Dual-purpose electric yacht hydrofoil ship with foldable wings

Abstract

The invention provides a dual-purpose electric speed boat hydrofoil ship with foldable wings, and belongs to the technical field of ship design and new energy power flight control. Comprising a wing ship body, the wing ship body is connected with an intelligent control system, and the intelligent control system comprises sensor fusion and data acquisition, core data processing and decision making, execution mechanism accurate control, operation mode intelligent switching, real-time attitude stable adjustment, accurate cruise control and fault diagnosis and fault-tolerant control. The wing ship body comprises a sliding mode and a hydrofoil mode. The ship can efficiently operate under different water area conditions, has good stability and energy-saving effect, meanwhile reduces seasickness symptoms of passengers, and improves comfort of water travel.

Description

Technical Field

[0001] The invention provides a dual-purpose electric speedboat hydrofoil boat with foldable wings, belonging to the technical field of ship design and new energy power flight control. Background Art

[0002] Traditional ships have many problems during navigation, such as poor adaptability to different water conditions and difficulty in flexible operation in shallow or complex waters. At the same time, traditional ships have large turbulence and high frequency in waves, which can easily cause passengers to get seasick and have poor comfort. In addition, traditional ships have low energy efficiency and put great pressure on the environment. As people's requirements for the quality of water travel and environmental protection continue to increase, it is of great significance to develop a new type of ship that can adapt to various water conditions, has good stability and energy-saving characteristics.

[0003] Therefore, in view of this, the existing structure is studied and improved, and a foldable wing dual-purpose electric speedboat hydrofoil boat is proposed to solve the above-mentioned problems. Summary of the invention

[0004] The purpose of the present invention is to provide a foldable-wing dual-purpose electric speedboat hydrofoil boat, which can operate efficiently under different water conditions, has good stability and energy-saving effects, and at the same time reduces passengers' seasickness symptoms and improves the comfort of water travel.

[0005] In order to solve the above problems, the technical solution proposed in the present invention is: a foldable wing dual-purpose electric speedboat hydrofoil boat, including a wing boat body, the wing boat body is connected to an intelligent control system, the intelligent control system sensor fusion and data acquisition, core data processing and decision-making, actuator precise control, intelligent switching of operation modes, real-time attitude stability adjustment, precise cruise control, fault diagnosis and fault-tolerant control, the wing boat body includes a gliding mode and a hydrofoil mode, the gliding mode is equipped with two high-performance surface propeller motors, the peak power of a single motor reaches 15kW, which can provide strong power for the ship in the gliding mode, so that the ship can reach a maximum speed of 30 knots, the hydrofoil mode adopts a double-pod thruster, and its dual-motor differential forward and reverse operation can flexibly deflect, and is equipped with a flap servo motor with an accuracy of up to 0.05°.

[0006] Furthermore, the sensor fusion and data acquisition deploys a sensor module composed of a set of multi-type sensors, among which the high-precision sonar sensor measures the water depth of the ship in real time with an accuracy of ±0.05 meters; the millimeter-wave radar detects the wave shape in front, covering wave height, wavelength and other data, with an effective detection range of 50 meters in front; the strain gauge array is set at the key load-bearing parts of the hull to sense the ship's load, with a measurement error of less than ±5%; the IMU inertial measurement unit continuously monitors the hull posture at a frequency of 200Hz, including roll, pitch, heave angle and acceleration information, and the data of each sensor is summarized in real time.

[0007] Furthermore, the core data processing and decision-making use a high-performance microprocessor as the core of the controller module. For multi-source data such as water depth, wave height, load, battery SOC (state of charge), and hull attitude collected by the sensor module, a multi-objective decision-making algorithm is used for rapid analysis and processing, and then decision instructions are generated for the switching of the ship operation mode and the adjustment of operation parameters.

[0008] Furthermore, the actuator is precisely controlled with an actuator module configured. This module includes a hydrofoil retraction and deployment actuator that can complete the hydrofoil deployment or retraction action according to the controller instruction within 15 seconds; a thruster control actuator that can precisely adjust the thruster power and achieve flexible deflection of the differential forward and reverse rotation of the dual motors; and a servo motor with an accuracy of 0.05° that can quickly respond to the controller instruction to adjust the hydrofoil flap angle.

[0009] Furthermore, the intelligent switching of the operation mode follows a specific mode switching logic. When the conditions of water depth > 2m, wave height < 1.2m, SOC > 40%, and the hull attitude is stable are met, the ship automatically switches to the hydrofoil mode; when the speed requirement > 25 knots and the hull attitude permits, it switches to the planing mode; in other cases, it enters the hybrid transition mode.

[0010] Furthermore, the real-time attitude stability adjustment is based on the hull attitude data monitored by the IMU. Using the attitude adjustment algorithm, by controlling means such as the hydrofoil flap angle and thruster direction, the hull attitude is adjusted in real time to ensure that the hull roll angle is maintained within ±2° in different operation modes, ensuring the stability of the ship.

[0011] Furthermore, the precise cruise control has a cruise control algorithm. When the one-key fixed-height and fixed-speed cruise function is started, the controller adjusts the thruster power and hydrofoil angle in real time according to the set height and speed targets, combined with the real-time data of the sensor, to maintain the stable operation of the ship with a height accuracy of ±0.05 meters and a speed accuracy of ±0.5 knots.

[0012] Furthermore, the actuator module of the fault diagnosis and fault tolerance control has a fault diagnosis function. By real-time monitoring of signals such as the working current, voltage, and position feedback of the actuator, it is judged whether the actuator fails. When a certain actuator fails, the system automatically switches to the fault tolerance control mode. By adjusting the working parameters of other actuators, the basic operation function of the ship is maintained, and at the same time, a fault alarm signal is sent.

[0013] Furthermore, the wing surface of the winged boat body adopts a unique segmented structure, in which the fixed section precisely accounts for 30% of the wingspan length, and the folding section accounts for 70%. The wing surface of the folding section can be flipped 180° and stored in a specially designed groove at the bottom of the boat. The wing surface of the folding section is made of a flexible skin composed of carbon fiber and metal composite materials, and this skin has a tensile rate of up to 300%.

[0014] Furthermore, the wing root of the winged boat body is installed with a waterproof bearing seat, a coupling, a speed reducer, a laser limiter, and a driving motor.

[0015] Due to the adoption of the above technical solutions, the beneficial effects of the foldable wing dual-purpose electric speedboat hydrofoil boat of the present invention are as follows:

[0016] 1. The time for the hydrofoils of the present invention to deploy and store is shortened by 70% (<10 seconds) compared with the traditional hydraulic system, and it can quickly adapt to different water areas and navigation requirements.

[0017] 2. The unit energy consumption of the hydrofoil mode of the present invention is 1.8 kWh / km, and that of the planing mode is 2.5 kWh / km. The combined use saves 35% of energy, effectively reducing energy consumption and meeting environmental protection requirements.

[0018] 3. The structural reliability of the present invention is enhanced. The folding joint has a cyclic life of up to 10,000 times (equivalent to 5 years of operation), and the corrosion rate is reduced by 80%, extending the service life of the ship and reducing maintenance costs.

[0019] 4. The minimum operating water depth of the present invention ranges from 4 m to 1.5 m, and it can enter urban inland river channels, greatly expanding the applicable range of the ship and effectively reducing seasickness symptoms. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0021] Figure 1 is a perspective view of a foldable wing dual-purpose electric speedboat hydrofoil boat of the present invention.

[0022] Figure 2 is a side view of a foldable wing dual-purpose electric speedboat hydrofoil boat of the present invention.

[0023] Figure 3 is a rear view of a foldable wing dual-purpose electric speedboat hydrofoil boat of the present invention.

[0024] Figure 4 is a top view of a foldable wing dual-purpose electric speedboat hydrofoil boat of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] The foldable-wing dual-purpose electric speedboat hydrofoil ship of the present invention includes a hydrofoil ship body, and the hydrofoil ship body is connected with an intelligent control system. The intelligent control system includes sensor fusion and data acquisition, core data processing and decision-making, precise control of the actuator, intelligent switching of the operation mode, real-time attitude stability adjustment, precise cruise control, fault diagnosis and fault tolerance control. The hydrofoil ship body includes a planing mode and a hydrofoil mode. In the planing mode, two high-performance surface paddle motors are configured. The peak power of a single motor reaches 15 kW, which can provide strong power for the ship in the planing mode, enabling the ship to reach a maximum speed of 30 knots. In the hydrofoil mode, a twin-pod thruster is adopted, and its two motors can rotate differentially in the forward and reverse directions and deflect flexibly, and is equipped with a flap servo motor with an accuracy of up to 0.05°.

[0027] The sensor fusion and data acquisition deploys a sensor module composed of a set of multi-type sensors. Among them, a high-precision sonar sensor measures the water depth of the water area where the ship is located in real time, with an accuracy of ±0.05 m; a millimeter-wave radar detects the wave form in front, covering data such as wave height and wavelength, and the effective detection range is 50 m in front; a strain gauge array is set at the key load-bearing parts of the hull to sense the ship's load, and the measurement error is less than ±5%; an IMU inertial measurement unit continuously monitors the hull attitude at a frequency of 200 Hz, including roll, pitch, heave angles and acceleration information, and the data of each sensor is summarized in real time.

[0028] The core data processing and decision-making uses a high-performance microprocessor as the core of the controller module. For multi-source data such as water depth, wave height, load, battery SOC state of charge and hull attitude collected by the sensor module, a multi-objective decision-making algorithm is used for rapid analysis and processing, and then decision instructions are generated for the ship operation mode switching and operation parameter adjustment.

[0029] The precise control of the actuator configures an actuator module. This module includes a hydrofoil retraction and deployment actuator that can complete the hydrofoil deployment or retraction action according to the controller instruction within 15 seconds; a thruster control actuator that can precisely adjust the thruster power and realize the flexible differential forward and reverse rotation of the two motors; and a servo motor with an accuracy of 0.05° that can quickly respond to the controller instruction to adjust the hydrofoil flap angle.

[0030] The intelligent switching of the operating mode follows a specific mode switching logic. When the conditions of water depth > 2m, wave height < 1.2m, SOC > 40%, and the hull attitude is stable are met, the ship automatically switches to the hydrofoil mode; when the speed requirement > 25 knots and the hull attitude permits, it switches to the planing mode; in other cases, it enters the hybrid transition mode.

[0031] The real-time attitude stability adjustment is based on the hull attitude data monitored by the IMU. Using the attitude adjustment algorithm, by controlling means such as the hydrofoil flap angle and the thruster direction, the hull attitude is adjusted in real time to ensure that the hull roll angle is maintained within ±2° under different operating modes, guaranteeing the stability of the ship.

[0032] The precise cruise control has a cruise control algorithm. When the one-key fixed-height and fixed-speed cruise function is activated, the controller adjusts the thruster power and hydrofoil angle in real time according to the set height and speed targets, combined with the real-time data of the sensors, to maintain the ship's stable operation with a height accuracy of ±0.05 meters and a speed accuracy of ±0.5 knots.

[0033] The fault diagnosis and fault-tolerant control actuator module has a fault diagnosis function. By real-time monitoring of signals such as the working current, voltage, and position feedback of the actuator, it judges whether the actuator fails. When a certain actuator fails, the system automatically switches to the fault-tolerant control mode, maintains the basic operating functions of the ship by adjusting the working parameters of other actuators, and simultaneously issues a fault alarm signal.

[0034] The wing surface of the wing ship body adopts a unique segmented structure, where the fixed section accounts for exactly 30% of the wingspan length, and the folding section accounts for 70%. The wing surface of the folding section can be flipped 180° and stored in a specially designed groove at the bottom of the ship. The wing surface of the folding section is made of a flexible skin composed of carbon fiber and metal composite materials, and this skin has a tensile rate of up to 300%.

[0035] The wing root of the wing ship body is installed with a waterproof bearing seat, a coupling, a speed reducer, a laser limiter, and a drive motor.

[0036] When the ship speed exceeds the critical value (usually 15 - 25 knots), the hydrodynamic lift generated by the hydrofoils completely lifts the hull out of the water, and only the hydrofoils and thrusters contact the water body. The energy transfer of surface waves decays exponentially with depth (formula:

[0037] E(z) = E0·e -2kz ,

[0038] , where k is the wave number and z is the water depth). The hull lift height of the hydrofoil boat usually reaches 0.5 - 1.5 meters, and at this time, the direct impact energy of the waves on the hull is reduced to 10% - 30% of that at the water surface.

[0039] Significant reduction in degrees of freedom of motion: Traditional ships have six degrees of freedom of motion, namely roll, pitch, heave, sway, surge, and yaw. However, through the lateral stability design of the hydrofoils (such as T-shaped tails) of the hydrofoil boat of the present invention, the roll amplitude can be reduced from ±15° of traditional ships to within ±3° (measured data: the roll angle of the Swedish Candela C-8 is ±2.1° under 1.5-meter waves); after the hull is out of the water, the heave acceleration is reduced from 0.3 - 0.5g of traditional ships to 0.05 - 0.1g (close to the level of a high-speed train carriage).

[0040] Optimization of the active stability control system: Modern hydrofoil boats are generally equipped with flight control systems to further optimize the motion smoothness. The attitude of the hull is monitored at a frequency of 200Hz through an IMU (Inertial Measurement Unit), and the hydrofoil flap is controlled to respond and adjust the angle of attack within 0.1 seconds; millimeter-wave radar detects the wave form ahead 2 - 3 seconds in advance, and actively adjusts the propulsion power and hydrofoil angle (for example, the algorithm of Italian SeaBird Technologies can cancel 70% of the heave motion). In the North Sea test of the hydrofoil passenger ship of a Norwegian company, the seasickness rate of passengers was reduced from 43% of traditional ferries to less than 5%. The seasickness rate of passengers on the hydrofoil passenger ship of a Norwegian company was reduced from 43% of traditional ferries to less than 5% during the North Sea test.

[0041] By adopting supercavitating airfoils (such as NACA16 - 309) and surface microstructure treatment, the critical speed of cavitation inception is increased from 35 knots to 50 knots, avoiding sudden vibrations caused by cavitation rupture; through the stiffness-mass matching design of the hydrofoils, the natural frequency of the hull is avoided from the common wave frequency range (0.1 - 0.4Hz), preventing the resonance from amplifying the motion amplitude.

[0042] From the perspective of biomechanics, the heave motion amplitude of the hydrofoil boat is small, and the shaking of the objects in the cabin observed by the passengers' eyes is more consistent with the acceleration perceived by the vestibular system, reducing the triggering probability of motion sickness; the low-frequency roll (the most motion sickness-causing frequency band below 0.2Hz) of traditional ships is filtered by the hydrofoil system, and the remaining high-frequency small-amplitude vibrations (>1Hz) have a weak stimulus to the human ear vestibule. The comparison of empirical data shows that at a wave height of 1m, the roll angle of traditional monohulls is ±12° - 15°, that of catamarans is ±8° - 10°, while that of the hydrofoil boat of the present invention is ±2° - 3°; in terms of heave acceleration, that of traditional monohulls is 0.25 - 0.4g, that of catamarans is 0.15 - 0.25g, while that of the hydrofoil boat of the present invention is 0.05 - 0.1g; in terms of the incidence of seasickness (4 hours), that of traditional monohulls is 35% - 50%, that of catamarans is 15% - 25%, while that of the hydrofoil boat of the present invention is <5%.

[0043] The above description of the present invention and its embodiments is not restrictive. Generally speaking, if those of ordinary skill in the art are inspired by it and without departing from the gist of the present invention, they creatively design structural modes and embodiments similar to the technical solution, which shall fall within the protection scope of the present invention.

Claims

1. A foldable-wing dual-purpose electric speedboat hydrofoil ship, including a hydrofoil ship body, characterized in that, The wing ship body is connected with an intelligent control system, which includes sensor fusion and data acquisition, core data processing and decision-making, precise control of actuators, intelligent switching of operation modes, real-time attitude stability adjustment, precise cruise control, fault diagnosis and fault tolerance control. The wing ship body includes a planing mode and a hydrofoil mode. The planing mode is equipped with two high-performance surface propeller motors, and the peak power of a single motor reaches 15kW, which can provide strong power for the ship in the planing mode, enabling the ship to reach a maximum speed of 30 knots. The hydrofoil mode adopts a dual-pod thruster, whose dual motors can rotate differentially in the forward and reverse directions and deflect flexibly, and is equipped with a flap servo motor with an accuracy of up to 0.05°.

2. The foldable-wing dual-purpose electric speedboat hydrofoil ship according to claim 1, wherein: The sensor fusion and data acquisition deploys a sensor module composed of a set of multi-type sensors. Among them, a high-precision sonar sensor measures the water depth of the water area where the ship is located in real time, with an accuracy of ±0.05 meters; a millimeter-wave radar detects the wave form ahead, covering data such as wave height and wavelength, and the effective detection range is 50 meters ahead; a strain gauge array is set at key load-bearing parts of the hull to sense the ship's load, and the measurement error is less than ±5%; an IMU inertial measurement unit continuously monitors the hull attitude at a frequency of 200Hz, including roll, pitch, heave angles and acceleration information, and the data of each sensor is summarized in real time.

3. The foldable-wing dual-purpose electric speedboat hydrofoil ship according to claim 1, wherein: The core data processing and decision-making uses a high-performance microprocessor as the core of the controller module to quickly analyze and process multi-source data such as water depth, wave height, load, battery SOC state of charge and hull attitude collected by the sensor module, and then generates decision instructions for the ship operation mode switching and operation parameter adjustment.

4. The foldable-wing dual-purpose electric speedboat hydrofoil ship according to claim 1, characterized in that: The precise control of the actuators configures an actuator module, which includes a hydrofoil retraction and extension actuator that can complete the hydrofoil deployment or retraction action according to the controller instruction within 15 seconds; a thruster control actuator that can precisely adjust the thruster power and realize the flexible deflection of the dual motors in the differential forward and reverse rotation; and a servo motor with an accuracy of 0.05° that can quickly respond to the controller instruction to adjust the hydrofoil flap angle.

5. The foldable wing dual-purpose electric speedboat hydrofoil boat according to claim 1, wherein: The intelligent switching of the operation mode follows a specific mode switching logic. When the conditions of water depth > 2m, wave height < 1.2m, SOC > 40% and the hull attitude is stable are met, the ship automatically switches to the hydrofoil mode; when the speed requirement > 25 knots and the hull attitude permits, it switches to the planing mode; in other cases, it enters the hybrid transition mode.

6. The foldable-wing dual-purpose electric speedboat hydrofoil ship according to claim 1, characterized in that: The real-time attitude stability adjustment is based on the hull attitude data monitored by the IMU. Using the attitude adjustment algorithm, by controlling means such as the hydrofoil flap angle and thruster direction, the hull attitude is adjusted in real time to ensure that the hull roll angle is maintained within ±2° in different operation modes, ensuring the stability of the ship.

7. The foldable-wing dual-purpose electric speedboat hydrofoil ship according to claim 1, characterized in that: The precise cruise control has a cruise control algorithm. When the one-key fixed-height and fixed-speed cruise function is started, the controller adjusts the thruster power and hydrofoil angle in real time according to the set height and speed targets, combined with the real-time data of the sensors, to maintain the stable operation of the ship with a height accuracy of ±0.05 meters and a speed accuracy of ±0.5 knots.

8. The foldable-wing dual-purpose electric speedboat hydrofoil ship according to claim 1, wherein: The fault diagnosis and fault-tolerant control actuator module has a fault diagnosis function. By real-time monitoring signals such as the working current, voltage, and position feedback of the actuator, it determines whether the actuator has a fault. When a certain actuator fails, the system automatically switches to the fault-tolerant control mode. By adjusting the working parameters of other actuators, it maintains the basic operation function of the ship and simultaneously issues a fault alarm signal.

9. The foldable wing dual-purpose electric speedboat hydrofoil ship according to claim 1, characterized in that: The wing surface of the wing ship body adopts a unique segmented structure. Among them, the fixed section precisely accounts for 30% of the wingspan length, and the folding section accounts for 70%. The wing surface of the folding section can be flipped 180° and stored in a specially designed groove at the bottom of the ship. The wing surface of the folding section is made of a flexible skin composed of carbon fiber and metal composite materials, and this skin has a tensile rate of up to 300%.

10. The foldable-wing dual-purpose electric speedboat hydrofoil ship according to claim 1, wherein: The wing root of the wing ship body is installed with a waterproof bearing seat, a coupling, a speed reducer, a laser limiter, and a driving motor.

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