Big data-based steering engine rotating shaft output state intelligent control system and method

Abstract

The invention relates to the technical field of ship steering engine control, and discloses a steering engine rotating shaft output state intelligent control system and method based on big data, and the system comprises a ship navigation yaw parameter analysis module, a ship navigation deviation correction angular velocity processing module, and a ship steering engine operation parameter identification and control module. The operation control parameters of the output rotating shaft of the ship navigation course correction steering engine are accurately searched by scientifically setting the operation control parameters of the output rotating shaft of the ship steering engine in combination with an intelligent search algorithm and the optimal ship navigation correction angular velocity parameters; scientific matching of optimal operation control parameters of the output rotating shaft of the ship course deviation rectifying steering engine is realized based on the ship course deviation rectifying angular velocity, and the efficiency and the precision of operation state control of the output rotating shaft of the ship course deviation rectifying steering engine are improved; and the ship control end autonomously and accurately executes the operation state control operation of the output rotating shaft of the ship steering engine according to the optimal output rotating shaft operation control parameters of the ship correction steering engine, so that the stability of ship navigation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship steering gear control, and in particular to a steering gear shaft output state intelligent control system and method based on big data. Background Art

[0002] The control of the direction and attitude of ships and underwater vehicles is mainly achieved through the rudder, which is composed of rudder blades, rudder rods and steering gears. The steering gear is an important component of the control device of ships, submarines and other surface and underwater vehicles. Under the control of the main control computer, the rudder realizes the rotation of the steering gear output shaft and drives the rudder blade to swing, and feeds back the rotation information to the main control computer. The ship's navigation status information is collected by high-precision and fast-response sensors, which mainly provide decisions for adjusting the torque, angular velocity, speed, position and other status information of the steering gear output shaft; however, the existing ship steering gear control system cannot scientifically analyze the ship steering gear output shaft operation control parameters based on the ship's navigation status, nor can it accurately control the ship steering gear output shaft operation status based on the ship's steering gear output shaft operation control parameters, which reduces the accuracy and safety of the ship's heading control operation.

[0003] The Chinese invention patent with announcement number CN115903605B discloses a steering gear drive control system, which includes a host computer, a control board, a control module, a drive module, a current acquisition module, an over-temperature protection circuit, a communication module, a position detection module and a power supply module. Based on the position command issued by the host computer, the control board receives the control command and parses the command and sends it to the control module. The control module controls and drives the motor through a PWM signal. At the same time, the control module receives feedback speed, torque and angle signals to form a three-loop control of position loop, speed loop and current loop; thereby achieving safe and reliable control of the steering gear drive; however, the above technical solution cannot intelligently and scientifically control the operating state of the steering gear based on the operating state of the traffic equipment, which reduces the intelligence and applicability of the steering gear control. Summary of the invention

[0004] In order to solve the problem that the above-mentioned existing ship steering gear control system cannot scientifically analyze the ship steering gear output shaft operation control parameters based on the ship navigation status, and cannot accurately control the ship steering gear output shaft operation status based on the ship steering gear output shaft operation control parameters, thereby reducing the accuracy and safety of the ship heading control operation, the above purpose is to realize online collection of ship target route information, ship navigation yaw angle and ship navigation yaw direction, accurately construct ship target route spatial coordinate information, scientifically analyze ship navigation status information, accurately measure ship navigation heading correction parameters, scientifically collect ship navigation real-time spatial coordinate information, ship route area sea and air geographic space model parameters and ship entity space model data, intelligently identify the optimal ship navigation correction angular velocity parameters, accurately identify the optimal ship correction steering gear output shaft operation control parameters, and accurately and efficiently control the ship correction steering gear output shaft operation status.

[0005] The present invention is implemented by the following technical scheme: a method for intelligently controlling the output state of a steering gear shaft based on big data, the method comprising the following steps:

[0006] S1, collecting ship target route data, ship navigation yaw angle data and ship navigation yaw direction data;

[0007] S2, analyzing and processing the real-time state information of the ship's navigation according to the ship's navigation yaw angle data and the ship's navigation yaw direction data, and generating real-time ship navigation state analysis data, and when it is a normal state, repeating steps S1 and S2 until the navigation analysis result is a yaw state;

[0008] S3, when the ship is in a yaw state, constructing and processing the spatial coordinate parameters of the ship's route based on the ship's target route data, and generating the ship's target route spatial coordinate data;

[0009] S4, processing the ship's navigation course correction parameter data according to the ship's navigation yaw angle data and the ship's navigation yaw direction data to generate the ship's navigation course correction data;

[0010] S5, collecting real-time spatial coordinate data of ship navigation, sea and air geographic spatial model data of the ship route area and physical spatial model data of the ship, and performing optimal angular velocity parameter analysis and processing on the spatial coordinate data of the ship target route, the ship navigation course correction data and the ship navigation correction standard angular velocity data, to generate optimal ship navigation correction angular velocity data;

[0011] S6, performing operation control parameter identification processing of the output shaft of the ship's navigation course correction steering gear based on the optimal ship's navigation deviation correction angular velocity data and the ship's steering gear output shaft operation control data, and generating optimal output shaft operation control data of the ship's steering gear;

[0012] S7, executing the ship steering gear output shaft operation state control operation according to the ship deviation correction steering gear optimal output shaft operation control data.

[0013] Preferably, the operation steps of collecting the ship target route data, the ship sailing yaw angle data and the ship sailing yaw direction data are as follows:

[0014] S11, collecting target navigation path information of the ship's navigation online through the ship navigation and navigation platform, and generating ship target route data L; the ship target route data represents the ship's optimal navigation route data from the starting point to the destination generated by the ship navigation and navigation platform, and the ship navigation and navigation platform includes any one of the ship e-travel navigation platform, the ship navigation platform, and the ship information network navigation platform;

[0015] The yaw angle parameters of the ship's navigation process along the navigation route and the target navigation route are collected online through the ship navigation and navigation platform, and the ship's navigation yaw angle data O is generated, where the unit of O is degree, and the ship's navigation yaw angle data represents the deviation angle parameter of the heading of the ship's navigation process along the navigation route and the forward direction of the target navigation route;

[0016] The yaw direction information of the ship's navigation process along the navigation route and the target navigation route is collected online through the ship navigation and navigation platform, and the ship navigation yaw direction data Y is generated. The ship navigation yaw direction data includes the yaw direction information corresponding to the ship's navigation process along the navigation route and the target navigation route's forward direction being in any one of non-yaw, counterclockwise yaw and clockwise yaw.

[0017] The present invention accurately obtains the ship's route information, navigation yaw angle and navigation yaw direction information through the ship's navigation navigation platform, thereby achieving the effect of providing real data support for accurate analysis of the ship's navigation status.

[0018] Preferably, the real-time state information of the ship's navigation is analyzed and processed according to the ship's navigation yaw angle data and the ship's navigation yaw direction data, and the real-time navigation state analysis data of the ship is generated. When it is in a normal state, the operation steps of repeatedly executing steps S1 and S2 until the navigation analysis result is a yaw state are as follows:

[0019] S21, analyzing the yaw angle parameter and yaw direction information of the ship's navigation yaw angle data O and the ship's navigation yaw direction data Y, and generating the ship's real-time navigation state analysis data P according to the yaw angle parameter and yaw direction information analysis results. zhuangtai ;

[0020] When O is not equal to zero and Y is yawed counterclockwise or clockwise, it means that the ship is not sailing normally along the target route, then the real-time navigation status analysis data P of the ship is output. zhuangtai It is in yaw state;

[0021] When O is equal to zero and Y is not yawed, it means that the ship is sailing normally along the target route, and the real-time navigation status analysis data P of the ship is output. zhuangtai In the normal state, S1 and S2 are repeatedly executed until the real-time navigation status analysis data P of the ship is zhuangtai Yaw state.

[0022] The present invention achieves the effect of accurate and reliable detection of the ship's navigation status by scientifically and dynamically detecting the ship's real-time navigation status information based on the ship's navigation yaw angle parameters and yaw direction information combined with numerical analysis.

[0023] Preferably, when the ship is in the yaw state, the spatial coordinate parameter construction processing of the ship route is performed based on the ship target route data, and the operation steps of generating the spatial coordinate data of the ship target route are as follows:

[0024] S31, when the real-time navigation status analysis data P of the ship zhuangtai When the ship is in the yaw state, the ship navigation platform is used to segment the ship route corresponding to the ship target route data L into space coordinate points, and generate a ship target route space coordinate data set A = (a 1 ,…,a m ,…,a ε ), m=1,2,3,…,ε; where a m represents the mth ship target route spatial coordinate data, ε represents the maximum number of ship target route spatial coordinates; the ship target route spatial coordinate data includes the longitude, latitude and altitude of the ship target route spatial coordinates.

[0025] The present invention achieves the effect of providing reliable data support for subsequent scientific adjustment of ship navigation control operations by numerically constructing the spatial coordinates of the ship's route based on the ship's target route parameters.

[0026] Preferably, the operation steps of processing the ship's sailing heading correction parameter data based on the ship's sailing yaw angle data and the ship's sailing yaw direction data to generate the ship's sailing heading correction data are as follows:

[0027] S41, obtaining the ship's sailing yaw angle data O and the ship's sailing yaw direction data Y;

[0028] S42. Based on the ship's navigation yaw angle data O and the ship's navigation yaw direction data Y, the ship's navigation angle correction parameter and navigation direction correction parameter data of the target navigation route corresponding to the ship's target route data L are respectively processed, and the ship's navigation heading correction data Q is generated, wherein Q=(O',Y'), O' represents the ship's navigation heading correction angle data, and the correction angle of O' is consistent with the yaw angle of O; Y' represents the ship's navigation heading correction direction data, and the correction direction of Y' is opposite to the yaw direction of Y.

[0029] The present invention achieves the effect of scientifically constructing the ship's navigation heading correction parameters by combining data processing based on the ship's navigation yaw angle parameters and yaw direction information.

[0030] Preferably, the operation steps of collecting the real-time spatial coordinate data of ship navigation, the sea and air geographic spatial model data of the ship route area and the ship entity spatial model data and performing optimal angular velocity parameter analysis and processing required for ship navigation course correction with the ship target route spatial coordinate data, the ship navigation course correction data and the ship navigation correction standard angular velocity data to generate the optimal ship navigation correction angular velocity data are as follows:

[0031] S51, collecting the real-time spatial coordinate information of the geometric center position of the ship hull online through a position sensor, and generating the real-time spatial coordinate data Z of the ship's navigation, wherein the real-time spatial coordinate data Z of the ship's navigation includes the longitude, latitude and altitude of the real-time spatial coordinates of the ship;

[0032] The three-dimensional spatial model information of the underwater geographical features of the ship area is collected online through the ship sonar equipment, and the geographical three-dimensional spatial model information of the water space of the ship area is collected online synchronously through the three-dimensional laser scanner carried by the drone. The model parameters of the three-dimensional spatial models of the geographical features above and below the water in the ship area collected synchronously are combined based on the sea surface as the base surface, and the sea and air geographical spatial model data K of the ship route area is generated;

[0033] The three-dimensional space model parameters of the ship hull are collected online by using a three-dimensional laser scanner mounted on a drone, and the ship entity space model data U is generated;

[0034] S52, establish the ship navigation correction standard angular velocity data set B = (b 1 ,…,b n ,…,b φ ), n=1,2,3,…,φ; where b nrepresents the nth type of standard angular velocity data for ship navigation correction, φ represents the maximum value of the number of types of standard angular velocity for ship navigation correction; the standard angular velocity data for ship navigation correction represents the standard steering angular velocity parameter for ship heading direction correction operation when the ship is in a yaw state and is adjusted from the yaw state to the normal sailing state along the target sailing route, b n The unit of is degrees per second;

[0035] S53, the ship entity space model data U is searched in the sea and air geographic space model data K of the ship route area based on the correction angle parameter and correction direction information corresponding to the ship navigation course correction data Q and the ship navigation correction standard angular velocity data b in the ship navigation correction standard angular velocity data set B. n Corresponding to the angular velocity parameter, the heading adjustment and deviation correction are performed from the position corresponding to the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route in the search space of the spatial coordinate data set A of the ship's target route m Corresponding position, and analyzing the spatial coordinate data Z from the real-time navigation of the ship to the spatial coordinate data a of the target route of the ship m The ship navigation course correction time length required for the minimum value corresponds to the ship navigation course correction standard angular velocity data b n , and generate the optimal ship navigation correction angular velocity data through data identification Execute and generate the optimal ship navigation correction angular velocity data The specific steps are as follows:

[0036] S531, initialization, update the maximum number of iterations T of the algorithm and the initial position of the white-bone chicken population in the sea-air geographic space model data K search space of the ship route area by the ship correction angular velocity search; the formula for updating the initial position of the white-bone chicken population by the ship correction angular velocity search is as follows: M(i)=rand(0,1)×(α-β)+β, where M(i) represents the initial position of the white-bone chicken individual i in the sea-air geographic space model data K search space of the ship route area by the ship correction angular velocity search, rand(0,1) represents a random number between (0,1), and α and β represent the upper and lower bounds of the sea-air geographic space model data K search space of the ship route area, respectively;

[0037] ∫ ship-correction angular velocity searching coots are randomly selected from the ship-correction angular velocity searching coot population as the leader, and the remaining Π ship-correction angular velocity searching coots in the ship-correction angular velocity searching coot population are followers. The calculation formulas of ∫ and Π are as follows: ∫=∫ zong ×χ,Π=∫ zong -∫, where ∫ zongThe number of white-bone chicken populations searched by the ship's deviation correction angular velocity is represented by the standard angular velocity data b of the ship's navigation deviation correction in the sea-air geographic space model data K of the ship's route area. n The total number of, χ represents the random selection coefficient;

[0038] S532, follower position update;

[0039] S5321, active update, when a random number in the range [0, 1] When the ship's angular velocity search for white-bone chicken followers will choose the active update strategy, which includes two modes of movement: random movement and chain movement. To decide on the specific exercise method;

[0040] S53211, adopt random movement mode, when The ship deviation correction angular velocity search white-bone chicken follower searches the ship route area sea and air geographic space model data K in the search space according to the ship navigation course correction data Q and the ship navigation correction standard angular velocity data b. n From the corresponding position of the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the target route of the ship m The corresponding position is randomly moved, and the spatial coordinate data from the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the target route of the ship are searched. m The ship navigation course correction time length required for the minimum value corresponds to the ship navigation course correction standard angular velocity data b n , the ship's angular velocity search white-bone chicken follower moves to a random position, and the random position update formula is as follows: M'(i) = M'(i) + δ × R 1 ×(M(i)-M'(i)), where M'(i) represents the random position of the ship's angular velocity search for the coot follower i in the sea-air geospatial model data K search space of the ship's route area, δ represents a linearly decreasing factor in [0, 1], and R 1 Represents a random number in the interval [0, 1];

[0041] S53212, adopt chain movement mode; when When searching for the white-bone chicken population by ship correction angular velocity, the ship entity space model data U is searched in the sea-air geographic space model data K of the ship route area according to the ship navigation course correction data Q and the ship navigation correction standard angular velocity data b n From the corresponding position of the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the target route of the ship mThe corresponding position performs chain motion and searches for the space coordinate data from the real-time spatial coordinate data Z of the ship's navigation to the space coordinate data a of the target route of the ship m The ship navigation course correction time length required for the minimum value corresponds to the ship navigation course correction standard angular velocity data b n ; The algorithm uses the middle position of two adjacent ship correction angular velocity searches for white-bone chickens to execute chain motion, and the chain position update formula is as follows: M”(i)=0.5×(M”(i-1)-M”(i)), where M”(i) represents the chain position of the ship correction angular velocity search white-bone chicken follower i in the sea-air geographic space model data K search space of the ship route area, and M”(i-1) represents the chain position of the ship correction angular velocity search white-bone chicken follower i-1 in the sea-air geographic space model data K search space of the ship route area;

[0042] S5322, passive update; when When searching for the ship's deviation correction angular velocity in the sea-air geographic space model data K of the ship's route area, the white-bone chicken follower selects a leader to guide the ship's entity space model data U according to the ship's navigation course correction data Q and the ship's navigation correction standard angular velocity data b n From the corresponding position of the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the target route of the ship m The corresponding position is updated, and the spatial coordinate data from the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route are searched out. m The ship navigation course correction time length required for the minimum value corresponds to the ship navigation course correction standard angular velocity data b n , the position update formula of the ship's angular velocity search for white-bone crested chicken followers following the ship's angular velocity search for white-bone crested chicken leaders is as follows: M"'(i)=M leader (j)+2×R 2 ×cos(2πR)×(M leader (j)-M"'(i)), where M"'(i) represents the updated position of the ship's angular velocity search for white-bone crested chicken follower i following the ship's angular velocity search for white-bone crested chicken leader j in the sea-air geographic space model data K search space of the ship's route area, and M leader (j) represents the position of the ship's angular velocity search for the white-bone leader j in the search space of the sea-air geographic space model data K in the ship's route area, R and R 2 represents a random number in the interval [0, 1], π is the value of pi, and cos(2πR) represents the cosine value of 2πR;

[0043] S533, leader position update, that is, in the search space of the sea and air geographic space model data K of the ship route area, the ship entity space model data U is updated according to the ship navigation course correction data Q and the ship navigation correction standard angular velocity data b n From the corresponding position of the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the target route of the ship m Update the ship's deviation correction angular velocity at the corresponding position to search for the white-bone leader position, and search for the spatial coordinate data Z from the real-time spatial coordinate data of the ship's navigation to the spatial coordinate data a of the ship's target route m The ship navigation course correction time length required for the minimum value corresponds to the ship navigation course correction standard angular velocity data b n , the ship correction angular velocity search white-bone leader position update formula is as follows:

[0044]

[0045] Where M' leader (j) represents the updated position of the ship's angular velocity search for the white-bone leader j in the search space of the sea-air geographic space model data K in the ship's route area, R 3 and R 4 represents a random number in the interval [0, 1], ▽ represents a linearly decreasing factor in the interval [0, 2], M best Indicates that the ship correction angular velocity search for the white-bone chicken population in the sea-air geographic space model data K search space of the ship route area is to search the ship entity space model data U according to the ship navigation heading correction data Q and the ship navigation correction standard angular velocity data b n From the corresponding position of the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the target route of the ship m The optimal position is updated for the corresponding position, that is, the search space of the sea and air geographic space model data K of the ship route area is searched from the real-time spatial coordinate data Z of the ship navigation to the spatial coordinate data a of the ship target route m The ship navigation course correction time length required for the minimum value corresponds to the ship navigation course correction standard angular velocity data b n ;

[0046] S534, when the maximum number of iterations is met, output the search space of the sea-air geographic spatial model data K of the ship route area from the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route m The ship navigation course correction time length required for the minimum value corresponds to the ship navigation course correction standard angular velocity data b n ;

[0047] S535: the ship navigation correction standard angular velocity data b output in step S534 n Generate optimal ship navigation correction angular velocity data through data identification in The unit is degrees per second; the optimal ship navigation correction angular velocity data represents the angular velocity data corresponding to the minimum value of the length of time required for the ship to safely navigate from the yaw position to the normal route, analyzed based on the hull volume model parameters, the navigation area sea condition model parameters, the real-time position coordinate parameters, the target navigation route coordinates and the hull correction angular velocity parameters.

[0048] The present invention achieves the effect of intelligent and scientific evaluation of the ship's navigation course correction angular velocity by combining the ship's navigation course correction standard angular velocity parameters based on big data storage with the artificial intelligence white bone crested chicken optimization algorithm and the accurately collected hull volume model parameters, navigation area sea condition model parameters, real-time position coordinate parameters, and target navigation route coordinates to perform precise analysis of the optimal angular velocity parameters for ship navigation course correction.

[0049] Preferably, the operation steps of performing operation control parameter identification processing of the output shaft of the ship's navigation course correction steering gear based on the optimal ship's navigation deviation correction angular velocity data and the ship's steering gear output shaft operation control data to generate the optimal output shaft operation control data of the ship's steering gear are as follows:

[0050] S61, establish the ship steering gear output shaft operation control data set C = (c 1 ,…,c n ,…,c φ ), where c n Indicates the standard angular velocity data b of the ship's navigation correction n Corresponding ship steering gear output shaft operation control data, the ship steering gear output shaft operation control data represents the operation state control parameters of the standard ship steering gear output shaft set when the ship performs the ship heading correction operation according to different types of navigation correction standard angular velocities; the ship steering gear output shaft operation control data includes the torque operation control parameters, angular velocity operation control parameters, speed operation control parameters and position operation control parameters of the ship steering gear output shaft;

[0051] S62, using the KD tree nearest neighbor search algorithm to obtain the optimal ship navigation correction angular velocity data The ship steering gear output shaft operation control data set C of the ship steering gear output shaft operation control data set C n Perform angular velocity value matching to search for the optimal ship navigation correction angular velocity data The corresponding ship steering gear output shaft operation control data c n, and generate the optimal output shaft operation control data of the ship's corrective steering gear through data identification

[0052] The present invention scientifically sets the operating control parameters of the ship steering gear output shaft and combines the KD tree nearest neighbor search algorithm with the optimal ship navigation correction angular velocity parameters to accurately search the operating control parameters of the ship navigation heading correction steering gear output shaft, thereby achieving the effect of scientifically matching the optimal ship navigation heading correction steering gear output shaft operating control parameters based on the ship navigation heading correction angular velocity.

[0053] Preferably, the operation steps of executing the ship steering gear output shaft operation state control operation according to the ship deviation correction steering gear optimal output shaft operation control data are as follows:

[0054] S71, the ship control end operates the control data according to the optimal output shaft of the ship's deviation correction steering gear The corresponding torque operation control parameters, angular velocity operation control parameters, speed operation control parameters and position operation control parameters execute the ship steering gear output shaft operation state control operation in the ship heading correction operation.

[0055] The present invention achieves the effect of efficient and safe control of the operating state of the ship's heading correction steering gear by autonomously and accurately executing the ship's steering gear output shaft operating state control operation according to the ship's steering gear optimal output shaft operating control parameters through the ship's steering control end.

[0056] A steering gear shaft output state intelligent control system based on big data, used to implement the steering gear shaft output state intelligent control method based on big data, the system includes a ship navigation yaw parameter analysis module, a ship navigation correction angular velocity processing module, and a ship steering gear operation parameter identification and control module;

[0057] The ship navigation deviation parameter analysis module includes a ship target route acquisition unit, a ship navigation deviation angle acquisition unit, a ship navigation deviation direction acquisition unit, a ship navigation state analysis unit, and a ship target route space coordinate construction unit;

[0058] The ship target route acquisition unit acquires ship target route data through the ship navigation platform; the ship navigation yaw angle acquisition unit acquires ship navigation yaw angle data through the ship navigation platform; the ship navigation yaw direction acquisition unit acquires ship navigation yaw direction data through the ship navigation platform; the ship navigation state analysis unit performs ship navigation real-time state information analysis and processing based on the ship navigation yaw angle data and the ship navigation yaw direction data, and generates ship real-time navigation state analysis data; the ship target route spatial coordinate construction unit performs ship route spatial coordinate parameter construction and processing based on the ship target route data, and generates ship target route spatial coordinate data;

[0059] The ship navigation correction angular velocity processing module includes a ship navigation course correction parameter measurement unit, a ship navigation real-time spatial position coordinate acquisition unit, a ship route area sea and air geographic space model acquisition unit, a ship entity space model acquisition unit, a ship navigation correction standard angular velocity parameter storage unit, and an optimal ship navigation correction angular velocity parameter analysis unit;

[0060] The ship navigation course correction parameter measurement unit processes the ship navigation course correction parameter data according to the ship navigation yaw angle data and the ship navigation yaw direction data to generate the ship navigation course correction data; the ship navigation real-time spatial position coordinate acquisition unit acquires the ship navigation real-time spatial coordinate data through a position sensor; the ship route area sea and air geographic spatial model acquisition unit acquires the ship route area sea and air geographic spatial model data through a ship sonar device and a three-dimensional laser scanner; the ship entity space model acquisition unit acquires the ship entity space model data through a three-dimensional laser scanner; the ship navigation correction standard angular velocity parameter storage unit is used to store the ship navigation correction standard angular velocity data; the optimal ship navigation correction angular velocity parameter analysis unit performs the optimal angular velocity parameter analysis and processing required for the ship navigation course correction based on the ship navigation real-time spatial coordinate data, the ship route area sea and air geographic spatial model data and the ship entity space model data and the ship target route spatial coordinate data, the ship navigation course correction data, and the ship navigation correction standard angular velocity data to generate the optimal ship navigation correction angular velocity data;

[0061] The ship steering gear operation parameter identification and control module includes a ship steering gear output shaft operation control parameter storage unit, a ship deviation correction optimal steering gear output shaft operation control parameter identification unit, and a ship steering gear output shaft operation state control unit;

[0062] The ship steering gear output shaft operation control parameter storage unit is used to store the ship steering gear output shaft operation control data; the ship deviation correction optimal steering gear output shaft operation control parameter identification unit performs operation control parameter identification processing of the ship navigation heading correction steering gear output shaft based on the optimal ship navigation deviation correction angular velocity data and the ship steering gear output shaft operation control data, and generates the ship deviation correction steering gear optimal output shaft operation control data; the ship steering gear output shaft operation state control unit, the ship control end performs the ship steering gear output shaft operation state control operation according to the ship deviation correction steering gear optimal output shaft operation control data.

[0063] The intelligent control system and method for the output state of the steering gear shaft based on big data provided by the present invention have the following beneficial effects:

[0064] 1. Accurately obtain the ship's route information, navigation yaw angle and navigation yaw direction information through the ship's navigation and navigation platform, provide real data support for accurate analysis of the ship's navigation status, and scientifically and dynamically detect the ship's real-time navigation status information based on the ship's navigation yaw angle parameters and yaw direction information combined with numerical analysis, so as to achieve accurate and reliable detection of the ship's navigation status and improve the accuracy of the ship's steering gear heading control; based on the ship's target route parameters, perform parameterized numerical construction of the spatial coordinates of the ship's route, achieve accurate numerical conversion of the ship's target route and route spatial coordinates, provide reliable data support for subsequent scientific adjustment of the ship's navigation control operations, and improve the safety of the ship's steering gear heading control.

[0065] 2. By combining the yaw angle parameters and yaw direction information of the ship's navigation with data processing, the ship's navigation heading correction parameters are scientifically constructed to improve the efficiency of the ship's steering gear heading control; through position sensors, ship sonar equipment and three-dimensional laser scanners, the real-time spatial position coordinate parameters of the ship's navigation, the sea and air geographic space model of the route area and the ship's physical space model parameters are accurately collected to provide reliable data support for the subsequent accurate identification of the ship's heading correction steering gear output shaft operation control parameters; the ship's navigation correction standard angular velocity parameters based on big data storage are combined with intelligent recognition algorithms and hull volume model parameters, navigation area sea condition model parameters, real-time position coordinate parameters, and target navigation route coordinates to accurately analyze the optimal angular velocity parameters for ship's navigation heading correction, realize intelligent and scientific evaluation of the ship's navigation heading correction angular velocity, improve the scientificity and accuracy of the ship's heading correction steering gear output shaft operation state control, and improve the intelligence and reliability of ship navigation.

[0066] 3. By scientifically setting the operating control parameters of the ship steering gear output shaft and combining the intelligent search algorithm with the optimal ship navigation correction angular velocity parameters, the operating control parameters of the ship navigation heading correction servo output shaft are accurately searched, so as to realize the scientific matching of the optimal ship heading correction servo output shaft operating control parameters based on the ship heading correction angular velocity, and improve the efficiency and accuracy of the ship heading correction servo output shaft operating state control; the ship control end autonomously and accurately performs the ship steering gear output shaft operating state control operation according to the optimal output shaft operating control parameters of the ship correction servo, so as to realize efficient and safe control of the ship heading correction servo operating state and improve the stability of the ship's navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 A schematic diagram of a module of an intelligent control system for the output state of a steering gear shaft based on big data provided by the present invention;

[0068] Figure 2 This is a flow chart of the intelligent control method for the steering gear shaft output state based on big data provided by the present invention. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] The embodiments of the intelligent control system and method for the steering gear shaft output state based on big data are as follows:

[0071] Example 1: Please refer to Figure 1 - Figure 2 , a steering gear shaft output state intelligent control method based on big data, the method comprises the following steps:

[0072] S1, collecting ship target route data, ship navigation yaw angle data and ship navigation yaw direction data;

[0073] S2, analyzing and processing the real-time state information of the ship's navigation according to the ship's navigation yaw angle data and the ship's navigation yaw direction data, and generating real-time navigation state analysis data of the ship, and when it is in a normal state, repeating steps S1 and S2 until the navigation analysis result is a yaw state;

[0074] S3, when in the yaw state, constructing and processing the spatial coordinate parameters of the ship's route based on the ship's target route data, and generating the ship's target route spatial coordinate data;

[0075] S4, processing the ship's navigation course correction parameter data according to the ship's navigation yaw angle data and the ship's navigation yaw direction data to generate the ship's navigation course correction data;

[0076] S5, collecting real-time spatial coordinate data of ship navigation, sea and air geographic spatial model data of the ship route area and physical spatial model data of the ship, and analyzing and processing the optimal angular velocity parameters required for ship navigation course correction with the spatial coordinate data of the ship target route, the ship navigation course correction data and the ship navigation correction standard angular velocity data, and generating optimal ship navigation correction angular velocity data;

[0077] S6, performing operation control parameter identification processing of the output shaft of the ship's navigation course correction steering gear based on the optimal ship's navigation deviation correction angular velocity data and the ship's steering gear output shaft operation control data, and generating the optimal output shaft operation control data of the ship's steering gear;

[0078] S7, executing the ship steering gear output shaft operation state control operation according to the ship deviation correction steering gear optimal output shaft operation control data.

[0079] For further information, see Figure 1 - Figure 2 The operation steps for collecting ship target route data, ship sailing yaw angle data and ship sailing yaw direction data are as follows:

[0080] S11. Collecting target navigation path information of the ship's navigation online through the ship navigation platform, and generating ship target route data L; the ship target route data represents the optimal navigation route data of the ship from the starting point to the destination generated by the ship navigation platform, and the ship navigation platform includes any one of the ship e-travel navigation platform, the ship navigation platform, and the ship information network navigation platform;

[0081] The yaw angle parameters of the ship's navigation process along the navigation route and the target navigation route are collected online through the ship navigation and navigation platform, and the ship's navigation yaw angle data O is generated, where the unit of O is degree. The ship's navigation yaw angle data represents the deviation angle parameter of the course of the ship's navigation process along the navigation route and the forward direction of the target navigation route;

[0082] The yaw direction information of the ship's navigation process along the navigation route and the target navigation route is collected online through the ship navigation and navigation platform, and the ship's navigation yaw direction data Y is generated. The ship's navigation yaw direction data includes the yaw direction information corresponding to the ship's navigation process along the navigation route and the target navigation route's forward direction being in any one of the following conditions: no yaw, counterclockwise yaw, and clockwise yaw.

[0083] The operation steps of analyzing and processing the real-time state information of the ship's navigation according to the ship's navigation yaw angle data and the ship's navigation yaw direction data, and generating the real-time navigation state analysis data of the ship, and repeating steps S1 and S2 until the navigation analysis result is the yaw state when it is in the normal state are as follows:

[0084] S21, analyzing the yaw angle parameter and yaw direction information of the ship's navigation yaw angle data O and the ship's navigation yaw direction data Y, and generating the ship's real-time navigation state analysis data P according to the yaw angle parameter and yaw direction information analysis results. zhuangtai ;

[0085] When O is not equal to zero and Y is yawed counterclockwise or clockwise, it means that the ship is not sailing normally along the target route, then the real-time navigation status analysis data P of the ship is output. zhuangtai It is in yaw state;

[0086] When O is equal to zero and Y is not yawed, it means that the ship is sailing normally along the target route, and the real-time navigation status analysis data P of the ship is output. zhuangtai When the ship is in normal state, S1 and S2 are repeated until the real-time navigation status analysis data P zhuangtai Yaw state.

[0087] When the ship is in the yaw state, the spatial coordinate parameters of the ship's route are constructed based on the ship's target route data, and the operation steps for generating the spatial coordinate data of the ship's target route are as follows:

[0088] S31, when the ship's real-time navigation status analysis data P zhuangtai When the ship is in the yaw state, the ship navigation platform is used to segment the ship route corresponding to the ship target route data L into spatial coordinate points, and generate the ship target route spatial coordinate data set A = (a 1 ,…,a m ,…,a ε ), m=1,2,3,...,ε; where a m represents the mth ship target route spatial coordinate data, ε represents the maximum number of ship target route spatial coordinates; the ship target route spatial coordinate data includes the longitude, latitude and altitude of the ship target route spatial coordinates.

[0089] Through the cooperation between the ship target route acquisition unit, the ship navigation yaw angle acquisition unit and the ship navigation yaw direction acquisition unit, the ship's route information, navigation yaw angle and navigation yaw direction information are accurately obtained using the ship navigation navigation platform, providing real data support for the accurate analysis of the ship's navigation status. The ship navigation status analysis unit scientifically and dynamically detects the real-time navigation status information of the ship based on the yaw angle parameters and yaw direction information of the ship's navigation in combination with numerical analysis, realizes accurate and reliable detection of the ship's navigation status, and improves the accuracy of the ship's steering gear heading control; the ship target route spatial coordinate construction unit performs parameterized numerical construction of the ship's route spatial coordinates based on the ship's target route parameters, realizes accurate numerical conversion of the ship's target route and route spatial coordinates, provides reliable data support for subsequent scientific adjustment of the ship's navigation control operations, and improves the safety of the ship's steering gear heading control.

[0090] For further information, see Figure 1 - Figure 2 , the ship's sailing heading correction parameter data is processed according to the ship's sailing yaw angle data and the ship's sailing yaw direction data, and the operating steps for generating the ship's sailing heading correction data are as follows:

[0091] S41, obtaining ship navigation yaw angle data O and ship navigation yaw direction data Y;

[0092] S42. Based on the ship's sailing yaw angle data O and the ship's sailing yaw direction data Y, the ship's sailing angle correction parameter and sailing direction correction parameter data of the target sailing route corresponding to the ship's target route data L are respectively processed, and the ship's sailing heading correction data Q is generated, wherein Q=(O',Y'), O' represents the ship's sailing heading correction angle data, and the correction angle of O' is consistent with the yaw angle of O; Y' represents the ship's sailing heading correction direction data, and the correction direction of Y' is opposite to the yaw direction of Y.

[0093] The real-time spatial coordinate data of ship navigation, the sea and air geographic spatial model data of the ship route area and the ship entity spatial model data are collected and analyzed with the optimal angular velocity parameters required for ship navigation course correction with the spatial coordinate data of the ship target route, the ship navigation course correction data and the ship navigation correction standard angular velocity data. The operation steps for generating the optimal ship navigation correction angular velocity data are as follows:

[0094] S51, collecting the real-time spatial coordinate information of the geometric center position of the ship hull online through the position sensor, and generating the real-time spatial coordinate data Z of the ship's navigation, the real-time spatial coordinate data of the ship's navigation including the longitude, latitude and altitude of the real-time spatial coordinates of the ship;

[0095] The three-dimensional spatial model information of the underwater geographical features of the ship area is collected online through the ship sonar equipment, and the geographical three-dimensional spatial model information of the water space of the ship area is collected online synchronously through the three-dimensional laser scanner carried by the drone. The model parameters of the three-dimensional spatial models of the geographical features above and below the water in the ship area collected synchronously are combined based on the sea surface as the base surface, and the sea and air geographical spatial model data K of the ship route area is generated;

[0096] The three-dimensional space model parameters of the ship hull are collected online by using a three-dimensional laser scanner mounted on a drone, and the ship entity space model data U is generated;

[0097] S52, establish the ship navigation correction standard angular velocity data set B = (b 1 ,...,b n ,...,b φ ), n=1,2,3,...,φ; where b n represents the nth type of ship navigation correction standard angular velocity data, φ represents the maximum value of the number of ship navigation correction standard angular velocity types; the ship navigation correction standard angular velocity data represents the standard steering angular velocity parameter of the ship's heading direction correction operation when the ship is in a yaw state and is adjusted from the yaw state to the normal sailing state along the target sailing route, b n The unit of is degrees per second;

[0098] S53, the ship entity space model data U is searched in the sea and air geographic space model data K of the ship route area based on the correction angle parameters and correction direction information corresponding to the ship navigation course correction data Q and the ship navigation correction standard angular velocity data b in the ship navigation correction standard angular velocity data set B. n Corresponding to the angular velocity parameter, the heading adjustment is performed from the position corresponding to the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route in the search space of the spatial coordinate data set A of the ship's target route m Corresponding position, and analyzing from the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route m The minimum value of the time required for ship navigation course correction corresponds to the standard angular velocity data b of the ship navigation correction n , and generate the optimal ship navigation correction angular velocity data through data identification Execute and generate optimal ship navigation correction angular velocity data The specific steps are as follows:

[0099] S531, initialization, update the maximum number of iterations T of the algorithm and the initial position of the white-bone chicken population in the search space K of the sea and air geographic space model data of the ship route area searched by the ship correction angular velocity; the formula for updating the initial position of the white-bone chicken population searched by the ship correction angular velocity is as follows: M(i) = rand(0,1)×(α-β)+β, where M(i) represents the initial position of the white-bone chicken individual i in the search space K of the sea and air geographic space model data of the ship route area searched by the ship correction angular velocity, rand(0,1) represents a random number between (0,1), and α and β represent the upper and lower bounds of the search space K of the sea and air geographic space model data of the ship route area, respectively;

[0100] ∫ ship-correction angular velocity searching coots are randomly selected from the ship-correction angular velocity searching coot population as the leader, and the remaining Π ship-correction angular velocity searching coots in the ship-correction angular velocity searching coot population are followers. The calculation formulas of ∫ and Π are as follows: ∫=∫ zong ×χ,Π=∫ zong -∫, where ∫ zong The ship deviation correction angular velocity is used to search for the number of white-bone crested chicken populations, that is, the standard angular velocity data b of the ship navigation correction in the sea and air geographic space model data K of the ship route area n The total number of, χ represents the random selection coefficient;

[0101] S532, follower position update;

[0102] S5321, active update, when a random number in the range [0, 1] 1 When >0.5, the ship correction angular velocity search white-bone chicken follower will choose the active update strategy, which includes two movement modes: random movement and chain movement. Through a random number in the range of [0, 1]◇ 2 To decide on the specific exercise method;

[0103] S53211, adopt random movement mode, when◇ 2 When the ship deviation correction angular velocity is less than 0.5, the white-bone chicken follower searches for the ship's physical space model data U in the sea and air geographic space model data K search space in the ship's route area according to the ship's navigation course correction data Q and the ship's navigation correction standard angular velocity data b n From the corresponding position of the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route m The corresponding position is randomly moved, and the spatial coordinate data from the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route are searched. m The minimum value of the time required for ship navigation course correction corresponds to the standard angular velocity data b of the ship navigation correction n, the ship's angular velocity search white-bone chicken follower moves to a random position, and the random position update formula is as follows: M'(i) = M'(i) + δ × R 1 ×(M(i)-M'(i)), where M'(i) represents the random position of the ship's angular velocity search for the white-bone chicken follower i in the search space of the sea and air geospatial model data K in the ship's route area, δ represents a linearly decreasing factor in [0, 1], and R 1 Represents a random number in the interval [0, 1];

[0104] S53212, adopt chain movement mode; when ◇ 2 ≥0.5, the ship correction angular velocity search for the white-bone chicken population in the sea and air geographic space model data K search space of the ship route area converts the ship entity space model data U according to the ship navigation heading correction data Q and the ship navigation correction standard angular velocity data b n From the corresponding position of the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route m The corresponding position performs chain motion and searches for the space coordinate data from the real-time space coordinate data Z of the ship's navigation to the space coordinate data a of the ship's target route. m The minimum value of the time required for ship navigation course correction corresponds to the standard angular velocity data b of the ship navigation correction n ; The algorithm uses the middle position of two adjacent ship correction angular velocity search white-bone chickens to perform chain motion, and the chain position update formula is as follows: M”(i)=0.5×(M”(i-1)-M”(i)), where M”(i) represents the chain position of ship correction angular velocity search white-bone chicken follower i in the sea and air geographic space model data K search space of the ship route area, and M”(i-1) represents the chain position of ship correction angular velocity search white-bone chicken follower i-1 in the sea and air geographic space model data K search space of the ship route area;

[0105] S5322, passive update; when 1 ≤0.5, the ship correction angular velocity search white-bone chicken follower selects the leader to guide the ship entity space model data U according to the ship navigation course correction data Q and the ship navigation correction standard angular velocity data b in the sea and air geographic space model data K search space of the ship route area n From the corresponding position of the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route m Update the corresponding position and search for the space coordinate data from the real-time spatial coordinate data Z of the ship's navigation to the space coordinate data a of the ship's target route m The minimum value of the time required for ship navigation course correction corresponds to the standard angular velocity data b of the ship navigation correction n, the position update formula of the ship's angular velocity search for white-bone crested chicken followers following the ship's angular velocity search for white-bone crested chicken leaders is as follows: M"'(i)=M leader (j)+2×R 2 ×cos(2πR)×(M leader (j)-M”'(i)), where M”'(i) represents the updated position of the ship’s angular velocity search for white-bone crested chicken follower i following the ship’s angular velocity search for white-bone crested chicken leader j in the search space of the sea-air geospatial model data K in the ship’s route area, and M leader (j) represents the position of the ship’s angular velocity search for the white-bone leader j in the search space of the sea-air geographic spatial model data K in the ship’s route area, R and R 2 represents a random number in the interval [0, 1], π is the value of pi, and cos(2πR) represents the cosine value of 2πR;

[0106] S533, leader position update, that is, in the search space of the sea and air geographic space model data K of the ship route area, the ship entity space model data U is updated according to the ship navigation course correction data Q and the ship navigation correction standard angular velocity data b n From the corresponding position of the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route m Update the ship's angular velocity to search for the leader position of the white-bone chicken, and search from the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route m The minimum value of the time required for ship navigation course correction corresponds to the standard angular velocity data b of the ship navigation correction n , the ship correction angular velocity search white-bone leader position update formula is as follows:

[0107]

[0108] Where M' leader (j) represents the updated position of the ship’s angular velocity search for the white-bone leader j in the search space of the sea-air geographic spatial model data K in the ship’s route area, R 3 and R 4 represents a random number in the interval [0, 1], Represents a linearly decreasing factor in the interval [0, 2], M best Indicates that the ship correction angular velocity search for the white-bone chicken population in the sea-air geographic space model data K search space in the ship route area converts the ship entity space model data U according to the ship navigation course correction data Q and the ship navigation correction standard angular velocity data b n From the corresponding position of the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route mThe optimal position is updated for the corresponding position, that is, the space coordinate data from the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route is searched in the sea and air geographic spatial model data K search space of the ship's route area m The minimum value of the time required for ship navigation course correction corresponds to the standard angular velocity data b of the ship navigation correction n ;

[0109] S534, when the maximum number of iterations is met, output the search space from the real-time spatial coordinate data Z of the ship's navigation to the spatial coordinate data a of the ship's target route in the sea and air geographic spatial model data K of the ship's route area. m The minimum value of the time required for ship navigation course correction corresponds to the standard angular velocity data b of the ship navigation correction n ;

[0110] S535: the ship navigation correction standard angular velocity data b output in step S534 n Generate optimal ship navigation correction angular velocity data through data identification in The unit is degrees per second; the optimal ship navigation correction angular velocity data represents the angular velocity data corresponding to the minimum value of the length of time required for the ship to safely navigate from the yaw position to the normal route based on the hull volume model parameters, the navigation area sea condition model parameters, the real-time position coordinate parameters, the target navigation route coordinates and the hull correction angular velocity parameters.

[0111] Through the ship navigation course correction parameter measurement unit, according to the ship navigation yaw angle parameters and yaw direction information combined with data processing, the ship navigation course correction parameters are scientifically constructed to improve the efficiency of the ship steering gear heading control; the ship navigation real-time spatial position coordinate acquisition unit, the ship route area sea and air geographic space model acquisition unit and the ship entity space model acquisition unit cooperate with each other, through the position sensor, ship sonar equipment and three-dimensional laser scanner to achieve accurate acquisition of the ship navigation real-time spatial position coordinate parameters, route area sea and air geographic space model and ship entity space model parameters, for the subsequent accurate identification of the ship's course correction rudder The output shaft operation control parameters of the servo motor provide reliable data support; the ship navigation correction standard angular velocity parameter storage unit and the optimal ship navigation correction angular velocity parameter analysis unit cooperate with each other, and the ship navigation correction standard angular velocity parameters based on big data storage are combined with the intelligent recognition algorithm and the hull volume model parameters, the navigation area sea condition model parameters, the real-time position coordinate parameters, and the target navigation route coordinates to accurately analyze the optimal angular velocity parameters for ship navigation heading correction, so as to realize the intelligent and scientific evaluation of the ship navigation heading correction angular velocity, improve the scientificity and accuracy of the ship heading correction servo output shaft operation status control, and improve the intelligence and reliability of ship navigation.

[0112] For further information, see Figure 1 - Figure 2 Based on the optimal ship navigation deviation correction angular velocity data and the ship steering gear output shaft operation control data, the operation control parameter identification processing of the ship navigation heading correction steering gear output shaft is performed, and the operation steps for generating the optimal output shaft operation control data of the ship steering gear are as follows:

[0113] S61, establish the ship steering gear output shaft operation control data set C = (c 1 ,…,c n ,…,c φ ), where c n Indicates the standard angular velocity data b for ship navigation correction n The corresponding ship steering gear output shaft operation control data, the ship steering gear output shaft operation control data represents the operation state control parameters of the standard ship steering gear output shaft set when the ship performs the ship heading correction operation according to the standard angular velocity of different types of navigation correction; the ship steering gear output shaft operation control data includes the torque operation control parameters, angular velocity operation control parameters, speed operation control parameters and position operation control parameters of the ship steering gear output shaft;

[0114] S62, using the KD tree nearest neighbor search algorithm to obtain the optimal ship navigation correction angular velocity data and the ship steering gear output shaft operation control data set C of the ship steering gear output shaft operation control data c n Perform angular velocity value matching to search for the optimal ship navigation correction angular velocity data The corresponding ship steering gear output shaft operation control data c n , and generate the optimal output shaft operation control data of the ship's corrective steering gear through data identification

[0115] The operating steps for executing the ship steering gear output shaft operation state control operation according to the ship deviation correction steering gear optimal output shaft operation control data are as follows:

[0116] S71, the ship control end operates the control data based on the optimal output shaft of the ship's deviation correction steering gear The corresponding torque operation control parameters, angular velocity operation control parameters, speed operation control parameters and position operation control parameters execute the ship steering gear output shaft operation state control operation in the ship heading correction operation.

[0117] Through the cooperation of the ship steering gear output shaft operation control parameter storage unit and the ship deviation correction optimal steering gear output shaft operation control parameter identification unit, the ship steering gear output shaft operation control parameters are scientifically set, and the intelligent search algorithm and the optimal ship navigation deviation correction angular velocity parameters are combined to accurately search for the operation control parameters of the ship navigation heading correction steering gear output shaft, so as to scientifically match the optimal ship heading correction steering gear output shaft operation control parameters based on the ship heading correction angular velocity, thereby improving the efficiency and accuracy of the ship heading correction steering gear output shaft operation state control; the ship steering gear output shaft operation state control unit, the ship control end autonomously and accurately performs the ship steering gear output shaft operation state control operation according to the optimal output shaft operation control parameters of the ship deviation correction steering gear, thereby realizing efficient and safe control of the ship heading correction steering gear operation state, and improving the stability of the ship's navigation.

[0118] Example 2: Please refer to Figure 1 - Figure 2 , a steering gear shaft output state intelligent control system based on big data, used to implement a steering gear shaft output state intelligent control method based on big data, the system includes a ship navigation yaw parameter analysis module, a ship navigation correction angular velocity processing module, and a ship steering gear operation parameter identification and control module;

[0119] The ship navigation deviation parameter analysis module includes a ship target route acquisition unit, a ship navigation deviation angle acquisition unit, a ship navigation deviation direction acquisition unit, a ship navigation state analysis unit, and a ship target route space coordinate construction unit;

[0120] A ship target route acquisition unit collects ship target route data through a ship navigation platform; a ship navigation yaw angle acquisition unit collects ship navigation yaw angle data through a ship navigation platform; a ship navigation yaw direction acquisition unit collects ship navigation yaw direction data through a ship navigation platform; a ship navigation status analysis unit performs analysis and processing of ship navigation real-time status information based on ship navigation yaw angle data and ship navigation yaw direction data, and generates ship real-time navigation status analysis data; a ship target route spatial coordinate construction unit performs construction and processing of ship route spatial coordinate parameters based on ship target route data, and generates ship target route spatial coordinate data;

[0121] The ship navigation correction angular velocity processing module includes a ship navigation course correction parameter measurement unit, a ship navigation real-time spatial position coordinate acquisition unit, a ship route area sea and air geographic space model acquisition unit, a ship entity space model acquisition unit, a ship navigation correction standard angular velocity parameter storage unit, and an optimal ship navigation correction angular velocity parameter analysis unit;

[0122] The ship navigation course correction parameter measurement unit processes the ship navigation course correction parameter data according to the ship navigation yaw angle data and the ship navigation yaw direction data to generate the ship navigation course correction data; the ship navigation real-time spatial position coordinate acquisition unit acquires the ship navigation real-time spatial coordinate data through the position sensor; the ship route area sea and air geographic space model acquisition unit acquires the ship route area sea and air geographic space model data through the ship sonar equipment and the three-dimensional laser scanner; the ship entity space model acquisition unit acquires the ship entity space model data through the three-dimensional laser scanner; the ship navigation correction standard angular velocity parameter storage unit is used to store the ship navigation correction standard angular velocity data; the optimal ship navigation correction angular velocity parameter analysis unit performs the optimal angular velocity parameter analysis and processing required for the ship navigation course correction based on the ship navigation real-time spatial coordinate data, the ship route area sea and air geographic space model data and the ship entity space model data and the ship target route space coordinate data, the ship navigation course correction data and the ship navigation correction standard angular velocity data to generate the optimal ship navigation correction angular velocity data;

[0123] The ship steering gear operation parameter identification and control module includes a ship steering gear output shaft operation control parameter storage unit, a ship deviation correction optimal steering gear output shaft operation control parameter identification unit, and a ship steering gear output shaft operation state control unit;

[0124] A ship steering gear output shaft operation control parameter storage unit is used to store the ship steering gear output shaft operation control data; a ship deviation correction optimal steering gear output shaft operation control parameter identification unit performs operation control parameter identification processing of the ship navigation heading correction steering gear output shaft based on the optimal ship navigation deviation correction angular velocity data and the ship steering gear output shaft operation control data, and generates the ship deviation correction steering gear optimal output shaft operation control data; a ship steering gear output shaft operation state control unit, the ship control end performs the ship steering gear output shaft operation state control operation according to the ship deviation correction steering gear optimal output shaft operation control data.

[0125] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for intelligent control of steering gear shaft output state based on big data, characterized in that: The method comprises the following steps: S1, collecting ship target route data, ship navigation yaw angle data and ship navigation yaw direction data; S2, analyzing and processing the real-time state information of the ship's navigation according to the ship's navigation yaw angle data and the ship's navigation yaw direction data, and generating real-time ship navigation state analysis data, and when it is a normal state, repeating steps S1 and S2 until the navigation analysis result is a yaw state; S3, when the ship is in a yaw state, constructing and processing the spatial coordinate parameters of the ship's route based on the ship's target route data, and generating the ship's target route spatial coordinate data; S4, processing the ship's navigation course correction parameter data according to the ship's navigation yaw angle data and the ship's navigation yaw direction data to generate the ship's navigation course correction data; S5, collecting real-time spatial coordinate data of ship navigation, sea and air geographic spatial model data of the ship route area and physical spatial model data of the ship, and performing optimal angular velocity parameter analysis and processing on the spatial coordinate data of the ship target route, the ship navigation course correction data and the ship navigation correction standard angular velocity data, to generate optimal ship navigation correction angular velocity data; S6, performing operation control parameter identification processing of the output shaft of the ship's navigation course correction steering gear based on the optimal ship's navigation deviation correction angular velocity data and the ship's steering gear output shaft operation control data, and generating optimal output shaft operation control data of the ship's steering gear; S7, executing the ship steering gear output shaft operation state control operation according to the ship deviation correction steering gear optimal output shaft operation control data.

2. The intelligent control method for steering gear shaft output state based on big data according to claim 1 is characterized in that: The S1 comprises the following steps: S11, collecting target navigation path information of the ship online through the ship navigation platform, and generating ship target route data L; The yaw angle parameters of the ship's navigation process along the navigation route and the target navigation route are collected online through the ship navigation platform, and the ship's navigation yaw angle data O is generated, where the unit of O is degree; The ship navigation platform collects the yaw direction information of the ship along the navigation route and the target navigation route online, and generates the ship navigation yaw direction data Y.

3. The intelligent control method for steering gear shaft output state based on big data according to claim 2 is characterized in that: The S2 comprises the following steps: S21, analyzing the yaw angle parameter and yaw direction information of O and Y, and generating real-time ship navigation status analysis data P according to the yaw angle parameter and yaw direction information analysis results. zhuangtai ; When O is not equal to zero and Y is yawed counterclockwise or clockwise, the P is output. zhuangtai It is in yaw state; When O is equal to zero and Y is not yawed, the output is P zhuangtai In the normal state, S1 and S2 are repeated until the P zhuangtai Yaw state.

4. The intelligent control method for steering gear shaft output state based on big data according to claim 3 is characterized in that: The S3 comprises the following steps: S31, when the P zhuangtai When the ship is in the yaw state, the ship navigation platform is used to segment the space coordinate points of the ship route corresponding to L, and generate the ship target route space coordinate data set A = (a1, ..., a m ,…,a ε ), m=1,2,3,…,ε; where a m represents the spatial coordinate data of the mth ship target route, and ε represents the maximum number of spatial coordinates of the ship target route.

5. The intelligent control method for steering gear shaft output state based on big data according to claim 4 is characterized in that: The S4 comprises the following steps: S41, obtaining the O and the Y; S42. Based on O and Y, the ship's navigation angle correction parameter and navigation direction correction parameter data are respectively processed along the target navigation route corresponding to L, and the ship's navigation heading correction data Q is generated, wherein Q=(O', Y'), O' represents the ship's navigation heading correction angle data, and the correction angle of O' is consistent with the yaw angle of O; Y' represents the ship's navigation heading correction direction data, and the correction direction of Y' is opposite to the yaw direction of Y.

6. The intelligent control method for steering gear shaft output state based on big data according to claim 5 is characterized in that: The S5 comprises the following steps: S51, collecting the real-time spatial coordinate information of the geometric center position of the ship hull online through the position sensor, and generating the real-time spatial coordinate data Z of the ship's navigation; The three-dimensional spatial model information of the underwater geographical features of the ship area is collected online through the ship sonar equipment, and the geographical three-dimensional spatial model information of the water space of the ship area is collected online synchronously through the three-dimensional laser scanner carried by the drone. The model parameters of the three-dimensional spatial models of the geographical features above and below the water in the ship area collected synchronously are combined based on the sea surface as the base surface, and the sea and air geographical spatial model data K of the ship route area is generated; The three-dimensional space model parameters of the ship hull are collected online by using a three-dimensional laser scanner mounted on a drone, and the ship entity space model data U is generated; S52, establish the ship navigation correction standard angular velocity data set B = (b1, ..., b n ,…,b φ ), n=1,2,3,…,φ; where b n represents the nth type of ship navigation correction standard angular velocity data, φ represents the maximum number of ship navigation correction standard angular velocity types, b n The unit of is degrees per second; S53, the correction angle parameter and correction direction information corresponding to Q and the correction angle parameter and correction direction information corresponding to B in the K search space are calculated. n Corresponding to the angular velocity parameter, the heading adjustment is performed from the position corresponding to Z to the a in the A search space m Corresponding positions, and analyzing from the Z to the a m The minimum value of the time required for ship course correction corresponds to the b n , and generate the optimal ship navigation correction angular velocity data through data identification Execute the generated The specific steps are as follows: S531, initialization, updating the maximum number of iterations T of the algorithm and the ship's deviation correction angular velocity to search for the initial position of the white-bone chicken population in the K search space; Randomly select ∫ ship-correction angular velocity-searching white-bone chickens from the ship-correction angular velocity-searching white-bone chicken population as the leader, and the remaining Π ship-correction angular velocity-searching white-bone chickens in the ship-correction angular velocity-searching white-bone chicken population as followers; S532, follower position update; S5321, active update, when a random number ◇1 in the range of [0, 1]>0.5, the ship correction angular velocity search white-bone chicken follower will choose the active update strategy, which includes two movement modes: random movement and chain movement. The specific movement mode is determined by a random number ◇2 in the range of [0, 1]; S53211, adopting random motion mode, when ◇2<0.5, the ship correction angular velocity search white-bone chicken follower changes the U in the K search space according to the Q and the b n From the Z corresponding position to the a m The corresponding position is randomly moved, and the search is performed from Z to a m The minimum value of the time required for ship course correction corresponds to the b n ; S53212, adopting a chain motion mode; when ◇2≥0.5, the ship correction angular velocity searches for the white-bone chicken population in the K search space and converts the U according to the Q and the b n From the Z corresponding position to the a m Execute chain motion at the corresponding position and search for the path from Z to a m The minimum value of the time required for ship course correction corresponds to the b n ; The algorithm uses the correction angular velocity of two adjacent ships to search for the middle position of the coot to perform chain motion; S5322, passive update; when ◇1≤0.5, search the white-bone chicken follower for the ship's angular velocity correction in the K search space and select the leader to guide the U according to the Q and the b n From the Z corresponding position to the a m Update the corresponding position and search for the path from Z to a m The minimum value of the time required for ship course correction corresponds to the b n ; S533: Update the leader position, that is, in the K search space, update the U according to the Q and the b n From the Z corresponding position to the a m Update the ship's angular velocity to search for the leader position of the white-bone chicken, and search for the position from Z to a m The minimum value of the time required for ship course correction corresponds to the b n , the b corresponding to the minimum value of the required time length n ; S534: When the maximum number of iterations is met, output the number of nodes from Z to a in the K search space. m The minimum value of the time required for ship course correction corresponds to the b n ; S535: the b output from step S534 n Generated by data identification in The unit is degrees per second.

7. The intelligent control method for steering gear shaft output state based on big data according to claim 6 is characterized by: The S6 comprises the following steps: S61, establish the ship steering gear output shaft operation control data set C = (c1, ..., c n ,…,c φ ), where c n Indicates that b n The corresponding ship steering gear output shaft operation control data; S62, using the KD tree nearest neighbor search algorithm to With the C in c n Perform angular velocity value matching and search for the The corresponding c n , and generate the optimal output shaft operation control data of the ship's corrective steering gear through data identification 8. The intelligent control method for steering gear shaft output state based on big data according to claim 7 is characterized in that: The S7 comprises the following steps: S71, the ship control terminal according to the The corresponding torque operation control parameters, angular velocity operation control parameters, speed operation control parameters and position operation control parameters execute the ship steering gear output shaft operation state control operation in the ship heading correction operation.

9. A steering gear shaft output state intelligent control system based on big data, used to implement the steering gear shaft output state intelligent control method based on big data as claimed in any one of claims 1 to 8, characterized in that: The system comprises a ship navigation deviation parameter analysis module, a ship navigation deviation correction angular velocity processing module, and a ship steering gear operation parameter identification and control module.

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