Health state monitoring system for marine superconducting magnetofluid propeller

Abstract

The invention belongs to the technical field of electric ships, and discloses a marine superconducting magnetofluid propeller health state monitoring system, which comprises a main control module, and an information acquisition unit, an intelligent motion control unit and a safety protection unit which are electrically connected with the main control module, the information acquisition unit is used for acquiring quench state data of the superconducting magnetofluid propeller, and the main control module is used for sending feedback control information to the intelligent motion control unit and the safety protection unit according to the quench state data of the superconducting magnetofluid propeller. The intelligent motion control unit is used for controlling the motion of the ship based on the feedback control information, and the safety protection unit is used for carrying out fault processing according to the feedback control information. According to the technical scheme, through highly integrated and intelligent design, safe, reliable and efficient operation of self-adaptive control of the propeller is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of electric ships, and in particular relates to a health status monitoring system for a ship-based superconducting magnetohydrodynamic propeller. Background Art

[0002] Magnetohydrodynamic propulsion is a new type of propulsion technology that uses the interaction between magnetic field and conductive fluid (such as plasma or liquid metal) to generate thrust. For magnetohydrodynamic propulsion, health monitoring is the key to ensure its long-term stable operation and reliability. Although certain research results have been achieved in the control system of marine propulsion, there are still few control systems designed specifically for magnetohydrodynamic propulsion. Existing control systems have limitations in the following aspects:

[0003] 1. The level of intelligence is insufficient and it lacks the ability to adaptively navigate under unmanned control.

[0004] 2. Insufficient ability to ensure safety in case of thruster failure.

[0005] 3. Insufficient intelligent coordination capabilities when there are multiple thrusters. Summary of the invention

[0006] The purpose of the present invention is to provide a health status monitoring system for a marine superconducting magnetohydrodynamic propulsion system to solve the problems existing in the above-mentioned prior art.

[0007] To achieve the above-mentioned object, the present invention provides a health status monitoring system for a marine superconducting magnetohydrodynamic thruster, comprising a main control module and an information acquisition unit electrically connected to the main control module, an intelligent motion control unit and a safety protection unit;

[0008] The information acquisition unit is used to collect the quench state data of the superconducting magnetohydrodynamic thruster, the main control module is used to send feedback control information to the intelligent motion control unit and the safety protection unit according to the quench state data of the superconducting magnetohydrodynamic thruster, the intelligent motion control unit is used to control the movement of the ship based on the feedback control information, and the safety protection unit is used to perform fault processing according to the feedback control information.

[0009] Optionally, the information acquisition unit includes a high-temperature superconducting magnet monitoring module, a seawater conduit system monitoring module, a water leakage monitoring module and a circuit monitoring module.

[0010] Optionally, the high-temperature superconducting magnet monitoring module includes a superconducting coil voltage monitoring submodule, a superconducting coil temperature monitoring submodule, a magnetic flux density monitoring submodule and an excitation and demagnetization voltage and current monitoring submodule.

[0011] Optionally, the seawater conduit system monitoring module includes a seawater flow monitoring submodule, a seawater pressure monitoring submodule and an electrode voltage / electrode current monitoring submodule.

[0012] Optionally, the seawater conduit system monitoring module further includes an excitation and demagnetization voltage / excitation and demagnetization current monitoring submodule.

[0013] Optionally, the intelligent motion control unit includes a port automatic berthing module, a thrust control module, a steering control module and a navigation module.

[0014] Optionally, the safety protection unit includes a water leakage protection module, a high-temperature superconducting coil quench protection module, a current overload protection module and a voltage overload protection module.

[0015] The technical effects of the present invention are:

[0016] The present invention realizes comprehensive and accurate monitoring and control of the magnetohydrodynamic thruster by integrating key modules such as information acquisition module, main control module, intelligent motion control module and safety protection module, wherein the information acquisition module is responsible for real-time acquisition of various parameters of the thruster; the main control module is responsible for data processing and decision making; the intelligent motion control module is responsible for thrust adjustment and reversing control according to the instructions of the main control module; the safety protection module is responsible for triggering the protection mechanism under abnormal conditions to ensure the safe operation of the thruster. The magnetohydrodynamic thruster state monitoring system provided by the present invention ensures the safe, reliable and efficient operation of the thruster adaptive control through highly integrated and intelligent design. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 It is a structural diagram of the overall control system in an embodiment of the present invention;

[0020] Figure 2 A structural diagram of a motion control system in an embodiment of the present invention;

[0021] Figure 3 It is a functional implementation structure diagram in an embodiment of the present invention;

[0022] Figure 4 A flowchart of a security protection module in an embodiment of the present invention;

[0023] Figure 5 4 is a structural diagram of a thruster control system in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] Various exemplary embodiments of the present invention will now be described in detail. This detailed description should not be considered as limiting the present invention, but should be understood as a more detailed description of certain aspects, features, and embodiments of the present invention.

[0025] It should be understood that the terms described in the present invention are only for describing special embodiments and are not intended to limit the present invention. In addition, for the numerical range in the present invention, it should be understood that each intermediate value between the upper and lower limits of the scope is also specifically disclosed. Each smaller range between the intermediate value in any stated value or stated range and any other stated value or intermediate value in the described range is also included in the present invention. The upper and lower limits of these smaller ranges can be independently included or excluded in the scope.

[0026] Unless otherwise indicated, all technical and scientific terms used herein have the same meanings as those of ordinary skill in the art generally understood by the present invention. Although the present invention describes only preferred methods, any method similar or equivalent to that described herein may also be used in the implementation or testing of the present invention. All documents mentioned in this specification are incorporated by reference to disclose and describe the methods related to the documents. In the event of a conflict with any incorporated document, the content of this specification shall prevail.

[0027] It will be apparent to those skilled in the art that various modifications and variations may be made to the specific embodiments of the present invention description without departing from the scope or spirit of the present invention. Other embodiments derived from the present invention description will be apparent to those skilled in the art. The present application description and examples are exemplary only.

[0028] The words “include,” “including,” “have,” “contain,” etc. used in this article are open-ended terms, meaning including but not limited to.

[0029] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] Embodiment 1

[0031] like Figure 1 - Figure 3As shown, in this embodiment, a health status monitoring system for a marine superconducting magnetohydrodynamic thruster is provided, including a main control module and an information acquisition unit electrically connected to the main control module, an intelligent motion control unit, and a safety protection unit;

[0032] The information acquisition unit is used to collect the quench state data of the superconducting magnetohydrodynamic thruster, the main control module is used to send feedback control information to the intelligent motion control unit and the safety protection unit according to the quench state data of the superconducting magnetohydrodynamic thruster, the intelligent motion control unit is used to control the movement of the ship based on the feedback control information, and the safety protection unit is used to perform fault processing according to the feedback control information.

[0033] This embodiment realizes comprehensive and accurate monitoring and control of the magnetohydrodynamic thruster by integrating key modules such as information acquisition module, main control module, intelligent motion control module and safety protection module. Among them, the information acquisition module is responsible for real-time acquisition of various parameters of the thruster; the main control module is responsible for data processing and decision making; the intelligent motion control module is responsible for thrust adjustment and reversing control according to the instructions of the main control module; the safety protection module is responsible for triggering the protection mechanism under abnormal conditions to ensure the safe operation of the thruster. The magnetohydrodynamic thruster state monitoring system provided in this embodiment ensures the safe, reliable and efficient operation of the thruster adaptive control through highly integrated and intelligent design.

[0034] The marine superconducting magnetohydrodynamic thruster health monitoring system is mainly divided into four modules: main control module, information acquisition module, intelligent motion control module and safety protection module; the main control module is responsible for receiving and processing the data of the information acquisition module and issuing corresponding instructions to the intelligent motion control module and the safety protection module (including manual instructions and automatic instructions);

[0035] The information acquisition module is subdivided into high-temperature superconducting magnet monitoring module, seawater conduit system monitoring module, water leakage monitoring module and circuit monitoring module.

[0036] High-temperature superconducting magnet monitoring module: The monitoring objects of the high-temperature superconducting magnet monitoring module include: superconducting coil voltage, superconducting coil temperature, magnetic flux density, excitation and demagnetization voltage and current.

[0037] Comprehensively judge whether the high-temperature superconducting magnet has lost its superconductivity through monitoring data from various sensors;

[0038] The monitoring method of the high temperature superconducting magnet monitoring module includes:

[0039] Ultrasonic detection method: an ultrasonic signal generator is placed at the input end of the low-temperature medium, and an ultrasonic signal receiver is placed at the output end. Based on the changes in input and output, it is determined whether the magnet has quenched.

[0040] The seawater conduit system monitoring module monitors: seawater flow, seawater pressure, electrode current and voltage, excitation and demagnetization voltage / current.

[0041] The function of the seawater conduit system monitoring module is to monitor the inlet and outlet pressures of seawater and observe the effectiveness of magnetohydrodynamic propulsion; collect the flow rates of the seawater conduit and the inlet part and calculate the thrust generated.

[0042] The intelligent motion control module specifically includes a port automatic berthing module, a thrust control module, a steering control module and a navigation module;

[0043] Thrust adjustment control: The control system increases and decreases thrust by controlling the current adjustment device of the thruster. In automatic mode, the thrust is determined according to the position of the joystick; in semi-automatic mode, the thrust is increased or decreased by pressing the buttons in the control room.

[0044] Reversing: The control system changes the direction of the electrodes by controlling the electrode conversion device of the propeller to make the ship move forward and backward. When reversing, the control propeller automatically drops to zero thrust and then implements the electrode conversion. After the conversion is completed and stable, the thrust is increased to the target value.

[0045] Manual operation: Manual start, stop, electrode change and thrust adjustment can be achieved on the manual operation panel of the thruster.

[0046] The safety protection module is used to realize water leakage protection, high-temperature superconducting coil quench protection, current overload protection and voltage overload protection. It includes a data reader, a data processor and a command transmitter connected in sequence, and the command transmitter is connected to the buzzer, indicator light and power switch of the corresponding device;

[0047] The main control module sends the thruster parameters collected by the information acquisition module in real time to the data reader, and further sends the parameter data to the data processor. The data processor will process and analyze to determine whether the system is within the normal working range. If any abnormality is detected (such as water leakage, superconducting coil quenching, current or voltage overload), the data processor will trigger the corresponding protection mechanism, and the command transmitter will generate and send control commands to the corresponding equipment. The commands are used to activate the corresponding buzzer to sound an alarm, light up the corresponding indicator light to indicate the problem, and directly control the power switch to cut off the power supply, thereby preventing further damage to the equipment.

[0048] The following are examples of security protection module applications:

[0049] Start the safety protection procedure;

[0050] Read the generator parameters, including overcurrent information, overvoltage information, excitation source failure information and control source failure information; determine whether each parameter exceeds the corresponding threshold value. If exceeded, the engine is stopped and the corresponding buzzer is activated to sound an alarm and the corresponding indicator light is lit to indicate the problem; if not exceeded, the next parameter is read;

[0051] Read the converter parameters, including D1 current, D2 current and air cooler parameters, and determine whether each parameter exceeds the corresponding threshold. If exceeded, the converter will be shut down and the corresponding buzzer will be activated to sound an alarm and the corresponding indicator light will be turned on to indicate the problem. If not exceeded, it means that the thruster is normal and the next cycle of reading and judgment will be carried out.

[0052] Further optimize the port berthing and departure process to achieve more intelligent and automated operations, including:

[0053] High-precision positioning systems and sensors, such as RTK-GPS, lidar, sonar, etc., are installed in the port to obtain the position and posture of the ship in real time; PLC (programmable logic controller) is introduced as the core controller of the automatic mooring / offshore system to achieve precise control of mooring equipment, propulsion system, etc.

[0054] Control strategy: Develop a detailed automatic berthing / offshore process, including the ship's entry into the port, deceleration, positioning, mooring, unberthing and accelerating to leave. Utilize sensor data and environmental information to calculate the relative position and posture of the ship and the berth in real time and generate precise berthing / offshore instructions. Send the instructions to the ship's propulsion system and mooring equipment to achieve automatic berthing and leaving.

[0055] System integration: Integrate the automatic berthing / offshore function into the port's integrated management system to achieve data sharing and collaborative control with the ship automation system, port monitoring system, etc. Conduct detailed tests in a simulation environment to verify the stability of the control algorithm and system; conduct field tests in an actual port environment to ensure the performance and reliability of the system in actual operations.

[0056] During the automatic mooring / offshore process, multiple safety measures are set up, such as emergency stop buttons, manual intervention interfaces, etc., to ensure that measures can be taken quickly to ensure safety in emergency situations. The system is regularly maintained and updated to ensure its stability and security.

[0057] In the process of automatic berthing / leaving, the path planning of the ship is involved, including:

[0058] After the starting point and end point of the ship are determined, global path planning is performed;

[0059] Construct several initial paths based on the determined starting and ending points; the generated planning paths should be as smooth as possible, with minimal tortuous parts and redundant parts of the paths.

[0060] Construct an objective function with the shortest path, highest safety and lowest energy consumption as the goals, and set constraints and weight coefficients for each goal;

[0061] Calculate the objective function value of each initial path based on the constructed objective function as the fitness value of each initial path;

[0062] Generate walrus populations for walruses using each initial path;

[0063] Based on the fitness value of each walrus and the walrus optimization algorithm, the position of each walrus in the walrus population is updated and replaced to obtain the optimal fitness value and the corresponding optimal walrus position, and the obtained optimal walrus position is used as the optimal path;

[0064] Walrus Optimization Algorithm (WOA) is a meta-heuristic optimization algorithm inspired by the natural behavior of walruses. It aims to simulate the behavioral patterns of walruses in the processes of foraging, migration, escape and fighting predators.

[0065] The walrus optimization algorithm consists of three stages: exploration, migration, and development. It achieves a balance between global and local search by simulating the group behavior of walruses.

[0066] Exploration phase:

[0067] In this stage, the algorithm generates an initial solution set in the search space in a random or pseudo-random manner to simulate the exploration behavior of walruses in an unknown environment.

[0068] By evaluating the quality of the initial solution set, the algorithm can gain a preliminary understanding of the characteristics of the search space and lay the foundation for the subsequent optimization process.

[0069] Migration phase:

[0070] When the algorithm detects that the quality of the current solution set cannot be further improved, migration behavior is triggered.

[0071] The migration behavior simulates the behavior of walruses choosing to migrate to other areas when facing environmental pressures (such as food shortages, predator threats, etc.).

[0072] In the algorithm, migration behavior is usually achieved by introducing new solution sets or adjusting the distribution of the current solution set to increase the diversity of the population and avoid falling into the local optimal solution.

[0073] Development phase:

[0074] During the development phase, the algorithm focuses on fine-tuning the current solution set to improve the quality of the solution.

[0075] By simulating the meticulous searching behavior of walruses during foraging, the algorithm can gradually narrow the search range within the search space and find a better solution.

[0076] The development phase usually includes a variety of local search strategies and update mechanisms to ensure that the algorithm can make full use of known information and improve search efficiency.

[0077] After the global path planning is completed, the thrusters are controlled based on the optimal path to control the ship's navigation. During the navigation process, local path planning methods such as the dynamic window method are used to dynamically adjust and optimize the global path according to real-time environmental information and ship status.

[0078] Regarding speed control and direction change during the navigation of the ship, the solution adopted in this embodiment is:

[0079] Speed ​​control: Introduce control systems such as PID controllers, adaptive controllers or controllers based on fuzzy logic and artificial intelligence to achieve precise control of the ship's speed.

[0080] The ship's speed control strategy is formulated based on the preset sailing plan and real-time environmental data. The control algorithm is used to calculate the control instructions based on the deviation between the current ship state (such as speed, heading) and the target state (such as target speed, target heading). The control instructions are sent to the ship's propulsion system to adjust the speed and thrust of the main engine, thereby achieving precise speed control.

[0081] Integrate the speed automatic control function into the ship's integrated automation system to achieve data sharing and collaborative control with other subsystems. Carry out detailed tests in a simulation environment to verify the accuracy of the control algorithm and the stability of the system. Carry out sea trials during actual voyages to ensure the performance and reliability of the system in actual operations. During the sea voyage, speed control and steering operations are performed according to the route and sea conditions of the path planning. By manipulating the rudder, adjusting the propeller direction, or using the forward and reverse reverser of the marine main engine gearbox and other equipment, the ship can achieve precise steering control.

[0082] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A health status monitoring system for a marine superconducting magnetohydrodynamic propulsor, characterized in that: It includes a main control module and an information acquisition unit, an intelligent motion control unit and a safety protection unit electrically connected to the main control module; The information acquisition unit is used to collect the quench state data of the superconducting magnetohydrodynamic thruster, the main control module is used to send feedback control information to the intelligent motion control unit and the safety protection unit according to the quench state data of the superconducting magnetohydrodynamic thruster, the intelligent motion control unit is used to control the movement of the ship based on the feedback control information, and the safety protection unit is used to perform fault processing according to the feedback control information.

2. A marine superconducting magnetic fluid propulsion system for monitoring health status according to claim 1, characterized in that: The information acquisition unit includes a high-temperature superconducting magnet monitoring module, a seawater conduit system monitoring module, a water leakage monitoring module and a circuit monitoring module.

3. A marine superconducting magnetic fluid propulsion system for monitoring health status according to claim 2, characterized in that: The high-temperature superconducting magnet monitoring module includes a superconducting coil voltage monitoring submodule, a superconducting coil temperature monitoring submodule, a magnetic flux density monitoring submodule and an excitation and demagnetization voltage and current monitoring submodule.

4. A marine superconducting magnetic fluid propulsion system for monitoring health status according to claim 2, characterized in that: The seawater conduit system monitoring module includes a seawater flow monitoring submodule, a seawater pressure monitoring submodule and an electrode voltage / electrode current monitoring submodule.

5. A marine superconducting magnetohydrodynamic propulsion system for monitoring health status according to claim 4, characterized in that: The seawater conduit system monitoring module also includes an excitation and demagnetization voltage / excitation and demagnetization current monitoring submodule.

6. A marine superconducting magnetohydrodynamic propulsion health status monitoring system according to claim 1, characterized in that: The intelligent motion control unit includes a port automatic berthing module, a thrust control module, a steering control module and a navigation module.

7. A marine superconducting magnetic fluid propulsion system for monitoring health status according to claim 1, characterized in that: The safety protection unit includes a water leakage protection module, a high-temperature superconducting coil quench protection module, a current overload protection module and a voltage overload protection module.

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