Self-adaptive adjusting system and method for driving power of full-rotation electric tugboat

Abstract

The invention provides a self-adaptive adjusting system and method for driving power of a full-rotation electric tugboat, and relates to the technical field of full-rotation electric tugboats. The data acquisition module acquires environment data, tugboat state data and towed object state data in real time; the resistance model construction module obtains the total resistance borne by the towed object; a dragging demand calculation module calculates a dragging demand; the dynamic model construction module constructs a dynamic model of the tugboat and performs dynamic correction in combination with the environmental data to obtain dragging data; the instruction generation module adopts a PID control algorithm to generate an adjustment instruction; and the adaptive adjustment module performs real-time adjustment. Through cooperative operation of all the modules, the tugboat operation efficiency can be improved, the completion time of a tugboat task is greatly shortened, the port operation turnover rate is increased, and the operation cost is reduced. Meanwhile, power waste is avoided through self-adaptive adjustment, the development trend of energy conservation and emission reduction is met, and green and sustainable development of the shipping industry is promoted.

Description

Technical Field

[0001] The present invention relates to the technical field of azimuth electric tugboats, and in particular to an azimuth electric tugboat driving power adaptive adjustment system and an azimuth electric tugboat driving power adaptive adjustment method. Background Art

[0002] With the rapid development of the shipping industry, fully-rotating electric tugboats are playing an increasingly important role in port operations, ship towing, and other fields. Fully-rotating electric tugboats offer flexible operation and powerful power, enabling them to efficiently complete towing tasks in complex water environments. However, in actual operations, tugboats face extremely complex and variable working conditions. On the one hand, environmental factors such as water flow velocity, wind direction and speed, and waves are constantly changing, which can significantly increase the resistance to the towed object. On the other hand, the type, size, weight, and posture changes of the towed object during towing can also lead to huge differences in the resistance it encounters.

[0003] Traditional tugboat propulsion power regulation methods are often based on empirical settings, lacking accurate perception and dynamic response to the real-time environment and towed object status. When environmental conditions or the towed object's status change, traditional regulation methods struggle to quickly and accurately adjust the tugboat's power, potentially leading to inefficient towing and even towing accidents. Furthermore, traditional regulation methods suffer from high energy consumption and fail to achieve optimal power configuration. Summary of the Invention

[0004] The present invention provides a system and method for adaptively adjusting driving power of an azimuth electric tugboat, which are used to solve the defects in the prior art.

[0005] In one aspect, the present invention provides a system for adaptively regulating driving power of an azimuth electric tugboat, comprising:

[0006] The data acquisition module is used to collect environmental data, tugboat status data and towed object status data in real time.

[0007] The resistance model building module is used to build a resistance model based on fluid mechanics according to environmental data and towed object status data, and obtain the total resistance experienced by the towed object.

[0008] The drag demand calculation module is used to calculate the drag demand of the towed object based on the resistance model. The drag demand includes the drag demand force and the drag demand direction.

[0009] The power model building module is used to build a power model of the tugboat according to the tugboat status data, and perform power correction in combination with the environmental data to obtain the towing data. The towing data includes the actual power of the tugboat and the actual power direction of the tugboat.

[0010] The instruction generation module is configured to calculate a target towing force and a target towing direction of the tugboat according to the towing demand and the towing data, and generate an adjustment instruction by using a PID control algorithm, the adjustment instruction including an angle adjustment amount of the rudder propeller and a rotating speed adjustment amount of the propeller.

[0011] The adaptive adjustment module is configured to adjust the state of the rudder propeller of the tugboat in real time according to the adjustment instruction.

[0012] According to the full-rotation electric tugboat driving power adaptive adjustment system, the environmental data includes water density, water flow speed, water flow direction, wind power and wind direction. The state data of the tugboat includes the motion state of the tugboat, power system data and equipment state data. The motion state of the tugboat includes the speed and direction of the tugboat. The power system data includes the rotating speed of the propeller and the power of the motor. The equipment state data includes the angle of the rudder propeller and the geometric parameters of the propeller blade. The state data of the towed object includes the motion state data and the self characteristic data of the towed object. The motion state data of the towed object includes the speed and direction of the towed object. The self characteristic data includes the mass, volume and shape of the towed object.

[0013] According to the full-rotation electric tugboat driving power adaptive adjustment system, the process of obtaining the total resistance of the towed object includes:

[0014] According to the speed, water flow speed and direction of the towed object, the water resistance relative speed of the towed object and the water flow is calculated by vector composition.

[0015] According to the water density and the self characteristic data, the surface area of the towed object in contact with water is calculated, and the friction resistance of the towed object is calculated in combination with the water resistance relative speed.

[0016] The projection area of the towed object perpendicular to the motion direction is obtained, and the pressure difference resistance of the towed object is calculated in combination with the water density and the water resistance relative speed.

[0017] The friction resistance and the pressure difference resistance are added to obtain the water resistance of the towed object.

[0018] According to the speed, wind power and wind direction of the towed object, the wind resistance relative speed of the towed object and the air is calculated by vector composition.

[0019] According to the wind direction and the self characteristic data, the projection area of the towed object perpendicular to the wind direction is calculated, and the wind resistance of the towed object is calculated in combination with the wind resistance relative speed.

[0020] The water resistance and the wind resistance are added to obtain the total resistance of the towed object.

[0021] According to the full-rotation electric tugboat driving power adaptive adjustment system, the process of calculating the towing demand includes:

[0022] According to the tugboat's operating mission, the target speed and target heading of the towed object are obtained.

[0023] Based on the current speed, target speed, current heading, and target heading of the towed object, the acceleration requirements of the towed object in the x and y directions are calculated using kinematic formulas.

[0024] According to Newton's second law, combined with the mass and acceleration requirements of the towed object, calculate the required net force of the towed object in the x and y directions.

[0025] Combined with the drag model of the towed object, the total drag acting on the towed object is decomposed in the x and y directions according to its current direction of motion. This yields the drag forces that the towed object needs to overcome in the x and y directions, respectively. The required net force is then added to the drag forces to obtain the required drag forces in the x and y directions.

[0026] According to the dragging force required by the towed object in the x and y directions respectively, the magnitude and direction of the dragging force required for the towed object to sail at the target speed and target course are calculated using the Pythagorean theorem and trigonometric functions.

[0027] According to the present invention, a system for adaptively regulating driving power of an azimuth electric tugboat is provided, and a process for constructing a power model of the tugboat based on tugboat state data includes:

[0028] Get the geometric parameters of the propeller blade, including the radius and width of the blade.

[0029] The propeller blade is divided into N blade elements along the radial direction, and the radius range of each blade element is , i=1,2,…,N.

[0030] For the i-th blade element, the linear velocity of the blade element is calculated according to its radial position, and the lift and drag of the blade element are calculated by combining the lift and drag coefficient curves of the airfoil with the inflow angle of the blade element.

[0031] Integrate the lift and drag of all blade elements along the radial direction to obtain the thrust of the entire propeller.

[0032] According to the present invention, a system for adaptively adjusting driving power of an azimuth electric tugboat, the process of performing power correction in combination with environmental data includes:

[0033] The water flow force on the tugboat is calculated based on the relative speed of the tugboat and the water flow, the hydrodynamic coefficient of the tugboat and the projected area.

[0034] The wind force acting on the tugboat is calculated based on the relative speed of the tugboat and the air, the wind resistance coefficient of the tugboat, and the projected area.

[0035] Taking into account the effects of water flow and wind force, the actual power that a tugboat can provide is the propeller thrust minus the components of wind resistance and water flow resistance in the thrust direction.

[0036] According to the principle of force synthesis, the direction of the combined force of wind resistance and water flow resistance is calculated, and the direction of the tugboat's power is corrected to obtain the actual direction of the tugboat's power.

[0037] According to the present invention, a system for adaptively regulating driving power of an azimuth electric tugboat is provided, wherein the process of calculating the target drag force and target drag direction of the tugboat according to the towing demand and the towing data includes:

[0038] The actual power of the tugboat is decomposed into components in the x and y directions.

[0039] Combined with the dragging force required by the towed object in the x and y directions, the difference in the actual power of the tugboat is calculated to obtain the power component that the tugboat needs to provide.

[0040] The power components that the tugboat needs to provide are synthesized to obtain the target towing force and target towing direction of the tugboat.

[0041] According to the present invention, a self-adaptive regulating system for driving power of an azimuth electric tugboat, the process of generating regulating instructions by using a PID control algorithm includes:

[0042] The dragging force and dragging direction that the tugboat needs to provide are taken as control targets.

[0043] The rudder propeller angle and propeller speed are selected as the control variables.

[0044] The error between the current actual power of the tugboat and the target dragging force, as well as the error between the current actual power direction of the tugboat and the target dragging direction are calculated respectively.

[0045] The PID control algorithm is used to generate the control instructions for adjusting the rudder propeller angle. The formula is expressed as:

[0046]

[0047] Generate the control command for propeller speed regulation, the formula is expressed as:

[0048]

[0049] Where, and represents the proportionality coefficient, and represents the integral coefficient, and represents the differential coefficient, Indicates the error between the actual power of the tugboat and the target drag force, represents the error between the actual power direction of the tugboat and the target towing direction, represents the adjustment amount of the rudder angle, represents the adjustment amount of the propeller speed.

[0050] According to the full-rotation electric tugboat driving power adaptive adjustment system provided by the application, the real-time adjustment process comprises:

[0051] Through the rudder controller, the rudder is driven to rotate according to the rudder angle adjustment instruction, so that the rotation angle of the rudder is adjusted from the current angle to .

[0052] Through the motor controller, the motor power is adjusted according to the propeller speed adjustment instruction, so that the rotation speed of the propeller is adjusted from the current rotation speed n to .

[0053] On the other hand, the application also provides a full-rotation electric tugboat driving power adaptive adjustment method, which comprises:

[0054] Real-time collection of environmental data, tugboat state data and towed object state data.

[0055] According to the environmental data and the towed object state data, a resistance model based on fluid mechanics is constructed to obtain the total resistance received by the towed object.

[0056] According to the resistance model, the towing demand of the towed object is calculated, which includes the towing demand force and the towing demand direction.

[0057] According to the tugboat state data, a power model of the tugboat is constructed, and the power is corrected combined with the environmental data to obtain the towing data, which includes the actual power of the tugboat and the actual power direction of the tugboat.

[0058] According to the towing demand and the towing data, the target towing force and the target towing direction of the tugboat are calculated, and a PID control algorithm is used to generate an adjustment instruction, which includes the rudder angle adjustment amount and the propeller speed adjustment amount.

[0059] According to the adjustment instruction, the rudder state of the tugboat is adjusted in real time.

[0060] The full-rotation electric tugboat driving power adaptive adjustment system and method provided by the application can accurately calculate the total resistance received by the towed object based on the principle of fluid mechanics and accurately construct the power model of the tugboat by real-time collection of environmental data, tugboat state data and towed object state data, combined with the resistance model construction module and the power model construction module. Compared with the traditional empirical adjustment, the power adjustment accuracy can be improved, the tugboat power output can be highly matched with the actual operation demand, and the situation of insufficient power or excessive output can be avoided.

[0061] In terms of safety, the system rapidly responds to changes in the environment and the towed object's state. In the event of sudden severe weather or an abnormal towed object's posture, the command generation module uses a PID control algorithm to rapidly generate adjustment commands. The adaptive adjustment module then adjusts the propeller and rudder status in real time, enabling the tugboat to adjust power and direction promptly. This effectively reduces the risk of accidents such as towline breakage and loss of control of the towed object caused by power mismatch during towing, ensuring the safety of port operations and vessel towing.

[0062] In terms of operational efficiency, precise power regulation enables tugboats to perform towing operations with optimal power and direction. In complex waters, this improves tugboat operating efficiency, significantly reduces towing task completion time, increases port operation turnover, and reduces operating costs. Furthermore, adaptive regulation avoids power waste, aligns with the trend of energy conservation and emission reduction, and contributes to the green and sustainable development of the shipping industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0064] Figure 1 1 is a schematic structural diagram of a driving power adaptive adjustment system for an azimuth electric tugboat provided by an embodiment of the present invention;

[0065] Figure 2 The present invention provides a flow chart of a method for adaptively adjusting the driving power of an azimuth electric tugboat. DETAILED DESCRIPTION

[0066] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0067] The following combination Figure 1-Figure 2 The present invention describes a self-adaptive adjustment system and method for driving power of an azimuth electric tugboat.

[0068] Figure 1 The present invention provides a schematic structural diagram of a fully rotating electric tugboat driving power adaptive adjustment system.

[0069] like Figure 1 As shown, an embodiment of the present invention provides an adaptive adjustment system and method for driving power of an omni-rotating electric tugboat. The executing body can be an adaptive adjustment system for driving power of an omni-rotating electric tugboat. The system includes a data acquisition module, a resistance model construction module, a towing demand calculation module, a power model construction module, an instruction generation module and an adaptive adjustment module.

[0070] The data acquisition module is used to collect environmental data, tugboat status data and towed object status data in real time.

[0071] Environmental data includes water density, current velocity, current direction, wind strength, and direction. Tugboat status data includes the tugboat's motion state, power system data, and equipment status data. Tugboat motion state includes the tugboat's speed and heading. Power system data includes propeller speed and motor power. Equipment status data includes rudder propeller angle and propeller blade geometry. Towed object status data includes the towed object's motion state data and its own characteristic data. Towed object motion state data includes the towed object's speed and direction. Its own characteristic data includes the towed object's mass, volume, and shape.

[0072] The resistance model building module is used to build a resistance model based on fluid mechanics based on environmental data and the state data of the towed object, and obtain the total resistance of the towed object. The process includes:

[0073] According to the speed of the towed object, the speed and direction of the water flow, the relative speed of the towed object and the water resistance of the water flow is calculated by vector synthesis. The formula is expressed as follows:

[0074]

[0075] Where, Indicates the speed of the towed object. Indicates the direction of movement of the dragged object. Indicates the water flow velocity, Indicates the direction of water flow.

[0076] The surface area of ​​the towed object in contact with water is calculated based on the water density and its own characteristics, and the frictional resistance of the towed object is calculated in combination with the relative speed of the water resistance. The formula is expressed as follows:

[0077]

[0078] Where, represents the water density, represents the friction resistance coefficient, Indicates the surface area of ​​the towed object in contact with water.

[0079] Obtain the projected area of ​​the towed object perpendicular to the direction of motion, and calculate the pressure differential resistance of the towed object by combining the water density and the relative velocity of the water resistance. The formula is:

[0080]

[0081] Where, represents the pressure difference resistance coefficient, It represents the projected area of ​​the towed object perpendicular to the direction of motion.

[0082] Adding the friction resistance and the pressure difference resistance together, we can get the water resistance of the towed object. The formula is:

[0083]

[0084] Where, Indicates the water resistance of the towed object.

[0085] According to the speed of the towed object, wind force and wind direction, the relative speed of the towed object and the wind resistance of the air is calculated through vector synthesis.

[0086] The projected area of ​​the towed object perpendicular to the wind direction is calculated based on the wind direction and its own characteristic data, and the wind resistance of the towed object is calculated in combination with the relative speed of wind resistance. The formula is expressed as follows:

[0087]

[0088] Where, represents the air density, represents the wind resistance coefficient, It represents the projected area of ​​the towed object in the direction perpendicular to the wind direction. Indicates wind resistance relative to speed.

[0089] Adding the water resistance and wind resistance together, we can get the total resistance of the towed object. The formula is:

[0090]

[0091] Where, Indicates the total resistance experienced by the towed object.

[0092] The drag demand calculation module is used to calculate the drag demand of the towed object according to the resistance model. The drag demand includes the drag demand force and the drag demand direction.

[0093] The process of calculating drag requirements includes:

[0094] According to the tugboat's operating mission, the target speed and target heading of the towed object are obtained.

[0095] Based on the current speed, target speed, current heading, and target heading of the towed object, the acceleration requirements of the towed object in the x and y directions are calculated using the kinematic formula. The formula is expressed as follows:

[0096]

[0097]

[0098] Where, Indicates the acceleration requirement of the towed object in the x direction, Indicates the acceleration requirement of the dragged object in the y direction, Indicates the target speed of the towed object. Indicates the current speed of the dragged object. Indicates the target heading of the towed object. Indicates the current moving direction of the towed object, and T indicates the control period.

[0099] According to Newton's second law, combined with the mass and acceleration requirements of the towed object, the required force in the x and y directions is calculated. The formula is expressed as:

[0100]

[0101]

[0102] Where, Indicates the mass of the towed object.

[0103] Combined with the drag model of the towed object, the total drag acting on the towed object is decomposed in the x and y directions according to the towed object's current direction of motion. This yields the drag forces that the towed object needs to overcome in the x and y directions, respectively. The required net force is then added to the drag forces to obtain the required drag forces in the x and y directions. This is expressed as follows:

[0104]

[0105]

[0106] Where, Indicates the dragging force required by the dragged object in the x direction, Indicates the dragging force required by the dragged object in the y direction, represents the resultant force required by the dragged object in the x direction, represents the resultant force required by the dragged object in the y direction, Indicates the resistance that the dragged object needs to overcome in the x direction, Indicates the resistance that the dragged object needs to overcome in the y direction.

[0107] Based on the dragging forces required by the towed object in the x and y directions, the magnitude and direction of the dragging forces required for the towed object to sail at the target speed and target course are calculated using the Pythagorean theorem and trigonometric functions. The formula is:

[0108]

[0109]

[0110] Where, Indicates the drag demand force, Indicates the desired drag direction.

[0111] The power model building module is used to build a power model of the tugboat according to the tugboat status data, and perform power correction in combination with the environmental data to obtain the towing data. The towing data includes the actual power of the tugboat and the actual power direction of the tugboat.

[0112] The process of building a dynamic model of a tugboat based on its status data includes:

[0113] Get the geometric parameters of the propeller blade, including the radius and width of the blade.

[0114] The propeller blade is divided into N blade elements along the radial direction, and the radius range of each blade element is , i=1,2,…,N.

[0115] For the i-th blade element, the linear velocity of the blade element is calculated according to its radial position. The lift and drag coefficient curves of the airfoil are combined with the inflow angle of the blade element to calculate the lift and drag of the blade element. The formula is expressed as:

[0116]

[0117]

[0118] Where dL represents the lift of the blade element, dD represents the drag of the blade element, represents the water density, Indicates the tugboat speed, represents the lift coefficient, represents the drag coefficient, Indicates the blade width.

[0119] Integrate the lift and drag of all blade elements along the radial direction to obtain the thrust of the entire propeller, which can be expressed as:

[0120]

[0121] Where r represents the blade radius, represents the inflow angle of the blade element, and n represents the propeller speed.

[0122] The process of dynamic correction based on environmental data includes:

[0123] The water flow force on the tugboat is calculated based on the relative speed of the tugboat and the water flow, the hydrodynamic coefficient of the tugboat and the projected area.

[0124] The wind force acting on the tugboat is calculated based on the relative speed of the tugboat and the air, the wind resistance coefficient of the tugboat, and the projected area.

[0125] Taking into account the effects of water flow and wind force, the actual power that a tugboat can provide is the propeller thrust minus the components of wind resistance and water flow resistance in the thrust direction. The formula is:

[0126]

[0127] Where, Indicates the actual power of the tugboat, represents the propeller thrust, represents the wind force, Indicates the propeller angle, Indicates wind direction, represents the force of water flow, Indicates the direction of water flow.

[0128] According to the principle of force synthesis, the direction of the tugboat power is corrected by calculating the direction of the resultant force of wind resistance and water flow resistance. The formula for the actual power direction of the tugboat is expressed as:

[0129]

[0130] Where, Indicates the actual power direction of the tugboat, It represents the resultant force of wind force and water flow force, Indicates the direction of the resultant force.

[0131] The instruction generation module is used to calculate the target towing force and target towing direction of the tugboat according to the towing demand and towing data, and use the PID control algorithm to generate adjustment instructions, which include the rudder propeller angle adjustment amount and the propeller speed adjustment amount.

[0132] The process of calculating the target drag force and target drag direction of the tugboat based on the towing demand and the towing data includes:

[0133] The actual power of the tugboat is decomposed into components in the x and y directions, and the formula is expressed as follows:

[0134]

[0135]

[0136] Where, represents the component of the actual power of the tugboat in the x direction, It represents the component of the actual power of the tugboat in the x direction.

[0137] Combined with the dragging force required by the towed object in the x and y directions, the difference in the actual power of the tugboat is calculated. The formula is expressed as:

[0138]

[0139]

[0140] Where, represents the difference in the actual power of the tugboat in the x direction, represents the difference in the y direction of the actual power of the tugboat, Indicates the dragging force required by the dragged object in the x direction, Indicates the dragging force required by the dragged object in the y direction.

[0141] The power component that the tugboat needs to provide is obtained, and the formula is expressed as:

[0142]

[0143]

[0144] The power components that the tugboat needs to provide are synthesized to obtain the target drag force and target drag direction of the tugboat, which can be expressed as follows:

[0145]

[0146]

[0147] Where, represents the target drag force of the tugboat, Indicates the target towing direction of the tugboat.

[0148] The process of generating adjustment instructions using the PID control algorithm includes:

[0149] The dragging force and dragging direction that the tugboat needs to provide are taken as control targets.

[0150] The rudder propeller angle and propeller speed are selected as the control variables.

[0151] The error between the current actual power of the tugboat and the target dragging force, as well as the error between the current actual power direction of the tugboat and the target dragging direction are calculated respectively.

[0152] The PID control algorithm is used to generate the control instructions for adjusting the rudder propeller angle. The formula is expressed as:

[0153]

[0154] Generate the control command for propeller speed regulation, the formula is expressed as:

[0155]

[0156] Where, and represents the proportionality coefficient, and represents the integral coefficient, and represents the differential coefficient, Indicates the error between the actual power of the tugboat and the target drag force, Indicates the error between the actual power direction of the tugboat and the target towing direction, Indicates the adjustment amount of the rudder propeller angle, Indicates the adjustment amount of propeller speed.

[0157] The adaptive adjustment module is used to adjust the state of the tugboat propeller and rudder in real time according to the adjustment instructions.

[0158] The process of making real-time adjustments includes:

[0159] Through the servo controller, according to the rudder propeller angle adjustment instruction, the servo is driven to rotate, so that the rudder propeller rotation angle changes from the current angle Adjust to During the adjustment process, the actual angle of the rudder propeller is fed back in real time and compared with the target angle. If there is an error, fine-tuning is continued.

[0160] The motor controller adjusts the motor power according to the propeller speed adjustment instruction, so that the propeller speed is adjusted from the current speed n to During the adjustment process, the actual propeller speed is fed back in real time and compared with the target speed. If there is an error, fine-tuning will continue.

[0161] In summary, this embodiment provides an adaptive drive power regulation system for an azimuthing electric tugboat. By collecting real-time environmental data, tugboat status data, and towed object status data, combined with resistance modeling and power modeling modules, this system accurately calculates the total resistance experienced by the towed object based on fluid dynamics principles and accurately constructs a tugboat power model. Compared to traditional empirical regulation, this system improves power regulation accuracy, ensuring that the tugboat's power output closely matches actual operational requirements and avoiding situations where power is insufficient or excessive.

[0162] In terms of safety, the system rapidly responds to changes in the environment and the towed object's state. In the event of sudden severe weather or an abnormal towed object's posture, the command generation module uses a PID control algorithm to rapidly generate adjustment commands. The adaptive adjustment module then adjusts the propeller and rudder status in real time, enabling the tugboat to adjust power and direction promptly. This effectively reduces the risk of accidents such as towline breakage and loss of control of the towed object caused by power mismatch during towing, ensuring the safety of port operations and vessel towing.

[0163] In terms of operational efficiency, precise power regulation enables tugboats to perform towing operations with optimal power and direction. In complex waters, this improves tugboat operating efficiency, significantly reduces towing task completion time, increases port operation turnover, and reduces operating costs. Furthermore, adaptive regulation avoids power waste, aligns with the trend of energy conservation and emission reduction, and contributes to the green and sustainable development of the shipping industry.

[0164] Based on the same general inventive concept, the present invention also protects a method for adaptively adjusting the driving power of an omni-rotating electric tugboat. The method for adaptively adjusting the driving power of an omni-rotating electric tugboat provided by the present invention is described below. The method for adaptively adjusting the driving power of an omni-rotating electric tugboat described below and the system for adaptively adjusting the driving power of an omni-rotating electric tugboat described above can refer to each other.

[0165] Figure 2 The present invention provides a flow chart of a method for adaptively adjusting the driving power of an azimuth electric tugboat.

[0166] like Figure 2 As shown, a method for adaptively adjusting driving power of an azimuth electric tugboat is provided, the method comprising:

[0167] Collect environmental data, tugboat status data and towed object status data in real time.

[0168] According to the environmental data and the status data of the towed object, a resistance model based on fluid mechanics is constructed to obtain the total resistance of the towed object.

[0169] The drag demand of the towed object is calculated according to the resistance model, and the drag demand includes the drag demand force and the drag demand direction.

[0170] A dynamic model of the tugboat is constructed based on the tugboat status data, and dynamic correction is performed in combination with the environmental data to obtain the towing data. The towing data includes the actual power of the tugboat and the actual power direction of the tugboat.

[0171] The target towing force and target towing direction of the tugboat are calculated according to the towing demand and towing data, and the PID control algorithm is used to generate adjustment instructions, which include the rudder propeller angle adjustment amount and the propeller speed adjustment amount.

[0172] The tugboat propeller and rudder status is adjusted in real time according to the adjustment instructions.

[0173] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0174] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An adaptive adjustment system for driving power of an omni-directional electric tugboat, characterized in that: include: Data acquisition module, used to collect real-time environmental data, tugboat status data and towed object status data; a resistance model building module, configured to build a resistance model based on fluid mechanics according to the environmental data and the towed object state data, and obtain the total resistance experienced by the towed object; a drag demand calculation module, configured to calculate the drag demand of the towed object according to the resistance model, wherein the drag demand includes a drag demand force and a drag demand direction; a power model building module, configured to build a power model of the tugboat according to the tugboat state data, and perform power correction in combination with the environmental data to obtain towing data, wherein the towing data includes actual power of the tugboat and actual power direction of the tugboat; an instruction generation module, configured to calculate a target dragging force and a target dragging direction of the tugboat according to the towing demand and the towing data, and to generate an adjustment instruction using a PID control algorithm, wherein the adjustment instruction includes a rudder propeller angle adjustment amount and a propeller speed adjustment amount; The adaptive adjustment module is used to adjust the state of the tugboat propeller and rudder in real time according to the adjustment instruction.

2. The self-adaptive regulating system for driving power of an azimuth electric tugboat according to claim 1, characterized in that: The environmental data includes water density, water flow velocity, water flow direction, wind force and direction; the tugboat status data includes tugboat motion state, power system data and equipment status data; the tugboat motion state includes the tugboat's speed and heading; the power system data includes propeller speed and motor power; the equipment status data includes rudder propeller angle and propeller blade geometric parameters; the towed object status data includes the towed object's motion state data and its own characteristic data; the towed object's motion state data includes the towed object's speed and direction; the own characteristic data includes the towed object's mass, volume and shape.

3. The self-adaptive regulating system for driving power of an azimuth electric tugboat according to claim 2, characterized in that: The process of obtaining the total resistance of the towed object includes: According to the speed of the towed object, the speed and direction of the water flow, the relative speed of the towed object and the water resistance of the water flow is calculated through vector synthesis; calculating the surface area of ​​the towed object in contact with water based on the water density and the towed object's own characteristics, and calculating the frictional resistance of the towed object based on the relative speed of the water resistance; Obtaining a projected area of ​​the towed object perpendicular to the moving direction, and calculating the pressure differential resistance of the towed object by combining the water density and the relative speed of the water resistance; Adding the friction resistance and the pressure difference resistance to obtain the water resistance of the towed object; According to the speed of the towed object, wind force and wind direction, the relative speed of the towed object and the wind resistance of the air is calculated through vector synthesis; Calculating the projected area of ​​the towed object in a direction perpendicular to the wind direction based on the wind direction and the self-characteristic data, and calculating the wind resistance of the towed object in combination with the wind resistance relative speed; Add the water resistance and wind resistance to get the total resistance of the towed object.

4. The self-adaptive regulating system for driving power of an azimuth electric tugboat according to claim 1, characterized in that: The process of calculating drag requirements includes: According to the tugboat's operating mission, the target speed and target heading of the towed object are obtained; Calculate the required acceleration of the towed object in the x and y directions using kinematic formulas based on the towed object's current speed, target speed, current heading, and target heading. Based on Newton's second law, the required force on the towed object in the x and y directions is calculated, taking into account the mass and acceleration requirements of the towed object. Combined with the drag model of the towed object, the total drag acting on the towed object is decomposed in the x and y directions according to the towed object's current direction of motion. This yields the drag forces that the towed object needs to overcome in the x and y directions, respectively. The required net force is then added to the drag forces to obtain the required drag forces in the x and y directions. According to the dragging force required by the towed object in the x and y directions respectively, the magnitude and direction of the dragging force required for the towed object to sail at the target speed and target course are calculated using the Pythagorean theorem and trigonometric functions.

5. The self-adaptive regulating system for driving power of an azimuth electric tugboat according to claim 1, characterized in that: The process of constructing a dynamic model of the tugboat according to the tugboat state data includes: Acquiring geometric parameters of the propeller blade, wherein the geometric parameters include the radius and width of the blade; The propeller blade is divided into N blade elements along the radial direction, and the radius range of each blade element is , i=1,2,…,N; For the i-th blade element, the linear velocity of the blade element is calculated according to its radial position. The lift and drag coefficient curves of the airfoil are combined with the inflow angle of the blade element to calculate the lift and drag of the blade element. Integrate the lift and drag of all blade elements along the radial direction to obtain the propeller thrust.

6. The self-adaptive regulating system for driving power of an azimuth electric tugboat according to claim 1, characterized in that: The process of performing power correction in combination with the environmental data includes: Calculate the water force acting on the tugboat based on the relative speed between the tugboat and the water flow, the hydrodynamic coefficient of the tugboat and the projected area; Calculate the wind force on the tugboat based on the relative speed between the tugboat and the air, the wind resistance coefficient of the tugboat, and the projected area; Taking into account the effects of water flow and wind force, the actual power that a tugboat can provide is the propeller thrust minus the components of wind resistance and water flow resistance in the thrust direction. According to the principle of force synthesis, the direction of the combined force of wind resistance and water flow resistance is calculated, and the direction of the tugboat's power is corrected to obtain the actual direction of the tugboat's power.

7. The self-adaptive regulating system for driving power of an azimuth electric tugboat according to claim 1, characterized in that: The process of calculating the target dragging force and target dragging direction of the tugboat according to the dragging demand and the dragging data includes: Decompose the actual power of the tugboat into components in the x and y directions; Combined with the dragging force required by the towed object in the x and y directions, the difference in the actual power of the tugboat is calculated to obtain the power component that the tugboat needs to provide; The power components that the tugboat needs to provide are synthesized to obtain the target towing force and target towing direction of the tugboat.

8. The self-adaptive regulating system for driving power of an azimuth electric tugboat according to claim 1, characterized in that: The process of generating adjustment instructions using the PID control algorithm includes: The dragging force and dragging direction that the tugboat needs to provide are used as control targets; The rudder propeller angle and propeller speed are selected as the control variables; Calculate the error between the current actual tugboat power and the target dragging force, as well as the error between the current actual tugboat power direction and the target dragging direction; The PID control algorithm is used to generate the control instructions for adjusting the rudder propeller angle. The formula is expressed as: Generate the control command for propeller speed regulation, the formula is expressed as: Where, and represents the proportionality coefficient, and represents the integral coefficient, and represents the differential coefficient, Indicates the error between the actual power of the tugboat and the target drag force, Indicates the error between the actual power direction of the tugboat and the target towing direction, Indicates the adjustment amount of the rudder propeller angle, Indicates the adjustment amount of propeller speed.

9. The self-adaptive regulating system for driving power of an azimuth electric tugboat according to claim 1, characterized in that: The process of making real-time adjustments includes: Through the servo controller, according to the rudder propeller angle adjustment instruction, the servo is driven to rotate, so that the rudder propeller rotation angle changes from the current angle Adjust to ; The motor controller adjusts the motor power according to the propeller speed adjustment instruction, so that the propeller speed is adjusted from the current speed n to .

10. A method for adaptively adjusting the driving power of an omnidirectional electric tugboat, wherein the method is used to implement an adaptive adjustment system for driving power of an omnidirectional electric tugboat according to any one of claims 1 to 9, characterized in that the method include: Real-time collection of environmental data, tugboat status data, and towed object status data; constructing a resistance model based on fluid mechanics according to the environmental data and the state data of the towed object to obtain the total resistance experienced by the towed object; Calculating the dragging demand of the towed object according to the resistance model, wherein the dragging demand includes a dragging demand force and a dragging demand direction; Constructing a power model of the tugboat according to the tugboat state data, and performing power correction in combination with the environmental data to obtain towing data, wherein the towing data includes actual power of the tugboat and actual power direction of the tugboat; Calculating a target towing force and a target towing direction of the tugboat according to the towing demand and the towing data, and generating an adjustment instruction using a PID control algorithm, wherein the adjustment instruction includes a rudder propeller angle adjustment amount and a propeller speed adjustment amount; The state of the tugboat propeller and rudder is adjusted in real time according to the adjustment instruction.

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