Adaptive control method and device

Abstract

The present application discloses an adaptive control method and device, relating to the field of ship propulsion control technology. The adaptive control method is used to control a ship propulsion control system to achieve ship propulsion. The control method includes: determining the ship's hydrostatic resistance and environmental data of the ship during navigation; determining the drag coefficient based on the hydrostatic resistance and environmental data; determining a first speed and load of the ship; determining control parameters from a ship's navigation database based on the first speed, load, and resistance coefficient; and adjusting the ship's propeller speed and pitch ratio based on the control parameters to achieve ship propulsion. In this way, the control parameters are determined by the drag coefficient to control ship propulsion, thereby adapting to the complex changes in the ship's operating conditions during navigation, improving the efficiency of the ship's main engine, and reducing energy consumption.

Description

Technical Field

[0001] The present application relates to the technical field of ship propulsion control, and in particular to a control process and adaptive method of a ship propulsion control system. Background Art

[0002] The speed of a ship is generally controlled by adjusting the speed of the main engine by controlling the throttle through a handle. At the same time, the pitch is controlled by a remote control system to control the speed of the ship.

[0003] Currently, pitch control methods include adjusting the pitch at a constant speed or using a propeller-to-engine combined control curve. In combined control, both pitch and speed are controlled by a single handle, and the relationship between pitch and speed at any handle position is determined by the combined control curve.

[0004] However, the control parameters in the above control mode include speed and pitch. In the specific control process, either one parameter is limited to remain unchanged or a curve is used for strong correlation. This makes it impossible to achieve high-degree-of-freedom adjustment and unable to adapt to the complex operating conditions of the ship during navigation, resulting in low efficiency of the ship's main engine and high energy consumption. Summary of the Invention

[0005] An embodiment of the present application provides an adaptive control method, which determines control parameters through the drag coefficient to control ship propulsion, thereby solving the problem in the prior art that control parameters cannot adapt to the complex changes in operating conditions of the ship during navigation, resulting in low efficiency and high energy consumption of the ship's main engine; an embodiment of the present application also provides an adaptive control device.

[0006] An embodiment of the present application provides an adaptive control method for controlling a ship propulsion control system to achieve ship propulsion. The control method includes:

[0007] determining the still water resistance of the vessel and environmental data of the vessel during navigation;

[0008] determining a drag coefficient based on the hydrostatic resistance and the environmental data;

[0009] determining a first speed and a load of the vessel;

[0010] determining a control parameter from a ship travel database based on the first speed, the load, and the resistance coefficient;

[0011] The propeller speed and pitch ratio of the ship are adjusted based on the control parameters to achieve propulsion of the ship.

[0012] In some embodiments, the first speed is configured to represent a target speed, the first speed is configured to represent a target speed that the vessel expects to reach, and the first speed is read from a set value of a control panel of a vessel propulsion control system.

[0013] In some embodiments, before determining the control parameter, the method further includes:

[0014] Build adaptive models;

[0015] The drag coefficient is adaptively corrected based on the adaptive model.

[0016] In some embodiments, the input of the adaptive model includes the first ship speed, the third ship speed, a first threshold, a second threshold, and a third threshold; the third ship speed is configured to represent the actual ship speed; the first threshold is configured to represent the rate of change threshold of the third ship speed; the second threshold is configured to represent the timing threshold of the ship propulsion control system; the third threshold is configured to represent the deviation threshold of the third ship speed;

[0017] The output of the adaptive model includes a first command, a second command, a first drag coefficient, and a second drag coefficient. The first command is configured to represent a command for maintaining the storage memory of the drag coefficient; the second command is configured to represent a command for updating the storage memory of the drag coefficient; the first drag coefficient is configured to represent an initial value of the drag coefficient; and the second drag coefficient is configured to represent the modified drag coefficient.

[0018] In some embodiments, modifying the drag coefficient based on the adaptive model includes:

[0019] Initializing the drag coefficient based on the first speed to determine the first drag coefficient;

[0020] The first drag coefficient is updated to determine the second drag coefficient.

[0021] In some embodiments, initializing the drag coefficient to determine the first drag coefficient includes:

[0022] Determine the difference between two adjacent sampling points of the first speed;

[0023] When the difference is equal to zero, outputting the drag coefficient, determining the drag coefficient as the first drag coefficient, and keeping the first drag coefficient unchanged;

[0024] When the difference is not equal to zero, the drag coefficient is estimated once, the first drag coefficient is re-determined, and the second command is executed, and the second drag coefficient is initialized to the first drag coefficient.

[0025] In some embodiments, updating the first drag coefficient to determine the second drag coefficient includes:

[0026] determining a rate of change of the third ship speed;

[0027] determining a judgment parameter based on the change rate and the first threshold;

[0028] Starting timing based on the judgment parameter;

[0029] When the timed duration is greater than or equal to the second threshold, determining a speed deviation based on the first speed and the third speed;

[0030] When the speed deviation is greater than the third threshold, determining a correction value of the drag coefficient;

[0031] Based on the correction value and the first drag coefficient, the second drag coefficient is determined, and the second command is executed.

[0032] In some embodiments, determining a drag coefficient based on the hydrostatic resistance and the environmental data includes:

[0033] determining wind resistance and wave resistance based on the environmental data;

[0034] determining a total resistance based on the wind resistance, the wave resistance, and the still water resistance;

[0035] The drag coefficient is determined based on the total resistance and the hydrostatic resistance.

[0036] In some embodiments, the wind resistance is determined based on the following formula:

[0037]

[0038] Among them, R x is the wind resistance, ρ A is the air density, V R is the relative wind speed, A VT is the transverse wind-exposed area of ​​the ship, C X is the longitudinal wind coefficient.

[0039] In some embodiments, the wave resistance is determined based on the following steps:

[0040] Speed ​​penalty is applied based on the following formula:

[0041]

[0042] Where BN is the effective Beaufort series of significant wave height, H sis the significant wave height, ΔV / V is the velocity penalty, C is a dimensionless constant, set to 0.7, is the displacement volume of the ship, V e is the second speed after speed penalty, μ is the direction correction coefficient, and V0 is the first speed;

[0043] The second speed is brought into the preset still water resistance database for interpolation, and the wave resistance is determined based on the following formula:

[0044] R w =f(V e )-f(V0),

[0045] Among them, R w is the wave resistance.

[0046] In some embodiments, the total resistance is determined based on the following formula:

[0047] R t (t)=R0(t)+R x (t)+R w (t),

[0048] Among them, R t is the total resistance, R0 is the hydrostatic resistance, R x is the wind resistance, R w is the wave resistance, and t is the time.

[0049] In some embodiments, the drag coefficient is determined based on the following formula:

[0050]

[0051] Wherein, λ0 is the drag coefficient, R t is the total resistance, R0 is the hydrostatic resistance, and t is the time.

[0052] In some embodiments, the ship driving database includes a propeller speed database and a pitch ratio database, wherein:

[0053] The propeller speed database includes the optimal propeller speed corresponding to the first speed, the load and the drag coefficient, and the pitch ratio database includes the optimal pitch ratio corresponding to the first speed, the load and the drag coefficient; wherein the optimal propeller speed and the optimal pitch ratio are determined as the control parameters.

[0054] In some embodiments, based on the control parameters, the propeller speed and pitch ratio of the ship are adjusted by the main engine and the actuator of the propeller to achieve propulsion of the ship.

[0055] Accordingly, an embodiment of the present application further provides an adaptive control device for controlling a ship propulsion control system to achieve propulsion of the ship, the control device comprising:

[0056] a first determining module, configured to determine the still water resistance of the ship and environmental data of the ship during navigation;

[0057] a second determination module configured to determine a drag coefficient based on the still water resistance and the environmental data;

[0058] a third determining module, configured to determine a first speed and a load amount of the ship;

[0059] a fourth determining module, configured to determine a control parameter from a ship travel database based on the first speed, the load, and the resistance coefficient; and

[0060] A control module is configured to adjust a propeller speed and a pitch ratio of the vessel based on the control parameters to achieve propulsion of the vessel.

[0061] In some embodiments, the method further includes an adaptive module configured to perform the following steps before determining the control parameter:

[0062] Build adaptive models;

[0063] The drag coefficient is adaptively corrected based on the adaptive model.

[0064] Compared to existing technologies, the adaptive control method of an embodiment of the present application is used to control a ship propulsion control system to achieve ship propulsion. The control method includes: determining the ship's hydrostatic resistance and environmental data during navigation; determining the drag coefficient based on the hydrostatic resistance and environmental data; determining a first speed and load of the ship; determining control parameters from a ship navigation database based on the first speed, load, and drag coefficient; and adjusting the ship's propeller speed and pitch ratio based on the control parameters to achieve ship propulsion. In this way, by determining control parameters based on the drag coefficient to control ship propulsion, the method adapts to the complex changes in the ship's operating conditions during navigation, improves the efficiency of the ship's main engine, and reduces energy consumption.

[0065] It can be understood that, compared with the prior art, the adaptive control device provided in the embodiment of the present application has all the technical features and beneficial effects of the above-mentioned adaptive control method, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0067] Figure 1 A flow chart of an adaptive control method provided in an embodiment of the present application;

[0068] Figure 2 A schematic flow chart of an adaptive module in an adaptive control method provided in an embodiment of the present application;

[0069] Figure 3 A schematic flow chart of a drag coefficient correction process of an adaptive control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0071] This application embodiment provides an adaptive control method, see Figure 1 , Figure 1 The flowchart of an adaptive control method provided by an embodiment of the present application is shown. The first embodiment of the present application provides an adaptive control method for controlling a ship propulsion control system to achieve ship propulsion, and the control method includes:

[0072] Step 101 determines the vessel's hydrostatic resistance and environmental data during navigation. The first speed is configured to represent a target speed. Specifically, hydrostatic resistance is the resistance experienced by a vessel while moving in still water, which directly affects the vessel's propulsion requirements and fuel consumption. The hydrostatic resistance in this application is determined from ship model test results. Environmental data refers to environmental data collected from environmental monitoring sensors such as anemometers during navigation, including wind speed and direction monitoring data, water depth and velocity monitoring data, and wave height and frequency monitoring data.

[0073] Step 102, determine the resistance coefficient based on the still water resistance and environmental data; specifically, the resistance coefficient in this application is used to identify the resistance conditions of the ship's navigation, that is, the resistance conditions faced by the ship under different navigation conditions, so as to perform reasonable propulsion control according to the resistance conditions to reduce fuel consumption and improve navigation efficiency.

[0074] In some embodiments, step 102, determining the drag coefficient based on the still water resistance and environmental data, includes: determining wind resistance and wave resistance based on the environmental data; determining the total resistance based on the wind resistance, wave resistance, and still water resistance; and determining the drag coefficient based on the total resistance and still water resistance. Specifically, wind resistance and wave resistance are additional resistances encountered by a ship during navigation. This application predicts the additional resistance, which is summed with the still water resistance to form the total resistance encountered by the ship during navigation, thereby more accurately reflecting the overall resistance encountered by the ship under different environmental conditions. The drag coefficient is then determined based on the ratio of the total resistance to the still water resistance to more accurately identify the resistance conditions of the ship's navigation.

[0075] In some embodiments, wind resistance is determined based on the following formula (1):

[0076]

[0077] Among them, R x is the wind resistance, ρ A is the air density, V R is the relative wind speed, A VT is the transverse wind-exposed area of ​​the ship, C X is the longitudinal wind coefficient.

[0078] In some embodiments, wave resistance is determined based on the following steps:

[0079] The speed penalty is performed based on the following formula (2):

[0080]

[0081] Where BN is the effective Beaufort series of significant wave height, Hs is the significant wave height, ΔV / V is the velocity penalty, and C is a dimensionless constant set to 0.7. is the displacement volume of the ship, V e is the second speed after speed penalty, μ is the direction correction coefficient, and V0 is the first speed;

[0082] The second speed is brought into the preset still water resistance database for interpolation, and the wave resistance is determined based on the following formula (3):

[0083] R w =f(V e )-f(V0), (3);

[0084] Among them, R w is the wave resistance.

[0085] In some embodiments, the total resistance is determined based on the following formula (4):

[0086] R t(t)=R0(t)+R x (t)+R w (t), (4);

[0087] Among them, R t is the total resistance, R0 is the hydrostatic resistance, R x is the wind resistance, R w is the wave resistance, and t is the time, i.e., the different moments at which the total resistance is determined.

[0088] In some embodiments, the drag coefficient is determined based on the following formula (5):

[0089]

[0090] Where λ0 is the drag coefficient, R t is the total resistance, R0 is the hydrostatic resistance, and t is the time, that is, the different moments at which the resistance coefficient is determined.

[0091] Step 103: Determine a first speed and a load of the vessel. The first speed is configured to represent a target speed. Specifically, the first speed and load are determined from a control panel of the vessel's propulsion control system.

[0092] Step 104, based on the first speed, load, and drag coefficient, determine control parameters from the ship's travel database; the ship's travel database includes a propeller speed database and a pitch ratio database, wherein: the propeller speed database includes the optimal propeller speed corresponding to the first speed, load, and drag coefficient, and the pitch ratio database includes the optimal pitch ratio corresponding to the first speed, load, and drag coefficient. The optimal propeller speed and the optimal pitch ratio are jointly determined as control parameters. In this way, the present application optimizes the control parameters through the first speed, load, and drag coefficient, so that the control parameters better adapt to different navigation conditions and environmental changes, so that the control parameters can provide the ship with more flexible power response and maneuverability through the control parameters, improve the efficiency of the ship's main engine, reduce energy consumption, and achieve energy saving in ship control.

[0093] In step 105, based on the control parameters, the propeller speed and pitch ratio of the vessel are adjusted via the main engine and propeller actuators to propel the vessel. This ensures that the power output of the power plant matches the current sailing conditions and maximizes the energy utilization of the power plant, thereby improving the propulsion efficiency of the vessel and reducing energy waste.

[0094] Furthermore, it is understood that the total resistance predicted based on the hydrostatic resistance and the above formula has a certain error. To more accurately predict the total resistance, in some embodiments, the adaptive control method further includes: step 106, constructing an adaptive model; and step 107, correcting the resistance coefficient based on the adaptive model. In the embodiments of the present application, the adaptive model is a resistance coefficient learning controller established for the resistance coefficient. An adaptive control algorithm is constructed within the adaptive model. Through adaptive learning, an updated value of the resistance coefficient and a stored and memorized state value of the resistance coefficient are output, thereby reducing the error in the total resistance and improving the accuracy of the total resistance prediction. Furthermore, by correcting the resistance coefficient, the present application implements continuous iterative correction of control parameters to improve the tracking performance and accuracy of the control system.

[0095] See also Figure 2 , Figure 2 The flow chart of the adaptive module in the adaptive control method provided by the embodiment of the present application is shown; Specifically, the input of the adaptive model includes the first speed V0, the third speed V s , the first threshold μ1, the second threshold μ2 and the third threshold μ3; the output of the adaptive model includes the first command A1, the second command A2, the first drag coefficient λ1 and the second drag coefficient λ2. Among them, the third speed V s is configured to represent the actual speed; the first threshold μ1 is configured to represent the third speed V s The second threshold μ2 is configured to characterize the timing threshold of the ship propulsion control system; the third threshold μ3 is configured to characterize the third speed V s The first command A1 is configured to represent a command for maintaining the storage memory of the drag coefficient λ0; the second command A2 is configured to represent a command for updating the storage memory of the drag coefficient λ0; the first drag coefficient λ1 is configured to represent an initial value of the drag coefficient λ0; the second drag coefficient λ2 is configured to represent a corrected drag coefficient λ0.

[0096] See also Figure 3 , Figure 3 A schematic diagram illustrating a drag coefficient correction process for an adaptive control method provided in an embodiment of the present application is provided. In some embodiments, step 107 corrects the drag coefficient based on the adaptive model, including: initializing the drag coefficient λ0 based on the first speed V0 to determine a first drag coefficient λ1; and updating the first drag coefficient λ1 to determine a second drag coefficient λ2.

[0097] In some embodiments, the drag coefficient λ0 is initialized and the first drag coefficient λ1 is determined, including: determining the difference between two adjacent sampling points of the first speed V0; when the difference is zero, outputting the drag coefficient λ0, determining the drag coefficient λ0 as the first drag coefficient λ1, and keeping the first drag coefficient λ1 unchanged; when the difference is not equal to zero, performing an estimation of the drag coefficient λ0, re-determining the first drag coefficient λ1, and executing a second command to initialize the second drag coefficient λ2 to the first drag coefficient λ1. Specifically, a difference of zero means that the values ​​of the two adjacent sampling points of the first speed V0 are the same, that is, no error has occurred yet, and the drag coefficient λ0 at this time can be used as the initial value. When the difference is not equal to zero, it means that an error has occurred, and it is necessary to estimate the drag coefficient λ0 again and re-determine the initial value.

[0098] In some embodiments, updating the first drag coefficient λ1 and determining the second drag coefficient λ2 includes: determining a third speed V s rate of change; based on the rate of change and the first threshold μ1, determine the judgment parameter k; start timing based on the judgment parameter k; when the timing time is greater than or equal to the second threshold μ2, based on the first speed V0 and the third speed V s , determine the speed deviation, the speed deviation is the third speed V s and the difference between the first speed V0; when the speed deviation is greater than the third threshold μ3, determine the correction value λ of the drag coefficient λ0 i ; Based on the correction value λ i , determine the second drag coefficient λ2, and execute the second command A2 to store the updated drag coefficient.

[0099] Specifically, the judgment parameter k is determined according to the following formula (6):

[0100]

[0101] in, The third speed V s The rate of change, e -Ts Indicates a delay of one sample point.

[0102] Correction value λ i Determined according to the following formula (7):

[0103]

[0104] Where i is the number of times the drag coefficient λ0 is corrected.

[0105] In the embodiment of the present application, the storage memory λ of the resistance coefficient λ0 can be corrected by initializing and updating the resistance coefficient λ0 as described above. m, so that the finally determined second resistance coefficient λ2 is always the latest resistance coefficient, that is, the resistance coefficient that best meets the current navigation conditions.

[0106] In this embodiment, based on the latest drag coefficient and first speed, the optimal propeller speed and pitch ratio are searched for in a pre-set database of power plant operating parameters in the ship propulsion control system to determine the control parameters. Controlling the ship's propulsion based on these determined control parameters enables the ship to achieve optimal performance with minimal energy consumption under current sailing conditions, thereby reducing fuel consumption, improving energy efficiency, lowering the ship's operating costs, and achieving energy conservation.

[0107] Accordingly, the second embodiment of the present application provides an adaptive control device for controlling a ship propulsion control system to achieve propulsion of the ship, the control device including a first determination module, a second determination module, a third determination module, a fourth determination module and a control module; wherein the first determination module is configured to determine the still water resistance of the ship and the environmental data of the ship during navigation; the second determination module is configured to determine the drag coefficient based on the still water resistance and the environmental data; the third determination module is configured to determine the first speed and load of the ship; the fourth determination module is configured to determine the control parameters from the ship driving database based on the first speed, load and resistance coefficient; the control module is configured to adjust the propeller speed and pitch ratio of the ship based on the control parameters to achieve propulsion of the ship.

[0108] In some embodiments, the adaptive control device further includes an adaptive module, which is configured to perform the following steps before determining the control parameters: constructing an adaptive model; and adaptively correcting the drag coefficient based on the adaptive model.

[0109] It can be understood that, compared with the prior art, the adaptive control device provided in the embodiment of the present application has all the technical features and beneficial effects of the above-mentioned adaptive control method, which will not be repeated here.

[0110] The above is a detailed introduction to an adaptive control method and device provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the technical solutions and core ideas of the present application. Ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An adaptive control method, characterized in that: For controlling the propulsion of a ship, the control method includes: determining the still water resistance of the vessel and environmental data of the vessel during navigation; Determining a drag coefficient based on the still water resistance and the environmental data; determining the drag coefficient based on the still water resistance and the environmental data includes determining wind resistance and wave resistance based on the environmental data; determining a first speed and a load of the vessel; determining a control parameter from a ship travel database based on the first speed, the load, and the resistance coefficient; adjusting the propeller speed and pitch ratio of the ship based on the control parameters to achieve propulsion of the ship; Before determining the control parameters, the method further includes: Build adaptive models; Adaptively correcting the drag coefficient based on the adaptive model; Correcting the drag coefficient based on the adaptive model includes: Initializing the drag coefficient based on the first speed to determine a first drag coefficient; updating the first drag coefficient to determine a second drag coefficient; Updating the first drag coefficient to determine the second drag coefficient includes: Determine the rate of change of the third speed; determining a judgment parameter based on the change rate and a first threshold; Starting timing based on the judgment parameter; When the timed duration is greater than or equal to a second threshold, determining a speed deviation based on the first speed and the third speed; When the speed deviation is greater than a third threshold, determining a correction value of the drag coefficient; Based on the correction value and the first drag coefficient, the second drag coefficient is determined, and a second command is executed.

2. The adaptive control method according to claim 1, wherein: The first speed is configured to represent a target speed that the vessel is expected to achieve, and the first speed is read from a set value of a control panel of a vessel propulsion control system.

3. The adaptive control method according to claim 1, wherein: The input of the adaptive model includes the first ship speed, the third ship speed, a first threshold, a second threshold, and a third threshold; the third ship speed is configured to represent the actual ship speed; the first threshold is configured to represent the rate of change threshold of the third ship speed; the second threshold is configured to represent the timing threshold of the ship propulsion control system; the third threshold is configured to represent the deviation threshold of the third ship speed; The output of the adaptive model includes a first command, a second command, a first drag coefficient, and a second drag coefficient; the first command is configured to represent a command for maintaining a storage memory of the drag coefficient; The second command is configured to represent a command to update the storage memory of the drag coefficient; The first drag coefficient is configured to represent an initial value of the drag coefficient; The second drag coefficient is configured to represent the modified drag coefficient.

4. The adaptive control method according to claim 3, wherein: Initializing the drag coefficient to determine the first drag coefficient includes: Determine the difference between two adjacent sampling points of the first speed; When the difference is equal to zero, outputting the drag coefficient, determining the drag coefficient as the first drag coefficient, and keeping the first drag coefficient unchanged; When the difference is not equal to zero, the drag coefficient is estimated once, the first drag coefficient is re-determined, and the second command is executed, and the second drag coefficient is initialized to the first drag coefficient.

5. The adaptive control method according to claim 1, wherein: Determining a drag coefficient based on the hydrostatic resistance and the environmental data further includes: determining a total resistance based on the wind resistance, the wave resistance, and the still water resistance; The drag coefficient is determined based on the total resistance and the hydrostatic resistance.

6. The adaptive control method according to claim 5, wherein: The wind resistance is determined based on the following formula: Among them, R x is the wind resistance, ρ A is the air density, V R is the relative wind speed, A VT is the transverse wind-exposed area of ​​the ship, C X is the longitudinal wind coefficient.

7. The adaptive control method according to claim 5, wherein: The wave resistance is determined based on the following steps: Speed ​​penalty is applied based on the following formula: Where BN is the effective Beaufort series of significant wave height, H s is the significant wave height, ΔV / V is the velocity penalty, C is a dimensionless constant, set to 0.7, is the displacement volume of the ship, V e is the second speed after speed penalty, μ is the direction correction coefficient, and V0 is the first speed; The second speed is brought into the preset still water resistance database for interpolation, and the wave resistance is determined based on the following formula: R w =f(V e )-f(V0), Among them, R w is the wave resistance.

8. The adaptive control method according to claim 5, wherein: The total resistance is determined based on the following formula: R t (t)=R0(t)+R x (t)+R w (t), Among them, R t is the total resistance, R0 is the hydrostatic resistance, R x is the wind resistance, R w is the wave resistance, and t is the time.

9. The adaptive control method according to claim 5, wherein: The drag coefficient is determined based on the following formula: Wherein, λ0 is the drag coefficient, R t is the total resistance, R0 is the hydrostatic resistance, and t is the time.

10. The adaptive control method according to claim 1, wherein: The ship driving database includes a propeller speed database and a pitch ratio database, wherein: The propeller speed database includes the optimal propeller speed corresponding to the first speed, the load and the drag coefficient, and the pitch ratio database includes the optimal pitch ratio corresponding to the first speed, the load and the drag coefficient; wherein the optimal propeller speed and the optimal pitch ratio are jointly determined as the control parameters.

11. The adaptive control method according to claim 10, wherein: Based on the control parameters, the propeller speed and pitch ratio of the ship are adjusted by the main engine and the actuator of the propeller to achieve propulsion of the ship.

12. An adaptive control device, characterized in that: The adaptive control method according to any one of claims 1 to 11 is used to control a ship propulsion control system to achieve ship propulsion, wherein the control device comprises: a first determining module, configured to determine the still water resistance of the ship and environmental data of the ship during navigation; a second determination module configured to determine a drag coefficient based on the still water resistance and the environmental data; a third determining module, configured to determine a first speed and a load amount of the ship; a fourth determining module configured to determine a control parameter from a ship travel database based on the first speed, the load, and the resistance coefficient; A control module is configured to adjust a propeller speed and a pitch ratio of the vessel based on the control parameters to achieve propulsion of the vessel.

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