A sail rapid folding driving device and a method for controlling the rotation angle of a combined sail

Abstract

The present invention provides a sail rapid folding drive device and a method for controlling the rotation angle of a combined sail, which are applied to the field of sail driving technology, and include a mainsail drive mechanism and a flap drive mechanism. The sail includes a mainsail and a flap, wherein the mainsail is connected to a mast, and the mainsail and the flap are connected via a connecting mechanism; the mainsail is driven to rotate by the mainsail drive mechanism, and the flap is driven to rotate by the flap drive mechanism. The mainsail and the flap rotate relatively independently, so that the angle between the mainsail and the flap is adjustable. The sail rapid folding drive device drives the mainsail to rotate by the mainsail drive mechanism, and drives the flap to rotate by the flap drive mechanism, so that the mainsail and the flap can rotate relatively independently and adjust the angle between the two according to demand, and utilizes structural design to improve adjustment efficiency and reduce the time required for adjustment.

Description

Technical Field

[0001] The invention belongs to the technical field of sail driving, and in particular relates to a sail rapid folding driving device and a method for controlling the rotation angle of a combined sail. Background Art

[0002] At present, countries around the world are gradually increasing their efforts in ocean development. Thanks to the abundant wind energy resources at sea and the development of technology, it has become possible for unmanned sailboats to carry out long-distance, large-scale and long-duration operations.

[0003] Unmanned sailboats rely on sails to drive with the help of wind power, and the aerodynamic characteristics of the sails have a significant impact on the power of unmanned sailboats. How to use wind energy more efficiently to achieve optimal propulsion efficiency has become a hot research issue.

[0004] Unmanned sailboats may encounter extreme weather conditions when sailing at sea, especially under strong winds, the sails may be damaged and the sailboats may capsize. Therefore, how to improve the survivability of unmanned sailboats has become a hot research issue to ensure that unmanned sailboats can achieve long-term operations at sea. Summary of the invention

[0005] In view of the above-mentioned problems in the prior art, the object of the present invention is to provide a sail rapid folding drive device, in which the mainsail is driven to rotate by the mainsail driving mechanism, and the flap driving mechanism drives the flap to rotate, so that the mainsail and the flap can rotate relatively independently and the angle between the two can be adjusted as needed, and the structural design is used to improve the adjustment efficiency and reduce the time required for adjustment.

[0006] A sail rapid folding drive device comprises a mainsail drive mechanism and a flap drive mechanism, the sail comprises a mainsail and a flap, the mainsail is connected to the mast, and the mainsail and the flap are connected via a connecting mechanism; the mainsail is driven to rotate by the mainsail drive mechanism, and the flap is driven to rotate by the flap drive mechanism, the mainsail and the flap rotate relatively independently, so that the angle between the mainsail and the flap is adjustable.

[0007] Preferably, the motor of the mainsail driving mechanism drives the transmission assembly 1 and the transmission assembly 2 to rotate in sequence, thereby driving the mainsail on the mast to rotate; the motor of the flap driving mechanism drives the transmission assembly 3, the transmission assembly 4, the transmission assembly 5, and the transmission assembly 6 to rotate in sequence, thereby driving the flap to rotate. The transmission assembly 1, the transmission assembly 3, the transmission assembly 5, and the transmission assembly 6 are all bevel gear meshing structures, and the transmission assembly 2 and the transmission assembly 4 are all worm gear meshing structures.

[0008] Preferably, it also includes a flipping mechanism, and the mast is driven by the flipping mechanism to drive the mainsail and flaps to flip to achieve sail furling or sail raising operations.

[0009] Preferably, the flip mechanism includes a flip drive motor, a flip drive worm, a flip drive worm wheel, a flip shaft, and a flip seat; the mast is installed on the flip seat, and the flip drive motor drives the flip drive worm to rotate, and the meshing action of the flip drive worm and the flip drive worm wheel drives the flip shaft on the flip drive worm wheel to rotate, thereby driving the flip seat to rotate around the flip shaft, thereby realizing the operation of retracting or raising the sail.

[0010] Preferably, the mainsail driving mechanism comprises a mainsail driving motor, bevel gear one, bevel gear two, a mainsail driving worm screw and a mainsail driving worm wheel, wherein the mainsail driving worm wheel is sleeved on the mast so that the mast rotates with the rotation of the mainsail driving worm wheel; a mainsail driving worm screw is arranged on the side of the mainsail driving worm wheel, the mainsail driving worm screw and the mainsail driving worm wheel are meshed with each other for transmission, one end of the mainsail driving worm screw is connected to bevel gear two, the bevel gear two is meshed with bevel gear one for transmission, and the bevel gear one is driven to rotate by the mainsail driving motor.

[0011] Preferably, the connecting mechanism comprises a flap bracket and a mainsail bracket, the flap bracket is connected to the flap, the mainsail bracket is connected to the mainsail, and the flap bracket is driven to rotate by the flap driving mechanism, thereby driving the flap to rotate.

[0012] Preferably, the flap drive mechanism comprises a flap drive motor, bevel gear three, bevel gear four, flap drive worm, flap drive worm gear, flap transmission bevel gear one, flap transmission bevel gear two, a rotating rod, bevel gear five, bevel gear six, and a rotating shaft; the driving shaft of the flap drive motor is connected to bevel gear three, bevel gear three is meshed with bevel gear four for transmission, bevel gear four is connected to the flap drive worm, the flap drive worm is mounted on the side of the flap drive worm gear, the flap drive worm gear is meshed with the flap drive worm gear for transmission, the flap drive worm gear is connected with flap transmission bevel gear one, so that the flap transmission bevel gear one can rotate with the rotation of the flap drive worm gear; one end of the rotating rod is connected to the flap transmission bevel gear two which is meshed with the flap transmission bevel gear one for transmission, the other end of the rotating rod is connected to the bevel gear five, the bevel gear five is meshed with the bevel gear six for transmission, the bevel gear six is ​​connected to the rotating shaft, and the flap bracket and the mainsail bracket are both connected to the rotating shaft.

[0013] Preferably, the flap transmission bevel gear 1 of the flap driving mechanism, the flap driving worm gear, and the mainsail driving worm gear of the mainsail driving mechanism are sleeved on the mast.

[0014] The second object of the present invention is to provide a method for controlling the rotation angle of a combined sail, which is used to control the above-mentioned sail rapid folding drive device, so that the main sail and the flaps can perform relatively independent rotational motions, and the rotation angles of the main sail and the flaps can be adjusted according to changes in the wind field;

[0015] The specific process is as follows:

[0016] Step 1: Set the angle between the mainsail and the heading as the mainsail angle , the angle between the mainsail and the flap is the flap angle The angle between the mainsail and the wind direction is the mainsail attack angle , the angle between the heading and the wind direction is the included angle , the angle between the flap and the heading is the flap absolute angle ;

[0017] Step 2: Calculate the thrust provided by the combined sail for the entire ship , the calculation formula is:

[0018]

[0019] Among them, thrust The calculation formula is:

[0020]

[0021] in, is the lift coefficient function, is the drag coefficient function;

[0022] Step 3: Determine the lift coefficient , drag coefficient , and calculate the angle between the current heading and the wind direction according to formula (1) Thrust ;

[0023] Step 4: According to thrust Calculate the corresponding mainsail angle of attack and flap angle , the calculation formula is:

[0024]

[0025] Step 5: According to the mainsail angle of attack , the angle between heading and wind direction Calculating the mainsail angle , the calculation formula is: ;

[0026] Step 6: According to the main sail angle 、Flap angle Calculate the number of revolutions of the mainsail drive motor in the mainsail drive mechanism and the number of revolutions of the flap drive motor in the flap drive mechanism , the calculation formula is:

[0027]

[0028] in, is the transmission ratio of the mainsail drive mechanism, is the transmission ratio of the flap drive mechanism.

[0029] Preferably, a single motor driving mode is adopted when sailing against the wind, and only the main sail driving motor in the main sail driving mechanism is started to adjust the rotation angle of the combined sail. The specific steps are as follows:

[0030] According to the thrust Calculate the corresponding mainsail angle of attack and flap angle Add constraints when:

[0031]

[0032] Set the absolute flap angle If is 0, the number of revolutions of the flap drive motor in the flap drive mechanism is is 0.

[0033] The beneficial effects of the present invention are as follows: the sail rapid folding drive device and the method for controlling the rotation angle of the combined sail, the sail adopts a combined wing sail form to improve the aerodynamic performance of the sail, the mainsail is driven to rotate by the mainsail driving mechanism, and the flap driving mechanism drives the flap to rotate, so that the mainsail and the flap can rotate relatively independently and the angle between the two can be adjusted as needed, the sail is driven to flip by the flipping mechanism to realize the sail raising and sail folding operations, so that the sail can follow the environment when the wind field is changeable, the structural design is used to improve the adjustment efficiency, reduce the time required for adjustment, and complete rapid folding in a strong wind environment.

[0034] The flap transmission bevel gear 1, the flap driving worm gear and the mainsail driving worm gear are sleeved on the mast, and corresponding worm gear and bevel gear structures are configured. Through reasonable structural design, on the basis of realizing rotational drive, the space occupied by the mainsail driving mechanism, the flap driving mechanism and the turning mechanism is reduced as much as possible, which is convenient for use by small ships.

[0035] The sail rapid folding drive device has a single motor drive module and a dual motor drive mode. When the sailboat is sailing against the wind, the thrust obtained by the single motor drive mode is close to that obtained by the dual motor drive mode, while the energy loss is half of that of the dual motor drive mode, which can effectively reduce energy consumption. In addition, when the single motor drive mode is used, the lateral force on the sailboat is significantly smaller than that on the dual motor drive mode when the heading angle is small, which can effectively reduce the risk of the sailboat capsizing. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0037] Figure 1 It is a schematic diagram of the structure of the present invention;

[0038] Figure 2 is a schematic structural diagram of the driving structure of the present invention;

[0039] Figure 3 is a side view of the drive structure of the present invention;

[0040] Figure 4 It is a structural schematic diagram of the connection mechanism of the present invention;

[0041] Figure 5 is a top view of the driving structure of the present invention;

[0042] Figure 6 is a structural schematic diagram of the sail of the present invention in a folded state;

[0043] Figure 7 is a schematic diagram of the rotation angles of the main sail and flaps of the present invention;

[0044] Figure 8 It is a thrust comparison diagram in the single motor driving mode and the dual motor driving mode of the present invention;

[0045] Fig. 9 It is a schematic diagram comparing the lateral forces in the single-motor driving mode and the dual-motor driving mode in the present invention.

[0046] The markings in the figure are: 1. Mounting base; 2. Turning mechanism; 201. Turning drive motor; 202. Turning drive worm; 203. Support 1; 204. Turning drive worm gear; 205. Support 2; 206. Turning shaft; 207. Turning ear plate; 208. Turning seat; 3. Mainsail driving mechanism; 301. Mainsail driving motor; 302. Bevel gear 1; 303. Bevel gear 2; 304. Mainsail driving worm; 305. Support 3; 306. Mainsail driving worm gear; 4. Flap driving mechanism; 4 01. Flap drive motor; 402. Bevel gear three; 403. Bevel gear four; 404. Flap drive worm; 405. Support four; 406. Flap drive worm gear; 407. Flap drive bevel gear one; 408. Flap drive bevel gear two; 409. Rotating rod; 410. Support five; 411. Bevel gear five; 412. Bevel gear six; 413. Rotating shaft; 5. Mast; 6. Mainsail; 7. Flap; 8. Connecting mechanism; 801. Flap bracket; 802. Mainsail bracket; 9. Limit block. DETAILED DESCRIPTION

[0047] Embodiment 1

[0048] like Figure 1As shown, a sail fast folding driving device comprises a turnover mechanism 2, a main sail driving mechanism 3, a flap driving mechanism 4 and a mast 5. The sail is a combined sail, comprising a main sail 6 and a flap 7. The main sail 6 is connected to the mast 5. A limit block 9 is installed on the mast 5 to limit the position of the main sail 6. The main sail 6 and the flap 7 are connected by a connecting mechanism 8.

[0049] The mainsail 6 is driven to rotate by the mainsail driving mechanism 3, and the flap 7 is driven to rotate by the flap driving mechanism 4, so that the mainsail 6 and the flap 7 can rotate relatively independently, thereby making the angle between the mainsail 6 and the flap 7 adjustable; in addition, the mast 5 is driven by the flipping mechanism 2 to drive the mainsail 6 and the flap 7 to flip to realize the sail retracting or sail raising operation.

[0050] Through the mutual cooperation among the flipping mechanism 2, the mainsail driving mechanism 3 and the flap driving mechanism 4, the sail can be retracted or raised, the mainsail 6 and the flap 7 can be rotated, so that the sail can independently adjust the rotation angles of the mainsail 6 and the flap 7 according to the actual situation, and the time consumption of the adjustment process can be reduced to achieve fast operation.

[0051] Please refer to Figure 2 The flip mechanism 2 includes a flip driving motor 201, a flip driving worm 202, a support 1 203, a flip driving worm gear 204, a support 205, a flip shaft 206, a flip ear plate 207, and a flip seat 208.

[0052] Among them, the driving end of the flip driving motor 201 is connected to the flip driving worm 202, and the flip driving worm 202 is mounted on the mounting base 1 through the support 1 203. A flip driving worm wheel 204 is mounted above the flip driving worm 202 through the support 2 205. The flip driving worm 202 is meshed with the flip driving worm wheel 204 for transmission. A flip shaft 206 is installed on the flip driving worm wheel 204. The two ends of the flip shaft 206 are respectively connected to the flip seat 208 through the flip ear plates 207, so that the flip seat 208 can be flipped relative to the support 2 205 as the flip shaft 206 rotates.

[0053] In particular, the mast 5 is mounted on the flip seat 208, and specifically, the mast 5 is mounted on the flip seat 208 through a fixed bearing seat and a matching bearing. Therefore, after the flip drive motor 201 is started, it drives the flip drive worm 202 to rotate, and the flip shaft 206 is driven to rotate by the meshing action of the flip drive worm 202 and the flip drive worm wheel 204, thereby driving the flip seat 208 to rotate around the support 205, so as to realize the conversion of the sail from the sail-retracting state to the sail-raising state. Similarly, the sail-retracting operation can be realized by controlling the flip drive motor 201 to rotate in the opposite direction.

[0054] Please refer to Figure 2 , Figure 3The mast 5 is driven by the mainsail driving mechanism 3 to drive the mainsail 6 to rotate, thereby achieving angle adjustment of the mainsail 6.

[0055] The mainsail driving mechanism 3 comprises a mainsail driving motor 301, a bevel gear 1 302, a bevel gear 2 303, a mainsail driving worm 304, a support 305, and a mainsail driving worm wheel 306. The mainsail driving worm wheel 306 is sleeved on the mast 5, so that the mast 5 rotates with the rotation of the mainsail driving worm wheel 306.

[0056] Specifically, a mainsail driving worm 304 is mounted on the side of the mainsail driving worm wheel 306 through a support three 305, and the mainsail driving worm 304 is meshingly transmitted with the mainsail driving worm wheel 306, and one end of the mainsail driving worm 304 is connected to a bevel gear two 303, and the bevel gear two 303 is meshingly transmitted with the bevel gear one 302, and the bevel gear one 302 is driven to rotate by the mainsail driving motor 301.

[0057] When the mainsail 6 is in the sail raising working state, the mainsail driving motor 301 is started to drive the bevel gear 1 302 to rotate, and the mainsail driving worm 304 is driven to rotate by the meshing transmission between the bevel gear 1 302 and the bevel gear 2 303, and the mainsail driving worm 304 is driven to rotate by the meshing transmission between the mainsail driving worm 304 and the mainsail driving worm wheel 306, thereby driving the mainsail 6 on the mast 5 to rotate, and the angle adjustment of the mainsail 6 is achieved by controlling the number of revolutions of the mainsail driving motor 301. Among them, the bevel gear 1 302 and the bevel gear 2 303 constitute the transmission component 1, and the mainsail driving worm 304 and the mainsail driving worm wheel 306 constitute the transmission component 2.

[0058] The combined sail needs to adjust the angles of the main sail 6 and the flap 7 according to the wind direction and wind speed of the environment, wherein the windward angles of the main sail 6 and the flap 7 are adjusted according to the principle that the force component of the combined sail in the forward direction is the largest. In this embodiment, the angle between the main sail 6 and the flap 7 is adjusted by the flap driving mechanism 4 driving the connecting mechanism 8 to drive the flap 7 to rotate.

[0059] like Figure 4 As shown, the connecting mechanism 8 includes a flap bracket 801 and a mainsail bracket 802. The flap bracket 801 is connected to the flap 7, and the mainsail bracket 802 is connected to the mainsail 6. The flap bracket 801 is driven by the flap driving mechanism 4 to rotate, thereby driving the flap 7 to rotate.

[0060] like Figures 2 to 4As shown, the flap drive mechanism 4 includes a flap drive motor 401, a bevel gear 3 402, a bevel gear 403, a flap drive worm 404, a support 405, a flap drive worm gear 406, a flap drive bevel gear 1 407, a flap drive bevel gear 2 408, a rotating rod 409, a support 5 410, a bevel gear 5 411, a bevel gear 6 412, and a rotating shaft 413. Among them, the bevel gear 3 402 and the bevel gear 4 403 constitute a transmission component 3, the flap drive worm 404 and the flap drive worm gear 406 constitute a transmission component 4, the flap drive bevel gear 1 407 and the flap drive bevel gear 2 408 constitute a transmission component 5, and the bevel gear 5 411 and the bevel gear 6 412 constitute a transmission component 6.

[0061] Among them, the driving shaft of the flap drive motor 401 is connected to the bevel gear three 402, the bevel gear three 402 is meshed with the bevel gear four 403 for transmission, the bevel gear four 403 is connected with the flap drive worm 404, the flap drive worm 404 is mounted on the side of the flap drive worm wheel 406 through the support four 405, the flap drive worm wheel 406 is meshed with the flap drive worm 404 for transmission, and the flap drive worm wheel 406 is connected to the flap drive bevel gear one 407, so that the flap drive bevel gear one 407 can rotate with the flap drive worm wheel 406.

[0062] In addition, the rotating rod 409 is mounted on the side of the flap transmission bevel gear 1 407 through the support 5 410, the support 5 410 is connected to the main sail bracket 802, one end of the rotating rod 409 is connected to the flap transmission bevel gear 2 408 meshing with the flap transmission bevel gear 1 407 for transmission, the other end of the rotating rod 409 is connected to the bevel gear 5 411, the bevel gear 5 411 meshes with the bevel gear 6 412 for transmission, the bevel gear 6 412 is connected to the rotating shaft 413, and the flap bracket 801 and the main sail bracket 802 are both connected to the rotating shaft 413.

[0063] After the flap driving motor 401 is started, it drives the bevel gear three 402 to rotate, and the meshing action between the bevel gear three 402 and the bevel gear four 403 drives the bevel gear four 403 to rotate, thereby driving the flap driving worm 404 connected to the bevel gear four 403 to rotate, and the flap driving worm 406 is driven to rotate by the meshing action between the flap driving worm 404 and the flap driving worm gear 406, thereby driving the flap driving bevel gear one 407 to rotate. Then, the rotating rod 409 is driven to rotate by the meshing action of the flap driving bevel gear one 407 and the flap driving bevel gear two 408, and then the rotating shaft 413 is driven to rotate by the meshing action of the bevel gear five 411 and the bevel gear six 412. At this time, the flap bracket 801 drives the flap 7 to rotate with the rotating shaft 413 while the main sail bracket 802 does not move, and the angle between the flap bracket 801 and the main sail bracket 802 is adjusted by the rotation of the flap bracket 801, thereby realizing the angle adjustment between the main sail 6 and the flap 7. The angle adjustment of the flap 7 can be achieved by controlling the number of revolutions of the flap driving motor 401 .

[0064] In order to reasonably set the positions of the flipping mechanism 2, the mainsail driving mechanism 3 and the flap driving mechanism 4, the flap driving bevel gear 407, the flap driving worm gear 406 and the mainsail driving worm gear 306 are sleeved on the mast 5, and the mast 5 is installed on the flipping seat 208.

[0065] like Figure 5 As shown, the mainsail driving worm 304 is mounted beside the mainsail driving worm wheel 306 through the support three 305, and the mainsail driving worm wheel 306 is meshed with the mainsail driving worm 304; the flap driving worm 404 is mounted beside the flap driving worm wheel 406 through the support four 405, and the flap driving worm wheel 406 is meshed with the flap driving worm 404, so as to achieve a reasonable distribution in space and reduce the volume of the sail driving device as much as possible.

[0066] Among them, the support three 305 is connected to the turning seat 208, and the support four 405 is connected to the turning seat 208. In order to further improve the space utilization, the main sail driving motor 301 and the flap driving motor 401 are respectively installed on the turning seat 208. Figure 5 As shown, the top view of the flip seat 208 is cross-shaped.

[0067] like Figure 1 As shown, the main sail 6 and the flap 7 are in a fully extended state. Figure 6 As shown, the mainsail 6 and the flaps 7 are in a completely folded state, at which point the symmetry plane of the mainsail 6 is parallel to the upper surface of the mounting base 1. At this point, the sail is substantially unaffected by the ambient wind, and can effectively improve its survivability in harsh marine environments.

[0068] Embodiment 2

[0069] A method for controlling the rotation angle of a combined sail is used to control the sail rapid folding drive device as described in Example 1, so that the main sail 6 and the flap 7 can achieve relatively independent rotational movement, and the rotation angles of the main sail 6 and the flap 7 are adjusted according to changes in the wind field, so that the sail reaches the best wind energy utilization efficiency state.

[0070] like Figure 7 As shown, the bow direction is represented as the heading, the apparent wind is represented as the wind direction, and the angle between the main sail 6 and the heading is set as the main sail angle , the angle between the main sail 6 and the flap 7 is the flap angle The angle between the main sail 6 and the wind direction is the main sail attack angle , the angle between the heading and the wind direction is the included angle , the angle between flap 7 and the heading is the flap absolute angle .

[0071] The lift coefficient function of the combined sail is expressed as , the resistance coefficient function is expressed as , then the combined sail provides thrust for the entire ship It can be expressed as:

[0072]

[0073] Among them, thrust It can be calculated by the following formula:

[0074]

[0075] Through the existing CFD software simulation and After that, we can use the formula Calculate the angle between each heading and wind direction Thrust , and thrust The corresponding optimal mainsail attack angle and flap angle The formula can be Find:

[0076]

[0077] Due to the angle between the heading and the wind direction is known, calculate the mainsail attack angle Then you can get the main sail angle , the calculation formula is:

[0078]

[0079] Therefore, the mainsail angle that needs to be adjusted for the combined sail can be calculated 、Flap angle .

[0080] The main sail 6 is driven by the main sail driving mechanism 3 to rotate to adjust the main sail angle. The flap 7 is driven by the flap drive mechanism 4 to rotate to adjust the absolute angle of the flap Therefore, the mainsail angle The control formula is:

[0081] in, is the transmission ratio of the main sail driving mechanism 3, The number of revolutions of the main sail driving motor 301.

[0082] Absolute flap angle The control formula is:

[0083] in, is the transmission ratio of the flap drive mechanism 4, is the number of revolutions of the flap drive motor 401.

[0084] Flap angle The control formula is: ,Right now:

[0085] By arranging formulas (4) and (6) into vector form, we can obtain:

[0086]

[0087] Inverting the transmission ratio matrix in the middle gives the expression of the control input:

[0088]

[0089] Therefore, depending on the required mainsail angle 、Flap angle Vector , we can get the input motor turns vector , that is, according to the main sail angle 、Flap angle The number of revolutions of the corresponding mainsail drive motor 301 can be calculated. and the number of revolutions of the flap drive motor 401 , to achieve the main sail angle 、Flap angle It provides precise control of the sail and effectively reduces the time required to operate the sail.

[0090] Assume that the motor speeds of the mainsail driving motor 301 and the flap driving motor 401 are both 150 rpm, and the transmission ratios of the mainsail driving mechanism 3 and the flap driving mechanism 4 are both 72.

[0091] In the case of emergency sail retraction, the main sail 6 and flap 7 in the combined sail need to rotate 180° successively, and the process usually takes about 36 seconds. However, based on the structure of the sail rapid folding drive device in Example 1, the time required for this process can be reduced to about 18 seconds. In addition, for the side-changing operation in upwind sailing, the main sail 6 needs to rotate about 90° and the flap 7 needs to rotate about 45°. The process usually takes about 11 seconds, but based on the structure of the sail rapid folding drive device in Example 1, the time required for this process can be reduced to about 7.2 seconds.

[0092] Embodiment 3

[0093] A method for controlling the rotation angle of a combined sail is used to control the sail fast folding drive device as described in Example 1. The method of this embodiment is basically the same as the method of Example 2, except that: in this embodiment, according to the thrust Calculate the corresponding mainsail angle of attack and flap angle When the constraint condition is added, the absolute angle of the flap is 0.

[0094] Since there are no-fly zones for sailing against the wind, sailboats need to frequently change sides and adjust the sail angle when sailing against the wind. Therefore, to address the problem that sailboats need to frequently change sides when sailing against the wind, this embodiment adopts a single-motor drive mode to achieve the sailing against the wind, that is, based on the sail rapid folding drive device described in Embodiment 1, only the mainsail drive mechanism 3 is started while the flap drive mechanism 4 is not started. When sailing against the wind, the thrust and energy consumption are balanced through the single-motor drive mode.

[0095] The specific operations are as follows:

[0096] like Figure 7 As shown, the bow direction is represented as the heading, the apparent wind is represented as the wind direction, and the angle between the main sail 6 and the heading is set as the main sail angle , the angle between the main sail 6 and the flap 7 is the flap angle The angle between the main sail 6 and the wind direction is the main sail attack angle , the angle between the heading and the wind direction is the included angle , the angle between flap 7 and the heading is the flap absolute angle .

[0097] The lift coefficient function of the combined sail is expressed as , the resistance coefficient function is expressed as , then the combined sail provides thrust for the entire ship It can be expressed as:

[0098]

[0099] Among them, thrust It can be calculated by the following formula:

[0100]

[0101] Constraints:

[0102]

[0103] Through the existing CFD software simulation and After that, we can use the formula Calculate the angle between each heading and wind direction Thrust , and thrust The corresponding optimal mainsail attack angle and flap angle The formula can be Find:

[0104]

[0105] Also because , , so this constraint saves one degree of freedom in the control of the combined sail, that is, maintaining , that is, the flap driving motor 4 is not enabled, and only the mainsail driving mechanism 3 is used to drive the mainsail 6 to rotate to adapt to the sailing environment.

[0106] Mainsail angle The control formula is:

[0107] in, is the transmission ratio of the main sail driving mechanism 3, The number of revolutions of the main sail driving motor 301. and the transmission ratio of the main sail drive mechanism 3 The number of revolutions of the main sail driving motor 301 can be calculated. , to achieve the main sail angle Precise control.

[0108] like Figure 8 As shown in the figure, in the single motor drive mode, when the sailboat is sailing against the wind, the thrust provided by the combined sail is close to that of the dual motor drive mode, and the single motor drive mode can save half of the energy loss compared to the dual motor drive. Fig. 9As shown, when the heading angle is small, the lateral force of the flap 7 on the sailboat in the single-motor drive mode is significantly smaller than the lateral force of the flap 7 on the sailboat in the dual-motor drive mode. The smaller lateral force can reduce the risk of the sailboat capsizing. Specifically, in this embodiment, Fig. 9 As shown, when the heading angle is less than 31.5°, the lateral force exerted by the flap 7 on the sailboat in the single-motor drive mode is significantly smaller than the lateral force exerted by the flap 7 on the sailboat in the dual-motor drive mode.

[0109] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A sail rapid folding drive device, characterized in that: The sail comprises a mainsail driving mechanism (3), a flap driving mechanism (4) and a flipping mechanism (2), wherein the sail comprises a mainsail (6) and flaps (7), wherein the mainsail (6) is connected to a mast (5), and the mainsail (6) and flaps (7) are connected via a connecting mechanism (8), and the mast (5) is driven by the flipping mechanism (2) to drive the mainsail (6) and flaps (7) to flip so as to achieve a sail-retracting or sail-raising operation; The mainsail (6) is driven to rotate by a mainsail driving mechanism (3), and the flap (7) is driven to rotate by a flap driving mechanism (4), and the mainsail (6) and the flap (7) rotate independently of each other, so that the angle between the mainsail (6) and the flap (7) is adjustable; The flip mechanism (2) comprises a flip drive motor (201), a flip drive worm (202), a flip drive worm wheel (204), a flip shaft (206), and a flip seat (208); The mast (5), the motor of the mainsail driving mechanism (3), and the motor of the flap driving mechanism (4) are all mounted on the flip seat (208); the flip driving motor (201) drives the flip driving worm (202) to rotate, and the flip driving worm (202) and the flip driving worm wheel (204) are meshed to drive the flip shaft (206) on the flip driving worm wheel (204) to rotate, thereby driving the flip seat (208) to rotate around the flip shaft (206), thereby realizing the operation of retracting or raising the sail.

2. The sail rapid folding driving device according to claim 1, characterized in that: The motor of the mainsail driving mechanism (3) sequentially drives the transmission assembly 1 and the transmission assembly 2 to rotate, thereby driving the mainsail (6) on the mast (5) to rotate; the motor of the flap driving mechanism (4) sequentially drives the transmission assembly 3, the transmission assembly 4, the transmission assembly 5, and the transmission assembly 6 to rotate, thereby driving the flap (7) to rotate; The transmission assembly 1, transmission assembly 3, transmission assembly 5, and transmission assembly 6 are all bevel gear meshing structures, and the transmission assembly 2 and transmission assembly 4 are all worm gear meshing structures.

3. The sail rapid folding driving device according to claim 1, characterized in that: The mainsail driving mechanism (3) comprises a mainsail driving motor (301), a bevel gear 1 (302), a bevel gear 2 (303), a mainsail driving worm gear (304), and a mainsail driving worm wheel (306); the mainsail driving worm wheel (306) is sleeved on the mast (5), so that the mast (5) rotates along with the rotation of the mainsail driving worm wheel (306); A mainsail driving worm (304) is mounted on the side of the mainsail driving worm wheel (306), the mainsail driving worm (304) and the mainsail driving worm wheel (306) are meshed and driven, one end of the mainsail driving worm (304) is connected to a second bevel gear (303), the second bevel gear (303) and the first bevel gear (302) are meshed and driven, and the first bevel gear (302) is driven to rotate by the mainsail driving motor (301).

4. The sail rapid folding driving device according to claim 1, characterized in that: The connecting mechanism (8) comprises a flap bracket (801) and a mainsail bracket (802); the flap bracket (801) is connected to the flap (7); the mainsail bracket (802) is connected to the mainsail (6); the flap bracket (801) is driven by the flap driving mechanism (4) to rotate, thereby driving the flap (7) to rotate.

5. The sail rapid folding driving device according to claim 1, characterized in that: The flap driving mechanism (4) comprises a flap driving motor (401), a bevel gear three (402), a bevel gear four (403), a flap driving worm (404), a flap driving worm wheel (406), a flap driving bevel gear one (407), a flap driving bevel gear two (408), a rotating rod (409), a bevel gear five (411), a bevel gear six (412), and a rotating shaft (413); The driving shaft of the flap driving motor (401) is connected to bevel gear three (402), bevel gear three (402) is meshed with bevel gear four (403) for transmission, bevel gear four (403) is connected to a flap driving worm (404), the flap driving worm (404) is mounted on the side of the flap driving worm wheel (406), the flap driving worm wheel (406) is meshed with the flap driving worm (404) for transmission, the flap driving worm wheel (406) is connected to flap driving bevel gear one (407), so that the flap driving bevel gear one (407) can rotate along with the flap driving worm wheel (406); One end of the rotating rod (409) is connected to a flap transmission bevel gear 2 (408) meshing with a flap transmission bevel gear 1 (407), and the other end of the rotating rod (409) is connected to a bevel gear 5 (411). The bevel gear 5 (411) meshes with a bevel gear 6 (412) for transmission. The bevel gear 6 (412) is connected to a rotating shaft (413). Both the flap bracket (801) and the main sail bracket (802) are connected to the rotating shaft (413).

6. The sail rapid folding driving device according to claim 1, characterized in that: The flap driving bevel gear 1 (407) of the flap driving mechanism (4), the flap driving worm gear (406), and the mainsail driving worm gear (306) of the mainsail driving mechanism (3) are sleeved on the mast (5).

7. A method for controlling the rotation angle of a combined sail, characterized in that: Used to control the sail rapid folding drive device according to any one of claims 1 to 6, so that the main sail (6) and the flap (7) perform relatively independent rotational motion, and adjust the rotation angles of the main sail (6) and the flap (7) according to changes in the wind field; The specific process is as follows: Step 1: Set the angle between the mainsail (6) and the heading as the mainsail angle , the angle between the main sail (6) and the flap (7) is the flap angle The angle between the mainsail (6) and the wind direction is the mainsail attack angle. , the angle between the heading and the wind direction is the included angle The angle between flap (7) and heading is the flap absolute angle ; Step 2: Calculate the thrust provided by the combined sail for the entire ship , the calculation formula is: Among them, thrust The calculation formula is: in, is the lift coefficient function, is the drag coefficient function; Step 3: Determine the lift coefficient , drag coefficient , and calculate the angle between the current heading and the wind direction according to formula (1) Thrust ; Step 4: According to thrust Calculate the corresponding mainsail angle of attack and flap angle , the calculation formula is: Step 5: According to the mainsail angle of attack , the angle between heading and wind direction Calculating the mainsail angle , the calculation formula is: ; Step 6: According to the main sail angle 、Flap angle Calculate the number of revolutions of the mainsail driving motor (301) in the mainsail driving mechanism (3) and the number of revolutions of the flap drive motor (401) in the flap drive mechanism (4) , the calculation formula is: in, is the transmission ratio of the mainsail drive mechanism (3), is the transmission ratio of the flap drive mechanism (4).

8. The method for controlling the rotation angle of a combined sail according to claim 7, characterized in that: When sailing against the wind, a single motor drive mode is adopted, and only the main sail drive motor (301) in the main sail drive mechanism (3) is started to adjust the rotation angle of the combined sail. The specific steps are as follows: According to the thrust Calculate the corresponding mainsail angle of attack and flap angle Add constraints when: Set the absolute flap angle is 0, then the number of revolutions of the flap drive motor (401) in the flap drive mechanism (4) is 0.

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