Spray pump type intelligent positioning anchor system for dual-power ship

Abstract

The invention discloses a jet pump type intelligent positioning anchor system for a dual-power ship, and relates to the technical field of electronic anchors, the jet pump type intelligent positioning anchor system comprises a parameter acquisition module, the parameter acquisition module is used for acquiring ship GPS offset information; the power distribution module dynamically adjusts the power output and the angle of the ship dual-power motor in real time based on the data of the parameter acquisition module, and ensures the stability and the control precision of the ship dual-power motor in a dynamic environment; the dynamic compensation module is used for estimating the external disturbing force in real time when the ship sails and performing reverse compensation in thrust calculation; by acquiring the mass and the rotational inertia of the ship body, measuring the longitudinal acceleration and the angular acceleration in real time, calculating the longitudinal inertia force and the inertia moment, and deducting the longitudinal inertia force and the inertia moment from the target longitudinal force and the rotating moment, the sailing direction and the sailing position of the ship can be more accurately adjusted, so that the ship can sail along the preset route more accurately; the risk of deviating from the route is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of electronic anchors, and more specifically to a dual-power marine jet pump type intelligent positioning anchor system. Background Art

[0002] Traditional ship mooring systems rely on the friction between physical anchors and the seabed to fix the hull. However, in deep waters, reef areas or areas with complex tidal currents, traditional anchors have problems such as unstable anchor bottom, cumbersome operation and risk of environmental damage. With the popularization of GPS positioning technology and electric propulsion systems, electronic anchor technology has emerged. It dynamically compensates for environmental interference through the power system to achieve virtual anchoring of ships. With the improvement of living standards, sea fishing has gradually become a popular hobby. However, sea fishing is different from river fishing. The fish resources in the shallow water shore are not enough to meet the needs of sea fishing. In order to find big fish, people usually drive boats to offshore areas with rich fish resources, and then anchor to fish. However, the existing electronic anchor uses a single thruster combined with GPS positioning feedback. However, single-point power cannot generate lateral torque and is difficult to resist lateral water flow or wind. The spatial coupling effect between the power point and the hull's center of gravity / positioning point has not been modeled, resulting in positioning offset. In addition, the geometric parameters of different hull lengths and thruster spacing are different, so manual adjustment is required, which has poor versatility and affects the fishing experience during specific use. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a dual-power marine jet pump type intelligent positioning anchor system.

[0004] The present invention provides a dual-power marine jet pump type intelligent positioning anchor system, including a parameter acquisition module, the parameter acquisition module is used to obtain the GPS offset information of the ship, specifically including the formulation and definition of a hull coordinate system, the hull coordinate system takes the bow as the origin, the longitudinal direction is the X-axis pointing to the stern, and the transverse direction is the Y-axis perpendicular to the hull axis; The parameter collection module is also used to collect the parameters of the ship, and the parameters of the ship specifically include the length parameters of the ship , Longitudinal installation distance of dual power motors of ships , Transverse spacing of dual power motors of ships , Installation angle of dual power motor and maximum thrust ; A power distribution module, which dynamically adjusts the power output and angle of the dual-power motors of the ship in real time based on the data of the parameter acquisition module to ensure the stability and control accuracy of the dual-power motors of the ship in a dynamic environment, and is also used to correct the thrust output of the dual-power motors of the ship in real time according to the data of the parameter acquisition module; The dynamic compensation module is used to estimate the external disturbance force of the ship in real time when sailing, and to compensate in reverse in the thrust calculation.

[0005] Preferably, the system device specifically includes a dual-power motor, a GPS receiver, an IMU unit, a water flow sensor and a main controller, the dual-power motor is installed on both sides of the stern, the GPS receiver is installed on the top of the bow, the IMU unit is installed at the center of gravity of the hull, the water flow sensor is installed in the middle of the bottom of the ship, and the main controller is installed in an electrical control box on the ship's console.

[0006] Preferably, the coordinate positioning unit is used to obtain the GPS offset of the ship, and the specific steps are as follows: First, the latitude and longitude of the ship are obtained in real time according to the GPS receiver. , the longitude and latitude of the ship are projected using the Gauss-Krüger projection Convert to plane coordinates ; Get the target point coordinates ; Then according to , calculate the ship's GPS offset .

[0007] Preferably, the specific working steps of the power distribution module include the following: First, according to , calculate and obtain the longitudinal coordinates of the dual power motors in the hull coordinate system and the lateral coordinates of the dual power motors in the hull coordinate system ; Then receive the ship GPS offset obtained by the coordinate positioning unit in real time , and based on the vessel GPS offset , generating the target longitudinal force of the ship and target lateral force , and the rotational moment of the vessel ; Then, considering the lever effect of the ship's dual-power motor on the bow, the thrust of the ship's dual-power motor is calculated. The specific steps are as follows: according to , calculate the thrust of the first power motor ; according to , calculate the thrust of the first power motor ; Real-time retention Plus Greater than , the thrust and The signals are converted into control signals for the dual-power motors and transmitted to the main controller to adjust the real-time parameters of the dual-power motors at the stern.

[0008] Preferably, the power distribution module is based on the GPS offset of the vessel , generating the target longitudinal force of the ship and target lateral force , and the rotational moment of the vessel The specific working steps are as follows: The heading angle error of the ship is obtained based on the IMU unit ; According to the formula ; Calculate the target longitudinal force of the ship and target lateral force , and the rotational moment of the vessel ,in , and They are the proportional coefficient, integral coefficient and differential coefficient respectively.

[0009] Preferably, the dynamic compensation module specifically includes an inertia compensation unit and an environmental disturbance compensation unit. The inertia compensation unit is used to obtain thrust compensation requirements for the inertia of the dual-power motor ship. The specific steps are as follows: Get the hull mass of the ship and moment of inertia , and then the longitudinal acceleration of the ship is obtained in real time through the IMU unit and angular acceleration ; According to the formula , calculate and obtain the longitudinal inertia force of the ship ; According to the formula , calculate and obtain the inertia moment of the ship around the bow ; The longitudinal inertia of the ship and the ship's moment of inertia about the bow From the GPS offset according to the vessel , generating the target longitudinal force of the ship and target lateral force , and the rotational moment of the vessel The output of the vessel target longitudinal force and the rotational moment of the vessel Deduct from the middle to avoid the hull's own motion interfering with the actual thrust effect. The specific steps are as follows; , and the target longitudinal force of the ship after deduction is obtained and the rotational moment of the vessel , and re-substitute it into the power distribution module for calculation.

[0010] Preferably, the specific steps of the inertia compensation unit also include the following: The IMU unit is also equipped with a lateral acceleration sensor for obtaining the inertial acceleration of the lateral motion of the hull. ; According to the formula , calculate and obtain the target lateral force of the ship after deduction , and resubstitute into the power distribution module for calculation; in is the hydrodynamic damping coefficient, which is obtained by measuring the resistance at the lateral speed of the ship and dividing the resistance at the lateral speed of the ship by the lateral speed of the ship. is the lateral velocity of the ship, which is the value of the lateral motion of the ship's hull in the hull coordinate system.

[0011] Preferably, the environmental disturbance compensation unit is used to compensate the thrust according to the environmental factors during the navigation of the ship, and the specific steps include the following: Get the environmental wind disturbance of the ship , wave disturbance and current disturbance ; Then according to the environmental wind disturbance of the ship , wave disturbance and current disturbance Calculate the total compensated thrust ; The target longitudinal force of the ship after deduction Add the total compensation thrust , and the final control thrust of the vessel is obtained .

[0012] Preferably, the specific steps of the environmental disturbance compensation unit also include the following Environmental wind disturbance on ships , wave disturbance and current disturbance The specific steps to obtain include: For environmental wind disturbance , according to the formula , calculated, where is the air density, is the drag coefficient of the ship, is the wind-exposed projection area of ​​the ship’s hull, is the square of the current wind speed; For wave disturbance , according to the formula , the wave disturbance force is calculated ,in is the density of seawater, is the acceleration due to gravity, is the square of the effective wave height, is the wave number, is the hull draft of the vessel, is the wave frequency; For the disturbance of ocean currents , according to the formula Calculate the current disturbance force ,in is the wet surface area of ​​the hull, is the sailing speed of the ship, is the ocean current speed; The environmental wind disturbance of the vessel , wave disturbance and current disturbance Add together to get the total compensation thrust .

[0013] Preferably, the dynamic compensation module is also used to convert the total thrust after compensation and the rotational moment of the vessel Assigned to dual power motors, the specific steps are as follows; Distributed thrust equation ; Distributed torque balance equation ; Solving the equation yields , , and if If the maximum thrust of the dual-power motor is exceeded, the amplitude will be forced to be limited ; , recalculate the remaining thrust balance torque.

[0014] Beneficial effects: By obtaining the hull mass and moment of inertia, and measuring the longitudinal acceleration and angular acceleration in real time, the longitudinal inertia force and inertia moment are calculated and deducted from the target longitudinal force and rotational moment, the navigation direction and position of the ship can be adjusted more accurately, so that the ship can sail along the predetermined route more accurately and reduce the risk of deviation from the route. Considering the inertia effect of the hull, it can more effectively balance the various interference forces that the ship is subjected to during navigation, such as wind, waves, and currents, thereby enhancing the navigation stability of the ship in complex sea conditions and improving navigation safety and comfort. The target force and torque after deducting the inertia force and torque are brought back into the power distribution module for calculation, and the thrust output of the two motors can be flexibly adjusted according to actual needs, so that the power system can meet the navigation needs while improving the power utilization efficiency as much as possible, reducing energy consumption and reducing operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a flow chart of the system of the present invention. DETAILED DESCRIPTION

[0016] like Figure 1 As shown: a dual-powered marine jet pump intelligent positioning anchor system, including a parameter acquisition module, the parameter acquisition module is used to obtain the GPS offset information of the ship, specifically including the formulation and definition of a hull coordinate system, the hull coordinate system takes the bow as the origin, the longitudinal direction is the X-axis pointing to the stern, and the transverse direction is the Y-axis perpendicular to the hull axis; it should be noted that the hull coordinate system and the world coordinate system are used to provide a global reference frame, unify the ship position, target point and other geographic information, convert the absolute position measured by GPS into an offset relative to the target, and facilitate the generation of global control instructions; The parameter collection module is also used to collect the parameters of the ship, and the parameters of the ship specifically include the length parameters of the ship , Longitudinal installation distance of dual power motors of ships , Transverse spacing of dual power motors of ships , Installation angle of dual power motor and maximum thrust ; It should be noted that the ship length parameter The longitudinal installation distance of the ship's dual power motors was obtained through the ship's blueprint. , Transverse spacing of dual power motors of ships , Installation angle of dual power motor and maximum thrust All are provided by the ship and motor manufacturers. If the installation of the dual-power motor is adjusted, the parameters need to be recalibrated using the measuring tool; A power distribution module, which dynamically adjusts the power output and angle of the dual-power motors of the ship in real time based on the data of the parameter acquisition module to ensure the stability and control accuracy of the dual-power motors of the ship in a dynamic environment, and is also used to correct the thrust output of the dual-power motors of the ship in real time according to the data of the parameter acquisition module; Dynamic compensation module, which is used to estimate the external disturbance force of the ship in real time during navigation and compensate it in reverse in thrust calculation. It should be noted that the thrust error caused by dynamic motion is avoided, the control accuracy is improved, and the robustness of the system to external disturbances is enhanced, reducing trajectory deviation or attitude oscillation; It should also be noted that the dynamic compensation module is responsible for generating the corrected thrust demand, including the total thrust instruction after inertia compensation and environmental disturbance compensation. The power distribution module intelligently distributes the total thrust to the dual power motors according to the corrected instructions, realizes steering through differential control, or distributes the motor load according to the principle of optimal efficiency. The rapid response of the dynamic compensation module needs to match the real-time execution capability of the power distribution module.

[0017] As an optional embodiment: it also includes a system device, which specifically includes a dual-power motor, a GPS receiver, an IMU unit, a water flow sensor and a main controller. The dual-power motor is installed on both sides of the stern, the GPS receiver is installed on the top of the bow, the IMU unit is installed at the center of gravity of the hull, the water flow sensor is installed in the middle of the bottom of the ship, and the main controller is installed in the electrical control box of the ship's bridge. It should be noted that the dual-power motor is the power source of the ship, the GPS receiver provides the ship's latitude and longitude coordinates, speed and heading data by receiving satellite signals, the IMU unit measures the hull roll, pitch and yaw angle through an accelerometer and a gyroscope, and feeds back to the control system in real time to maintain stable navigation, and works in conjunction with the GPS to provide short-term inertial navigation support when the satellite signal is lost (such as crossing a bridge, strong electromagnetic interference), to avoid positioning interruption, and the main controller executes power distribution and dynamic compensation instruction generation.

[0018] As an optional embodiment: the coordinate positioning unit is used to obtain the GPS offset of the ship, and the specific steps are as follows: It should be noted that the offset is obtained by measuring the difference between the current position and the target position in real time through the GPS device. The GPS device provides the real-time latitude and longitude coordinates of the ship in the world coordinate system. The origin of the world coordinate system is usually set as the initial anchor point or the target point. ΔX and ΔY represent the coordinate differences between the current ship position and the target position in the east direction (X axis) and the north direction (Y axis). First, the latitude and longitude of the ship are obtained in real time according to the GPS receiver. , the longitude and latitude of the ship are projected using the Gauss-Krüger projection Convert to plane coordinates ; Get the target point coordinates ; It should be noted that the target point is the coordinate of the bow of the boat that needs to reach the location, which is set in advance by the angler; Then according to , calculate the ship's GPS offset It should be noted that by calculating the plane coordinate difference between the current position of the ship and the target point in real time, combined with the layered feature registration strategy, the system can quickly generate accurate thrust instructions: the longitudinal force is used to compensate for the speed deviation caused by the current or wind and waves, and the lateral force is used to suppress lateral drift.

[0019] As an optional embodiment: the specific working steps of the power distribution module include the following: First, according to , calculate and obtain the longitudinal coordinates of the dual power motors in the hull coordinate system and the lateral coordinates of the dual power motors in the hull coordinate system It should be noted that the left and right jet pumps are symmetrically distributed laterally (spacing D), and the ship turning torque is generated through differential thrust to control the heading; Then receive the ship GPS offset obtained by the coordinate positioning unit in real time , and based on the vessel GPS offset , generating the target longitudinal force of the ship and target lateral force , and the rotational moment of the vessel ; Then, considering the lever effect of the ship's dual-power motor on the bow, the thrust of the ship's dual-power motor is calculated. The specific steps are as follows: according to , calculate the thrust of the first power motor ; according to , calculate the thrust of the first power motor ; Real-time retention Plus Greater than , the thrust and It is converted into a control signal of the dual-power motor and transmitted to the main controller to adjust the real-time parameters of the dual-power motor at the stern. It should be noted that by receiving the GPS offset of the ship in real time, calculating and generating the target longitudinal force, lateral force and rotational torque, the navigation direction and position of the ship can be accurately adjusted according to the deviation between the actual position of the ship and the target position, so that the ship can sail more accurately along the scheduled route and reduce the risk of deviation from the route. Considering the leverage effect of the dual-power motor on the hull, the reasonable thrust distribution is calculated, so that the thrust generated by the left and right jet pumps can effectively balance the various interference forces, such as wind, waves, and water currents, etc., on the ship during navigation, thereby enhancing the navigation stability of the ship in complex sea conditions, improving navigation safety and comfort, and reasonably distributing the target force and torque to the dual-power motor and converting them into specific control signals. The thrust output of the two motors can be flexibly adjusted according to actual needs, so that the power system can meet the navigation needs while improving the power utilization efficiency as much as possible, reducing energy consumption, and reducing operating costs.

[0020] As an optional embodiment: the power distribution module is based on the GPS offset of the ship , generating the target longitudinal force of the ship and target lateral force , and the rotational moment of the vessel The specific working steps are as follows: The heading angle error of the ship is obtained based on the IMU unit ; According to the formula ; Calculate the target longitudinal force of the ship and target lateral force , and the rotational moment of the vessel ,in , and They are proportional coefficient, integral coefficient and differential coefficient respectively. It should be noted that the proportional coefficient, integral coefficient and differential coefficient can be obtained by particle swarm optimization (PSO) to optimize the PID parameters to minimize the heading error and thruster energy consumption; It should be noted that by calculating the target longitudinal force, lateral force and rotational torque, the navigation direction and position of the ship can be accurately adjusted according to the deviation between the actual position of the ship and the target position, so that the ship can sail along the scheduled route more accurately and reduce the risk of deviation from the route. The optimized PID parameters can more effectively balance the various interference forces on the ship during navigation, such as wind, waves, currents, etc., thereby enhancing the navigation stability of the ship in complex sea conditions, improving navigation safety and comfort, and reasonably distributing the target force and torque to the dual-power motors and converting them into specific control signals. The thrust output of the two motors can be flexibly adjusted according to actual needs, so that the power system can meet the navigation needs while improving the power utilization efficiency as much as possible, reducing energy consumption and reducing operating costs.

[0021] As an optional embodiment: the dynamic compensation module specifically includes an inertia compensation unit and an environmental disturbance compensation unit. The inertia compensation unit is used to obtain thrust compensation requirements for the inertia of the dual-power motor ship. The specific steps are as follows: Get the hull mass of the ship and moment of inertia , and then the longitudinal acceleration of the ship is obtained in real time through the IMU unit and angular acceleration It should be noted that the hull mass It is obtained through the parameters of the ship manufacturer. In this embodiment, the weight of the cargo and personnel on the ship also needs to be added, which can be obtained by measuring the draft of the ship. Obtained through the ship manufacturer's parameters; According to the formula , calculate and obtain the longitudinal inertia force of the ship ; According to the formula , calculate and obtain the inertia moment of the ship around the bow ; The longitudinal inertia of the ship and the ship's moment of inertia about the bow From the GPS offset according to the vessel , generating the target longitudinal force of the ship and target lateral force , and the rotational moment of the vessel The output of the vessel target longitudinal force and the rotational moment of the vessel Deduct from the middle to avoid the hull's own motion interfering with the actual thrust effect. The specific steps are as follows; , and the target longitudinal force of the ship after deduction is obtained and the rotational moment of the vessel , and re-substitute it into the power distribution module for calculation.

[0022] It should be noted that by obtaining the hull mass and moment of inertia, and measuring the longitudinal acceleration and angular acceleration in real time, the longitudinal inertia force and inertia moment are calculated and deducted from the target longitudinal force and rotational moment, the navigation direction and position of the ship can be adjusted more accurately, so that the ship can sail along the predetermined route more accurately and reduce the risk of deviation from the route. Considering the inertial effect of the hull, it can more effectively balance the various interference forces to which the ship is subjected during navigation, such as wind, waves, currents, etc., thereby enhancing the navigation stability of the ship in complex sea conditions and improving navigation safety and comfort. The target force and torque after deducting the inertia force and torque are re-introduced into the power distribution module for calculation, and the thrust output of the two motors can be flexibly adjusted according to actual needs, so that the power system can meet the navigation needs while improving the power utilization efficiency as much as possible, reducing energy consumption and reducing operating costs.

[0023] As an optional embodiment: the specific steps of the inertia compensation unit also include the following: The IMU unit is also equipped with a lateral acceleration sensor for obtaining the inertial acceleration of the lateral motion of the hull. ; According to the formula , calculate and obtain the target lateral force of the ship after deduction , and then brought back into the power distribution module for calculation; it should be noted that, based on Newton's second law, It is the resultant force of all lateral forces on the hull, including the propulsion system and hydrodynamic resistance, by separating the inertial force and damping force , it is possible to identify the resistance that the target driving force needs to overcome and achieve the desired movement; in is the hydrodynamic damping coefficient, which is obtained by measuring the resistance at the lateral speed of the ship and dividing the resistance at the lateral speed of the ship by the lateral speed of the ship. is the lateral speed of the ship, which is the value of the lateral motion of the ship's hull in the hull coordinate system. It should be noted that by obtaining the inertial acceleration of the lateral motion of the hull, calculating the lateral inertial force, and deducting it from the target lateral force, the lateral position of the ship can be adjusted more accurately, so that the ship can sail more accurately along the predetermined route and reduce the risk of deviation from the route. Considering the lateral inertial effect of the hull, the lateral interference force of the ship during navigation, such as wind, waves, and currents, can be more effectively balanced, thereby enhancing the navigation stability of the ship in complex sea conditions, improving navigation safety and comfort. The target lateral force after deducting the lateral inertial force is re-substituted into the power distribution module for calculation, and the thrust output of the two motors can be flexibly adjusted according to actual needs, so that the power system can meet the navigation needs while improving the power utilization efficiency as much as possible, reducing energy consumption, and reducing operating costs.

[0024] As an optional embodiment: the environmental disturbance compensation unit is used to compensate the thrust according to the environmental factors during the navigation process of the ship, and the specific steps include the following: Get the environmental wind disturbance of the ship , wave disturbance and current disturbance ; Then according to the environmental wind disturbance of the ship , wave disturbance and current disturbance Calculate the total compensated thrust ; The target longitudinal force of the ship after deduction Add the total compensation thrust , and the final control thrust of the vessel is obtained It should be noted that by obtaining environmental wind disturbance force, wave disturbance force and ocean current disturbance force, and calculating the total compensation thrust, the influence of environmental factors on the navigation of the ship can be offset, so that the ship can sail more accurately along the predetermined route and reduce the risk of deviation from the route. The environmental disturbance compensation unit can reduce the interference of environmental factors such as wind, waves and currents on the ship, making the ship more stable when sailing in complex sea conditions, improving navigation safety and comfort, and through reasonable compensation thrust, the power system can meet the navigation needs while improving the power utilization efficiency as much as possible, reducing energy consumption and reducing operating costs.

[0025] As an optional embodiment: the specific steps of the environmental disturbance compensation unit also include the following Environmental wind disturbance on ships , wave disturbance and current disturbance The specific steps to obtain include: For environmental wind disturbance , according to the formula , calculated, where is the air density, is the drag coefficient of the ship, is the wind-exposed projection area of ​​the ship’s hull, is the square of the current wind speed; it should be noted that the ship's drag coefficient and the ship's hull wind-receiving projection area are obtained based on the information of the ship's manufacturer. The drag coefficient is the basis for the pressure exerted by the wind on the ship. Convert dynamic pressure into actual resistance, combined with the wind receiving area The effects of comprehensive reaction properties and size are a combination of the ideal gas law and experimental data; For wave disturbance , according to the formula , the wave disturbance force is calculated ,in is the density of seawater, is the acceleration due to gravity, is the square of the effective wave height, is the wave number, is the hull draft of the vessel, is the wave frequency; it should be noted that the square of the effective wave height, the wave number and the wave frequency are obtained through marine meteorological data, and the hull draft of the ship is obtained through measurement before launching. Corresponding to the wave energy density per unit area, is an exponential image, simulating the value of wave pressure decaying with depth; For the disturbance of ocean currents , according to the formula Calculate the current disturbance force ,in is the wet surface area of ​​the hull, is the sailing speed of the ship, is the ocean current velocity; it should be noted that the wet surface area of ​​the hull is obtained through the manufacturer's data, and the ocean current velocity is obtained through meteorological data. is the expression of fluid dynamic pressure, which is consistent with the dynamic pressure term in Bernoulli equation, reflecting the effect of fluid kinetic energy on the hull, wet surface area Convert dynamic pressure into total resistance, including friction resistance and form resistance, is the square term of the velocity difference, which means that the current disturbance force increases quadratically with the velocity difference, reflecting the nonlinear relationship between fluid kinetic energy and velocity; The environmental wind disturbance of the vessel , wave disturbance and current disturbance Add together to get the total compensation thrust It should be noted that by accurately calculating the environmental wind disturbance force, wave disturbance force and ocean current disturbance force, and superimposing them to obtain the total compensation thrust, the impact of environmental factors on the ship's navigation can be effectively offset, so that the ship can sail more accurately along the predetermined route and reduce the risk of deviation from the route. The environmental disturbance compensation unit can reduce the interference of environmental factors such as wind, waves and currents on the ship, making the ship more stable when sailing in complex sea conditions, improving navigation safety and comfort, and through reasonable compensation thrust, the power system can meet the navigation needs while improving the power utilization efficiency as much as possible, reducing energy consumption and reducing operating costs.

[0026] As an optional embodiment: the dynamic compensation module is also used to convert the total thrust after compensation and the rotational moment of the vessel Assigned to dual power motors, the specific steps are as follows; Distributed thrust equation ; Distributed torque balance equation ; Solving the equation yields , , and if If the maximum thrust of the dual-power motor is exceeded, the amplitude will be forced to be limited ; , recalculate the remaining thrust balance torque. It should be noted that, When berthing at low speed, the dual-power motors need to accurately distribute thrust to offset the interference of lateral water flow. When turning, the torque balance equation ensures the coordination of the hull rotation angle and the rudder effect. When encountering wind and wave impacts, the dynamic compensation module quickly adjusts the thrust distribution through limiting and redistribution strategies to prevent the hull from losing control.

[0027] The above are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technical staff in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of this template.

Claims

1. Dual-powered marine jet pump intelligent positioning anchor system, characterized in that: It includes a parameter acquisition module, which is used to obtain the GPS offset information of the ship, specifically including the formulation and definition of a hull coordinate system, wherein the hull coordinate system takes the bow as the origin, the longitudinal direction is the X-axis pointing to the stern, and the transverse direction is the Y-axis perpendicular to the hull axis; The parameter collection module is also used to collect the parameters of the ship, and the parameters of the ship specifically include the length parameters of the ship , Longitudinal installation distance of dual power motors of ships , Transverse spacing of dual power motors of ships , Installation angle of dual power motor and maximum thrust ; A power distribution module, which dynamically adjusts the power output and angle of the dual-power motors of the ship in real time based on the data of the parameter acquisition module to ensure the stability and control accuracy of the dual-power motors of the ship in a dynamic environment, and is also used to correct the thrust output of the dual-power motors of the ship in real time according to the data of the parameter acquisition module; A dynamic compensation module is used to estimate in real time the external disturbance force of the ship when it is sailing, and to perform reverse compensation in thrust calculation.

2. The dual-power marine jet pump type intelligent positioning anchor system according to claim 1 is characterized in that: It also includes a system device, which specifically includes a dual-power motor, a GPS receiver, an IMU unit, a water flow sensor and a main controller. The dual-power motor is installed on both sides of the stern, the GPS receiver is installed on the top of the bow, the IMU unit is installed at the center of gravity of the hull, the water flow sensor is installed in the middle of the bottom of the ship, and the main controller is installed in an electrical control box on the ship's driving platform.

3. The dual-power marine jet pump type intelligent positioning anchor system according to claim 2 is characterized in that: The coordinate positioning unit is used to obtain the GPS offset of the ship, and the specific steps are as follows: First, the latitude and longitude of the ship are obtained in real time according to the GPS receiver. , the longitude and latitude of the ship are projected using the Gauss-Krüger projection Convert to plane coordinates ; Get the target point coordinates ; Then according to , calculate the ship's GPS offset .

4. The dual-power marine jet pump type intelligent positioning anchor system according to claim 3 is characterized in that: The specific working steps of the power distribution module include the following: First, according to , calculate and obtain the longitudinal coordinates of the dual power motors in the hull coordinate system and the lateral coordinates of the dual power motors in the hull coordinate system ; Then receive the ship GPS offset obtained by the coordinate positioning unit in real time , and based on the vessel GPS offset , generating the target longitudinal force of the ship and target lateral force , and the rotational moment of the vessel ; Then, considering the lever effect of the ship's dual-power motor on the bow, the thrust of the ship's dual-power motor is calculated. The specific steps are as follows: according to , calculate the thrust of the first power motor ; according to , calculate the thrust of the first power motor ; Real-time retention Plus Greater than , the thrust and The signals are converted into control signals for the dual-power motors and transmitted to the main controller to adjust the real-time parameters of the dual-power motors at the stern.

5. The dual-power marine jet pump type intelligent positioning anchor system according to claim 4 is characterized in that: The power distribution module is based on the ship's GPS offset , generating the target longitudinal force of the ship and target lateral force , and the rotational moment of the vessel The specific working steps are as follows: The heading angle error of the ship is obtained based on the IMU unit ; According to the formula ; Calculate the target longitudinal force of the ship and target lateral force , and the rotational moment of the vessel ,in , and They are the proportional coefficient, integral coefficient and differential coefficient respectively.

6. The dual-power marine jet pump type intelligent positioning anchor system according to claim 1 is characterized in that: The dynamic compensation module specifically includes an inertia compensation unit and an environmental disturbance compensation unit. The inertia compensation unit is used to obtain thrust compensation requirements for the inertia of the dual-power motor ship. The specific steps are as follows: Get the hull mass of the ship and moment of inertia , and then the longitudinal acceleration of the ship is obtained in real time through the IMU unit and angular acceleration ; According to the formula , calculate and obtain the longitudinal inertia force of the ship ; According to the formula , calculate and obtain the inertia moment of the ship around the bow ; The longitudinal inertia of the ship and the ship's moment of inertia about the bow From the GPS offset according to the vessel , generating the target longitudinal force of the ship and target lateral force , and the rotational moment of the vessel The output of the vessel target longitudinal force and the rotational moment of the vessel Deduct from the middle to avoid the hull's own motion interfering with the actual thrust effect. The specific steps are as follows; , and the target longitudinal force of the ship after deduction is obtained and the rotational moment of the vessel , and re-substitute it into the power distribution module for calculation.

7. The dual-power marine jet pump type intelligent positioning anchor system according to claim 6 is characterized in that: The specific steps of the inertia compensation unit also include the following: The IMU unit is also equipped with a lateral acceleration sensor for obtaining the inertial acceleration of the lateral motion of the hull. ; According to the formula , calculate and obtain the target lateral force of the ship after deduction , and resubstitute into the power distribution module for calculation; in is the hydrodynamic damping coefficient, which is obtained by measuring the resistance at the lateral speed of the ship and dividing the resistance at the lateral speed of the ship by the lateral speed of the ship. is the lateral velocity of the ship, which is the value of the lateral motion of the ship's hull in the hull coordinate system.

8. The dual-power marine jet pump type intelligent positioning anchor system according to claim 7 is characterized in that: The environmental disturbance compensation unit is used to compensate the thrust according to the environmental factors during the navigation process of the ship, and the specific steps include the following: Get the environmental wind disturbance of the ship , wave disturbance and current disturbance ; Then according to the environmental wind disturbance of the ship , wave disturbance and current disturbance Calculate the total compensated thrust ; The target longitudinal force of the ship after deduction Add the total compensation thrust , and the final control thrust of the vessel is obtained .

9. The dual-power marine jet pump type intelligent positioning anchor system according to claim 8, characterized in that: The specific steps of the environmental disturbance compensation unit also include the following Environmental wind disturbance on ships , wave disturbance and current disturbance The specific steps to obtain include: For environmental wind disturbance , according to the formula , calculated, where is the air density, is the drag coefficient of the ship, is the wind-exposed projection area of ​​the ship’s hull, is the square of the current wind speed; For wave disturbance , according to the formula , the wave disturbance force is calculated ,in is the density of seawater, is the acceleration due to gravity, is the square of the effective wave height, is the wave number, is the hull draft of the vessel, is the wave frequency; For the disturbance of ocean currents , according to the formula Calculate the current disturbance force ,in is the wet surface area of ​​the hull, is the ship’s sailing speed, is the ocean current speed; The environmental wind disturbance of the vessel , wave disturbance and current disturbance Add together to get the total compensation thrust .

10. The dual-power marine jet pump type intelligent positioning anchor system according to claim 9, characterized in that: The dynamic compensation module is also used to convert the total thrust after compensation and the rotational moment of the vessel Assigned to dual power motors, the specific steps are as follows; Distributed thrust equation ; Distributed torque balance equation ; Solving the equation yields , , and if If the maximum thrust of the dual-power motor is exceeded, the amplitude will be forced to be limited ; , recalculate the remaining thrust balance torque.

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