Controlling a marine vehicle propulsion system

Abstract

The invention relates to controlling a marine vehicle propulsion system. A method for controlling a marine vehicle propulsion system is disclosed. The propulsion system includes a cycloid rotor propeller, an actuator device, and a controller. The method includes receiving, by a controller, a request including at least one force request and / or at least one torque request; determining, by the controller, values of a set of control parameters based on the request; and controlling the cycloid rotor thruster based on the received values by an actuator device that receives the values of the set of control parameters from the controller.

Description

Technical Field

[0001] The present invention relates to a method of controlling a propulsion system of a marine vehicle. Background Art

[0002] Marine vehicles can move relative to the water around them using thrust from a propulsion system that includes one or more cyclorotor propellers having blades extending from the propellers (e.g., vertically or at an inclined angle). Such propulsion systems would benefit from a control system that is capable of generating the desired force and / or torque requested by a user via a simple steering device such as a joystick. Summary of the invention

[0003] According to one aspect, the subject matter of the independent claims is provided. The dependent claims define some embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0004] Some example embodiments will be described with reference to the accompanying drawings, in which:

[0005] Figure 1 An example of a marine vehicle is illustrated;

[0006] Figure 2 An example of a propulsion system is illustrated;

[0007] Figure 3 Examples of thruster trajectories are illustrated;

[0008] Figures 4 to 8 is a flow chart illustrating example functionality; and

[0009] Fig. 9 An exemplary embodiment of an apparatus is illustrated. DETAILED DESCRIPTION

[0010] The following embodiments are exemplary. Although the specification may mention "one", "one" or "some" embodiments (one or more) in several positions, this does not necessarily mean that each such reference refers to the same embodiment (one or more), or the feature is only applicable to a single embodiment. The individual features of different embodiments may also be combined to provide other embodiments. In addition, the words "include" and "comprise" should be understood as not limiting the described embodiments / examples to only being composed of those features already mentioned, and such embodiments may also contain features / structures not specifically mentioned. In addition, although the term includes ordinal numbers, such as "first", "second" etc., may be used to describe various elements, but structural elements are not limited by these terms. These terms are only used for the purpose of distinguishing an element from other elements. For example, without departing from the scope of the present disclosure, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0011] Embodiments and examples of the methods described herein may be implemented in any cycloidal rotor propulsion system having independently controllable blades.

[0012] It should be noted that although the drawings illustrate various embodiments, they are simplified diagrams that only show some structures and / or functional entities. The connections shown in the figures may refer to logical connections or physical connections. For those skilled in the art, it is obvious that the described devices and / or systems may also include other functions and structures in addition to the functions and structures described in the drawings and text. It should be understood that the details of some functions, structures and signaling for measurement and / or control are irrelevant to the actual invention. Therefore, it is not necessary to discuss them in more detail here.

[0013] Figure 1 An example of a marine vehicle 100 having a propulsion system 102 is shown. Figure 1 The marine vehicle is partially shown in the middle), and the propulsion system includes one or more propulsion subsystems 104, 104'. Marine vehicles can include transport ships and passenger ships, and the term marine vehicle or marine vessel can generally refer to any vessel designed for water transportation, for example. For example, a transport ship can include a cargo ship and a container. In addition, marine vehicles can refer to fishing vessels, service ships such as tugboats and supply ships, and warships. In addition, marine vehicles can be used as ferries and submarines. For those skilled in the art, it is obvious that the marine vehicle includes any number of unillustrated elements, other equipment, other functions and other structures. They and the protocols used are well known to those skilled in the art and are irrelevant to the actual invention. Therefore, there is no need to discuss them in more detail here.

[0014] In the illustrated example, the propulsion subsystem 104, 104' is a cycloidal rotor propeller that is capable of generating both a cycloidal trajectory and a co-cycloidal trajectory depending on the propeller's advancement ratio. The advancement ratio can be understood as the ratio of the free stream fluid velocity to the propeller tip velocity. Each exemplary propulsion subsystem 104, 104' includes a propeller wheel 106, 106' and at least two blades 108, 108' that can extend from the wheel 106, 106' perpendicularly relative to the rotation plane of the wheel 106, 106'. The blades 108, 108' are attached to the propeller wheels 106, 106' in a rotatable manner. The blades 108, 108' of the propulsion subsystems 104, 104' can be individually controlled in a rotatable manner relative to the propeller wheels 106, 106' so that the desired blade position and / or speed can be obtained completely independently for the blades 108, 108'. Alternatively, the blades 108, 108' may be jointly controllable and mechanically coupled to the propeller wheels 106, 106', e.g., by suitable joints and / or gears, so that the blades 108, 108' may obtain a desired blade position and / or speed. For example, the blades 108, 108' may be coupled to achieve a constant phase difference between the rotations of the individual blades.

[0015] like Figure 1 As shown in the example of FIG. 1 , the wheel engine system 120 may be shared by a plurality of propulsion subsystems 104 , 104 ′ through mechanical power transmission. Alternatively, each or some of the propulsion subsystems 104 , 104 ′ may have a separate wheel engine system 120 .

[0016] Figure 2 An example is illustrated in which the propulsion system 102 includes a cycloidal rotor propeller wheel 106 having independently controllable blades 108. That is, the propulsion system 102 can correspond to one of the propulsion subsystems 104, 104'. In addition, the exemplary propulsion system 102 includes an actuator device 110 and a controller 112. The actuator device 110 is operably coupled to the blades 108 and is configured to rotate the blades. The controller 112 can be controlled by the propulsion subsystem 104, 104' (see Figure 1 ) or the controller 112 may include multiple sub-controllers, one for each propulsion subsystem 104, 104' (this possibility is Figure 2 In the figure, although Figure 2 The controller 112 in may also be present for multiple cycloidal rotor propellers).

[0017] According to one embodiment, the controller 112 includes one or more processors 114 and one or more memories 116 including computer program code. The one or more memories 116 and the computer program code enable the controller 112, together with the one or more processors 114, to determine values ​​for a set of control parameters.

[0018] According to one embodiment, the controller 112 then transmits the values ​​of the set of control parameters to the actuator device 110, which sets the at least two blades 108, for example, at a blade position and to a blade speed based on the values ​​of the set of control parameters determined by the controller 112. The actuator device 110 may include an electric motor device AR for each of the at least two blades 108, wherein the electric motor device AR is operatively coupled to the respective blade 108. Figure 2 As shown in the example of , the electric motor arrangement AR can be configured to rotate the corresponding blade 108 around the longitudinal axis of the blade. The electric motor arrangement AR may include a regulator, a gearbox and an electric motor (vane motor) that rotates the blade mechanically coupled thereto according to the value of a control parameter received, for example, from the controller 112. Figure 2 The functionality of the propeller wheel 106 and the at least two blades 108 explained in Figure 1 The propeller wheel 106' and blades 108' in.

[0019] The controller 112 may also control a drive 118 of a wheel engine system 120. The wheel engine system 120 may include an engine (motor), which may include an electric engine, an internal combustion engine, such as a diesel engine, a gasoline engine, or a gas engine, and potentially a mechanical gearbox. The configuration of the drive 118 may depend on the type of engine. For example, if the wheel engine system 120 includes one or more electric engines (electric motors), the drive 118 may include an electric drive configured to control the electric engine (one or more). The controller 112 may send commands to the drive 118, which may then control the rotational speed and / or rotational direction of the engine of the wheel engine system 120. For example, the wheel engine system 120 may rotate the propeller wheel 106 directly or through a gearbox. However, the details of the wheel engine system are not relevant to the actual invention, and those skilled in the art are themselves familiar with various wheel engine systems 120. Therefore, there is no need to discuss them in more detail here. As Figure 2 As shown in the example of , each of the propulsion subsystems 104 , 104 ′ may have its own wheel engine system 120 .

[0020] Figure 3 Examples of co- and epi-cycloid trajectories for a cycloidal rotor propeller are shown.

[0021] refer to Figure 3 , the trajectory of the cycloidal rotor propeller shown above is a trochoidal trajectory. For example, during the transport movement of a ship at sea, a trochoidal trajectory can be used. The trochoidal trajectory corresponds to a value of the advancement coefficient (advance ratio, advancement parameter) greater than one (λ>1). The advancement coefficient can be understood as the advancement speed (ship advancement speed) V a With the rotating tip speed V r The trajectory of the cycloidal rotor propeller shown in the figure below is an epicycloidal trajectory. The epicycloidal trajectory can be used, for example, during bollard pulling operations of a marine vessel. The epicycloidal trajectory corresponds to a value of the advancement coefficient that is less than one (λ<1).

[0022] Figure 4 An example of a control method for a marine vehicle propulsion system including a cycloidal rotor propeller, an actuator arrangement and a controller is illustrated.

[0023] refer to Figure 4 In block 401, a request is received by a controller. The request includes at least one force request and / or at least one torque request. The at least one force request may include, for example, a thrust request. In addition, the request may include a mode request. The mode request may be understood to include, for example, mode information of a marine vehicle, such as a transport mode, a bollard towing mode, or a rudder mode. The request may be received, for example, from a bridge of a marine vehicle. The bridge may include a steering device, such as a manual joystick or a rudder, by which a user may escort the request.

[0024] In block 402, values ​​of a set of control parameters are determined by a controller based on the request. The set of control parameters includes at least one thrust magnitude parameter and at least one thrust direction parameter. The at least one thrust magnitude parameter may be, for example, a rotational speed of a cycloidal rotor propeller and / or an eccentricity of a cycloidal rotor propeller. The at least one thrust direction parameter may be, for example, a yaw angle of a cycloidal rotor propeller and / or an offset angle of an angle of attack of a cycloidal rotor propeller. In one example, the values ​​of the control parameters are determined by using an optimization method constrained by the received request and a predetermined set of constraints for the control parameters using a standard algorithm for constrained optimization.

[0025] In one example, the optimization method includes maximizing the hydrodynamic efficiency of the cycloidal rotor propeller. The hydrodynamic efficiency of the cycloidal rotor propeller can be expressed by the equation

[0026] E=f(ε,rpm,ψ),

[0027] Where E represents the fluid dynamic efficiency, f represents a mathematical function, ε represents the eccentricity, rpm represents the rotation speed, and ψ represents the yaw angle. The mathematical function f may be, for example, a polynomial function of the form

[0028]

[0029] where d f is the order of the polynomial function, and w0, w ε，i ,、w rpm，i 、w ψ，i (for i=1,...,d) and w c,j,k,l (for j, k, l = 1, ..., d) are coefficients. The order and coefficients of the efficiency equation can be determined based on the acceptable accuracy in mathematical modeling, such as using computational fluid dynamics (CFD) simulations, laboratory experiments, and / or sea trials. For a cycloidal rotor propeller, a fourth-order polynomial (d f =4) can simulate energy efficiency with sufficient accuracy.

[0030] The received thrust request can be formulated as the thrust vector generated by the cycloidal rotor thruster and is described as

[0031] Thrust x =g x (ε,rpm,ψ),

[0032] Thrust y =g y (ε,rpm,ψ),

[0033] Thrust x is the forward component of the thrust vector, Thrust y is the lateral component of the thrust vector, and g x and g y is a mathematical function. Similar to the mathematical function f, g corresponding to energy efficiency x and g y It can be a polynomial function such as:

[0034]

[0035] where d g is the order of the polynomial function, m0, n0, m ε，i 、m rpm，i 、m ψ，i 、n ε，i 、n rpm，i 、n ψ，i (For i=1, ..., d g ) and m c，j，k，l ,、n c，j，k，l (For j, k, l = 1, ..., d g ) are coefficients. For a cycloidal rotor propeller, a fifth-order polynomial (d g=5) There is usually good accuracy in the mathematical model of thrust vectoring.

[0036] Since the mathematical functions f, g used to simulate energy efficiency and thrust x and g y , the optimization problem formulated above is non-convex and nonlinear. Optimization methods that can be used to solve optimization problems include, for example, sequential quadratic programming (SQP), interior point (IP) methods, and genetic algorithms. Sequential quadratic programming can be understood as an iterative method for solving nonlinear programming problems by iteratively solving a series of quadratic subproblems. The interior point method can be understood as solving the optimization problem by finding a solution inside the feasible region. The genetic algorithm is a population-based random search algorithm inspired by the natural selection process. However, the details of the optimization method are irrelevant to the actual invention, and those skilled in the art are themselves familiar with various optimization methods. Therefore, there is no need to discuss them in more detail here.

[0037] The predetermined constraint set of the control parameter may include an upper constraint and a lower constraint of the control parameter, which may be expressed by the equation:

[0038] ε L ≤ε≤ε U ,

[0039] rpm L ≤rpm≤rpm U ,

[0040] ψ L ≤ψ≤ψ U ,

[0041] Wherein the superscripts L and U represent a lower constraint and an upper constraint, respectively. The predetermined set of constraints may also include other constraints for preventing determination of infeasible values ​​of the set of control parameters, such as an eccentricity of 1. If the request includes a mode request, the predetermined set of constraints for the control parameters may also depend on the mode request. Maximizing the hydrodynamic efficiency of the cycloidal rotor propeller may include determining a value of an operating condition parameter, such as a current ship speed. Maximizing the hydrodynamic efficiency of the cycloidal rotor propeller may also include obtaining a feasible thrust value corresponding to the received request and the determined operating condition parameter from a predetermined set of feasible solutions. The feasible thrust value may include a maximum value of a thrust magnitude parameter and / or a feasible value of a thrust direction parameter.

[0042] In block 403, the cycloidal rotor propeller is controlled based on the values ​​of the control parameters by an actuator device that receives the values ​​of the set of control parameters from the controller. The values ​​of the control parameters may be determined, and the cycloidal rotor propeller controlled based on these values, for example, at least once per revolution of the cycloidal rotor propeller. Alternatively, the values ​​of the control parameters may be determined, and the cycloidal rotor propeller controlled based on these values, when the blade position changes, for example, by a predetermined amount.

[0043] The predetermined set of constraints may also include constraints or feasible values ​​for other factors, aspects or characteristics of the cycloidal rotor propeller, such as vibrations of the cycloidal rotor propeller, noise generated by the cycloidal rotor propeller or cavitation of the cycloidal rotor propeller.

[0044] Figure 5 An example of a control method is illustrated, wherein the request includes at least a thrust magnitude request and a thrust direction request, and the predetermined feasible solution set is a first feasible solution set. The thrust vector can be determined via the thrust magnitude Thrust M and thrust angle Thrust angle to represent, or via the forward component Thrust as described above x and the lateral component Thrust y The relationship between these representations can be expressed as an equation:

[0045] Thrust x =Thrust M ·cos(Thrust angle ),

[0046] Thrust y =Thrust M ·sin(Thrust angle ),

[0047]

[0048] Wherein cos represents a cosine function, and sin represents a sine function.

[0049] refer to Figure 5 In block 501, a maximum feasible thrust magnitude corresponding to the operating condition parameter and the thrust direction request value is obtained from the first feasible solution set. The maximum feasible thrust value can be used as a further constraint condition for maximizing the fluid dynamic efficiency of the cycloid rotor propeller, for example, it can be expressed as the following equation:

[0050] Thrust M ≤min(Thrust max ,Thrust req ),

[0051] Thrust max Indicates the maximum feasible thrust size obtained, while Thrust reqrepresents a thrust magnitude request. In box 502, a first rotational speed value, a first eccentricity value, and a first yaw angle value are determined based on at least the thrust direction request, the thrust magnitude request, the maximum feasible thrust magnitude obtained, and a predetermined set of constraints, so that the first rotational speed value, the first eccentricity value, and the first yaw angle value maximize the hydrodynamic efficiency of the cycloidal rotor propeller. The first rotational speed value, the first eccentricity value, and the first yaw angle value can be determined, for example, by maximizing the objective function f using a standard algorithm for constrained optimization, as explained in more detail above. In box 503, the first rotational speed value, the first eccentricity value, and the first yaw angle value are set as the values ​​of the set of control parameters.

[0052] Figure 6 The diagram shows the confirmation above Figure 5 An example of a first feasible solution set used in the control method shown.

[0053] refer to Figure 6 In block 601, a thrust direction range and a plurality of thrust direction values ​​are determined. The thrust direction range may be a range of 0°-360° (0-2π radians) or less. The thrust direction values ​​may be, for example, angular values ​​equally spaced within the range. In block 602, a maximum feasible thrust magnitude value is determined based on a thrust direction value in a plurality of thrust direction values ​​determined at least based on the thrust direction value, a value of an operating condition parameter, and a predetermined set of constraints. The maximum feasible thrust magnitude may be determined, for example, by using a standard algorithm for constrained optimization explained in more detail above. In block 603, the plurality of thrust direction values ​​and the values ​​of the operating condition parameters are stored in a first feasible solution set. The maximum feasible thrust magnitude value and the value of the operating condition parameter corresponding to the thrust direction value are also stored in block 603 for each thrust direction value in the plurality of thrust direction values ​​in the first feasible solution set.

[0054] Figure 7 An example of a control method is illustrated, wherein the request includes at least a sway force request, a surge force request, and a yaw torque request, and the predetermined feasible solution set is a second feasible solution set.

[0055] refer to Figure 7, the current available power is determined in box 701. In box 702, a feasibility constraint set corresponding to the current available power and the value of the operating condition parameter is obtained from the second feasibility solution set. The feasibility constraint set includes a maximum feasible sway force, a minimum feasible sway force, a maximum feasible surge force, a minimum feasible surge force, a maximum feasible yaw torque, and a minimum feasible yaw torque. In box 703, a second rotation speed value, a second eccentricity value, and a second yaw angle value are determined based on at least the sway force request, the surge force request, the yaw torque request, the obtained feasibility constraint set, and the predetermined constraint set, so that the second rotation speed value, the second eccentricity value, and the second yaw angle value maximize the fluid dynamic efficiency of the cycloidal rotor propeller. The second rotation speed value, the second eccentricity value, and the second yaw angle value can be determined, for example, by maximizing the objective function f using a standard algorithm for constrained optimization, as explained in more detail above. The predetermined constraint set can include at least an upper limit constraint and a lower limit constraint of the rotation speed, an upper limit constraint and a lower limit constraint of the eccentricity, and an upper limit constraint and a lower limit constraint of the yaw angle. In block 704 , a second rotational speed value, a second eccentricity value, and a second yaw angle value are set as values ​​for the set of control parameters.

[0056] Figure 8 The diagram shows the confirmation above Figure 7 An example of a second feasible solution set used in the control method shown.

[0057] refer to Figure 8 In box 801, the electric power consumption of the cycloidal rotor propeller and the generated thrust of the cycloidal rotor are determined. In box 802, the feasibility constraint set is determined based on the determined electric power consumption of the cycloidal rotor propeller, the determined generated thrust of the cycloidal rotor propeller, the current available power, the value of the operating condition parameter and the predetermined constraint set, and the feasibility constraint set includes the maximum feasible sway force, the minimum feasible sway force, the maximum feasible surge force, the minimum feasible surge force, the maximum feasible yaw torque and the minimum feasible yaw torque. In box 803, the current available power and the value of the operating condition parameter are stored in the second feasibility solution set. In box 803, the feasibility constraint set corresponding to the current available power and the operating condition parameter is also stored in the second feasibility solution set.

[0058] In one example, the optimization method includes minimizing a factor of the cycloidal rotor propeller constrained by the received request and another set of predetermined constraints of the control parameters. The factor of the cycloidal rotor propeller may be understood as an undesirable factor or aspect, such as vibration of the cycloidal rotor propeller, noise generated by the cycloidal rotor propeller, cavitation of the cycloidal rotor propeller, or another factor of the cycloidal rotor propeller whose minimization would be beneficial.

[0059] Maximizing the hydrodynamic efficiency of a cycloidal rotor propeller may enable calculation of optimal values ​​of control parameters that may be requested by a controller of a marine vehicle with a joystick or by an automatic controller, while achieving maximum efficiency with respect to power consumption. Minimizing undesirable factors of a cycloidal rotor propeller may enable calculation of optimal values ​​of control parameters that may be requested by a controller of a marine vehicle with a joystick or by an automatic controller, while functionalizing, for example, the reduction of wear of the cycloidal rotor propeller. Using a predetermined set of feasible solutions may improve the performance of controlling a marine vehicle propulsion system. A predetermined set of feasible solutions may prevent oscillations and instabilities during operation and thus increase the life of the propulsion system. Furthermore, it may also serve as an advisory option for the marine vehicle operator, enabling the operator to continuously understand the capabilities of the propulsion system under current operating conditions.

[0060] Fig. 9 is a simplified block diagram of some elements of an apparatus (device, equipment) 900, which is configured to implement at least some of the above-mentioned functionalities, for example, by means of Figures 1 to 8 In the example shown, the device 900 includes one or more interface (IF) entities 901, such as one or more user interfaces, and one or more processing entities 902 connected to various interface entities 901 and one or more memories 903.

[0061] The one or more interface entities 901 are entities for receiving and sending information, such as communication interfaces including hardware and / or software, for implementing communication connectivity according to one or more communication protocols, or for implementing data storage and retrieval, or for providing user interaction via one or more user interfaces, as described above in Figure 1 and Figure 2 The examples shown are described in the explanation.

[0062] The processing entity 902 is capable of performing calculations using corresponding algorithms 904 stored in the memory 903 and is configured to perform calculations, for example, by means of Figures 1 to 8 Any one and any combination thereof to implement at least part of the above functionality / operation. Entity 902 may include one or more processors, controllers, control units, microcontrollers, etc., which may be configured, for example, by means of Figures 1 to 8 Any one and any combination thereof can be used to implement the above embodiments / examples / implementations or operations. Generally speaking, a processor is a central processing unit, but the processor entity 902 can be an additional operating processor or a multi-core processor or a microprocessor.

[0063] The memory 903 can be used to store computer program codes required for one or more of the above functionalities / operations, for example, by means of Figures 1 to 8Any one of the above and any combination thereof, i.e., for implementing the above Figures 1 to 8 The memory 903 may also be used to at least temporarily store other possible information required for one or more of the above functionalities / operations, such as by means of Figures 1 to 8 Any one of and any combination thereof. The memory 903 may include a data buffer that may at least temporarily store measurement data and / or information received, for example, as user input.

[0064] In summary, the methods described herein, for example, Figures 1 to 8 Any one of them and any combination thereof can be configured as a computer or a processor, or a microprocessor, such as a single-chip computer element, or a chipset, or one or more logic gates, including at least one memory for providing a storage area for arithmetic operations and an operation processor for performing arithmetic operations. For example, by means of Figures 1 to 8 Any one of them and any combination thereof, each or some or one of the algorithms for the above functionality / operation may be included in one or more computer processors, application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), graphics processing units (GPUs) and / or other hardware components, which have been programmed and / or will be programmed by downloading computer program code (one or more algorithms), in such a way as to implement one or more functions of one or more embodiments / examples.

[0065] An embodiment provides a computer program embedded on any client-readable distribution / data storage medium or memory unit (one or more) or article of manufacture (one or more), including program instructions executable by one or more processors / computers, which, when loaded into a device (equipment, equipment), constitute an entity that provides the corresponding functionality or at least a part of the corresponding functionality. The program, also called a program product, includes software routines, program fragments constituting a "program library", applets and macros, which can be stored in any medium, including non-transitory computer-readable storage media, and can be downloaded to the device. In other words, for example, with the aid of Figures 1 to 8 Each or some or one of the algorithms for one or more functions / operations described in any one of and any combination thereof may be included in an element comprising one or more arithmetic logic units, a plurality of special purpose registers and control circuits.

[0066] It is obvious to a person skilled in the art that, as technology advances, the inventive concept can be implemented in various ways.The invention and its embodiments are not limited to the examples described above but may vary within the scope of the claims.

Claims

1. A method for controlling a marine vehicle propulsion system, the propulsion system comprising a cycloidal rotor propeller, an actuator device and a controller, the method comprising: receiving, by the controller, a request including at least one force request and / or at least one torque request; determining, by the controller, values ​​for a set of control parameters based on the request; and By means of the actuator device receiving values ​​of the set of control parameters from the controller, the cycloidal rotor propeller is controlled based on the received values.

2. The method according to claim 1, wherein the set of control parameters includes at least one thrust magnitude parameter and at least one thrust direction parameter, the at least one thrust magnitude parameter includes at least one of a rotation speed and an eccentricity, and the at least one thrust direction parameter includes at least one of a yaw angle and a deviation angle.

3. The method of claim 1, wherein determining the values ​​of the set of control parameters is performed using an optimization method constrained by the received request and a predetermined set of constraints for the set of control parameters.

4. The method of claim 3, wherein the optimization method comprises maximizing the hydrodynamic efficiency of the cycloidal rotor propeller.

5. The method of claim 4, wherein maximizing the hydrodynamic efficiency of the cycloidal rotor propeller comprises: determining values ​​of operating condition parameters including at least current vessel speed; and A feasible thrust value corresponding to the request and the determined value of the operating condition parameter is obtained from a predetermined set of feasible solutions. 6 . The method according to claim 5 , wherein the request comprises at least a thrust magnitude request and a thrust direction request, and wherein the predetermined feasible solution set is a first feasible solution set.

7. The method of claim 6, wherein determining the values ​​of the set of control parameters comprises: Obtaining a maximum feasible thrust magnitude corresponding to the values ​​of the operating condition parameter and the thrust direction request from the first feasible solution set; determining a first rotational speed value, a first eccentricity value, and a first angle value based on at least the thrust direction request, the thrust magnitude request, the obtained maximum feasible thrust magnitude, and the predetermined set of constraints, wherein the first angle value is a first yaw angle value or a first offset angle value, and wherein the first rotational speed value, the first eccentricity value, and the first angle value maximize the fluid dynamic efficiency of the cycloidal rotor propeller; and The first rotation speed value, the first eccentricity value, and the first angle value are set as the values ​​of the set of control parameters.

8. The method according to claim 7, wherein the method further comprises determining the first feasible solution set by: determining a thrust direction range and a plurality of thrust direction values ​​included in the thrust direction range; determining a maximum feasible thrust magnitude value based on at least the thrust direction value, the value of the operating condition parameter, and the predetermined set of constraints in dependence on the determined thrust direction value of the plurality of thrust direction values; storing the plurality of thrust direction values ​​and the values ​​of the operating condition parameters in the first feasible solution set; and In the first feasible solution set, according to a thrust direction value among the plurality of thrust direction values, the determined maximum feasible thrust magnitude value corresponding to the thrust direction value and the value of the operating condition parameter is stored. 9 . The method of claim 5 , wherein the requests include at least a sway force request, a surge force request, and a yaw torque request, and the predetermined feasible solution set is a second feasible solution set.

10. The method of claim 9, wherein determining the values ​​of the set of control parameters comprises: Determine the currently available power; obtaining a feasibility constraint set corresponding to the value of the operating condition parameter and the currently available power from the second feasibility solution set, wherein the feasibility constraint set includes a maximum feasible sway force, a minimum feasible sway force, a maximum feasible surge force, a minimum feasible surge force, a maximum feasible yaw torque, and a minimum feasible yaw torque; determining a second rotational speed value, a second eccentricity value, and a second angle value based on at least the sway force request, the surge force request, the yaw torque request, the obtained feasibility constraint set, and the predetermined constraint set, wherein the second angle value is a second yaw angle value or a second offset angle value, and wherein the second rotational speed value, the second eccentricity value, and the second angle value maximize the fluid dynamic efficiency of the cycloidal rotor propeller; The second rotation speed value, the second eccentricity value and the second angle value are set as the values ​​of the set of control parameters.

11. The method according to claim 10, wherein the method further comprises determining the second feasible solution set by the following steps: determining an electrical power consumption of the cycloidal rotor propeller and a force generated by the cycloidal rotor propeller; determining the feasibility constraint set based on the electrical power consumption of the cycloidal rotor propeller, the generated force of the cycloidal rotor propeller, the currently available power, the value of the operating condition parameter, and the predetermined constraint set; storing the values ​​of the currently available power and the operating condition parameter in the second feasible solution set; The feasibility constraint set corresponding to the current available power and the value of the operating condition parameter is stored in the second feasible solution set.

12. The method according to any one of claims 5 to 11, further comprising: The predetermined set of feasible solutions is displayed as a feasibility map to a user of the propulsion system via a user interface.

13. The method according to any one of claims 4 to 11, wherein the request further comprises a mode request, and the predetermined set of constraints for the control parameters is determined based on the mode request.

14. The method according to claim 3 or 4, wherein the optimization method comprises minimizing a factor of the cycloidal rotor propeller.

15. A propulsion system for a marine vehicle comprising a cycloidal rotor propeller, an actuator device and a controller; The controller includes one or more processors and one or more memories including computer program code; The one or more memories and the computer program code are configured to, with the one or more processors, at least cause the controller to receive a request including at least one force request and / or at least one torque request, and determine values ​​for a set of control parameters based on the request; and The actuator arrangement is configured to control the cycloidal rotor propeller based at least on the values ​​of the set of control parameters received from the controller.

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