Method and device for optimizing task based on capability of intelligent cabin system of unmanned ship

Abstract

The invention discloses an unmanned ship intelligent cabin system capability optimization task method and device, and the method comprises the steps: dividing each piece of load equipment into three priorities according to the attributes of the load equipment carried by an unmanned ship; based on the real-time monitoring data of the unmanned ship, constructing an adjacency matrix representing the connection relation between all load equipment carried on the unmanned ship and intelligent cabin system equipment; constructing a real-time active subnet corresponding to the generator equipment for the generator equipment comprising the independent subsystems capable of being put into operation; and based on the priorities corresponding to each active subnet and each load type device, the electric energy which can be obtained by each load type device of the unmanned ship and the output power of each generator device, determining the current function integrity, efficacy exertion degree and power supply redundancy of the unmanned ship, and planning a to-be-executed task of the unmanned ship. The method can improve the task completion capability of the unmanned ship.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ships, and in particular to a method and device for optimizing the capacity of an intelligent engine room system of an unmanned ship. Background Art

[0002] The main mission capability and ultimate goal of the unmanned ship intelligent cabin system is to provide sufficient and reliable energy supply to the unmanned ship's load equipment on demand according to the current unmanned ship mission needs. Under the premise of fully ensuring the integrity of the entire ship's load functions, try to maintain a high level of power generation, supply and distribution, improve the overall load efficiency of the ship, reduce the impact of the limited function and failure of the intelligent cabin system equipment on the power generation, supply and distribution capabilities, and comprehensively improve the reliability and continuity of the power supply of the intelligent cabin system to the entire ship's load equipment.

[0003] Unmanned ships have the characteristics of long sailing distance, large range of activities, long sailing cycle, and unmanned operation and maintenance on the ship side. Due to the harsh and changeable operating conditions and the difficulty of obtaining physical equipment hardware maintenance, repair, and repair on the ship side, during the long sailing cycle, the intelligent cabin system will experience varying degrees of performance degradation, deterioration, and even partial equipment / component-level function loss, which is a high-probability, high-frequency event. The overall health level of the intelligent cabin system is in an overall downward trend, which is an objective law. Therefore, during the voyage of unmanned ships, it is necessary to perform real-time and predictive calculations on the intelligent cabin system's support capabilities for the completion of unmanned ship missions, and provide decision support for the autonomous task management of unmanned ships. Summary of the invention

[0004] In view of this, the present invention provides a method and device for optimizing the capacity of an unmanned ship's intelligent engine room system, which can solve the technical problem of improving the reliability and continuity of power supply of the intelligent engine room system to the entire ship's load equipment during the voyage of the unmanned ship.

[0005] In order to solve the above technical problems, the present invention is implemented as follows.

[0006] A method for optimizing the capability of an unmanned ship intelligent engine room system, comprising:

[0007] Step S1: Based on the attributes of the load-type equipment carried by the unmanned ship, each load-type equipment is divided into three priorities; the unmanned ship is equipped with load-type equipment and intelligent cabin system equipment, and the intelligent cabin system equipment includes generator equipment and power supply and distribution equipment;

[0008] Step S2: constructing an adjacency matrix representing the connection relationship between all load-type equipment and intelligent cabin system equipment carried by the unmanned ship based on the real-time monitoring data of the unmanned ship;

[0009] Step S3: Based on the adjacency matrix, a real-time active subnet corresponding to the generator device including an independent subsystem that can be put into operation is constructed, wherein the active subnet is used to represent a link for a load device belonging to the active subnet to obtain electric energy from the independent subsystem corresponding to the active subnet;

[0010] Step S4: Based on the priorities corresponding to each active subnet and each load-type device, as well as the electric energy that can be obtained by each load-type device of the unmanned ship and the output power of each generator device, the current functional completeness, efficiency and power supply redundancy of the unmanned ship are determined, and the tasks to be performed by the unmanned ship are planned.

[0011] Preferably, the step S2: constructing an adjacency matrix representing the connection relationship between all load-type equipment and intelligent cabin system equipment carried by the unmanned ship based on the real-time monitoring data of the unmanned ship, comprises:

[0012] Step S21: acquiring real-time monitoring data of the unmanned ship, determining the real-time operating status of each device, and recording the device whose real-time operating status meets the preset requirements as being in normal use;

[0013] Based on the electrical connection relationship between all load-type equipment of the unmanned ship and all unmanned ship intelligent cabin system equipment and the real-time operation status of each equipment, the first-order adjacency matrix Adj of the unmanned ship intelligent cabin system is established. (1) :

[0014]

[0015] Wherein, NE is the sum of the number of all load-type equipment and intelligent cabin system equipment carried on the unmanned ship, 1≤m≤NE, 1≤n≤NE, and Indicates that the real-time operating status of the device is in the usable state E m With device E n The direct connection relationship between them, that is, if device E m With device E n There is a direct connection relationship between them, and device E m 、Equipment E n are in usable condition, then otherwise,

[0016] Step S22: Calculate the second-order adjacency matrix Adj of the unmanned ship intelligent engine room system (2) , let the current adjacency matrix order step be 2:

[0017]

[0018] Among them, && is the logical "and" operator between matrices; Indicates that the real-time operating status of the device is in the usable state E m With device E n The connection relationship between matrices is formed by at most one device whose real-time operation status is in the usable state; the operation rules of the logical multiplication operation between matrices are:

[0019] A m1,n1 =(B m1,1 &C 1,n1 )||(B m1,2 &C 2,n1 )||…||(B m1,k &C k,n1 )||…||(B m1,P &C P,n1 )

[0020] Among them, A m1,n1 is the element in the i1th row and j1th column of matrix A; B m1,1 , B m1,2 , B m1,k , B m1,P are the elements of the m1th row and 1st column, the m1th row and 2nd column, the m1th row and kth column, and the m1th row and Pth column of the matrix B respectively; C 1,n1 , C 2,n1 , C k,n1 , C P,n1 are the 1st row and n1th column, the 2nd row and n1th column, the kth row and n1th column, and the Pth row and n1th column of the matrix B respectively; 1≤m1,n1,k≤P; A, B, and C are logical matrices of M×N, M×P, and P×N dimensions respectively, and A=B&&C; & is the logical "AND" operator between logical variables, and || is the logical "OR" operator between logical variables;

[0021] Step S23: If Adj (step) =Adj (step-1) , then set the highest order adjacency matrix Adj of the unmanned ship intelligent cabin system (Kc) Equal to Adj (step) , go to step S3; otherwise, assign step plus 1 to step and calculate Adj (step) =Adj (step-1) &&Adj (1) , proceed to step S23.

[0022] Preferably, the step S3: constructing a real-time active subnet corresponding to the generator device including an independent subsystem capable of being put into operation based on the adjacency matrix, comprises:

[0023] Step S31: The adjacency matrix Adj (Kc)All elements of the rows corresponding to non-generator equipment are set to 0, and the active subnetwork connection matrix Conc is obtained;

[0024] Step S32: For each generator device in a usable state, the following operations are performed:

[0025] Get the number of the generator equipment in the usable state, record it as NG, that is, the generator equipment is E NG ; Establish an active subnet corresponding to the generator device for the generator device, wherein the active subnet is represented in the form of a set, and at this time the set of the active subnet is an empty set; obtain the numbers of all load devices whose element values ​​are 1 in the NGth row of the active subnet connection matrix Conc and the numbers of the generator devices in the NGth row of the active subnet connection matrix Conc that are in a usable state, and include all the above numbers in the set of active subnets corresponding to the generator device;

[0026] Step S33: perform deduplication operation on all active subnets, obtain the number of active subnets after deduplication, record it as NA; renumber the active subnets after deduplication, record the i-th active subnet set as Active i .

[0027] Preferably, the current function completeness calculation method includes:

[0028] Step S41: Determine the total power generation capacity of each active subgrid:

[0029]

[0030] Among them, Cap Lc,i represents the total power generated by the ith active subnetwork under the task link Lc, Cap Lc,i It is equal to the sum of the available power generation of all generator devices in the set of active subnetworks; Indicates that in task link Lc, generator equipment E j The actual maximum output power of the generator equipment E is controlled by the health management module of the unmanned ship intelligent cabin system. j The operating status is determined and set in real time after real-time evaluation;

[0031] Calculation parameters

[0032]

[0033] in, It represents the sum of the minimum allowed operating powers of all first-priority load devices in the ith active subnet under the specified task link Lc; It represents the sum of the minimum allowed operating powers of all load-type devices of the second priority in the i-th active subnet under the specified task link Lc; It represents the sum of the minimum allowable operating powers of all load-type devices of the third priority in the i-th active subnet under the specified task link Lc, is the minimum permissible operating power of the load device Ej under the specified task link Lc;

[0034] Step S42: for each active subnet, determining the functional integrity of the active subnet, including:

[0035] like It indicates that the power generation capacity of the i-th active subnet can ensure that all load-type devices in the active subnet can achieve basic functions, and the functional integrity value of the active subnet is calibrated to 1; the basic function is the minimum function required for the load-type device to complete the specified task link Lc;

[0036] like It indicates that the power generation capacity of the i-th active subnet can ensure that all the first-priority and second-priority load devices in the active subnet can achieve basic functions, but cannot ensure that all the third-priority load devices in the active subnet can achieve basic functions, and the functional integrity value of the active subnet is calibrated to 2;

[0037] like It indicates that the power generation capacity of the i-th active subnet can ensure that all the first-priority load devices in the active subnet can achieve basic functions, but cannot ensure that all the second-priority load devices in the active subnet can achieve basic functions, and the functional integrity value of the active subnet is calibrated to 3;

[0038] like This indicates that the power generation capacity of the i-th active subnet cannot guarantee that all the first-priority load devices in the active subnet can achieve basic functions, and the functional integrity value of the active subnet is calibrated to 4;

[0039] Step S43: Determining the functional integrity of the unmanned ship based on the functional integrity of each active subnet, including:

[0040] If the functional integrity values ​​of all active subnets are 1, and there is no load device in the intelligent cabin system that is not divided into any active subnet, the functional integrity value of the intelligent cabin system is 1;

[0041] If there is no active subnet with a functional integrity value of 3 or 4, and there is at least an active subnet with a functional integrity value of 2, and there is no first-priority load type device or second-priority load type device that is not assigned to any active subnet in the intelligent cabin system, then the functional integrity value of the unmanned ship is 2;

[0042] If there is no active subnet with a functional integrity value of 4, there is at least one active subnet with a functional integrity value of 3, and there is no first-priority load type device in the intelligent cabin system that is not assigned to any active subnet, then the functional integrity value of the unmanned ship is 3;

[0043] If there is only an active subnet with a functional integrity value of 4, or there is a first priority load type device in the system that is not assigned to any active subnet, the functional integrity value of the unmanned ship is 4.

[0044] Preferably, the method for calculating the efficacy degree includes:

[0045] Step S4321: If the functional integrity value of the intelligent cabin system is 1, the following operations are performed for each load-type device in each active subnet: Assign to

[0046] in, Indicates that under the specified task link Lc, the load type equipment E in the current active subnet j The actual received power; In order to meet the task requirements of the specified task link Lc, the load equipment E j The minimum permissible operating power;

[0047] Step S4322: For each active subnet, perform the following operations:

[0048] Step S43221: Calculate parameter ΔCap Lc,i , the calculation method is:

[0049]

[0050] Step S43222: Calculate parameter ΔCtem Lc,i , that is, ΔCap Lc,i Assign to ΔCtem Lc,i ;

[0051] Step S43223: Calculate the parameters of each load device in the active subnet

[0052] in, In order to meet the task requirements of the specified task link Lc, the load equipment E j Optimal operating power; Indicates that under the specified task link Lc, the load type equipment E j The difference between the optimal operating power and the actual received power; the optimal operating power refers to the operating power required for the load type equipment to complete the maximum function required by the specified task link Lc;

[0053] Step S43224: sequentially use the first priority load class device, the second priority load class device, and the third priority load class device corresponding to the active subnet as the current priority load class device, and perform the following operations:

[0054] Obtain current priority load class devices, and for each of the current priority load class devices, determine the difference between the optimal operating power and the actual received power;

[0055] The obtained current priority load devices are sorted in descending order according to the difference between their respective optimal operating power and actual received power to form a load device sequence; for each device in the sorted load device sequence, the following operations are performed one by one in sequence:

[0056] For the current load class device E in the device sequence j :

[0057] like Then Assign to And will Reassign ΔCtem Lc,i ;

[0058] like And device E j For a continuously adjustable power device, Reassign to

[0059] like And device E j If it is a non-power continuously adjustable device, no operation will be performed;

[0060] Step S4323: Calculate parameters

[0061]

[0062] in

[0063]

[0064] in, It is the minimum value of the optimal operating power of all first-priority load-type devices in the system under the specified task link Lc; and They are respectively the maximum and minimum values ​​of the optimal operating powers of all first-priority load-type devices in the system under the specified task link Lc; It is the minimum value of the optimal operating power of all the third priority load type devices in the system under the specified task link Lc; It represents the optimal operating power of load equipment Ej under the task link Lc;

[0065] Step S4324: Calculate weight

[0066]

[0067] satisfy

[0068] Step S4325: Calculate the load equipment performance evaluation value Eff in the system under the specified task link Lc Lc :

[0069]

[0070] Indicates that under the specified task link Lc, the load type equipment E j The actual received power; In order to meet the task requirements of the specified task link Lc, the load equipment E j Optimal operating power.

[0071] 6. The method according to claim 5, wherein the method for calculating the power supply redundancy comprises:

[0072] Step S4331: Calculate the power supply redundancy index Rd of the load type equipment Ej in each active subnet under the specified task link Lc Ej,Lc :

[0073]

[0074] Among them, Rd Ej,Lc It represents the ratio of the redundant power supply of the ith active subnet to the minimum allowable operating power of the load device Ej in the active subnet under the specified task link Lc;

[0075] Step S4332: Calculate the total minimum allowable operating power of all first-priority load devices, all second-priority load devices, and all third-priority load devices in the intelligent cabin system under the specified task link Lc

[0076]

[0077] in, is the sum of the minimum allowed operating powers of the first priority load type devices in the ith active subnet under the specified task link Lc; is the sum of the minimum allowed operating powers of the second priority load class devices in the i-th active subnet under the specified task link Lc; is the sum of the minimum allowed operating powers of the third priority load class devices in the ith active subnet under the specified task link Lc;

[0078] Step S4333: Calculate the power supply redundancy index of the first set of first priority load type devices

[0079]

[0080] Calculate the power supply redundancy index of the second set of second priority load class devices

[0081] Calculate the power supply redundancy index of the third set of third priority load class devices

[0082] Rd Ej,Lc It represents the ratio of the redundant power supply of the i-th active subnet to the minimum allowable operating power of the load device Ej under the specified task link Lc; Indicates the minimum allowable operating power of load equipment Ej under the current task link Lc;

[0083] Step S4334: Calculate parameters

[0084]

[0085] in, Indicates the minimum value of the minimum allowed operating power of each first-priority load type device under the specified task link Lc; They respectively represent the maximum and minimum values ​​of the minimum allowed operating power of each second priority load type device under the specified task link Lc; Indicates the maximum value of the minimum allowed operating power of each third-priority load type device under the specified task link Lc; Indicates the minimum allowable operating power of load equipment Ej under the current task link Lc;

[0086] Step S4335: Calculation

[0087]

[0088] Calculating weights

[0089]

[0090] Calculate the power supply redundancy evaluation value RD of the intelligent cabin system under the specified task link Lc Lc :

[0091]

[0092] Preferably, the step S4, planning the tasks to be performed by the unmanned ship, includes:

[0093] According to the obtained current functional completeness of the unmanned ship, the existing power generation, supply and distribution capacity of the intelligent engine room system of the unmanned ship is determined. Based on the existing power generation, supply and distribution capacity of the intelligent engine room system of the unmanned ship, the integrated task management system of the unmanned ship makes an independent decision or an external decision-making platform makes a decision to continue to execute the established task plan or to change and adjust and re-issue a new task plan;

[0094] When the functional completeness value of the intelligent cabin system is 1, the current functional utilization degree of the unmanned ship is obtained; based on the current functional utilization degree of the unmanned ship, the operating status of the three priority load-type equipment in the unmanned ship in subsequent links is determined, and the operating status includes a basic functional status and an optimal functional status; based on the operating status of the three priority load-type equipment in the unmanned ship in subsequent links, the integrated task management system of the unmanned ship makes an autonomous decision or an external decision-making platform makes a decision to continue to execute the established task plan or to change and adjust and re-issue a new task plan;

[0095] When the functional completeness value of the intelligent cabin system is 1, the current power supply redundancy of the unmanned ship is obtained; based on the current power supply redundancy of the unmanned ship, the power supply status of each generator equipment to the first priority load equipment in the unmanned ship is determined; based on the power supply status, the integrated task management system of the unmanned ship makes an autonomous decision or an external decision-making platform makes a decision to continue to execute the established task plan or to change and adjust and re-issue a new task plan.

[0096] The present invention provides a device for optimizing the capacity of an unmanned ship intelligent engine room system, comprising:

[0097] A classification module: configured to classify each load-type device into three priorities based on the properties of the load-type devices carried by the unmanned ship; the unmanned ship is equipped with load-type devices and intelligent cabin system devices, and the intelligent cabin system devices include generator devices and power supply and distribution devices;

[0098] An adjacency matrix generation module: configured to construct an adjacency matrix representing the connection relationship between all load-type equipment and intelligent cabin system equipment carried by the unmanned ship based on the real-time monitoring data of the unmanned ship;

[0099] An active subnet generation module is configured to construct a real-time active subnet corresponding to a generator device including an independent subsystem that can be put into operation based on the adjacency matrix, wherein the active subnet is used to represent a link for a load device belonging to the active subnet to obtain electric energy from the independent subsystem corresponding to the active subnet;

[0100] Planning module: It is configured to determine the current functional completeness, efficiency and power supply redundancy of the unmanned ship based on the priorities corresponding to each active subnet and each load-type device, the electric energy that can be obtained by each load-type device of the unmanned ship, and the output power of each generator device, and plan the tasks to be performed by the unmanned ship.

[0101] On the one hand, the present invention calculates the ability of the intelligent cabin system to complete the current task link in real time from three aspects, namely, "functional integrity", "efficacy", and "power supply redundancy", based on online monitoring data for the current task link; on the other hand, based on online and historical monitoring data, the present invention predictively estimates the ability of the intelligent cabin system to complete subsequent task links from three aspects, namely, "functional integrity", "efficacy", and "power supply redundancy".

[0102] The method of the present invention is based on the optimization of the subsequent mission planning of unmanned ships, the inherent network structure of the intelligent cabin system, and the monitoring results of the health status of the equipment in the intelligent cabin system. From the perspective of the power generation and distribution capacity of the intelligent cabin system, the evaluation index system and weights are determined for the "functional integrity", "efficacy", and "power supply redundancy" of the intelligent cabin system. It provides a basis for the planning and local optimization adjustment of the task nature, timeliness requirements, functional requirements and other elements of the task link.

[0103] Beneficial effects:

[0104] (1) The present invention can improve the perception and prediction capabilities of the unmanned ship's intelligent engine room system to ensure the continuity of power supply of the power system, thereby improving the unmanned ship's mission completion capability;

[0105] (2) The present invention can improve the unmanned ship's ability to perceive and predict the functional completeness of the ship's electrical equipment, and enhance the unmanned ship's mission assessment and planning capabilities.

[0106] (3) The present invention can improve the unmanned ship's ability to perceive and predict the performance of the ship's electrical equipment, and enhance the unmanned ship's mission assessment and optimization capabilities.

[0107] (4) The present invention can improve the perception and prediction capabilities of the unmanned ship's intelligent engine room system during the voyage to the extent of the impact of current and subsequent equipment function degradation, thereby improving the unmanned ship's mission adjustment capabilities.

[0108] (5) The present invention can improve the unmanned ship's ability to perceive and predict the feasibility of current and subsequent tasks to be performed, enhance the unmanned ship's emergency response capabilities, and reduce direct asset losses and indirect mission losses caused by mission failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0109] Figure 1 A schematic diagram of a method flow chart of a capability optimization task of an unmanned ship intelligent engine room system according to the present invention;

[0110] Figure 2 This is a block diagram of the device structure for the unmanned ship intelligent cabin system capability optimization task of the present invention. DETAILED DESCRIPTION

[0111] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0112] The present invention proposes a method for optimizing the capability of an unmanned ship's intelligent engine room system.

[0113] like Figure 1 As shown, the method for optimizing the capacity of the unmanned ship intelligent cabin system provided by the present invention comprises the following steps:

[0114] Step S1: Based on the attributes of the load-type equipment carried by the unmanned ship, each load-type equipment is divided into three priorities; the unmanned ship is equipped with load-type equipment and intelligent cabin system equipment, and the intelligent cabin system equipment includes generator equipment and power supply and distribution equipment;

[0115] Step S2: constructing an adjacency matrix representing the connection relationship between all load-type equipment and intelligent cabin system equipment carried by the unmanned ship based on the real-time monitoring data of the unmanned ship;

[0116] Step S3: Based on the adjacency matrix, a real-time active subnet corresponding to the generator device including an independent subsystem that can be put into operation is constructed, wherein the active subnet is used to represent a link for a load device belonging to the active subnet to obtain electric energy from the independent subsystem corresponding to the active subnet;

[0117] Step S4: Based on the priorities corresponding to each active subnet and each load-type device, as well as the electric energy that can be obtained by each load-type device of the unmanned ship and the output power of each generator device, the current functional completeness, efficiency and power supply redundancy of the unmanned ship are determined, and the tasks to be performed by the unmanned ship are planned.

[0118] The load-type equipment is a device that uses electrical energy as energy to provide protection for the unmanned ship; based on the properties of the load-type equipment carried by the unmanned ship, each load-type equipment is divided into a first priority, a second priority, and a third priority, among which the first priority has the highest priority and the third priority has the lowest priority.

[0119] In the present invention, the importance of each load type device is graded according to its functional attributes, and is divided into three priorities:

[0120] First priority: extremely important loads, which are loads directly related to the life safety of unmanned ships, including but not limited to observation equipment, communication equipment, navigation equipment, etc. and their auxiliary supporting equipment.

[0121] Second priority: general important loads, which are loads indirectly related to the life safety of unmanned ships, including but not limited to navigation equipment, damage control equipment, etc. and their auxiliary supporting equipment.

[0122] The third priority: loads related to the mission of unmanned ships, including but not limited to operating / mission equipment and its auxiliary equipment.

[0123] The above load equipment importance classification results are determined after the unmanned ship is built, accepted and delivered, and can be adjusted accordingly according to the ship's modification and replacement. Before the unmanned ship sails, the classification results are known and determined; during the unmanned ship's voyage, the classification results cannot be temporarily changed or adjusted.

[0124] Under the condition of long-term unmanned operation and maintenance, the performance of the system equipment will gradually degrade and fail as the operation time goes by, and the power generation, power supply and distribution capacity of the system will also decrease accordingly. As the power supply available to load equipment decreases, the principles for the power supply guarantee of the unmanned ship intelligent cabin system for load equipment are established according to the priority of load equipment as follows.

[0125] (1) Prioritize the supply of the minimum allowable operating power for the first priority load;

[0126] (2) On this basis, if there is power supply redundancy, priority shall be given to ensuring the supply of the minimum allowable operating power of the second priority load;

[0127] (3) On this basis, if there is power supply redundancy, priority shall be given to ensuring the supply of the minimum allowable operating power of the third priority load;

[0128] (4) On this basis, if there is power supply redundancy, priority will be given to ensuring the supply of optimal operating power for the first priority load;

[0129] (5) On this basis, if there is power supply redundancy, priority will be given to ensuring the supply of optimal operating power for the second priority load;

[0130] (6) Finally, if there is power supply redundancy, the optimal operating power supply for the third priority load is guaranteed.

[0131] The step S2: constructing an adjacency matrix representing the connection relationship between all load-type equipment and intelligent cabin system equipment carried by the unmanned ship based on the real-time monitoring data of the unmanned ship, including:

[0132] Step S21: acquiring real-time monitoring data of the unmanned ship, determining the real-time operating status of each device, and recording the device whose real-time operating status meets the preset requirements as being in normal use;

[0133] Based on the electrical connection relationship between all load-type equipment of the unmanned ship and all unmanned ship intelligent cabin system equipment and the real-time operation status of each equipment, the first-order adjacency matrix Adj of the unmanned ship intelligent cabin system is established. (1) :

[0134]

[0135] Wherein, NE is the sum of the number of all load-type equipment and intelligent cabin system equipment carried on the unmanned ship, 1≤m≤NE, 1≤n≤NE, and Indicates that the real-time operating status of the device is in the usable state E m With device E n The direct connection relationship between them, that is, if device E m With device E n There is a direct connection relationship between them, and device E m 、Equipment E n are in usable condition, then otherwise,

[0136] In the present invention, if the operating status of the equipment is "usable status", it means that the equipment is in a non-functional failure state, that is, it can still be operated and used. For load-type equipment, its operating status is always set to "usable status". For all power generation equipment and power supply and distribution equipment, its operating status is determined and set in real time after real-time evaluation by the health management module of the unmanned ship intelligent cabin system.

[0137] Step S22: Calculate the second-order adjacency matrix Adj of the unmanned ship intelligent engine room system (2) , let the current adjacency matrix order step be 2:

[0138]

[0139] Among them, && is the logical "and" operator between matrices; Indicates that the real-time operating status of the device is in the usable state E m With device E n The connection relationship between matrices is formed by at most one device whose real-time operation status is in the usable state; the operation rules of the logical multiplication operation between matrices are:

[0140] A m1,n1 =(B m1,1 &C 1,n1 )||(B m1,2 &C 2,n1 )||…||(B m1,k &C k,n1 )||…||(B m1,P &C P,n1 )

[0141] Among them, A m1,n1 is the element in the i1th row and j1th column of matrix A; B m1,1 , B m1,2 , B m1,k , B m1,P are the elements of the m1th row and 1st column, the m1th row and 2nd column, the m1th row and kth column, and the m1th row and Pth column of the matrix B respectively; C 1,n1 , C 2,n1 , C k,n1 , C P,n1 are the 1st row and n1th column, the 2nd row and n1th column, the kth row and n1th column, and the Pth row and n1th column of the matrix B respectively; 1≤m1,n1,k≤P; A, B, and C are logical matrices of M×N, M×P, and P×N dimensions respectively, and A=B&&C; & is the logical "AND" operator between logical variables, and || is the logical "OR" operator between logical variables;

[0142] In the present invention, if This means that device E m With device En At least one device in the real-time operation state is unavailable; or device E m With device E n The real-time running status of the device is in the usable state, but at least two or more devices whose real-time running status is in the usable state must form an indirect connection relationship; or device E m With device E n The real-time operating status of the devices is available for use, but does not constitute a connection relationship.

[0143] Step S23: If Adj (step) =Adj (step-1) , then set the highest order adjacency matrix Adj of the unmanned ship intelligent cabin system (Kc) Equal to Adj (step) , go to step S3; otherwise, assign step plus 1 to step and calculate Adj (step) =Adj (step-1) &&Adj (1) , proceed to step S23.

[0144] In the present invention, since the unmanned ship is composed of a limited number of devices, there must be a situation where the adjacency matrices of two adjacent orders are equal.

[0145] The step S3: based on the adjacency matrix, constructing a real-time active subnet corresponding to the generator device including an independent subsystem that can be put into operation, comprises:

[0146] Step S31: The adjacency matrix Adj (Kc) All elements of the rows corresponding to non-generator equipment are set to 0, and the active subnetwork connection matrix Conc is obtained;

[0147] Step S32: For each generator device in a usable state, the following operations are performed:

[0148] Get the number of the generator equipment in the usable state, record it as NG, that is, the generator equipment is E NG ; Establish an active subnet corresponding to the generator device for the generator device, wherein the active subnet is represented in the form of a set, and at this time the set of the active subnet is an empty set; obtain the numbers of all load devices whose element values ​​are 1 in the NGth row of the active subnet connection matrix Conc and the numbers of the generator devices in the NGth row of the active subnet connection matrix Conc that are in a usable state, and include all the above numbers in the set of active subnets corresponding to the generator device;

[0149] Step S33: perform deduplication operation on all active subnets, obtain the number of active subnets after deduplication, record it as NA; renumber the active subnets after deduplication, record the i-th active subnet set as Active i .

[0150] In the present invention, if there is a load device that does not belong to any active subnet, it means that no matter what remedial measures are taken, power cannot be supplied to the device, that is, the device cannot operate.

[0151] With the long-term operation and use of the intelligent cabin system, some equipment gradually becomes unusable, and the original complete, interconnected single network gradually splits and decomposes into multiple independent but still interconnected sub-networks. However, the load in a sub-network can only be operated when there is an available generator device in the sub-network. For the sub-network containing the generator equipment, it is defined as an "active sub-network".

[0152] In the present invention, an "active subnet" may include only one generator device or may include multiple generator devices.

[0153] The step S4: based on the priorities of each active subnet and each load-type device, the electric energy that can be obtained by each load-type device of the unmanned ship, and the output power of each generator device, the current functional completeness, efficiency and power supply redundancy of the unmanned ship are determined, wherein:

[0154] The calculation method of the current functional completeness includes:

[0155] Step S41: Determine the total power generation capacity of each active subgrid:

[0156]

[0157] Among them, Cap Lc,i represents the total power generated by the ith active subnetwork under the task link Lc, Cap Lc,i It is equal to the sum of the available power generation of all generator devices in the set of active subnetworks; Indicates that in task link Lc, generator equipment E j The actual maximum output power of the generator equipment E is controlled by the health management module of the unmanned ship intelligent cabin system. j The operating status is determined and set in real time after real-time evaluation;

[0158] Calculation parameters

[0159]

[0160] in, It represents the sum of the minimum allowed operating powers of all first-priority load devices in the ith active subnet under the specified task link Lc; It represents the sum of the minimum allowed operating powers of all load-type devices of the second priority in the i-th active subnet under the specified task link Lc; It represents the sum of the minimum allowable operating powers of all load-type devices of the third priority in the i-th active subnet under the specified task link Lc, It is the minimum allowable operating power of the load device Ej under the specified task link Lc.

[0161] In the present invention, if the actual power supply available to a load device under a specified task link Lc is less than This means that the load device fails to function in this task link; if the actual power supply obtained by the load device in the specified task link Lc is equal to This means that in this task link, the load device operates in a basic functional state, that is, it can only realize the basic functions required by this task link.

[0162] Step S42: for each active subnet, determining the functional integrity of the active subnet, including:

[0163] like It indicates that the power generation capacity of the i-th active subnet can ensure that all load-type devices in the active subnet can achieve basic functions, and the functional integrity value of the active subnet is calibrated to 1; the basic function is the minimum function required for the load-type device to complete the specified task link Lc;

[0164] like It indicates that the power generation capacity of the i-th active subnet can ensure that all the first-priority and second-priority load devices in the active subnet can achieve basic functions, but cannot ensure that all the third-priority load devices in the active subnet can achieve basic functions, and the functional integrity value of the active subnet is calibrated to 2;

[0165] like It indicates that the power generation capacity of the i-th active subnet can ensure that all the first-priority load devices in the active subnet can achieve basic functions, but cannot ensure that all the second-priority load devices in the active subnet can achieve basic functions, and the functional integrity value of the active subnet is calibrated to 3;

[0166] like This indicates that the power generation capacity of the active subnet cannot guarantee that all the first-priority load devices in the active subnet can achieve basic functions, and the functional integrity value of the active subnet is calibrated to 4;

[0167] In the present invention, the smaller the functional integrity value of the active subnet is, the higher the functional integrity of the active subnet is.

[0168] Step S43: Determining the functional integrity of the unmanned ship based on the functional integrity of each active subnet, including:

[0169] If the functional integrity values ​​of all active subnets are 1, and there is no load device in the intelligent cabin system that is not divided into any active subnet, the functional integrity value of the intelligent cabin system is 1;

[0170] At this point, it indicates that the current power generation, supply and distribution capabilities of the intelligent cabin system can ensure that all loads can achieve basic functions.

[0171] If there is no active subnet with a functional integrity value of 3 or 4, and there is at least an active subnet with a functional integrity value of 2, and there is no first-priority load type device or second-priority load type device that is not assigned to any active subnet in the intelligent cabin system, then the functional integrity value of the unmanned ship is 2;

[0172] At this point, it indicates that the power generation, supply and distribution capacity of the current intelligent cabin system can ensure that all first- and second-priority loads in the system can achieve basic functions, but cannot ensure that all third-priority loads in the system can achieve basic functions.

[0173] If there is no active subnet with a functional integrity value of 4, there is at least one active subnet with a functional integrity value of 3, and there is no first-priority load type device in the intelligent cabin system that is not assigned to any active subnet, then the functional integrity value of the unmanned ship is 3;

[0174] At this point, it indicates that the current power generation, supply and distribution capacity of the intelligent cabin system can only ensure that all first-priority load devices in the intelligent cabin system can achieve basic functions, but cannot ensure that all second- and third-priority load devices in the intelligent cabin system can achieve basic functions.

[0175] If there is only an active subnet with a functional integrity value of 4, or there is a first priority load type device in the system that is not assigned to any active subnet, the functional integrity value of the unmanned ship is 4.

[0176] At this point, it indicates that the current power generation, supply and distribution capabilities of the intelligent cabin system cannot guarantee that all first-priority loads in this subnet can achieve basic functions.

[0177] Furthermore, when the functional integrity value of the intelligent cabin system is 1, the functional performance and power supply redundancy of the intelligent cabin system under the specified task link Lc are calculated, including:

[0178] Step S431: Calculate parameter ΔCap Lc,i :

[0179]

[0180] Where ΔCap Lc,i represents the redundant power supply of the ith active subnet under the specified task link Lc;

[0181] Calculation parameter ΔCAP Lc :

[0182]

[0183] Among them, the parameter ΔCAP Lc Indicates the total power supply redundancy power of the intelligent cabin system under the specified task link Lc;

[0184] Calculation parameters

[0185]

[0186] Among them, the parameter ΔCAP Lc It represents the total minimum allowable operating power of all load-type devices in the intelligent cabin system under the specified task link Lc.

[0187] In the present invention, in a specified task link, only when the system function completeness value is 1, can further evaluation be carried out on the system performance and system power supply redundancy in the task link.

[0188] Step S432: Calculating the system performance, including:

[0189] Step S4321: For each load device in each active subnet, perform the following operations: Assign to

[0190] in, Indicates that under the specified task link Lc, the load type equipment E j The actual received power; In order to meet the task requirements of the specified task link Lc, the load equipment E j The minimum permissible operating power;

[0191] In the present invention, the operation is to first assign the actual received power of each load-type device in the active subnet to its minimum allowed operating power under the specified task link Lc.

[0192] Step S4322: For each active subnet, perform the following operations:

[0193] Step S43221: Calculate parameter ΔCtem Lc,i , that is, ΔCap Lc,i Assign to ΔCtem Lc,i ;

[0194] Step S43222: Calculate the parameters of each load device in the active subnet

[0195] in, In order to meet the task requirements of the specified task link Lc, the load equipment E j Optimal operating power; Indicates that under the specified task link Lc, the load type equipment E j The optimal operating power refers to the operating power required for the load device to complete the maximum function required for the specified task link Lc.

[0196] Step S43223: sequentially use the first priority load class device, the second priority load class device, and the third priority load class device corresponding to the active subnet as the current priority load class device, and perform the following operations:

[0197] Obtain current priority load class devices, and for each of the current priority load class devices, determine the difference between the optimal operating power and the actual received power;

[0198] The obtained current priority load devices are sorted in descending order according to the difference between their respective optimal operating power and actual received power to form a load device sequence; for each device in the sorted load device sequence, the following operations are performed one by one in sequence:

[0199] For the current load class device E in the device sequence j :

[0200] like Then Assign to And will Reassign ΔCtem Lc,i ;

[0201] like And device E j For a continuously adjustable power device, Reassign to

[0202] like And device E j If it is a non-power continuously adjustable device, no operation will be performed;

[0203] Step S4323: Calculate parameters

[0204]

[0205] in

[0206]

[0207] in, It is the minimum value of the optimal operating power of all first-priority load-type devices in the system under the specified task link Lc; and They are respectively the maximum and minimum values ​​of the optimal operating powers of all first-priority load-type devices in the system under the specified task link Lc; It is the minimum value of the optimal operating power of all the third priority load type devices in the system under the specified task link Lc; It indicates the optimal operating power of load equipment Ej under the task link Lc.

[0208] In the present invention, if the actual power obtained by the load device is less than This means that under this task link, the load device cannot achieve the best function; if the actual power obtained by the load device is equal to This means that in this task link, the load equipment runs in the best operating state and can achieve the best function required by this task link. It needs to be issued simultaneously with the ship mission plan by the unmanned ship mission management system and set up one by one for each task link.

[0209] Step S4324: Calculate weight

[0210]

[0211] satisfy

[0212] Step S4325: Calculate the load equipment performance evaluation value Eff in the system under the specified task link Lc Lc :

[0213]

[0214] Indicates that under the specified task link Lc, the load type equipment E j The actual received power; In order to meet the task requirements of the specified task link Lc, the load equipment E j Optimal operating power.

[0215] Step S433: Calculating system power supply redundancy, including:

[0216] Step S4331: Calculate the power supply redundancy index Rd of the load type equipment Ej in each active subnet under the specified task link Lc Ej,Lc :

[0217]

[0218] Among them, Rd Ej,Lc It represents the ratio of the redundant power supply of the ith active subnet to the minimum allowable operating power of the load device Ej in the active subnet under the specified task link Lc;

[0219] Step S4332: Calculate the total minimum allowable operating power of all first-priority load devices, all second-priority load devices, and all third-priority load devices in the intelligent cabin system under the specified task link Lc

[0220]

[0221] in, is the sum of the minimum allowed operating powers of the first priority load type devices in the ith active subnet under the specified task link Lc; is the sum of the minimum allowed operating powers of the second priority load class devices in the i-th active subnet under the specified task link Lc; is the sum of the minimum allowed operating powers of the third priority load class devices in the ith active subnet under the specified task link Lc;

[0222] Step S4333: Calculate the power supply redundancy index of the first set of first priority load type devices

[0223]

[0224] Calculate the power supply redundancy index of the second set of second priority load class devices

[0225] Calculate the power supply redundancy index of the third set of third priority load class devices

[0226] Rd Ej,Lc It represents the ratio of the redundant power supply of the i-th active subnet to the minimum allowable operating power of the load device Ej under the specified task link Lc; It indicates the minimum allowable operating power of load equipment Ej under the current task link Lc.

[0227] Step S4334: Calculate parameters

[0228]

[0229] in, Indicates the minimum value of the minimum allowed operating power of each first-priority load type device under the specified task link Lc; They respectively represent the maximum and minimum values ​​of the minimum allowed operating power of each second priority load type device under the specified task link Lc; Indicates the maximum value of the minimum allowed operating power of each third-priority load type device under the specified task link Lc; Indicates the minimum allowable operating power of load equipment Ej under the current task link Lc;

[0230] Step S4335: Calculation

[0231]

[0232] Calculating weights

[0233]

[0234] Calculate the power supply redundancy evaluation value RD of the intelligent cabin system under the specified task link Lc Lc :

[0235]

[0236] In the present invention, (1) under the premise that the power generation capacity of each generator remains unchanged, the stronger the connectivity of the intelligent cabin system, the higher the system power supply redundancy evaluation value. (2) under the premise that each load device can obtain the minimum allowable operating power, the stronger the power generation capacity of the generator, the greater the power guarantee that the load device can obtain, and the higher the intelligent cabin system power supply redundancy evaluation value.

[0237] The step S4, planning the tasks to be performed by the unmanned ship, includes:

[0238] According to the obtained current functional completeness of the unmanned ship, the existing power generation, supply and distribution capacity of the intelligent engine room system of the unmanned ship is determined. Based on the existing power generation, supply and distribution capacity of the intelligent engine room system of the unmanned ship, the integrated task management system of the unmanned ship makes an independent decision or an external decision-making platform makes a decision to continue to execute the established task plan or to change and adjust and re-issue a new task plan;

[0239] When the functional completeness value of the intelligent cabin system is 1, the current functional utilization degree of the unmanned ship is obtained; based on the current functional utilization degree of the unmanned ship, the operating status of the three priority load-type equipment in the unmanned ship in subsequent links is determined, and the operating status includes a basic functional status and an optimal functional status; based on the operating status of the three priority load-type equipment in the unmanned ship in subsequent links, the integrated task management system of the unmanned ship makes an autonomous decision or an external decision-making platform makes a decision to continue to execute the established task plan or to change and adjust and re-issue a new task plan;

[0240] When the functional completeness value of the intelligent cabin system is 1, the current power supply redundancy of the unmanned ship is obtained; based on the current power supply redundancy of the unmanned ship, the power supply status of each generator equipment to the first priority load equipment in the unmanned ship is determined; based on the power supply status, the integrated task management system of the unmanned ship makes an autonomous decision or an external decision-making platform makes a decision to continue to execute the established task plan or to change and adjust and re-issue a new task plan.

[0241] In the present invention, the guidance and application of system functional integrity to the tasks to be performed by unmanned ships is provided.

[0242] A real-time assessment of the "system functional integrity" of a specified task link is conducted; at the same time, a predictive assessment of the "system functional integrity" of each subsequent task link to be executed is conducted. Based on different real-time and predictive assessment results, the basic processing methods adopted are divided into the following categories:

[0243] (1) If the evaluation value of the real-time evaluation of a given task link and the evaluation value of the predictive evaluation of subsequent task links are both 1:

[0244] It shows that based on the existing power generation and distribution capabilities of the unmanned ship intelligent engine room system, it can be guaranteed that each load can at least operate in the basic functional state required for the current and subsequent task links, and each load equipment has the ability to complete the designated task link and subsequent task links.

[0245] At this time, on the one hand, the "system effectiveness" and "system power supply redundancy" assessments are carried out; on the other hand, the relevant assessment results are reported to the ship's integrated mission management system, which makes decisions independently or through external decision-making platforms such as sea-based / shore-based platforms to continue to implement the established mission plan or make changes and adjustments and re-issue a new mission plan.

[0246] (2) If the worst value, that is, the maximum value, of the evaluation value of the real-time evaluation of the specified task link and the evaluation value of the predictive evaluation of each subsequent task link is 2:

[0247] This indicates that the current power generation, supply and distribution capabilities of the intelligent engine room system of unmanned ships cannot guarantee the operational capabilities in the current and subsequent mission links, but can still ensure the integrity of the load functions that are directly or indirectly related to the life safety of the ship in the current and subsequent mission links.

[0248] At this time, the relevant results will be reported to the ship's integrated mission management system. Combined with the assessment results of the health status of the load equipment by the ship's health status assessment system, the ship's integrated mission management system will make independent decisions or implement decisions through external decision-making platforms such as sea-based / shore-based platforms to make changes, adjustments and re-issue new mission plans.

[0249] (3) If the worst value of the evaluation value of the real-time evaluation of the specified task link and the value of the predictive evaluation of the subsequent task links is 3, that is, the maximum value:

[0250] This indicates that the current power generation, supply and distribution capabilities of the intelligent engine room system of unmanned ships are no longer able to guarantee the integrity of the load functions that are indirectly related to the life safety of the ship in the current and subsequent mission links.

[0251] At this time, the relevant results are reported to the ship's integrated task management system. Combined with the evaluation results of the health status of the load equipment by the ship's health status assessment system, the ship's integrated task management system makes decisions independently or through external decision-making platforms such as sea-based / shore-based. The decision-making plan includes but is not limited to:

[0252] Relying on the ship's own power, it can sail back to the designated port for shore-based forces to implement rescue, repair and other measures; or it can sail to the designated sea area for air-based / sea-based forces to implement rescue, repair and other measures; or it can wait on the spot for air-based / sea-based forces to implement rescue, repair and other measures.

[0253] After the relevant measures are completed, the relevant parameter information of each equipment is updated through the ship-side intelligent engine room system health status assessment module, and the system functional integrity assessment is re-performed and reported to the ship's integrated mission management system for autonomous decision-making, or the ship's integrated mission management system further reports to the shore-side integrated command and control system to accept its decision-making instructions.

[0254] (4) If the worst value, i.e. the maximum value, among the evaluation values ​​of the real-time evaluation of the specified task link and the evaluation values ​​of the predictive evaluation of the subsequent task links is 4:

[0255] This shows that the current power generation, supply and distribution capabilities of the intelligent engine room system of unmanned ships can no longer guarantee the integrity of the load functions that are directly related to the life safety of the ship in subsequent mission links.

[0256] At this time, the relevant results are reported to the ship's integrated task management system. Combined with the evaluation results of the health status of the load equipment by the ship's health status assessment system, the ship's integrated task management system makes decisions independently or through external decision-making platforms such as sea-based / shore-based. The decision-making plan includes but is not limited to:

[0257] a. Immediately start the ship's emergency power supply and power supply channel to provide emergency power supply for Class 1 load equipment.

[0258] b. Call air-based / sea-based forces to carry out on-site maintenance. If the degree of repair and recovery is limited, after the repair is completed, the ship will rely on its own power or be towed by external power such as tugboats to a designated port for further maintenance; or call air-based / sea-based forces to carry out on-site maintenance. If the degree of repair and recovery is not limited, the system function integrity evaluation value will be restored to 1. After the relevant parameter information of each device is updated by the ship-side intelligent cabin system health status assessment module, the system function integrity evaluation is re-performed and reported to the ship's integrated mission management system for autonomous decision-making, or the ship's integrated mission management system further reports to the shore-side integrated command and control system to accept its decision-making instructions.

[0259] The present invention provides guidance and application of system effectiveness to tasks to be performed by unmanned ships.

[0260] Evaluation and comparison reference value calculation

[0261] After completing the above-mentioned "system effectiveness" assessment and calculating the "system effectiveness" evaluation value, further calculate the following "system effectiveness" assessment reference value for comparison and interpretation:

[0262] (1) Assumption: Under the specified task link Lc, all load devices in the system operate at the optimal operating power.

[0263] The evaluation value of "system effectiveness" under this assumption is defined as the evaluation reference value of "system effectiveness" The calculation method is

[0264]

[0265] Further calculations yield:

[0266]

[0267] (2) Assumption: Under the specified task link Lc, all level 1 and level 2 load devices in the system operate at the optimal operating power and all level 3 loads operate at the minimum allowable operating power.

[0268] The evaluation value of "system effectiveness" under this assumption is defined as the evaluation reference value of "system effectiveness" The calculation method is:

[0269]

[0270] Further calculations yield:

[0271]

[0272] (3) Assume that under the specified task link Lc, all level 1 and load-type devices in the system operate at the optimal operating power and all level 2 and level 3 loads operate at the minimum allowable operating power

[0273] The evaluation value of "system effectiveness" under this assumption is defined as the evaluation reference value of "system effectiveness" The calculation method is:

[0274]

[0275] Further calculations yield:

[0276]

[0277] (4) Assumption: Under the specified task link Lc, all load devices in the system operate at the minimum allowable operating power.

[0278] The evaluation value of "system effectiveness" under this assumption is defined as the evaluation reference value of "system effectiveness"

[0279]

[0280] Calculate the "system effectiveness" evaluation value Eff under the specified task link Lc Lc :

[0281] (1) If It indicates that all load devices in the system can operate in the optimal functional state required by this functional link.

[0282] (2) If This indicates that only all level 1 and level 2 load devices in the system can operate in the optimal functional state; among all level 3 loads, only some loads can operate in the optimal functional state, and the rest of the loads can only operate in the basic functional state.

[0283] (3) If In the system, only all Class 1 load devices can operate in the optimal functional state; among all Class 2 loads, only some loads can operate in the optimal functional state, and the remaining loads can only operate in the basic functional state; all Class 3 loads can only operate in the basic functional state.

[0284] (4) If It indicates that all load devices in the system can only operate in the basic functional state required by this functional link.

[0285] Conduct real-time evaluation of the "system effectiveness" under the specified task link; at the same time, conduct predictive evaluation of the "system effectiveness" of each subsequent task link to be executed. Report the relevant results to the ship's integrated task management system, and combine the evaluation results of the health status of the load equipment by the ship's health status assessment system. The ship's integrated task management system will make independent decisions or implement decisions through external decision-making platforms such as sea-based / shore-based, and optimize and adjust the current and subsequent task links as appropriate.

[0286] Among them, the factors that need to be considered comprehensively include but are not limited to the following:

[0287] (1) Real-time monitoring and predictive assessment results of the health status of each shipboard equipment.

[0288] (2) Real-time monitoring and forecast assessment results of the sea conditions in the sea areas involved in the current and subsequent missions.

[0289] (3) Timeliness requirements for current and subsequent task links.

[0290] The elements for optimizing and adjusting the current and subsequent task links include but are not limited to the following:

[0291] (1) The nature of the tasks in the current and subsequent mission links, such as port entry and exit, narrow waterway navigation, open waterway navigation, ferrying, special operations, etc.

[0292] (2) The minimum allowable operating power / optimal operating power requirements for each load device in the current and subsequent task links.

[0293] (3) Timeliness requirements for current and subsequent task links.

[0294] The present invention provides guidance and application of system power supply redundancy to the mission of unmanned ships.

[0295] After completing the above-mentioned "system power supply redundancy" assessment and calculating the "system power supply redundancy" evaluation value, further calculate the following "system power supply redundancy" reference value for comparison and interpretation:

[0296] (1) Assumption: The current system constitutes a unified connection network, that is, there is only one active subnet in the system and the active subnet is the system itself; on this basis, it is further assumed that the maximum power that can be stably output for a long time by all power generation equipment in the system is its rated output power.

[0297] The evaluation value of "system power supply redundancy" under this assumption is defined as the "system power supply redundancy" evaluation reference value The calculation method is:

[0298]

[0299] Among them, ΔCAP ＜1＞ It is the difference between the total rated output power of all power generation equipment in the system and the total minimum allowable operating power of all load equipment:

[0300]

[0301] in, It represents the sum of the minimum allowable operating powers of all load-type devices under the specified task link Lc.

[0302] (2) Assumption: The current system constitutes a unified connection network, that is, there is only one active subnet in the system and the active subnet is the system itself; on this basis, it is further assumed that the output power of all power generation equipment in the system is equal to the sum of the rated operating power of all load equipment.

[0303] The evaluation value of "system power supply redundancy" under this assumption is defined as the "system power supply redundancy" evaluation reference value The calculation method is:

[0304]

[0305] Among them, ΔCAP ＜2＞ The difference between the total rated operating power of all load-type devices in the system and the total minimum allowable operating power:

[0306]

[0307] in, It represents the sum of the minimum allowable operating powers of all load-type devices under the specified task link Lc; Indicates load equipment E i Rated operating power.

[0308] (3) Assumption: The current system constitutes a unified connection network, that is, there is only one active subnet in the system and the active subnet is the system itself; on this basis, it is further assumed that the output power of all power generation equipment in the system is equal to the sum of the optimal operating power of all load equipment under the specified task link Lc.

[0309] The evaluation value of "system power supply redundancy" under this assumption is defined as the "system power supply redundancy" evaluation reference value The calculation method is:

[0310]

[0311] Among them, ΔCAP ＜3＞It is the difference between the total optimal operating power and the total minimum allowable operating power of all load-type devices in the system:

[0312]

[0313] in, It represents the sum of the minimum allowable operating powers of all load-type devices under the specified task link Lc.

[0314] (4) Assumption: The current system constitutes a unified connection network, that is, there is only one active subnet in the system and the active subnet is the system itself; on this basis, it is further assumed that the output power of all power generation equipment in the system is equal to the sum of the minimum allowable operating power of all load equipment under the specified task link Lc.

[0315] The evaluation value of "system power supply redundancy" under this assumption is defined as the "system power supply redundancy" evaluation reference value The calculation method is:

[0316]

[0317] Among them, ΔCAP ＜4＞ It is the difference between the total optimal operating power and the total minimum allowable operating power of all load-type devices in the system:

[0318]

[0319] in, It represents the sum of the minimum allowable operating powers of all load-type devices under the specified task link Lc.

[0320] Further calculation can be obtained:

[0321]

[0322] Calculate the evaluation value RD of "system power supply redundancy" under the specified task link Lc Lc :

[0323] (1) If This indicates that the system has the greatest connectivity, that is, the power generated by any power generation equipment can be transmitted to any load equipment, any first-level load equipment can obtain energy support from all power generation equipment, and all power generation equipment can achieve the maximum power generation, supply and distribution capacity. In the subsequent operation of the system, in order to ensure the integrity of the system function, the system has a strong ability to withstand the impact of the reduction in power generation, supply and distribution capacity caused by the further deterioration of the health status of the system equipment.

[0324] (2) If It indicates that the system has the greatest connectivity, that is, the power generated by any power generation equipment can be transmitted to any load equipment, any first-level load equipment can obtain energy support from all power generation equipment, and the system power generation capacity can at least meet the maximum power demand of all load equipment; or the system has power generation, supply and distribution capabilities equivalent to the above. In the subsequent operation process, in order to ensure the integrity of the system function, the system has a strong ability to withstand the impact of the reduction in power generation, supply and distribution capacity caused by the further deterioration of the health status of the system equipment.

[0325] (3) If It indicates that the system has the greatest connectivity, that is, the power generated by any power generation equipment can be transmitted to any load equipment, any first-level load equipment can obtain energy support from all power generation equipment, and the system power generation capacity can at least meet the requirements of all load equipment operating in the optimal functional state under the specified task link; or the system has power generation, supply and distribution capabilities equivalent to the above. In the subsequent operation process, in order to ensure the integrity of the system function, the system has a certain tolerance for the impact of the reduction in power generation, supply and distribution capacity caused by the further deterioration of the health status of the system equipment.

[0326] (4) If It indicates that the system has the greatest connectivity, that is, the power generated by any power generation equipment can be transmitted to any load equipment, any first-level load equipment can obtain energy support from all power generation equipment, and the system power generation capacity can at least meet the basic functional status of all load equipment under the specified task link; or the system has power generation, supply and distribution capabilities equivalent to the above. In the subsequent operation of the system, in order to ensure the integrity of the system function, the system is basically unable to withstand the impact of the reduction in power generation, supply and distribution capacity caused by the further deterioration of the health status of the system equipment.

[0327] Conduct real-time assessment of the "system power supply redundancy" under the specified task link; at the same time, conduct predictive assessment of the "system power supply redundancy" of each subsequent task link to be executed. Report the relevant results to the ship's integrated task management system, and combine the assessment results of the health status of the load equipment by the ship's health status assessment system. The ship's integrated task management system will make independent decisions or implement decisions through external decision-making platforms such as sea-based / shore-based, and optimize and adjust the current and subsequent task links as appropriate.

[0328] Among them, the factors that need to be considered comprehensively include but are not limited to the following:

[0329] (1) Real-time monitoring and predictive assessment results of the health status of each shipboard equipment.

[0330] (2) Real-time monitoring and forecast assessment results of the sea conditions in the sea areas involved in the current and subsequent missions.

[0331] (3) The execution time of the current and subsequent task links and the requirements for the operating intensity of each load device.

[0332] The elements for optimizing and adjusting the current and subsequent task links include but are not limited to the following:

[0333] (1) The nature of the tasks in the current and subsequent mission links, such as port entry and exit, narrow waterway navigation, open waterway navigation, ferrying, special operations, etc.

[0334] (2) The minimum allowable operating power / optimal operating power requirements for each load device in the current and subsequent task links.

[0335] (3) The execution time of the current and subsequent task links and the requirements for the operating intensity of each load device.

[0336] like Figure 2 As shown, the device for optimizing the capability of the unmanned ship intelligent cabin system provided by the present invention comprises:

[0337] A classification module: configured to classify each load-type device into three priorities based on the properties of the load-type devices carried by the unmanned ship; the unmanned ship is equipped with load-type devices and intelligent cabin system devices, and the intelligent cabin system devices include generator devices and power supply and distribution devices;

[0338] An adjacency matrix generation module: configured to construct an adjacency matrix representing the connection relationship between all load-type equipment and intelligent cabin system equipment carried by the unmanned ship based on the real-time monitoring data of the unmanned ship;

[0339] An active subnet generation module is configured to construct a real-time active subnet corresponding to a generator device including an independent subsystem that can be put into operation based on the adjacency matrix, wherein the active subnet is used to represent a link for a load device belonging to the active subnet to obtain electric energy from the independent subsystem corresponding to the active subnet;

[0340] Planning module: It is configured to determine the current functional completeness, efficiency and power supply redundancy of the unmanned ship based on the priorities corresponding to each active subnet and each load-type device, the electric energy that can be obtained by each load-type device of the unmanned ship, and the output power of each generator device, and plan the tasks to be performed by the unmanned ship.

[0341] The above specific embodiments only describe the design principle of the present invention. The shapes and names of the components in the description may be different and are not limited. Therefore, those skilled in the art in the field of the present invention may modify or replace the technical solutions recorded in the above embodiments; and these modifications and replacements do not deviate from the creative purpose and technical solutions of the present invention and should all fall within the protection scope of the present invention.

Claims

1. A method for optimizing the capacity of an unmanned ship intelligent engine room system, characterized in that: include: Step S1: Based on the attributes of the load-type equipment carried by the unmanned ship, each load-type equipment is divided into three priorities; the unmanned ship is equipped with load-type equipment and intelligent cabin system equipment, and the intelligent cabin system equipment includes generator equipment and power supply and distribution equipment; Step S2: constructing an adjacency matrix representing the connection relationship between all load-type equipment and intelligent cabin system equipment carried by the unmanned ship based on the real-time monitoring data of the unmanned ship; Step S3: Based on the adjacency matrix, a real-time active subnet corresponding to the generator device including an independent subsystem that can be put into operation is constructed, wherein the active subnet is used to represent a link for a load device belonging to the active subnet to obtain electric energy from the independent subsystem corresponding to the active subnet; Step S4: Based on the priorities corresponding to each active subnet and each load-type device, as well as the electric energy that can be obtained by each load-type device of the unmanned ship and the output power of each generator device, the current functional completeness, efficiency and power supply redundancy of the unmanned ship are determined, and the tasks to be performed by the unmanned ship are planned.

2. The method according to claim 1, characterized in that The step S2: constructing an adjacency matrix representing the connection relationship between all load-type equipment and intelligent cabin system equipment carried by the unmanned ship based on the real-time monitoring data of the unmanned ship, including: Step S21: acquiring real-time monitoring data of the unmanned ship, determining the real-time operating status of each device, and recording the device whose real-time operating status meets the preset requirements as being in normal use; Based on the electrical connection relationship between all load-type equipment of the unmanned ship and all unmanned ship intelligent cabin system equipment and the real-time operation status of each equipment, the first-order adjacency matrix Adj of the unmanned ship intelligent cabin system is established. (1) : Wherein, NE is the sum of the number of all load-type equipment and intelligent cabin system equipment carried on the unmanned ship, 1≤m≤NE, 1≤n≤NE, and Indicates that the real-time operating status of the device is in the usable state E m With device E n The direct connection relationship between them, that is, if device E m With device E n There is a direct connection relationship between them, and device E m 、Equipment E n are in usable condition, then otherwise, Step S22: Calculate the second-order adjacency matrix Adj of the unmanned ship intelligent engine room system (2) , let the current adjacency matrix order step be 2: Among them, && is the logical "AND" operator between matrices; Indicates that the real-time operating status of the device is in the usable state E m With device E n The connection relationship between matrices is formed by at most one device whose real-time operation status is in the usable state; the operation rules of the logical multiplication operation between matrices are: A m1,n1 =(B m1,1 &C 1,n1 )||(B m1,2 &C 2,n1 )||…||(B m1,k &C k,n1 )||…||(B m1,P &C P,n1 ) Among them, A m1,n1 is the element in the i1th row and j1th column of matrix A; B m1,1 , B m1,2 , B m1,k , B m1,P are the elements of the m1th row and 1st column, the m1th row and 2nd column, the m1th row and kth column, and the m1th row and Pth column of the matrix B respectively; C 1,n1 , C 2,n1 , C k,n1 , C P,n1 are the 1st row and n1th column, the 2nd row and n1th column, the kth row and n1th column, and the Pth row and n1th column of the matrix B respectively; 1≤m1,n1,k≤P; A, B, and C are logical matrices of M×N, M×P, and P×N dimensions respectively, and A=B&&C; & is the logical "AND" operator between logical variables, and || is the logical "OR" operator between logical variables; Step S23: If Adj (step) =Adj (step-1) , then set the highest order adjacency matrix Adj of the unmanned ship intelligent cabin system (Kc) Equal to Adj (step) , go to step S3; otherwise, assign step plus 1 to step and calculate Adj (step) =Adj (step -1) &&Adj (1) , proceed to step S23.

3. The method according to any one of claims 1 to 2, characterized in that: The step S3: based on the adjacency matrix, constructing a real-time active subnet corresponding to the generator device including an independent subsystem that can be put into operation, comprises: Step S31: The adjacency matrix Adj (Kc) All elements of the rows corresponding to non-generator equipment are set to 0, and the active subnetwork connection matrix Conc is obtained; Step S32: For each generator device in a usable state, the following operations are performed: Get the number of the generator equipment in the usable state, record it as NG, that is, the generator equipment is E NG ; Establish an active subnet corresponding to the generator device for the generator device, wherein the active subnet is represented in the form of a set, and at this time the set of the active subnet is an empty set; obtain the numbers of all load devices whose element values ​​are 1 in the NGth row of the active subnet connection matrix Conc and the numbers of the generator devices in the NGth row of the active subnet connection matrix Conc that are in a usable state, and include all the above numbers in the set of active subnets corresponding to the generator device; Step S33: perform deduplication operation on all active subnets, obtain the number of active subnets after deduplication, record it as NA; renumber the active subnets after deduplication, record the i-th active subnet set as Active i .

4. The method according to claim 3, characterized in that The calculation method of the current functional completeness includes: Step S41: Determine the total power generation capacity of each active subgrid: Among them, Cap Lc,i represents the total power generated by the ith active subnetwork under the task link Lc, Cap Lc,i It is equal to the sum of the available power generation of all generator devices in the set of active subnetworks; Indicates that under task link Lc, generator equipment E j The actual maximum output power of the generator equipment E is controlled by the health management module of the unmanned ship intelligent cabin system. j The operating status is determined and set in real time after real-time evaluation; Calculation parameters in, It represents the sum of the minimum allowed operating powers of all first-priority load devices in the ith active subnet under the specified task link Lc; It represents the sum of the minimum allowed operating powers of all load-type devices of the second priority in the i-th active subnet under the specified task link Lc; It represents the sum of the minimum allowable operating powers of all load-type devices of the third priority in the i-th active subnet under the specified task link Lc, For the load device E under the specified task link Lc j The minimum permissible operating power; Step S42: for each active subnet, determining the functional integrity of the active subnet, including: like It indicates that the power generation capacity of the active subnet can ensure that all load devices in the active subnet can achieve basic functions, and the functional integrity value of the active subnet is calibrated to 1; the basic function is the minimum function required for the load device to complete the specified task link Lc; like It indicates that the power generation capacity of the i-th active subnet can ensure that all the first-priority and second-priority load devices in the active subnet can achieve basic functions, but cannot ensure that all the third-priority load devices in the active subnet can achieve basic functions, and the functional integrity value of the active subnet is calibrated to 2; like It indicates that the power generation capacity of the i-th active subnet can ensure that all the first-priority load devices in the active subnet can achieve basic functions, but cannot ensure that all the second-priority load devices in the active subnet can achieve basic functions, and the functional integrity value of the active subnet is calibrated to 3; like This indicates that the power generation capacity of the i-th active subnet cannot guarantee that all the first-priority load devices in the active subnet can achieve basic functions, and the functional integrity value of the active subnet is calibrated to 4; Step S43: Determining the functional integrity of the unmanned ship based on the functional integrity of each active subnet, including: If the functional integrity values ​​of all active subnets are 1, and there is no load device in the intelligent cabin system that is not divided into any active subnet, the functional integrity value of the intelligent cabin system is 1; If there is no active subnet with a functional integrity value of 3 or 4, and there is at least an active subnet with a functional integrity value of 2, and there is no first-priority load type device or second-priority load type device that is not assigned to any active subnet in the intelligent cabin system, then the functional integrity value of the unmanned ship is 2; If there is no active subnet with a functional integrity value of 4, there is at least one active subnet with a functional integrity value of 3, and there is no first-priority load type device in the intelligent cabin system that is not assigned to any active subnet, then the functional integrity value of the unmanned ship is 3; If there is only an active subnet with a functional integrity value of 4, or there is a first priority load type device in the system that is not assigned to any active subnet, the functional integrity value of the unmanned ship is 4.

5. The method according to claim 4, characterized in that The calculation method of the efficacy degree includes: Step S4321: If the functional integrity value of the intelligent cabin system is 1, the following operations are performed for each load-type device in each active subnet: Assign to in, Indicates that under the specified task link Lc, the load type equipment E in the current active subnet j The actual received power; In order to meet the task requirements of the specified task link Lc, the load equipment E j The minimum permissible operating power; Step S4322: For each active subnet, perform the following operations: Step S43221: Calculate parameter ΔCap Lc,i , the calculation method is: Step S43222: Calculate parameter ΔCtem Lc,i , that is, ΔCap Lc,i Assign to ΔCtem Lc,i ; Step S43223: Calculate the parameters of each load device in the active subnet in, In order to meet the task requirements of the specified task link Lc, the load equipment E j Optimal operating power; Indicates that under the specified task link Lc, the load type equipment E j The difference between the optimal operating power and the actual received power; the optimal operating power refers to the operating power required for the load type equipment to complete the maximum function required by the specified task link Lc; Step S43224: sequentially use the first priority load class device, the second priority load class device, and the third priority load class device corresponding to the active subnet as the current priority load class device, and perform the following operations: Obtain current priority load class devices, and for each of the current priority load class devices, determine the difference between the optimal operating power and the actual received power; The obtained current priority load devices are sorted in descending order according to the difference between their respective optimal operating power and actual received power to form a load device sequence; for each device in the sorted load device sequence, the following operations are performed one by one in sequence: For the current load class device E in the device sequence j : like Then Assign to And will Reassign ΔCtem Lc,i ; like And device E j For a continuously adjustable power device, Reassign to like And device E j If it is a non-power continuously adjustable device, no operation will be performed; Step S4323: Calculate parameters in in, It is the minimum value of the optimal operating power of all first-priority load-type devices in the system under the specified task link Lc; and They are respectively the maximum and minimum values ​​of the optimal operating powers of all first-priority load-type devices in the system under the specified task link Lc; It is the minimum value of the optimal operating power of all the third priority load type devices in the system under the specified task link Lc; Indicates that in the task link Lc, the load type equipment E j Optimal operating power; Step S4324: Calculate weight satisfy Step S4325: Calculate the load equipment performance evaluation value Eff in the system under the specified task link Lc Lc : Indicates that under the specified task link Lc, the load type equipment E j The actual received power; In order to meet the task requirements of the specified task link Lc, the load equipment E j Optimal operating power.

6. The method according to claim 5, characterized in that The method for calculating power supply redundancy includes: Step S4331: Calculate the load type equipment E in each active subnet under the specified task link Lc j Power supply redundancy index Rd Ej,Lc : Among them, Rd Ej,Lc It represents the power supply redundancy power of the ith active subnet and the load type equipment E in the active subnet under the specified task link Lc. j The ratio of the minimum permissible operating power; Step S4332: Calculate the total minimum allowable operating power of all first-priority load devices, all second-priority load devices, and all third-priority load devices in the intelligent cabin system under the specified task link Lc in, is the sum of the minimum allowed operating powers of the first priority load type devices in the ith active subnet under the specified task link Lc; is the sum of the minimum allowed operating powers of the second priority load class devices in the i-th active subnet under the specified task link Lc; is the sum of the minimum allowed operating powers of the third priority load class devices in the ith active subnet under the specified task link Lc; Step S4333: Calculate the power supply redundancy index of the first set of first priority load type devices Calculate the power supply redundancy index of the second set of second priority load class devices Calculate the power supply redundancy index of the third set of third priority load class devices Rd Ej,Lc Indicates the redundant power supply of the i-th active subnet and the load type equipment E under the specified task link Lc j The ratio of the minimum permissible operating power; Indicates that in the current task link Lc, the load type equipment E j The minimum permissible operating power; Step S4334: Calculate parameters in, Indicates the minimum value of the minimum allowed operating power of each first-priority load type device under the specified task link Lc; They respectively represent the maximum and minimum values ​​of the minimum allowed operating power of each second priority load type device under the specified task link Lc; Indicates the maximum value of the minimum allowed operating power of each third-priority load type device under the specified task link Lc; Indicates that in the current task link Lc, the load type equipment E j The minimum permissible operating power; Step S4335: Calculation Calculating weights Calculate the power supply redundancy evaluation value RD of the intelligent cabin system under the specified task link Lc Lc :

7. The method according to claim 6, characterized in that The step S4, planning the tasks to be performed by the unmanned ship, includes: According to the obtained current functional completeness of the unmanned ship, the existing power generation, supply and distribution capacity of the intelligent engine room system of the unmanned ship is determined. Based on the existing power generation, supply and distribution capacity of the intelligent engine room system of the unmanned ship, the integrated task management system of the unmanned ship makes an independent decision or an external decision-making platform makes a decision to continue to execute the established task plan or to change and adjust and re-issue a new task plan; When the functional completeness value of the intelligent cabin system is 1, the current functional utilization degree of the unmanned ship is obtained; based on the current functional utilization degree of the unmanned ship, the operating status of the three priority load-type equipment in the unmanned ship in subsequent links is determined, and the operating status includes a basic functional status and an optimal functional status; based on the operating status of the three priority load-type equipment in the unmanned ship in subsequent links, the integrated task management system of the unmanned ship makes an autonomous decision or an external decision-making platform makes a decision to continue to execute the established task plan or to change and adjust and re-issue a new task plan; When the functional completeness value of the intelligent cabin system is 1, the current power supply redundancy of the unmanned ship is obtained; based on the current power supply redundancy of the unmanned ship, the power supply status of each generator equipment to the first priority load equipment in the unmanned ship is determined; based on the power supply status, the integrated task management system of the unmanned ship makes an autonomous decision or an external decision-making platform makes a decision to continue to execute the established task plan or to change and adjust and re-issue a new task plan.

8. A device for optimizing the capacity of an unmanned ship's intelligent engine room system, characterized in that: include: A classification module: configured to classify each load-type device into three priorities based on the properties of the load-type devices carried by the unmanned ship; the unmanned ship is equipped with load-type devices and intelligent cabin system devices, and the intelligent cabin system devices include generator devices and power supply and distribution devices; An adjacency matrix generation module: configured to construct an adjacency matrix representing the connection relationship between all load-type equipment and intelligent cabin system equipment carried by the unmanned ship based on the real-time monitoring data of the unmanned ship; An active subnet generation module is configured to construct a real-time active subnet corresponding to a generator device including an independent subsystem that can be put into operation based on the adjacency matrix, wherein the active subnet is used to represent a link for a load device belonging to the active subnet to obtain electric energy from the independent subsystem corresponding to the active subnet; Planning module: It is configured to determine the current functional completeness, efficiency and power supply redundancy of the unmanned ship based on the priorities corresponding to each active subnet and each load-type device, the electric energy that can be obtained by each load-type device of the unmanned ship, and the output power of each generator device, and plan the tasks to be performed by the unmanned ship.

9. A computer-readable storage medium, characterized in that: The storage medium stores a plurality of instructions; the plurality of instructions are used for a processor to load and execute the method as described in any one of claims 1 to 7.

10. An electronic device, characterized in that: The electronic device comprises: A processor, which is used to execute multiple instructions; A memory for storing a plurality of instructions; The plurality of instructions are used to be stored in the memory and loaded and executed by the processor according to any one of claims 1 to 7.

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