Redundant power supply method and system for hydrofoil ship

Abstract

The invention relates to a redundant power supply method and system for a hydrofoil ship, and relates to the technical field of ship power control. The stability and the fault tolerance of the hydrofoil ship power supply system are improved through redundant configuration of the main power supply and the standby power supply in combination with dynamic cooperative control of the navigation mode and the power supply state. A real-time control instruction is generated based on the main power supply state and the navigation attitude information, and floating navigation mode switching is triggered when the main power supply breaks down. Seamless switching of the main power supply and the standby power supply is realized through a diode parallel loop. And carrying out high-precision calculation on the hull attitude based on a sensor fusion algorithm. And a dynamic power distribution formula and a charging condition evaluation model are introduced, and the charging logic and energy distribution efficiency of the standby power supply are optimized. A kinetic energy recovery mechanism is supported, and braking energy is converted and stored in the super capacitor array. The problems that a traditional hydrofoil ship power supply system is insufficient in redundancy and lagged in fault response are solved, and the system reliability and the energy utilization rate are improved.

Description

Technical Field

[0001] The present invention belongs to the field of hydrofoil boats, and particularly relates to a redundant power supply method and system for hydrofoil boats. Background Art

[0002] With the development of hydrofoil boat technology, higher requirements are put forward for the reliability and stability of the power supply system. When a hydrofoil boat is sailing at high speed, it is necessary to precisely control the flaps and thrusters to maintain its hydrofoil sailing mode. Any failure of the power supply system may lead to the loss of control of the sailing attitude, thus triggering a safety accident. Traditional power supply systems usually adopt a single power source. Once the power source fails, it will directly affect the normal operation of the hydrofoil boat.

[0003] In order to improve the reliability of the power supply system, redundant power supply technology has gradually been applied to the field of hydrofoil boats. The redundant power supply system ensures that when the main power source fails, the backup power source can quickly take over the power supply task by setting the main power source and the backup power source, thus guaranteeing the sailing safety of the hydrofoil boat. However, there are still deficiencies in the existing redundant power supply systems in aspects such as power source switching, power distribution, and backup power source management. For example, there are stability problems during the power source switching process, and the charging condition judgment of the backup power source is not accurate enough.

[0004] Therefore, it is necessary to develop a more reliable redundant power supply method and system to solve the deficiencies in the existing technology and improve the power supply stability and safety of hydrofoil boats under various working conditions. Summary of the Invention

[0005] Based on this, in view of the above technical problems, it is necessary to provide a redundant power supply method and system for a hydrofoil boat that can automatically and seamlessly switch to the backup power source after the main power source fails.

[0006] In a first aspect, the present application provides a redundant power supply method for a hydrofoil boat, which is characterized in that it is applied to a low-voltage control system. The low-voltage control system is connected to the main power source and the backup power source through low-voltage wires, and is connected to the flap control motor drive and the thruster drive through signal wires. The main power source and the backup power source are connected in parallel through a diode to form a redundant power supply circuit, where: when the main power source is working normally, the diode is in a forward-biased state, forming a one-way conduction path of the main power source - diode; when the main power source fails, the diode is in a reverse cut-off state, forming a one-way conduction path of the backup power source - diode; the method includes:

[0007] Obtain the state information of the hydrofoil boat, where the state information of the hydrofoil boat includes sailing mode information and sailing attitude information;

[0008] When the hydrofoil boat is in the hydrofoil sailing mode, obtain the main power source information and perform the following operations according to the main power source information:

[0009] When the main power supply is working properly, wing navigation cruise instructions are generated in real time according to the navigation attitude information and sent to the flap control drive and the thruster drive. The wing navigation cruise instructions are used to instruct the flap control drive and the thruster drive to regulate the hydrofoil flap and the thruster to maintain the stability of the hydrofoil boat;

[0010] When the main power supply fails, switching to floating navigation instructions are generated according to the navigation attitude information and sent to the flap control drive and the thruster drive. The switching to floating navigation instructions are used to instruct the flap control drive and the thruster drive to adjust the hydrofoil and flap angles and the thruster power in real time until the hydrofoil boat switches to the floating navigation mode.

[0011] In one embodiment, the backup power supply includes a low-voltage battery and a charging switch. The backup power supply is connected to the flap control drive and the low-voltage control system through low-voltage wires;

[0012] The main power supply includes a generator, a high-voltage power battery, and a DCDC converter. The generator and the high-voltage power battery form a redundant configuration. The output terminals of the generator and the high-voltage power battery are respectively connected to the thruster drive and the DCDC converter. After being stepped down by the DCDC converter, they are respectively connected to the pressure control system and the flap control motor drive through low-voltage wires;

[0013] The low-voltage control system includes a controller, a sensor assembly, a throttle control unit, and a steering control unit.

[0014] In one embodiment, the method further includes, when the hydrofoil boat is in the floating navigation mode, obtaining the backup power supply information and performing the following operations according to the backup power supply information:

[0015] When the backup power supply meets the takeoff conditions, a flap activation instruction is generated and sent to the flap control drive. The control activation instruction is used to instruct the flap control drive to allow the adjustment of the hydrofoil flap;

[0016] When the backup power supply does not meet the takeoff conditions, a flap locking instruction is generated and sent to the flap control drive. The control locking instruction is used to instruct the flap control drive to lock the hydrofoil flap; Detect whether the backup power supply meets the charging conditions and generate corresponding instructions according to the detection results:

[0017] If the backup power supply meets the charging conditions, a closing instruction is generated and sent to the charging switch. The charging instruction is used to instruct the charging switch to close the charging circuit;

[0018] If the backup power supply does not meet the charging conditions, an opening instruction is generated and sent to the charging switch. The opening instruction is used to instruct the charging switch to keep the charging circuit open.

[0019] In one embodiment, to detect whether the backup power supply meets the charging conditions, it is judged by calculating with the following formula:

[0020]

[0021] When E min ≤ E 评 (t) < E max , the backup power supply meets the charging condition;

[0022] When E max ≤ E 评 (t) or E 评 (t) < E min , the backup power supply does not meet the charging condition;

[0023] Among them, E 评 (t) represents the charging evaluation value of the backup power supply, E0 represents the initial power of the backup power supply, k3 and k4 represent the power attenuation coefficients, I(t) represents the current, c i and T i (t) represent the temperature-related coefficients, A(t) and B(t) are non-linear functions, E min represents the minimum charging evaluation value of the backup power supply that meets the charging condition, E max represents the maximum charging evaluation value of the backup power supply that meets the charging condition.

[0024] In one of the embodiments, the sensor assembly of the low-voltage control system includes an IMU sensor for detecting the hull attitude. The low-voltage control system processes the IMU sensing data through the following formula:

[0025] Calculate the current state vector x k|k-1 :

[0026]

[0027] Among them, q k-1|k-1 represents the quaternion updated at the previous moment, used to describe the hull attitude, b a，k-1|k-1 represents the accelerometer bias updated at the previous moment, b g，k-1|k-1 represents the gyroscope bias updated at the previous moment, Q(q k-1|k-1 ) represents the quaternion multiplication matrix, ω k represents the gyroscope measurement value at the current moment, and Δt represents the sampling time interval;

[0028] Calculate the current state covariance matrix P k|k-1 :

[0029] P k|k-1 = FP k-1|k-1 F T + Q

[0030] Among them, F represents the state transition matrix, and Q represents the process noise covariance matrix;

[0031] Calculate the observation residual y using the following formula k :

[0032]

[0033] where f k represents the current accelerometer measurement value, m k represents the current magnetometer measurement value, R(q k|k-1 ) represents the rotation matrix defined by the quaternion, g = [0, 0, 1] T , represents the gravity vector, m ref represents the reference magnetic vector;

[0034] Calculate the observation covariance matrix S using the following formula k :

[0035] S k = HP k|k-1 H T + R

[0036] where H represents the observation matrix, P k|k-1 represents the current state covariance matrix, and R represents the observation noise covariance matrix;

[0037] Calculate the Kalman gain K using the following formula k :

[0038]

[0039] where P k|k-1 represents the current state covariance matrix, H represents the observation matrix, and S k represents the observation covariance matrix;

[0040] Calculate the state update equation x k|k :

[0041] x k|k = x k|k-1 + K k y k

[0042] where K k represents the Kalman gain, and y k represents the observation residual;

[0043] Calculate the covariance update equation P k|k :

[0044] P k|k = (1 - K k H)P k|k-1

[0045] where K kK represents the Kalman gain, and H represents the observation matrix.

[0046] In one embodiment, the circuits of the main power supply and the backup power supply are independently arranged;

[0047] When the high-voltage power battery shuts off the output or the generator is not working, the main power supply and the backup power supply supply power to the low-voltage system according to the following formula:

[0048]

[0049] where, P 主 (t) represents the power distributed by the main power supply, P 备 (t) represents the power distributed by the backup power supply, P 总 (t) represents the total power, E 主 (t) represents the power quantity of the main power supply, E 备 (t) represents the power quantity of the backup power supply, E 主max represents the maximum power quantity of the main power supply, E 备max represents the maximum power quantity of the backup power supply, k5 and k6 represent power distribution coefficients, and T represents the cycle parameter.

[0050] In one embodiment, the main power supply information is obtained by using the following formula:

[0051]

[0052] When I 小 ≤I(t)<I 大 , the main power supply works normally;

[0053] When I 大 ≤I(t) or I(t)<I 小 , the main power supply fails;

[0054] where, I(t) represents the current, V(t) represents the voltage, R(t) represents the dynamic resistance, ΔV(t) represents the voltage fluctuation, V0 represents the reference voltage, φ represents the time decay coefficient, Q k (t) and L k (t) represent the harmonic related parameters, τ represents the cycle parameter, and k represents the frequency component of the kth harmonic.

[0055] In one embodiment, it further includes kinetic energy recovery:

[0056] When the hydrofoil boat is in the hydrofoil lifting or braking state, the braking energy is recovered by the permanent magnet synchronous motor and stored in the supercapacitor array. The energy recovery meets the conversion efficiency of the mechanical energy of the hydrofoil boat to electrical energy ≥ 85%, and the recovered energy is preferentially used to compensate for the sudden load increase of the propulsion motor.

[0057] In a second aspect, the present application also provides a redundant power supply system for a hydrofoil boat, characterized in that the system includes:

[0058] A status information acquisition module for acquiring the status information of the hydrofoil boat, where the status information of the hydrofoil boat includes navigation mode information and navigation attitude information;

[0059] A power supply information acquisition module for acquiring the main power supply information;

[0060] A power supply switching module, where the main power supply and the standby power supply are connected in parallel through a diode to form a redundant power supply circuit, forming a power supply switching module. When the main power supply is working normally, the diode is in the forward bias state, forming a one-way conduction path of the main power supply - diode; when the main power supply fails, the diode is in the reverse cut-off state, forming a one-way conduction path of the standby power supply - diode;

[0061] An instruction generation module for, when the hydrofoil boat is in the hydrofoil navigation mode, acquiring the main power supply information and performing corresponding operations according to the main power supply information:

[0062] When the main power supply is working normally, generating a hydrofoil navigation cruise instruction in real time according to the navigation attitude information and sending it to the flap control drive and the thruster drive. The hydrofoil navigation cruise instruction is used to instruct the flap control drive and the thruster drive to regulate the hydrofoil flap and the thruster to maintain the hydrofoil navigation mode of the hydrofoil boat;

[0063] When the main power supply fails, generating a switching to displacement navigation instruction and sending it to the flap control drive and the thruster drive. The switching to displacement navigation instruction is used to instruct the flap control drive and the thruster drive to adjust the angles of the hydrofoils and the flaps and the thruster power in real time until the hydrofoil boat switches to the displacement navigation mode.

[0064] In a third aspect, the present application also provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the above-mentioned redundant power supply method for a hydrofoil boat are implemented.

[0065] In the above-mentioned redundant power supply method for a hydrofoil boat, by setting a redundant power supply system including a main power supply and a standby power supply, generating a hydrofoil navigation cruise instruction according to the navigation attitude information of the hydrofoil boat to maintain the hydrofoil navigation mode when the main power supply is working normally, and generating a switching to displacement navigation instruction to ensure a safe switch to the displacement navigation mode when the main power supply fails, it is possible to ensure the stable operation of the hydrofoil boat when the main power supply fails, and improve the reliability and safety of the power supply system of the hydrofoil boat. Description of the Drawings

[0066] To more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the accompanying drawings required for the description of the embodiments or related technologies. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0067] Figure 1 It is a flowchart of the redundant power supply method for the hydrofoil boat of the present invention;

[0068] Figure 2 It is a schematic structural diagram of the redundant power supply system for the hydrofoil boat of the present invention. Specific embodiments

[0069] In order to make the objectives, technical solutions and advantages of the present application more clear, the following further details the present application in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0070] The implementation environment of the present invention is the application of a hydrofoil boat to a low-voltage control system. The low-voltage control system is connected to the main power supply and the backup power supply through low-voltage wires, and is connected to the flap control motor drive and the thruster drive through signal wires. The main power supply and the backup power supply are connected in parallel through diodes to form a redundant power supply circuit, where: when the main power supply is working normally, the diode is in a forward-biased state, forming a one-way conduction path of the main power supply - diode; when the main power supply fails, the diode is in a reverse cut-off state, forming a one-way conduction path of the backup power supply - diode. When the hydrofoil boat is in the hydrofoil or floating mode, by obtaining the state information and power supply information of the hydrofoil boat, the switching and power distribution between the main power supply and the backup power supply are realized, and commands are transmitted and power supply switching is carried out between hardware through signal wires and low-voltage wires to ensure the stable navigation of the hydrofoil boat.

[0071] In one embodiment, as Figure 1 shown, a redundant power supply method for a hydrofoil boat is provided. In this embodiment, this method is exemplified by being applied to a hydrofoil boat. In this embodiment, the method includes the following steps:

[0072] S101, obtain the state information of the hydrofoil boat, where the state information of the hydrofoil boat includes navigation mode information and navigation attitude information.

[0073] Among them, obtaining the state information of the hydrofoil boat can be through sensors, such as an inertial measurement unit and a global navigation satellite system, to obtain navigation mode information such as the hydrofoil mode or floating mode, and navigation attitude information such as roll angle, pitch angle, and heading angle information.

[0074] S102. When the hydrofoil boat is in the hydrofoil navigation mode, obtain the main power supply information and perform the following operations according to the main power supply information.

[0075] Among them, when it is detected by the sensor that the hydrofoil boat is sailing in the hydrofoil navigation mode, obtain the main power supply information. The main power supply information can be obtained by current detection, and corresponding next-step operations are performed according to the detected data.

[0076] S103. When the main power supply is working normally, generate a hydrofoil cruise command in real time according to the navigation attitude information and send it to the flap control drive and the thruster drive. The hydrofoil cruise command is used to instruct the flap control drive and the thruster drive to adjust the hydrofoil flaps and the thrusters to maintain the hydrofoil navigation mode of the hydrofoil boat.

[0077] Among them, when it is detected that the main power supply is working normally, according to the navigation attitude information, such as the heading angle, roll angle and pitch angle information, generate a hydrofoil cruise command in real time and send it to the flap control drive and the thruster drive. This command is used to instruct the flap control drive and the thruster drive to adjust the angle of the hydrofoil flaps and the operating power of the thrusters according to the actual navigation attitude to maintain the stable navigation of the hydrofoil boat.

[0078] S104. When a fault occurs in the main power supply, generate a switching-to-displacement-navigation command according to the navigation attitude information and send it to the flap control drive and the thruster drive. The switching-to-displacement-navigation command is used to instruct the flap control drive and the thruster drive to adjust the angles of the hydrofoils and flaps and the thruster power in real time until the hydrofoil boat switches to the displacement navigation mode.

[0079] Among them, when it is detected that a fault occurs in the main power supply, generate a switching-to-displacement-navigation command according to the navigation attitude information and send it to the flap control drive and the thruster drive. This command is used to instruct the flap control drive and the thruster drive to adjust the angles of the hydrofoils and flaps and the thruster power in real time. A linear decreasing or low-curvature decreasing function can be used for adjustment to keep the hull attitude stable until the hydrofoil boat switches to the displacement navigation mode.

[0080] The above redundant power supply method for a hydrofoil boat, by setting up a redundant power supply system including a main power supply and a backup power supply, automatically switches to the backup power supply when the main power supply fails, and at the same time generates corresponding control commands according to the navigation attitude information of the hydrofoil boat to maintain the normal navigation mode of the hydrofoil boat or switch to the safe mode. This technical solution solves the problems of out-of-control navigation attitude and potential safety hazards that may occur in the traditional power supply system of hydrofoil boats when the main power supply fails, improves the reliability and safety of the power supply system of hydrofoil boats, and ensures the stable operation of hydrofoil boats under various working conditions.

[0081] In one embodiment, the backup power supply includes a low-voltage storage battery and a charging switch. The backup power supply is connected to the flap control drive and the low-voltage control system through low-voltage wires;

[0082] The main power supply includes a generator, a high-voltage power battery, and a DCDC converter. The generator and the high-voltage power battery form a redundant configuration. The output terminals of the generator and the high-voltage power battery are respectively connected to the thruster drive and the DCDC converter. After being stepped down by the DCDC converter, it is respectively connected to the pressure control system and the flap control motor drive through low-voltage wires;

[0083] The low-voltage control system includes a controller, a sensor assembly, a throttle control unit, and a steering control unit. It is connected to the main power supply and the backup power supply through low-voltage wires, and is connected to the flap control motor drive and the thruster drive through signal wires;

[0084] The main power supply and the backup power supply are connected in parallel through a diode to form a redundant power supply circuit, forming a power supply switching module, where: when the main power supply is working normally, the diode is in the forward bias state, forming a one-way conduction path of the main power supply - diode; when the main power supply fails, the diode is in the reverse cut-off state, forming a one-way conduction path of the backup power supply - diode;

[0085] Specifically, the backup power supply includes a low-voltage battery and a charging switch. The low-voltage battery is used as the energy storage unit of the backup power supply. The charging switch controls the charging of the low-voltage battery, is connected in the charging circuit, and opens and closes the charging circuit by receiving corresponding instructions. The main power supply includes a generator, such as a marine diesel generator with a 400V DC output, a high-voltage power battery, such as a high-energy density battery pack with a 300 - 800VDC output, and a DCDC converter (a DC converter, a device that converts a DC power supply of a certain voltage level into a DC power supply of other voltage levels), which can adopt a dual-phase buck topology to convert high-voltage DC into 24V low-voltage DC. The generator and the high-voltage battery form input redundancy. When any power supply method fails, the DCDC can still continue to work. The high-voltage DC of the generator and the high-voltage battery can be directly output to drive the thruster, or after being stepped down by the DCDC, it can be supplied to the low-voltage control system and the flap control drive respectively through independent low-voltage lines.

[0086] The low-voltage control system includes a controller, such as an embedded industrial control unit, a sensor assembly, such as an IMU (Inertial Measurement Unit) attitude sensor, a GPS (Global Positioning System) module, a water pressure sensor array, a throttle control unit, such as an electronic throttle controller with a CAN (Controller Area Network) bus interface, and a steering control unit, such as a steering controller integrated with a servo drive circuit. The sensor assembly can collect navigation attitude data in real time, such as roll angle, pitch angle, and speed data. The controller can control the flap motor actuator through PWM (Pulse Width Modulation) signals and use dual CAN buses to transmit control instructions and device status information respectively. At the same time, it is also connected to the main power supply and the backup power supply through low-voltage wires.

[0087] The main power supply and the backup power supply construct a redundant power supply loop in parallel with the help of diodes to form a power supply switching module, which is specifically manifested as follows: when the main power supply is in a normal working state, the diodes are forward-biased, and the current flows along the one-way conduction path of the main power supply - diodes; once the main power supply fails, the diodes turn into a reverse cut-off state, and the current is supplied by the one-way conduction path of the backup power supply - diodes, thus ensuring that the system can still operate continuously and stably in the case of the failure of the main power supply.

[0088] In one of the embodiments, the method further includes S201. When the hydrofoil boat is in the floating navigation mode, obtain the backup power supply information and perform the following operations according to the backup power supply information:

[0089] S202. When the backup power supply meets the takeoff condition, generate a flap activation instruction and send it to the flap control drive. The control activation instruction is used to indicate that the flap control drive is allowed to adjust the hydrofoil flap;

[0090] S203. When the backup power supply does not meet the takeoff condition, generate a flap locking instruction and send it to the flap control drive. The control locking instruction is used to indicate that the flap control drive locks the hydrofoil flap; detect whether the backup power supply meets the charging condition and generate corresponding instructions according to the detection result:

[0091] S204. If the backup power supply meets the charging condition, generate a closing instruction and send it to the charging switch. The charging instruction is used to indicate that the charging switch closes the charging circuit;

[0092] S205. If the backup power supply does not meet the charging condition, generate a disconnection instruction and send it to the charging switch. The disconnection instruction is used to indicate that the charging switch keeps the charging circuit disconnected.

[0093] Exemplarily, when the hydrofoil boat is in the planing mode, obtain the standby power supply information, which can be information such as power quantity, temperature, current, etc., and perform corresponding operations. When the takeoff conditions are met, such as sufficient power and normal temperature, generate a flap activation command to allow the flap control drive to adjust the hydrofoil flap angle to prepare for re-entering the foil-borne mode. When the takeoff conditions are not met, such as insufficient power or too high temperature, generate a flap locking command to forcibly lock the flap to avoid attitude out-of-control caused by insufficient power. At the same time, detect whether the charging conditions are met, which can be evaluated based on the power attenuation, temperature, and current status of the standby power supply. When the charging conditions are met, such as the evaluation value is within the safe range, send a closing command to the charging switch to close the circuit and charge the standby power supply. When the charging conditions are not met, such as the evaluation value exceeds the limit or the temperature is abnormal, send a disconnection command to keep the charging circuit disconnected to prevent overcharging or battery damage.

[0094] In one embodiment, S301, detect whether the standby power supply meets the charging conditions, and judge by calculating through the following formula:

[0095]

[0096] S302, when E min ≤E 评 (t)<E max , the standby power supply meets the charging conditions;

[0097] S303, when E max ≤E 评 or E 评 (t)<E min , the standby power supply does not meet the charging conditions;

[0098] Wherein, E 评 (t) represents the charging evaluation value of the standby power supply, E0 represents the initial power of the standby power supply, k3 and k4 represent the power attenuation coefficients, I(t) represents the current, c i and T i (t) represent the temperature-related coefficients, A(t) and B(t) are non-linear functions, E min represents the minimum charging evaluation value of the standby power supply that meets the charging conditions, and E max represents the maximum charging evaluation value of the standby power supply that meets the charging conditions.

[0099] Exemplarily, the charging evaluation value of the standby power supply comprehensively considers the initial power of the standby power supply, the power attenuation coefficients, the non-linear functions of the current and the temperature-related coefficients. When the charging evaluation value of the standby power supply is within the range that meets the charging conditions, the charging conditions are met, otherwise the charging conditions are not met. Through calculation, it can accurately judge whether the standby power supply meets the charging conditions, ensure that the standby power supply is charged under appropriate conditions, and improve the charging efficiency and safety.

[0100] In one of the embodiments, the sensor assembly of the low-voltage control system includes an IMU sensor for detecting the hull attitude, and the low-voltage control system processes the IMU sensing data through the following formula:

[0101] S401, calculate the current state vector x using the following formula k|k-1 :

[0102]

[0103] where q k-1|k-1 represents the quaternion updated at the previous moment and is used to describe the hull attitude, b a，k-1|k-1 represents the accelerometer bias updated at the previous moment, b g，k-1|k-1 represents the gyroscope bias updated at the previous moment, Q(q k-1|k-1 ) represents the quaternion multiplication matrix, ω k represents the gyroscope measurement value at the current moment, and Δt represents the sampling time interval;

[0104] S402, calculate the current state covariance matrix P using the following formula k|k-1 :

[0105] P k|k-1 = FP k-1|k-1 F T + Q

[0106] where F represents the state transition matrix and Q represents the process noise covariance matrix;

[0107] S403, calculate the observation residual y using the following formula k :

[0108]

[0109] where f k represents the current accelerometer measurement value, m k represents the current magnetometer measurement value, R(q k|k-1 ) represents the rotation matrix defined by the quaternion, g = [0, 0, 1] T , represents the gravity vector, m ref represents the reference magnetic vector;

[0110] S404, calculate the observation covariance matrix S using the following formula k :

[0111] S k = HP k|k-1 H T + R

[0112] where H represents the observation matrix, Pk|k-1 P represents the current state covariance matrix, and R represents the observation noise covariance matrix;

[0113] S405, calculate the Kalman gain K using the following formula k :

[0114]

[0115] where P k|k-1 represents the current state covariance matrix, H represents the observation matrix, and S k represents the observation covariance matrix;

[0116] S406, calculate the state update equation x using the following formula k|k :

[0117] x k|k = x k|k-1 + K k y k

[0118] where K k represents the Kalman gain, and y k represents the observation residual;

[0119] S407, calculate the covariance update equation P using the following formula k|k :

[0120] P k|k = (1 - K k H)P k|k-1

[0121] where K k represents the Kalman gain, and H represents the observation matrix.

[0122] Specifically, the steps for the low-pressure control system to process IMU sensing data are as follows: calculate the current state vector, predict the hull attitude at the current moment, providing a basis for subsequent calculations. Calculate the current state covariance matrix to estimate the uncertainty of the state vector. Calculate the observation residual to calculate the difference between the actual measurement value and the predicted value. Calculate the observation covariance matrix to estimate the uncertainty of the observation residual. Calculate the Kalman gain to determine how much weight should be given to the observation data in the state update. Calculate the state update equation to correct the current state quantity to make it closer to the actual measurement value. Calculate the covariance update equation to update the state covariance matrix, reflecting the reduction in the uncertainty of the state estimate, enabling the low-pressure control system to accurately estimate and correct the hull attitude in real time to ensure the stable navigation of the hydrofoil boat.

[0123] In one embodiment, the lines of the main power supply and the backup power supply are independently arranged;

[0124] S501. When the high-voltage power battery shuts off the output or the generator is not working, the main power supply and the backup power supply supply power to the low-voltage system according to the following formula:

[0125]

[0126] Among them, P 主 (t) represents the power distributed by the main power supply, P 备 (t) represents the power distributed by the backup power supply, P 总 (t) represents the total power, E 主 (t) represents the power quantity of the main power supply, E 备 (t) represents the power quantity of the backup power supply, E 主max represents the maximum power quantity of the main power supply, E 备max represents the maximum power quantity of the backup power supply, k5 and k6 represent power distribution coefficients, and T represents the cycle parameter.

[0127] Specifically, when the main power supply cannot supply power normally, by distributing the power supply of the main power supply and the backup power supply, it can ensure that the hydrofoil boat can sail stably. This formula takes into account the current power quantity, maximum power supply capacity and total power demand of each power supply, and realizes dynamic power distribution under different working conditions.

[0128] In one embodiment, S601. Obtain the main power supply information by using the following formula:

[0129]

[0130] S602. When I 小 ≤I(t)<I 大 , the main power supply works normally;

[0131] S603. When I 大 ≤I(t) or I(t)<I 小 , the main power supply fails;

[0132] Among them, I(t) represents the current, V(t) represents the voltage, R9t) represents the dynamic resistance, ΔV(t) represents the voltage fluctuation, V0 represents the reference voltage, φ represents the time decay coefficient, Q k (t) and L k *t) represent harmonic-related parameters, τ represents the cycle parameter, and k represents the frequency component of the kth harmonic.

[0133] Exemplarily, by calculating the status value of the main power supply, this formula can effectively monitor and diagnose the health status of the main power supply, judge whether the main power supply is normal or fails, and ensure the stable operation of the power supply system of the hydrofoil boat.

[0134] In one embodiment, it also includes kinetic energy recovery:

[0135] S701, when the hydrofoil boat is in the hydrofoil lifting or braking state, the braking energy is recovered through a permanent magnet synchronous motor and stored in the supercapacitor array. The energy recovery meets the conversion efficiency of mechanical energy to electrical energy of the hydrofoil boat ≥ 85%, and the recovered energy is preferentially used to compensate for the sudden increase in load of the propulsion motor.

[0136] Exemplarily, when the hydrofoil boat is in the hydrofoil lifting or braking state, the kinetic energy recovery system is activated. These states are usually accompanied by changes in the hull speed, generating braking energy that can be recovered. The mechanical energy generated during braking is converted into electrical energy through a permanent magnet synchronous motor. The conversion efficiency of this process is not less than 85%, ensuring that most of the energy can be effectively recovered. The recovered electrical energy is stored in the supercapacitor array. Supercapacitors have a high power density and fast charge and discharge capabilities, making them suitable for this energy recovery system that requires rapid response. The recovered energy is preferentially used to compensate for the power demand of the propulsion motor when there is a sudden increase in load. This means that when the propulsion motor requires additional power, the recovered energy can quickly provide support, reducing the dependence on the main power supply. By recovering braking energy, energy waste is reduced, and the energy utilization efficiency of the entire system is improved. The recovered energy can be used to compensate for the sudden increase in load of the propulsion motor, reducing performance fluctuations caused by sudden load changes. The burden on the main power supply under high load conditions is reduced, which can extend the service life of the main power supply. By recovering and reusing energy, the impact on the environment is reduced.

[0137] To further illustrate the solution of the embodiment of the present application, a specific example is given below for explanation.

[0138] A certain type of hydrofoil boat applies the redundant power supply method of this hydrofoil boat. This hydrofoil boat includes a main power supply composed of a generator and a high-voltage power battery, a backup power supply composed of a low-voltage battery, a diode, and a charging control switch, a propulsion system composed of a thruster drive and a propulsion motor, a rudder surface system composed of a flap control drive and a flap control motor, and a low-voltage control system for controlling the main power supply, backup power supply, thruster drive, and flap drive of the hydrofoil boat.

[0139] The output DC bus of the generator and the high-voltage power battery is connected to the main power supply DCDC converter. The high voltage on the bus is stepped down by DCDC to supply power to the low-voltage system. The low-voltage control system includes devices such as a controller, sensors, a low-voltage power supply circuit, a throttle, and a steering wheel. The sensors mainly include an IMU for detecting the hull attitude and an ultrasonic sensor for detecting the height of the hull from the water surface. The flap control motor is used to drive the hydrofoil flap to make the hydrofoil boat move in the desired attitude.

[0140] When the hydrofoil boat is in the wing-borne mode, the main power supply supplies power to the low-voltage system through DCDC. At this time, the output power of the main power supply can fully provide the power for flap drive and low-voltage control system in the wing-borne state, and the backup power supply does not discharge externally.

[0141] The controller controls the hydrofoil flap angle and the thruster speed according to the steering wheel and throttle signals and the detection data of the sensors to maintain the stable navigation of the hull. The controller detects that the current of the low-voltage system is completely provided by the main power supply through DCDC via the current sensor.

[0142] When a fault occurs in the main power supply, the power supply of the main power supply is disconnected. The diode circuit of the standby power supply conducts instantaneously after the output of the main power supply is disconnected, and seamlessly switches to the standby power supply for power supply. At this time, the controller detects through the current sensor that the power consumption of the low-voltage control system is completely provided by the standby power supply. By controlling the thruster, the speed is slowly reduced, and the flap is controlled to keep the hull landing smoothly. In the non-wing navigation (floating navigation) state, the power information of the low-voltage battery is obtained. When the battery power is lower than the takeoff threshold or the battery is in a protected state, the takeoff function of the hydrofoil boat is locked. At this time, if the standby power supply meets the charging conditions, the charging switch is turned on, and the main power supply charges the standby power supply through DCDC until the standby power supply reaches the takeoff conditions.

[0143] The main power supply and the standby power supply can be independently wired to avoid the situation where both power supplies cannot be used due to a single line fault. The standby power supply can also provide electrical energy for the low-voltage system when the high-voltage power battery shuts off the output or the generator is not working.

[0144] Specifically, the power of the hydrofoil boat consists of a main power supply (generator and high-voltage power battery) and a standby power supply (low-voltage battery, diode, and charging control switch), which supply power to the low-voltage system through a DCDC converter and a diode circuit respectively. In the wing navigation mode, the main power supply undertakes all power supply tasks, and the standby power supply is in a standby state. When a fault occurs in the main power supply, it can be quickly switched to the standby power supply through the characteristics of the diode to ensure the power consumption of the low-voltage control system. At the same time, the controller will adjust the thruster and the flap to make the hull land smoothly. By adopting the above method, during the process of switching from the main power supply to the standby power supply after a main power supply fault, the hydrofoil boat will not cause the hull attitude to get out of control due to power failure. At the same time, after the main power supply fails, the controller can identify and judge the abnormality through current detection and perform an emergency landing to avoid the wing navigation risk caused by insufficient power supply subsequently.

[0145] In the floating navigation state, monitor the power of the standby power supply and charge it through the main power supply when necessary to meet the takeoff conditions. The main power supply and the standby power supply adopt an independent circuit design to reduce the impact of a single line fault on the entire system. The standby power supply also has the ability to independently supply power to the low-voltage system when the high-voltage power battery is turned off or the generator stops, improving the reliability and safety of the power system of the hydrofoil boat.

[0146] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown according to the indications of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, there is no strict order limit for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0147] Based on the same inventive concept, an embodiment of the present application also provides a hydrofoil ship redundant power supply system for implementing the above-mentioned one. The implementation solution provided by this system to solve the problem is similar to the implementation solution described in the above method. Therefore, the specific limitations in one or more embodiments of the hydrofoil ship redundant power supply system provided below can refer to the limitations on the hydrofoil ship redundant power supply method in the above text, and will not be repeated here.

[0148] In an exemplary embodiment, as Figure 2 shown, a hydrofoil ship redundant power supply system is provided, including:

[0149] A status information acquisition module 11, configured to acquire hydrofoil ship status information, where the hydrofoil ship status information includes navigation mode information and navigation attitude information;

[0150] A power supply information acquisition module 12, configured to acquire main power supply information;

[0151] A power supply switching module 13, where the main power supply and the standby power supply are connected in parallel through a diode to form a redundant power supply circuit, forming a power supply switching module. When the main power supply is working normally, the diode is in a forward-biased state, forming a one-way conduction path of the main power supply - diode; when the main power supply fails, the diode is in a reverse cut-off state, forming a one-way conduction path of the standby power supply - diode;

[0152] An instruction generation module 14, configured to, when the hydrofoil ship is in the hydrofoil navigation mode, acquire the main power supply information and perform corresponding operations according to the main power supply information:

[0153] When the main power supply is working normally, generate a hydrofoil navigation cruise instruction in real time according to the navigation attitude information and send it to the flap control drive and the thruster drive. The hydrofoil navigation cruise instruction is used to instruct the flap control drive and the thruster drive to regulate the hydrofoil flaps and the thrusters to maintain the hydrofoil navigation mode of the hydrofoil ship;

[0154] When a main power failure occurs, a switching to hydrofoil navigation instruction is generated based on the navigation attitude information and sent to the flap control drive and the thruster drive. The switching to hydrofoil navigation instruction is used to instruct the flap control drive and the thruster drive to adjust the hydrofoil and flap angles and the thruster power in real time until the hydrofoil boat switches to the hydrofoil navigation mode.

[0155] A charging detection module 15, configured to detect whether a backup power supply meets the charging conditions, and make a judgment through the following formula:

[0156]

[0157] When E min ≤E 评 *t)<E max At this time, the backup power supply meets the charging conditions;

[0158] When E max ≤E 评 *t) or E 评 *t)<E min At this time, the backup power supply does not meet the charging conditions;

[0159] Wherein, E 评 (t) represents the backup power supply charging evaluation value, E0 represents the initial power of the backup power supply, k3 and k4 represent the power decay coefficients, I*t) represents the current, c i And T i (t) represents the temperature-related coefficient, A(t) and B(t) are non-linear functions, E min Represents the minimum backup power supply charging evaluation value that meets the charging conditions, E max Represents the maximum backup power supply charging evaluation value that meets the charging conditions.

[0160] It is necessary to have a connecting word to connect the embodiments corresponding to the dependent claims. Listing the new unit modules directly will make it unclear about the relationship between the unit modules. The IMU processing unit is configured to process the IMU sensing data through the following formula:

[0161] Calculate the current state vector x using the following formula k|k-1 :

[0162]

[0163] Wherein, q k-1|k-1 Represents the quaternion updated at the previous moment, used to describe the hull attitude, b a，k-1|k-1 Represents the accelerometer bias updated at the previous moment, b g，k-1|k-1 Represents the gyroscope bias updated at the previous moment, Q(q k-1|k-1 ) represents the quaternion multiplication matrix, ω k Represents the gyroscope measurement value at the current moment, and Δt represents the sampling time interval;

[0164] Calculate the current state covariance matrix P using the following formula k|k-1 :

[0165] P k|k-1 = FPF k-1|k-1 F T + Q

[0166] where F represents the state transition matrix and Q represents the process noise covariance matrix;

[0167] Calculate the observation residual y using the following formula k :

[0168]

[0169] where f k represents the current accelerometer measurement, m k represents the current magnetometer measurement, R(q k|k-1 ) represents the rotation matrix defined by the quaternion, g = [0, 0, 1] T , represents the gravity vector, m ref represents the reference magnetic vector;

[0170] Calculate the observation covariance matrix S using the following formula k :

[0171] S k = HPH k|k-1 H T + R

[0172] where H represents the observation matrix, P k|k-1 represents the current state covariance matrix, and R represents the observation noise covariance matrix;

[0173] Calculate the Kalman gain K using the following formula k :

[0174]

[0175] where P k|k-1 represents the current state covariance matrix, H represents the observation matrix, and S k represents the observation covariance matrix;

[0176] Calculate the state update equation x using the following formula k|k :

[0177] x k|k = x k|k-1 + K k y k

[0178] where K k represents the Kalman gain, yk represents the observation residual;

[0179] The covariance update equation P is calculated using the following formula k|k :

[0180] P k|k = (1 - K k H)P k|k-1

[0181] where K k represents the Kalman gain and H represents the observation matrix.

[0182] The power distribution module 16 is used to supply power to the low-voltage system by distributing the power supply between the main power supply and the backup power supply according to the following formula when the high-voltage power battery shuts off the output or the generator is not working:

[0183]

[0184] where P 主 (t) represents the power distributed by the main power supply, P 备 (t) represents the power distributed by the backup power supply, P 总 (t) represents the total power, E 主 (t) represents the power of the main power supply, E 备 (t) represents the power of the backup power supply, E 主max represents the maximum power of the main power supply, E 备max represents the maximum power of the backup power supply, k5 and k6 represent the power distribution coefficients, and T represents the period parameter.

[0185] The power supply information calculation unit is used to obtain the main power supply information by using the following formula:

[0186]

[0187] When I 小 ≤ I(t) < I 大 the main power supply is working properly;

[0188] When I 大 ≤ I(t) or I(t) < I 小 the main power supply has a fault;

[0189] where I9t) represents the current, V(t) represents the voltage, R(t) represents the dynamic resistance, ΔV(t) represents the voltage fluctuation, V0 represents the reference voltage, φ represents the time decay coefficient, Q k (t) and L k (t) represent the harmonic-related parameters, τ represents the period parameter, and k represents the frequency component of the kth harmonic.

[0190] The kinetic energy recovery module 17 is used to recover braking energy through a permanent magnet synchronous motor and store it in the supercapacitor array when the hydrofoil boat is in the hydrofoil lifting or braking state. The energy recovery meets the conversion efficiency of mechanical energy to electrical energy of the hydrofoil boat ≥ 85%, and the recovered energy is preferentially used to compensate for the sudden load increase of the propulsion motor.

[0191] Specifically, the state information of the hydrofoil boat is obtained, including the navigation mode and attitude. The low-voltage control system can make corresponding control decisions according to the current state. When the hydrofoil boat is in the hydrofoil navigation mode, the main power supply information is obtained. If the main power supply is working properly, the hydrofoil navigation cruise command is generated in real time according to the navigation attitude information and sent to the flap control drive and the thruster drive to regulate the hydrofoil flap and the thruster, maintaining the hydrofoil navigation mode of the hydrofoil boat and ensuring its stable navigation. When the main power supply fails, the switching to displacement mode command is generated according to the navigation attitude information, instructing the flap control drive and the thruster drive to adjust the hydrofoil and flap angles and the thruster power, so that the hydrofoil boat can safely switch to the displacement mode, avoiding navigation out of control caused by power supply failure. The backup power supply includes a low-voltage battery and a charging switch, which are connected to the flap control drive and the low-voltage control system through low-voltage wires. The main power supply includes a generator, a high-voltage power battery and a DCDC converter, and the generator and the high-voltage power battery form a redundant configuration. The low-voltage control system includes a controller, a sensor assembly, a throttle control unit and a steering control unit, which are responsible for monitoring the navigation state of the hydrofoil boat and generating and executing control commands. When the hydrofoil boat is in the displacement mode, the backup power supply information is obtained. If the backup power supply meets the takeoff conditions, the flap activation command is generated to allow the adjustment of the hydrofoil flap, preparing for the takeoff of the hydrofoil boat. If the backup power supply does not meet the takeoff conditions, the flap locking command is generated to lock the hydrofoil flap, preventing the hydrofoil boat from taking off under inappropriate conditions. At the same time, the system also detects whether the backup power supply meets the charging conditions. If it meets the charging conditions, the closing command is generated and sent to the charging switch, instructing it to close the charging circuit and charge the backup power supply. If it does not meet the charging conditions, the opening command is generated, instructing the charging switch to keep the charging circuit open, avoiding charging under inappropriate conditions. Through these steps, this method can ensure the stable operation and safety of the hydrofoil boat under various working conditions, improving the reliability of the power supply system and the energy utilization efficiency.

[0192] The redundant power supply method and system for a hydrofoil boat can significantly improve the stability and fault tolerance of the hydrofoil boat's power supply system through the redundant configuration of the main power supply and the standby power supply and the seamless switching mechanism of diodes, effectively solving the problems of out-of-control navigation attitude and potential safety hazards that may be caused by the failure of the traditional power supply system when the main power supply fails. By real-time monitoring the navigation attitude information of the hydrofoil boat and generating corresponding control commands, the navigation mode of the hydrofoil boat can be quickly adjusted to ensure a safe switch to the floating navigation mode when the main power supply fails, guaranteeing the stable operation of the hydrofoil boat. The introduction of the dynamic power distribution formula and the charging condition evaluation model optimizes the charging logic and energy distribution efficiency of the standby power supply, improves the charging efficiency and safety of the standby power supply, ensures that the standby power supply is charged under appropriate conditions, supports the kinetic energy recovery mechanism, converts and stores the braking energy into the supercapacitor array, improves the energy utilization efficiency, reduces energy waste, reduces the dependence on the main power supply, and comprehensively extends the service life of the main power supply and the standby power supply. It improves the reliability, safety and energy utilization efficiency of the hydrofoil boat's power supply system, providing a strong guarantee for the stable operation of the hydrofoil boat under various working conditions.

[0193] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of a redundant power supply method for a hydrofoil boat as described above are implemented.

[0194] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiments described above are only illustrative. The components described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present disclosure solution. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0195] The above embodiments only represent several implementation manners of the embodiments of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the embodiments of the application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the embodiments of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the embodiments of the present application.

Claims

1. A redundant power supply method for a hydrofoil vessel, characterized in that: Applied to a low-voltage control system, the low-voltage control system connects a main power supply and a backup power supply through a low-voltage wire, connects a flap control motor drive and a propeller drive through a signal line, the main power supply and the backup power supply are connected in parallel through a diode to form a redundant power supply circuit, forming a power switching module, wherein: when the main power supply is working normally, the diode is in a forward biased state, forming a main power supply-diode unidirectional conduction path; when the main power supply fails, the diode is in a reverse cut-off state, forming a backup power supply-diode unidirectional conduction path; the method comprises: Acquiring hydrofoil vessel status information, wherein the hydrofoil vessel status information includes navigation mode information and navigation attitude information; When the hydrofoil craft is in the foil navigation mode, main power supply information is obtained and the following operations are performed according to the main power supply information: When the main power supply is operating normally, a wing navigation cruise instruction is generated in real time according to the navigation attitude information and sent to the flap control drive and the thruster drive, wherein the wing navigation cruise instruction is used to instruct the flap control drive and the thruster drive to regulate the hydrofoil flaps and the thruster to maintain the stability of the hydrofoil craft; When the main power supply fails, a switching floating instruction is generated according to the navigation attitude information and sent to the flap control drive and the thruster drive. The switching floating instruction is used to instruct the flap control drive and the thruster drive to adjust the hydrofoil and flap angles and the thruster power in real time until the hydrofoil craft switches to the floating mode.

2. The method according to claim 1, characterized in that: The backup power supply includes a low-voltage battery and a charging switch, and the backup power supply is connected to the flap control drive and the low-voltage control system through a low-voltage wire; The main power supply includes a generator, a high-voltage power battery and a DCDC converter. The generator and the high-voltage power battery form a redundant configuration. The output ends of the generator and the high-voltage power battery are respectively connected to the propeller drive and the DCDC converter, and are respectively connected to the pressure control system and the flap control motor drive through low-voltage wires after being stepped down by the DCDC converter; The low-voltage control system includes a controller, a sensor assembly, a throttle control unit and a steering control unit.

3. The method according to claim 2, characterized in that The method further includes, when the hydrofoil vessel is in the floating mode, acquiring backup power supply information, and performing the following operations according to the backup power supply information: When the backup power source meets the take-off conditions, a flap activation instruction is generated and sent to the flap control drive, wherein the flap activation instruction is used to instruct the flap control drive to allow the hydrofoil flap to be adjusted; When the backup power supply does not meet the take-off conditions, a flap locking instruction is generated and sent to the flap control drive, and the control locking instruction is used to instruct the flap control drive to lock the hydrofoil flap; whether the backup power supply meets the charging conditions, and a corresponding instruction is generated according to the detection result: If the backup power source meets the charging condition, a closing instruction is generated and sent to the charging switch, wherein the charging instruction is used to instruct the charging switch to close the charging circuit; If the backup power supply does not meet the charging condition, a disconnection instruction is generated and sent to the charging switch, wherein the disconnection instruction is used to instruct the charging switch to keep the charging circuit disconnected.

4. The method according to claim 3, characterized in that The detection of whether the backup power supply meets the charging condition is determined by the following formula: When E min ≤E 评 (t) <E max When the backup power source meets the charging condition; When E max ≤E 评 (t) or E 评 (t) <E min When the backup power supply does not meet the charging condition; Among them, E 评 (t) represents the backup power supply charging evaluation value, E0 represents the initial power of the backup power supply, k3 and k4 represent the power attenuation coefficient, I(t) represents the current, c i and T i (t) represents the temperature correlation coefficient, A(t) and B(t) are nonlinear functions, and E min Indicates the minimum value of backup power supply charging evaluation that meets the charging conditions, E max Indicates the maximum value of the backup power supply charging assessment that meets the charging conditions.

5. The method according to claim 2, characterized in that: The sensor assembly of the low-pressure control system includes an IMU sensor for detecting the hull attitude, and the low-pressure control system processes the IMU sensing data through the following formula: The current state vector x is calculated using the following formula kk-1 : Among them, q k-1|k-1 Indicates the quaternion updated at the last moment, used to describe the hull posture, b a，k-1|k-1 Indicates the accelerometer bias after the last update, b g，k-1|k-1 Indicates the gyroscope bias after the last update, Q(q k-1|k-1 ) represents the quaternion multiplication matrix, ω k represents the gyroscope measurement value at the current moment, and Δt represents the sampling time interval; The current state covariance matrix P is calculated using the following formula k|k-1 : P k|k-1 =FP k-1|k-1 F T +Q Among them, F represents the state transfer matrix, Q represents the process noise covariance matrix; The observed residual y is calculated using the following formula k : Among them, f k Indicates the current accelerometer measurement value, m k Represents the current magnetometer measurement value, R(q k|k-1 ) represents the rotation matrix defined by the quaternion, g = [0,0,1] T , represents the gravity vector, m ref represents the reference magnetic force vector; The observation covariance matrix S is calculated using the following formula k : S k =HP kk-1 H T +R Among them, H represents the observation matrix, P k|k-1 represents the current state covariance matrix, and R represents the observation noise covariance matrix; The Kalman gain K is calculated using the following formula k : Among them, P k|k-1 represents the current state covariance matrix, H represents the observation matrix, S k represents the observation covariance matrix; The state update equation x is calculated using the following formula k|k : x k|k =x k|k-1 +K k y k Among them, K k represents the Kalman gain, y k represents the observed residual; The covariance update equation P is calculated using the following formula k|k : P k|k =(1-K k H)P k|k-1 Among them, K k represents the Kalman gain, and H represents the observation matrix.

6. The method according to claim 2, characterized in that: The main power supply and backup power supply are independently arranged; When the high-voltage power battery shuts off output or the generator is not working, the main power supply and the backup power supply distribute the power supply to provide power to the low-voltage system according to the following formula: Among them, P 主 (t) represents the power distributed by the main power supply, P 备 (t) represents the power allocated by the backup power supply, P 总 (t) represents the total power, E 主 (t) represents the power of the main power supply, E 备 (t) represents the backup power supply capacity, E 主max Indicates the maximum power of the main power supply, E 备max It represents the maximum capacity of the backup power supply, k5 and k6 represent the power distribution coefficient, and T represents the cycle parameter.

7. The method according to claim 1, characterized in that Get the main power information by using the following formula: When I 小 ≤I(t) 大 When , the main power supply works normally;​ When I 大 ≤I(t) or I(t) 小 When the main power supply fails;​ Where I(t) represents current, V(t) represents voltage, R9t) represents dynamic resistance, ΔV(t) represents voltage fluctuation, V0 represents reference voltage, φ represents time attenuation coefficient, Q k (t) and L k (t) represents the harmonic related parameter, τ represents the period parameter, and k represents the frequency component of the kth harmonic.

8. The method according to claim 3, characterized in that Also includes kinetic energy recovery: When the hydrofoil craft is in a hydrofoil lifting or braking state, braking energy is recovered through a permanent magnet synchronous motor and stored in a supercapacitor array. The energy recovery satisfies a conversion efficiency of the hydrofoil craft's mechanical energy into electrical energy of ≥85%, and the recovered energy is preferentially used to compensate for sudden loads on the propulsion motor.

9. A redundant power supply system for a hydrofoil vessel, characterized in that: The system comprises: A status information acquisition module, used to acquire the status information of the hydrofoil craft, wherein the status information of the hydrofoil craft includes navigation mode information and navigation attitude information; A power information acquisition module, used to acquire the main power information; A power switching module, wherein the main power supply and the backup power supply are connected in parallel through a diode to form a redundant power supply circuit, forming a power switching module, which is used for when the main power supply is working normally, the diode is in a forward biased state to form a main power supply-diode unidirectional conduction path; when the main power supply fails, the diode is in a reverse cut-off state to form a backup power supply-diode unidirectional conduction path; The instruction generation module is used to obtain the main power supply information and perform corresponding operations according to the main power supply information when the hydrofoil craft is in the foil navigation mode: When the main power supply is operating normally, a wing navigation cruise instruction is generated in real time according to the navigation attitude information and sent to the flap control drive and the thruster drive, wherein the wing navigation cruise instruction is used to instruct the flap control drive and the thruster drive to regulate the hydrofoil flaps and the thruster to maintain the wing navigation mode of the hydrofoil craft; When the main power supply fails, a switching floating instruction is generated according to the navigation attitude information and sent to the flap control drive and the thruster drive. The switching floating instruction is used to instruct the flap control drive and the thruster drive to adjust the hydrofoil and flap angles and the thruster power in real time until the hydrofoil craft switches to the floating mode.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

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