and membership function. Among them, when determining the exciting current, defuzzification can be performed using the centroid method, etc. Specifically, the input quantities of the PID controller include the current actual torque , the target torque , and the output quantity is the exciting current ; The PID controller can be expressed as: ; ; Among them, represents the proportional gain, represents the integral gain, represents the integral parameter, Indicates torque deviation. Proportional gain Is used to directly adjust the output according to the magnitude of the error, such as ; Integral gain Is used to eliminate the steady-state error and adjusts the output by accumulating the error, ; Integral parameter Is used to adjust the output according to the rate of change of the error to improve the response speed and stability of the system, .

[0058] Furthermore, after obtaining the exciting current , the magnetic powder clutch torque (i.e., the output torque of the speed increasing transmission mechanism) can be determined according to the exciting current . The corresponding relationship between the magnetic powder clutch torque and the exciting current is: ; Wherein, Represents the magnetic powder clutch torque, Represents the electromagnetic gain coefficient, Represents the electromagnetic response time constant, Represents the mechanical delay time. , And Can be set according to actual requirements, such as Taking a value in 0.8 - 1.2 N·m / A, Taking 50 ms, Taking 20 ms, etc.

[0059] In the embodiment of the present application, the gravitational potential energy generated during the anchoring process is recovered by the ship anchoring gravitational potential energy recovery system. During the recovery process, not only the charging working mode adopted by the composite energy storage component is determined according to the energy storage state data, but also the electric energy converted from the gravitational potential energy is transiently stored by the supercapacitor bank at the initial stage of anchoring, so that the composite energy storage component can meet the storage speed requirement of the electric energy generated by the power generation mechanism. When the state of charge of the supercapacitor bank reaches the preset threshold, the anchoring process enters the later stage. At this time, the speed of converting the gravitational potential energy into electric energy will also slow down, so the lithium battery bank can be used for steady-state energy storage. At the same time, when the lithium battery bank is in steady-state energy storage, the supercapacitor bank is in a backup state. In this way, the collaborative energy storage measurement of the lithium battery bank and the supercapacitor bank can not only meet the energy storage requirements, but also avoid the problem of damage to the supercapacitor bank caused by excessive charging. At the same time, during the anchoring process, the energy recovery efficiency will also be adjusted in real time through the dual-parameter feedback mechanism of the anchor chain tension and the water depth, and then the output torque of the speed increasing transmission mechanism will be adjusted by the intelligent controller based on the energy recovery efficiency to adjust the actual torque of the power generation mechanism, so that the actual torque of the power generation mechanism can be based on the target torque determined by the gravitational potential energy, so that the energy recovery rate of this operation reaches 75% - 82%. Not only the gravitational potential energy is recovered, but also the gravitational potential energy can be efficiently recovered.

[0060] In one implementation, the electric energy stored in the composite energy storage component can be used as the backup power supply of the electric ship power distribution system, or can be used to supply power to the two-way windlass motor. Based on this, the ship anchoring gravitational potential energy recovery method further includes: When the ship is in the state of retrieving the anchor, obtain the power load of the two-way windlass motor; According to the power load, switch the discharge state of the composite energy storage component to the first discharge state or the second discharge state.

[0061] Specifically, the power load reflects the power demand of the two-way windlass motor and is used as the basis for determining the discharge state. The discharge state is used to reflect the power supply mode of the composite energy storage component. Among them, the discharge state includes the first discharge state and the second discharge state. The first discharge state means that the composite energy storage component adopts the power supply mode of the lithium battery bank, that is, the lithium battery bank is used as the energy storage unit for discharging, and the second charge state means that the composite energy storage component adopts the hybrid power supply mode, that is, the lithium battery bank and the supercapacitor bank are used as the energy storage units for discharging. That is, when the discharge state is switched to the first discharge state, control the lithium battery bank in the composite energy storage component to supply power to the two-way windlass motor, and when the discharge state is switched to the second discharge state, control the lithium battery bank and the supercapacitor bank in the composite energy storage component to supply power to the two-way windlass motor in a hybrid manner.

[0062] In one implementation, as Figure 4As shown, when switching the discharge state of the composite energy storage component according to the power load, the power load can be compared with a preset power load threshold. If the power load is greater than the preset power load threshold, the discharge state of the composite energy storage component is switched to the second discharge state. If the power load is less than or equal to the preset power load threshold, the discharge state of the composite energy storage component is switched to the first discharge state. For example, if the preset power load threshold is 20 kW, then when the power load is greater than 20 kW, the lithium battery pack and the supercapacitor bank in the composite energy storage component are controlled to hybridly supply power to the two-way windlass motor; when the power load is less than or equal to 20 kW, the lithium battery pack in the composite energy storage component is controlled to supply power to the two-way windlass motor.

[0063] In the embodiment of the present application, by adjusting the energy supply strategy of the composite energy storage component according to the load power, during the discharge process, by real-time monitoring of the load power, the system can quickly respond and adjust the power supply mode of the energy storage component. When the load power demand is high, the system can automatically switch to the hybrid power supply mode to ensure the stable operation of the two-way windlass motor. When the load power demand decreases, the system will automatically switch back to the mode of the lithium battery pack supplying power alone to avoid unnecessary energy waste. At the same time, the present application combines the energy supply strategy with the energy storage strategy of the composite energy storage component, and optimizes the charging process through an intelligent algorithm to ensure that the lithium battery pack and the supercapacitor bank can fully absorb electric energy during charging, while avoiding overcharging and over-discharging phenomena and extending the service life of the energy storage component. Therefore, the embodiment of the present application can not only recover gravitational potential energy, but also efficiently utilize the recovered electric energy, realizing both the recovery of energy and the efficient utilization of the recovered energy.

[0064] In one implementation, in order to improve the safety of gravitational potential energy recovery, during the gravitational potential energy recovery process, as Figure 4 shown, the operation safety of the ship anchor dropping gravitational potential energy recovery system is also monitored, and when an abnormal operation is detected, abnormal protection is performed. Correspondingly, the ship anchor dropping gravitational potential energy recovery method further includes: Real-time monitoring of the working parameters of the ship anchor dropping gravitational potential energy recovery system; When the working parameters are in an abnormal state, performing abnormal protection on the ship anchor dropping gravitational potential energy recovery system, where the abnormal protection includes one or more of overvoltage protection, overcurrent protection, and charge state imbalance current protection.

[0065] Specifically, the operating parameters may include key operating parameters such as voltage, current, state of charge (SOC, remaining battery charge), etc., and the operating parameters are monitored in real time to determine whether they exceed the preset safety range. For example, if the voltage is too high, the current is too large, or the state of charge is unbalanced, it is determined that the operating parameters are in an abnormal state, and the ship's anchor dropping gravitational potential energy recovery system will immediately trigger an abnormal protection mechanism to protect the ship's anchor dropping gravitational potential energy recovery system through the abnormal protection mechanism.

[0066] The abnormal protection operations triggered by the abnormal protection mechanism may include one or more of overvoltage protection, overcurrent protection, and state-of-charge imbalance current protection. Among them, overvoltage protection can prevent system components from being damaged due to excessive voltage; overcurrent protection ensures that the current flows within a safe range to avoid short circuits or overloads; state-of-charge imbalance current protection regulates the power differences between individual cells in the lithium battery pack to prevent battery performance degradation or safety accidents caused by uneven power. Through these abnormal protection operations, the ship's anchor dropping gravitational potential energy recovery system can respond quickly in case of abnormalities, ensuring the safety and stability of the overall operation.

[0067] In summary, this embodiment provides a method for recovering the gravitational potential energy of a ship's anchor dropping. The method is used for the ship's anchor dropping gravitational potential energy recovery system, which includes an anchor chain drum, a bidirectional anchor winch motor, a speed increasing transmission mechanism, a power generation mechanism, a composite energy storage component, and an intelligent controller. The speed increasing transmission mechanism is used to convert the low-speed movement of the anchor chain drum into the high-efficiency rotation speed of the generator. A cooperative energy storage strategy of a supercapacitor bank and a lithium battery pack is adopted, and the torque of the power generation mechanism is adaptively controlled by the intelligent controller. The method proposes an anchor chain tension - water entry depth dual-parameter feedback mechanism to achieve real-time optimization with the energy recovery efficiency. At the same time, the energy storage strategy is determined according to the energy storage state data of the composite energy storage component, and the power supply strategy is determined according to the load power, realizing the efficient recovery and reasonable utilization of gravitational potential energy. At the same time, the operation process of the ship's anchor dropping gravitational potential energy recovery system is protected by the safety protection component configured in the ship's anchor dropping gravitational potential energy recovery system, improving the operation safety of the ship's anchor dropping gravitational potential energy recovery system. Therefore, the embodiment of this application overcomes the technical bottleneck of ship's anchor dropping potential energy recovery, providing an efficient and reliable green energy acquisition and utilization method for all-electric ships.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A ship anchor dropping gravitational potential energy recovery system, characterized in that, The described ship anchoring gravitational potential energy recovery system specifically includes: A two-way windlass motor, which is used as the power source for anchoring and retrieving the anchor. An anchor chain drum, connected to the two-way windlass motor, used to drive the movement of the anchor chain wound around the anchor chain drum for anchoring and retrieving the anchor operations, and converting the gravitational potential energy formed during the anchoring process into mechanical energy. A speed-increasing transmission mechanism, connected to the anchor chain drum, used to transmit and increase the speed of the anchor chain drum to transmit the mechanical energy. A power generation mechanism, connected to the speed-increasing transmission mechanism, used to generate electricity under the drive of the speed-increasing transmission mechanism to convert mechanical energy into electrical energy. A composite energy storage component, connected to the power generation mechanism, used to store the electrical energy generated by the power generation mechanism. An intelligent controller, connected to the speed-increasing transmission mechanism and the power generation mechanism, used to dynamically adjust the speed-increasing transmission mechanism and the power generation mechanism.

2. The ship anchor dropping gravitational potential energy recovery system according to claim 1, characterized in that, The speed-increasing transmission mechanism includes: A speed-increasing component, whose input end is connected to the anchor chain drum, used to increase the rotation speed of the anchor chain drum. A magnetic powder clutch, connected to the output end of the speed-increasing component, used to perform stepless adjustment on the power generation mechanism.

3. The ship anchor dropping gravitational potential energy recovery system according to claim 1, characterized in that The ship anchoring gravitational potential energy recovery system further includes a safety protection component for protecting the safe operation of the ship anchoring gravitational potential energy recovery system. Among them, the safety protection component includes one or more of a mechanical brake, a dual-redundancy hydraulic brake, and an emergency bypass switch.

4. The ship anchor dropping gravitational potential energy recovery system according to claim 1, characterized in that, The composite energy storage component includes a supercapacitor bank and a lithium battery bank. When the state of charge of the supercapacitor bank does not reach the preset threshold, the composite energy storage component performs transient energy storage through the supercapacitor bank; when the state of charge of the supercapacitor bank reaches the preset threshold, the composite energy storage component performs steady-state energy storage through the lithium battery bank.

5. A method for recovering the gravitational potential energy of ship anchoring, characterized in that, Applying the ship anchoring gravitational potential energy recovery system according to any one of claims 1-4, the ship anchoring gravitational potential energy recovery method specifically includes: When the ship is in the anchoring state, obtaining the energy storage state data of the composite energy storage component. According to the energy storage state data, switching the charging state of the composite energy storage component to the first charging state or the second charging state. The first charging state is to control the supercapacitor bank in the composite energy storage component to be connected to the DC bus, and charge the supercapacitor bank with the electrical energy generated by the power generation mechanism. The second charging state is to control the lithium battery bank in the composite energy storage component to be connected to the DC bus, and charge the lithium battery bank with the electrical energy generated by the power generation mechanism.

6. The method for recovering the gravitational potential energy of ship anchoring according to claim 5, characterized in that, Before obtaining the energy storage state data of the composite energy storage component when the ship is in the anchoring state, the method further includes: Real-time monitoring of the anchor chain tension. When the anchor chain tension is greater than the preset threshold, it is determined that the ship is in the anchoring state, and the power generation mechanism is driven to rotate through the speed-increasing transmission mechanism.

7. The method for recovering the gravitational potential energy of ship anchoring according to claim 5, wherein When the ship is in the anchoring state, the method further includes: Real-time collecting the water entry depth of the anchor body and the energy recovery efficiency. Calculating the target torque of the power generation mechanism according to the water entry depth and the energy recovery efficiency. Adjusting the output torque of the speed-increasing transmission mechanism according to the target torque, so that the actual torque of the power generation mechanism tracks the target torque.

8. The method for recovering the gravitational potential energy of ship anchoring according to claim 7, characterized in that, The adjusting the output torque of the speed-increasing transmission mechanism according to the target torque specifically includes: Obtain the current actual torque of the power generation mechanism; Based on the current actual torque and the target torque, output the excitation current corresponding to the speed increasing transmission mechanism through the intelligent controller, and apply the excitation current to the magnetic powder clutch in the speed increasing transmission mechanism to control the output torque of the speed increasing transmission mechanism.

9. The method for recovering the gravitational potential energy of ship anchoring according to claim 5, wherein The method further includes: When the ship is in the state of retrieving the anchor, obtain the power load of the two-way anchor winch motor; Switch the charging state of the composite energy storage component to the first discharge state or the second discharge state according to the power load; The first discharge state is to control the battery pack in the composite energy storage component to supply power to the two-way anchor winch motor; The second discharge state is to control the battery pack and the super capacitor in the composite energy storage component to supply power to the two-way anchor winch motor in a hybrid manner.

10. The method for recovering the gravitational potential energy of ship anchoring according to claim 5, wherein, The method further includes: Monitor the working parameters of the ship's anchor dropping gravitational potential energy recovery system in real time; When the working parameters are in an abnormal state, perform abnormal protection on the ship's anchor dropping gravitational potential energy recovery system, where the abnormal protection includes one or more of overvoltage protection, overcurrent protection, and state of charge imbalance current protection.

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