A method and system for recovering the gravitational potential energy of an anchor dropped by a ship

Abstract

The application discloses a ship anchor throwing gravity potential energy recovery method and a recovery system, and belongs to the technical field of ship energy recovery. The system comprises an anchor chain roller, a bidirectional anchor machine motor, a speed increasing transmission mechanism, a power generation mechanism, a composite energy storage component and an intelligent controller. The anchor chain roller is connected with the bidirectional anchor machine motor and the speed increasing transmission mechanism. The speed increasing transmission mechanism, the power generation mechanism and the energy storage component are sequentially connected. The intelligent controller is connected with the speed increasing transmission mechanism and the power generation mechanism. When the anchor is thrown, the bidirectional anchor machine motor enters the power generation mode. The gravity potential energy formed by the anchor throwing drives the anchor chain roller to rotate to convert the gravity potential energy into mechanical energy. The anchor chain roller rotates through the speed increasing transmission mechanism to transmit the mechanical energy to the power generation mechanism. The power generation mechanism generates electricity based on the mechanical energy and transmits the generated electricity to the composite energy storage component for storage, so that the gravity potential energy generated when the anchor is thrown is recovered, and the waste of the gravity potential energy generated when the anchor is thrown is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship energy recovery, in particular to a ship anchor throwing gravity potential energy recovery method and recovery system. BACKGROUND

[0002] With the wide application of electric ships, the requirement for ship energy recovery efficiency is continuously improved. At present, in the anchor throwing process, the potential energy generated by the anchor chain under the action of gravity is usually ignored and not effectively utilized, resulting in energy waste. The traditional anchor windlass system lacks energy recovery mechanism, especially under the background of higher requirements for energy efficiency and endurance of electric ships, the gravity potential energy is not utilized, which leads to more serious energy waste problem.

[0003] Therefore, the prior art still needs to be improved and improved. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a ship anchor throwing gravity potential energy recovery method and recovery system to solve the problems of the prior art.

[0005] In order to solve the above technical problems, the first aspect of the present application provides a ship anchor throwing gravity potential energy recovery system, which specifically comprises:

[0006] A bidirectional anchor windlass motor is used as a power source for anchor throwing and anchor collecting;

[0007] An anchor chain roller is connected with the bidirectional anchor windlass motor, used to drive the anchor chain wound on the anchor chain roller to move for anchor throwing and anchor collecting operations, and convert the gravity potential energy formed in the anchor throwing process into mechanical energy;

[0008] A speed increasing transmission mechanism is connected with the anchor chain roller, used to transmit the speed of the anchor chain roller to transmit the mechanical energy;

[0009] A power generation mechanism is connected with the speed increasing transmission mechanism, used to generate electricity under the drive of the speed increasing transmission mechanism to convert mechanical energy into electrical energy;

[0010] A composite energy storage assembly is connected with the power generation mechanism, used to store the electrical energy generated by the power generation mechanism;

[0011] An intelligent controller is connected with the speed increasing transmission mechanism and the power generation mechanism, used to dynamically adjust the speed increasing transmission mechanism and the power generation mechanism.

[0012] The ship anchor throwing gravity potential energy recovery system, wherein the speed increasing transmission mechanism comprises:

[0013] A speed increasing assembly is connected with the anchor chain roller at the input end, used to increase the speed of the anchor chain roller;

[0014] A magnetic powder clutch is connected to the output end of the speed increasing assembly, and used for stepless adjustment of the power generation mechanism.

[0015] The ship anchoring gravity potential energy recovery system further comprises a safety protection assembly for protecting the operation safety of the ship anchoring gravity potential energy recovery system, and the safety protection assembly comprises one or more of a mechanical brake, a double-redundancy hydraulic band brake, and an emergency bypass switch.

[0016] The ship anchoring gravity potential energy recovery system further comprises a composite energy storage assembly, and when the state of charge of the super capacitor group does not reach a preset threshold, the composite energy storage assembly stores energy through the super capacitor group; and when the state of charge of the super capacitor group reaches the preset threshold, the composite energy storage assembly stores energy through the lithium battery group.

[0017] The second aspect of the present application provides a ship anchoring gravity potential energy recovery method, which applies the ship anchoring gravity potential energy recovery system, and the ship anchoring gravity potential energy recovery method specifically comprises the following steps.

[0018] When the ship is in an anchoring state, energy storage state data of the composite energy storage assembly is acquired.

[0019] According to the energy storage state data, the charging state of the composite energy storage assembly is switched to a first charging state or a second charging state.

[0020] The first charging state is to control the super capacitor group in the composite energy storage assembly to be connected to the DC bus, and the super capacitor group is charged by the electric energy generated by the power generation mechanism.

[0021] The second charging state is to control the lithium battery group in the composite energy storage assembly to be connected to the DC bus, and the lithium battery group is charged by the electric energy generated by the power generation mechanism.

[0022] The ship anchoring gravity potential energy recovery method further comprises the following steps before the step of acquiring the energy storage state data of the composite energy storage assembly when the ship is in the anchoring state.

[0023] The anchor chain tension is monitored in real time.

[0024] When the anchor chain tension is greater than a preset threshold, it is determined that the ship is in the anchoring state, and the power generation mechanism is driven to rotate by the speed increasing transmission mechanism.

[0025] The ship anchoring gravity potential energy recovery method further comprises the following steps when the ship is in the anchoring state.

[0026] The water entry depth of the anchor body and the energy recovery efficiency are collected in real time.

[0027] calculating a target torque of the power generation mechanism according to the water entry depth and the energy recovery efficiency;

[0028] adjusting an output torque of the speed increasing transmission mechanism according to the target torque, so that an actual torque of the power generation mechanism tracks the target torque.

[0029] The ship anchor throwing gravity potential energy recovery method, wherein the adjusting the output torque of the speed increasing transmission mechanism according to the target torque specifically includes:

[0030] obtaining a current actual torque of the power generation mechanism;

[0031] based on the current actual torque and the target torque, outputting an excitation current corresponding to the speed increasing transmission mechanism by an intelligent controller, and applying the excitation current to a magnetic powder clutch in the speed increasing transmission mechanism to control the output torque of the speed increasing transmission mechanism.

[0032] The ship anchor throwing gravity potential energy recovery method, wherein the method further includes:

[0033] when the ship is in an anchor taking state, obtaining a power load of a two-way anchor winch motor;

[0034] switching a charge state of the composite energy storage assembly to a first discharge state or a second discharge state according to the power load;

[0035] the first discharge state is to control a battery pack in the composite energy storage assembly to supply power to the two-way anchor winch motor;

[0036] the second discharge state is to control the battery pack and a super capacitor in the composite energy storage assembly to supply power to the two-way anchor winch motor in a mixed manner.

[0037] The ship anchor throwing gravity potential energy recovery method, wherein the method further includes:

[0038] real-time monitoring working parameters of the ship anchor throwing gravity potential energy recovery system;

[0039] when the working parameters are in an abnormal state, performing abnormal protection on the ship anchor throwing gravity potential energy recovery system, wherein the abnormal protection includes one or more of overvoltage protection, overcurrent protection, and state of charge imbalance current protection.

[0040] Beneficial effects: compared with the prior art, the application provides a ship anchoring gravity potential energy recovery method and a recovery system, the system comprises an anchor chain roller, a bidirectional anchor winch motor, a speed increasing transmission mechanism, a power generation mechanism, a composite energy storage assembly and an intelligent controller, the anchor chain roller is connected with the bidirectional anchor winch motor and the speed increasing transmission mechanism respectively, the speed increasing transmission mechanism, the power generation mechanism and the energy storage assembly are connected in sequence, and the intelligent controller is connected with the speed increasing transmission mechanism and the power generation mechanism; the bidirectional anchor winch motor enters the power generation mode when the anchor is thrown, the gravity potential energy formed by throwing the anchor drives the anchor chain roller to rotate to convert the gravity potential energy formed by throwing the anchor into mechanical energy, the speed increasing transmission mechanism is driven to rotate by the mechanical energy to transmit the mechanical energy to the power generation mechanism, the power generation mechanism generates electricity based on the mechanical energy and transmits the generated electric energy to the composite energy storage assembly for storage, and the intelligent controller is used for controlling the power generation mechanism in real time during the power generation of the bidirectional anchor winch motor, so as to realize the recovery of the gravity potential energy generated when the anchor is thrown and avoid the waste of the gravity potential energy generated when the anchor is thrown. At the same time, the electric energy obtained by converting the gravity potential energy can be used to provide electric energy for the ship, thereby reducing the dependence of the ship on external charging facilities and improving the endurance of the electric ship. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0042] Figure 1 The principle block diagram of the ship anchoring gravity potential energy recovery system provided by the embodiments of the application.

[0043] Figure 2 The module layer architecture diagram of the ship anchoring gravity potential energy recovery system provided by the embodiments of the application.

[0044] Figure 3 The flowchart of the ship anchoring gravity potential energy recovery method provided by the embodiments of the application.

[0045] Figure 4 The flowchart of one specific example of the ship anchoring gravity potential energy recovery method provided by the embodiments of the application.

[0046] Figure 5 The control principle flowchart of the PI controller. DETAILED DESCRIPTION

[0047] The embodiment of the present application provides a ship anchoring gravity potential energy recovery method and a recovery system. In order to make the purpose, technical scheme and effect of the present application more clear and explicit, the present application is further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0048] Those skilled in the art can understand that, unless specifically stated otherwise, the singular forms "a", "an", "said" and "the" used herein also include the plural forms. It should be further understood that the phrase "comprising" used in the specification of the present application means that the features, integers, steps, operations, elements and / or components exist, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we say that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there can be intermediate elements. In addition, "connected" or "coupled" used herein can include wireless connection or wireless coupling. The phrase "and / or" used herein includes all or any single unit and all combinations of the associated listed items.

[0049] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as that generally understood by those skilled in the art to which the present application belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have meanings consistent with those in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as such.

[0050] It should be understood that the sequence numbers and sizes of the steps in the embodiments do not mean the order of execution, and the execution order of the processes is determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0051] It is found through research that, with the increasing emphasis on environmental protection and sustainable development worldwide, the ship industry is gradually transforming towards electrification. Full-electric ships use electric propulsion systems, which not only achieve zero carbon emissions, but also significantly improve the energy efficiency and operational flexibility of ships. However, electric ships often face the problem of insufficient battery endurance under long-time sailing and high-load operating conditions, especially in situations requiring frequent start-stop and anchoring, the battery consumption is relatively rapid, and the ship relies heavily on external charging facilities, which will affect the endurance of electric ships.

[0052] In order to solve the above problems, the present application provides a ship anchoring gravity potential energy recovery system, which includes an anchor chain drum, a two-way anchor windlass motor, a speed-increasing transmission mechanism, a power generation mechanism, a composite energy storage component and an intelligent controller, wherein the anchor chain drum is connected to the two-way anchor windlass motor and the speed-increasing transmission mechanism respectively, the speed-increasing transmission mechanism, the power generation mechanism and the energy storage component are connected in sequence, and the intelligent controller is connected to the speed-increasing transmission mechanism and the power generation mechanism; when the two-way anchor windlass motor enters the power generation mode, the gravity potential energy generated by the anchoring drives the anchor chain drum to rotate to convert the gravity potential energy generated by the anchoring into mechanical energy, and the mechanical energy drives the speed-increasing transmission mechanism to rotate to transmit the mechanical energy to the power generation mechanism, the power generation mechanism generates electricity based on the mechanical energy and transmits the generated electrical energy to the composite energy storage component for storage, and during the power generation process of the two-way anchor windlass motor, the power generation mechanism is controlled in real time by the intelligent controller to realize the recovery of the gravity potential energy generated when anchoring, thereby avoiding the waste of the gravity potential energy generated when anchoring. At the same time, the electrical energy converted from the gravity potential energy can also be used to provide electrical energy for the ship, reducing the ship's dependence on external charging facilities and improving the endurance of the electric ship.

[0053] The application content will be further explained below through description of embodiments in conjunction with the accompanying drawings.

[0054] The embodiment of the present application provides a ship anchoring gravity potential energy recovery system, such as Figure 1 As shown, the system includes an anchor chain drum 2, a two-way windlass motor 1, a speed-increasing transmission mechanism 3, a generator 5, a composite energy storage assembly 6, and an intelligent controller 7. The anchor chain drum 2 is connected to the two-way windlass motor 1 via a drive shaft. The two-way windlass motor 1 provides power to the anchor chain drum 2. The anchor chain drum 2 moves with the anchor chain wound around it, carrying the anchor connected to the anchor chain to perform anchoring and anchoring operations. During anchoring, the anchor chain drum 2 converts the gravitational potential energy generated by anchoring into mechanical energy and transmits this mechanical energy to the speed-increasing transmission mechanism 3. The input end of the speed-increasing transmission mechanism is connected to the drive shaft of the anchor chain drum 2 via an electromagnetic clutch 4, and its output end is coupled to the rotor of the generator 5. The speed-increasing transmission mechanism 3 increases the speed of the anchor chain drum, providing high-speed rotation for the generator 5. Driven by the high-speed rotation, the generator 5 generates electrical energy, which is transmitted to the composite energy storage assembly for storage. The composite energy storage assembly supplies the stored electrical energy to the electric ship's power distribution system, effectively recovering the gravitational potential energy generated during anchoring. In addition, by using the recovered electrical energy to power the electric ship's distribution system, the electric ship's dependence on external charging facilities is reduced, thereby improving the electric ship's endurance.

[0055] The bidirectional anchor winch motor 1 is configured with a power generation mode and a motor mode. In the anchor collecting phase, the bidirectional anchor winch motor 1 is switched to the motor mode to provide power for the ship to assist the anchor collecting operation; and in the anchor throwing phase, the bidirectional anchor winch motor 1 is switched to the power generation mode, and through the cooperation with the power generation mechanism, multi-stage energy storage is realized, the efficiency of generating power based on the gravitational potential energy generated during the anchor throwing is enhanced, and then the total amount of energy recovery is improved. The bidirectional anchor winch motor 1 can adopt a permanent magnet synchronous motor and the rated power of the bidirectional anchor winch motor needs to meet preset requirements. The preset requirements can be wherein, represents the rated power of the bidirectional anchor winch motor, represents the anchor body mass, represents the gravitational acceleration, represents the maximum design falling speed of the anchor chain, represents the total efficiency of the system.

[0056] The speed increasing transmission mechanism 3 includes a speed increasing assembly 31 and a magnetic powder clutch 32. The speed increasing assembly 31 is used to increase the rotating speed of the bidirectional anchor winch motor transmission shaft, and the magnetic powder clutch 32 is used to realize continuous adjustment of the transmission torque of the power generation mechanism. The speed increasing assembly can adopt a planetary gear box, and the speed increasing ratio of the planetary gear box can be flexibly set according to actual requirements. For example, the speed increasing ratio of the planetary gear box can be set to be between 1:20 and 1:50, for example, 1:35, which can increase the low speed (5-20 RPM) of the anchor chain roller to the high efficient rotating speed interval (1500-3000 RPM) of the power generation mechanism. The magnetic powder clutch can realize continuous adjustment (0-450 N·m) of the transmission torque by adjusting the excitation current, so as to adapt to the working conditions of different water depths. In addition, in order to enhance the safety of the speed increasing transmission mechanism, the speed increasing transmission mechanism can also be equipped with an overload protection coupling, which can automatically mechanically disconnect when the torque exceeds a preset threshold. In addition, an electromagnetic clutch can be installed between the speed increasing transmission mechanism and the anchor chain roller, and the electromagnetic clutch is used to control the connection state (engaged or disconnected) between the speed increasing transmission mechanism and the anchor chain roller, so as to control the operation of the power generation mechanism.

[0057] The power generation mechanism 5 is used to convert the mechanical energy transmitted by the speed increasing transmission mechanism 3 into electrical energy, that is, the power generation mechanism 5 rotates under the drive of the speed increasing transmission mechanism 3 to convert the mechanical energy transmitted by the speed increasing transmission mechanism 3 into electrical energy, and stores the electrical energy in the composite energy storage assembly 6 to provide the ship with the function of electrical energy recovery. The power generation mechanism 5 can adopt a synchronous power generation mechanism, which has high energy conversion efficiency and stability, and can ensure that the mechanical energy is effectively converted into electrical energy during the release of the anchor chain roller.

[0058] The composite energy storage assembly 6 includes a super capacitor group and a lithium battery group, both of which are electrically connected to the power generation mechanism through a bidirectional DC / DC converter. The current generated by the power generation mechanism is transmitted to the super capacitor group and / or the lithium battery group through the bidirectional DC / DC converter, and the recovered energy is stored through the super capacitor group and / or the lithium battery group. Among them, the super capacitor group is used for transient energy storage, and the lithium battery group is used for stable energy storage. For example, when the state of charge of the super capacitor group does not reach the preset threshold, the composite energy storage assembly stores energy through the super capacitor group (such as a transient charge-discharge rate ≥ 5C); when the state of charge of the super capacitor group reaches the preset threshold, the composite energy storage assembly stores energy through the lithium battery group (such as a transient charge-discharge rate = 1C).

[0059] In addition, in order to improve the safety of the ship anchor gravity potential energy recovery system, the ship anchor gravity potential energy recovery system can further include a safety protection assembly for protecting the operation safety of the ship anchor gravity potential energy recovery system, wherein the safety protection assembly can include one or more of a mechanical brake, a double-redundancy hydraulic brake, and an emergency bypass switch; the mechanical brake is used for mechanical braking when it is detected that the generated power exceeds the rated value for a preset duration (exceeds the rated value by 30% for 2 seconds); the double-redundancy hydraulic brake is coaxially installed with the anchor chain roller, and the response time is less than a preset duration (such as 0.5 seconds, etc.); and the emergency bypass switch is used for forcibly disconnecting the speed increasing transmission mechanism from the power generation mechanism.

[0060] In order to further illustrate the ship anchor gravity potential energy recovery system provided by the embodiments of the present application, the ship anchor gravity potential energy recovery system is described from the modular architecture level as follows.

[0061] As shown in Figure 2 From the modular architecture level, the ship anchor gravity potential energy recovery system includes an anchor chain operation layer, a mechanical transmission and energy conversion layer, an energy storage management layer, an intelligent control layer, and a safety protection layer.

[0062] The anchor chain operation layer includes an anchor chain roller and a bidirectional anchor motor. The anchor chain operation layer is used to perform anchor throwing and anchor collecting operations. The anchor chain roller is connected to the anchor body through the anchor chain, and converts the gravity potential energy of the falling anchor body into mechanical energy.

[0063] The mechanical transmission and energy conversion layer includes a speed increasing transmission mechanism and a power generation mechanism. The speed increasing assembly in the speed increasing transmission mechanism is connected to the input end of the magnetic powder clutch. The output end of the magnetic powder clutch is coupled to the power generation mechanism through a spline shaft. The speed increasing assembly increases the low speed rotation of the anchor chain roller to the high efficient rotation speed interval of the power generation mechanism. The magnetic powder clutch adjusts the transmission torque through the excitation current. The power generation mechanism generates electricity under the action of the transmission torque adjusted by the magnetic powder clutch.

[0064] The energy storage management layer comprises a composite energy storage assembly, the composite energy storage assembly is electrically connected with the power generation mechanism, the electric energy generated by the power generation mechanism is rectified into direct current by a three-phase rectifier, and the direct current is transmitted to a bidirectional DC / DC converter through a DC bus, transmitted to the composite energy storage assembly through the DC / DC converter, and the electric energy is stored through the composite energy storage assembly.

[0065] The intelligent control layer comprises an intelligent controller, the intelligent controller dynamically adjusts the speed increasing transmission mechanism and the power generation mechanism, so that the actual torque of the power generation mechanism corresponds to the target torque corresponding to the gravitational potential energy formed when the anchor is thrown, and also manages the composite energy storage assembly to adjust the discharge state of the composite energy storage assembly according to the energy storage state data of the composite energy storage assembly. Specifically, when the state of charge of the super capacitor unit does not reach a preset threshold, the composite energy storage assembly stores energy instantaneously through the super capacitor unit; when the state of charge of the super capacitor unit reaches the preset threshold, the composite energy storage assembly stores energy stably through the lithium battery unit.

[0066] The safety protection layer comprises a safety protection assembly, and a multi-stage braking mechanism is realized through the safety protection assembly to protect the safe operation of the ship anchor throwing gravitational potential energy recovery system.

[0067] The anchor chain operation layer, the mechanical transmission and conversion layer, the energy storage management layer, the intelligent control layer and the safety protection layer are mutually assisted in the embodiment of the application, the anchor chain drum is taken as a core power input end, the gravitational potential energy is converted into electric energy through mechanical and electrical coupling cooperation, and high-efficiency recovery is realized through multi-stage energy storage and adaptive control. In this way, not only the waste of gravitational potential energy is avoided, but also power support is provided for the electric power distribution system of the electric ship.

[0068] Based on the ship anchor throwing gravitational potential energy recovery system, the embodiment of the application provides a ship anchor throwing gravitational potential energy recovery method, as shown in Figure 3 The ship anchor throwing gravitational potential energy recovery method specifically comprises the following steps.

[0069] S10, when the ship is in an anchor throwing state, acquiring energy storage state data of a composite energy storage assembly;

[0070] S20, switching a charging state of the composite energy storage assembly to a first charging state or a second charging state according to the energy storage state data.

[0071] Specifically, the energy storage state data is used to reflect the energy storage state of the composite energy storage assembly. Based on this energy storage state data, the charging state of the composite energy storage assembly can be determined. The charging state is used to reflect the charging efficiency of the composite energy storage assembly. The charging state includes a first charging state and a second charging state. The first charging state indicates that the composite energy storage assembly uses transient energy storage, while the second charging state indicates that the composite energy storage assembly uses steady-state energy storage. The energy storage state data is a measure of whether the composite energy storage assembly uses transient or steady-state energy storage. Based on this energy storage state data, it can be determined whether the composite energy storage assembly uses transient or steady-state energy storage.

[0072] Furthermore, the composite energy storage assembly includes a supercapacitor group and a lithium battery group. The supercapacitor group can perform transient energy storage, and the lithium battery group can perform steady-state energy storage. To this end, when the charging state is switched to the first charging state, the supercapacitor group in the composite energy storage assembly can be controlled to be connected to the DC bus, and the electric energy generated by the power generation mechanism can be used to charge the supercapacitor group. When the charging state is switched to the second charging state, the lithium battery group in the composite energy storage assembly can be controlled to be connected to the DC bus, and the electric energy generated by the generator can be used to charge the lithium battery group.

[0073] For example, Figure 4 As shown, the energy storage state data is the charge state of the supercapacitor group. The switching threshold between the first charge state and the second charge state is set to 85%. Then, after the charge state of the supercapacitor group is obtained, the charge state of the supercapacitor group is compared with 85%. If the charge state of the supercapacitor group is less than 85%, the charge state of the composite energy storage component is switched to the first charge state, and transient energy storage is performed through the supercapacitor group; if the charge state of the supercapacitor group is greater than or equal to 85%, the charge state of the composite energy storage component is switched to the second charge state, and steady-state energy storage is performed through the lithium battery pack.

[0074] Of course, it should be noted that when the ship is detected at anchor, the charging state of the composite energy storage assembly is first configured to the first charging state, that is, transient energy storage is activated to connect the supercapacitor bank to the DC bus for energy storage. The charging operating state of the composite energy storage assembly is then determined based on the energy storage state data. This not only allows for rapid storage of the electrical energy generated by the power generation mechanism, but also reduces the number of switching between charging operating states.

[0075] In one implementation, since a ship can drop anchor, reel in anchor, and keep the anchor chain wound around the anchor chain drum, the ship state can be detected, that is, first detecting whether the ship is in the anchoring state, reeling in anchor, or keeping the anchor chain wound around the anchor chain drum, and then obtaining the energy storage state data of the composite energy storage assembly when the ship is in the anchoring state. Based on this, when the ship is in the anchoring state, before obtaining the energy storage state data of the composite energy storage assembly, the method further includes:

[0076] monitoring the anchor chain tension in real time;

[0077] When the anchor chain tension is greater than the preset threshold, it is determined that the ship is in an anchoring state.

[0078] Specifically, the anchor chain tension can be detected by an anchor chain tension sensor installed on the anchor chain, that is, the anchor chain tension can be monitored in real time by the anchor chain tension sensor, and the preset threshold is the basis for determining the anchoring state. When the anchor chain tension is greater than the preset threshold, it indicates that the ship is in an anchoring state; otherwise, when the anchor chain tension is less than or equal to the preset threshold, it indicates that the ship is not in an anchoring state.

[0079] Further, when the ship is in an anchoring state, it indicates that energy recovery is needed, and then the energy recovery mode is started. That is, when the ship is in an anchoring state, the connection state between the anchor chain drum and the speed increasing transmission mechanism is adjusted (such as through the electromagnetic clutch of the anchor chain drum and the speed increasing transmission mechanism) when the energy storage state data of the composite energy storage assembly is obtained, so that the anchor chain drum and the speed increasing transmission mechanism are engaged (such as closing the electromagnetic clutch of the anchor chain drum and the speed increasing transmission mechanism), and the rotational speed of the anchor chain drum is increased by the speed increasing transmission mechanism and then transmitted to the power generation mechanism to drive the power generation mechanism to rotate, so that the power generation mechanism generates electricity based on the recovered gravitational potential energy.

[0080] In one implementation, during the anchoring process, the power generation mechanism can be adjusted in real time to match the actual torque of the power generation mechanism with the target torque corresponding to the gravitational potential energy, so as to improve the power generation efficiency of the power generation mechanism. Based on this, during the energy recovery process, the method can further include:

[0081] collecting the water entry depth of the anchor body and the energy recovery efficiency in real time;

[0082] calculating the target torque of the power generation mechanism according to the water entry depth and the energy recovery efficiency;

[0083] adjusting the output torque of the speed increasing transmission mechanism according to the target torque, so that the actual torque of the power generation mechanism tracks the target torque.

[0084] Specifically, the water entry depth is the depth of the anchor body relative to the horizontal plane, which can be detected by a water depth sensor. That is, the water depth sensor can be arranged on the anchor body to collect the water entry depth of the anchor body in real time. Of course, in actual application, the water entry depth can also be collected in real time by other means, for example, the water entry depth of the anchor body can be calculated according to the driving force applied to the anchor body during anchoring, the buoyancy of water, and the anchoring time, etc.

[0085] The energy recovery efficiency is used to reflect the conversion efficiency of the gravitational potential energy into mechanical energy, wherein the energy recovery efficiency can be represented as:

[0086] ;

[0087] wherein, represents a system constant, represents a time constant, represents an anchoring time length, represents an energy recovery efficiency.

[0088] Further, after obtaining the water entry depth and the energy recovery efficiency, the target torque of the power generation mechanism can be calculated according to the water entry depth and the energy recovery efficiency, wherein the calculation formula of the target torque can be:

[0089] ;

[0090] wherein, represents a target torque, represents an anchor mass, represents a gravitational acceleration, represents a chain roller radius, represents a transmission ratio, represents an energy recovery efficiency.

[0091] Further, after obtaining the target torque, the output torque of the speed increasing transmission mechanism can be adjusted based on the target torque to adjust the power generation mechanism torque, so that the power generation mechanism torque follows the target torque. Wherein the output torque of the speed increasing transmission mechanism can be controlled based on the intelligent controller, specifically, the target torque adjusts the output torque of the speed increasing transmission mechanism specifically includes:

[0092] obtaining the current actual torque of the power generation mechanism;

[0093] based on the current actual torque and the target torque, the excitation current corresponding to the speed increasing transmission mechanism is output by the intelligent controller, and the excitation current is applied to the magnetic powder clutch in the speed increasing transmission mechanism to control the output torque of the speed increasing transmission mechanism.

[0094] Specifically, the current actual torque is the actual torque of the power generation mechanism at the current time, and the target torque is the torque expected to be adopted by the power generation mechanism. That is, the current actual torque can be adjusted with the target torque as the target, so that the current actual torque follows the target torque. When the current actual torque of the power generation mechanism is controlled to follow the target torque, the current actual torque and the target torque can be input into the intelligent controller, the excitation current corresponding to the speed increasing transmission mechanism is output by the intelligent controller, and the magnetic powder clutch is controlled based on the excitation current to adjust the output torque of the speed increasing transmission mechanism, and then the power generation mechanism torque is adjusted.

[0095] The intelligent controller can adopt a fuzzy IP controller to determine the field current. Specifically, as shown in Figure 5 , the current actual torque and the target torque are taken as input variables, and the field current is taken as an output variable. The current actual torque and the target torque are input into the intelligent controller, and the intelligent controller determines the field current based on a pre-set fuzzy rule set and membership functions. In the determination of the field current, defuzzification can be performed by using the gravity method or the like. Specifically, the input quantity of the PID controller includes the current actual torque , the target torque , and the output quantity is the field current . The PID controller can be expressed as:

[0096] ;

[0097] ;

[0098] wherein, represents a proportional gain, represents an integral gain, represents an integral parameter, and represents a torque deviation. The proportional gain is used to directly adjust the output according to the size of the error, as ; the integral gain is used to eliminate steady-state error by accumulating the error to adjust the output, ; the integral parameter is used to adjust the output according to the rate of change of the error to improve the response speed and stability of the system, .

[0099] Further, after the field current is obtained, the magnetic powder clutch torque (i.e., the output torque of the speed increasing transmission mechanism) can be determined according to the field current , and the corresponding relationship between the magnetic powder clutch torque and the field current is:

[0100] ;

[0101] wherein, represents the magnetic powder clutch torque, represents an electromagnetic gain coefficient, represents an electromagnetic response time constant, represents a mechanical delay time. , and can be set according to actual requirements, such as taking a value in 0.8-1.2 N·m / A, taking 50 ms, taking 20 ms, and the like.

[0102] The ship anchor throwing gravity potential energy recovery system recovers the gravity potential energy generated in the anchor throwing process. In the recovery process, not only is the charging mode of the composite energy storage assembly determined according to the energy storage state data, but also the transient energy storage of the electric energy converted from the gravity potential energy by the super capacitor group in the initial anchor throwing stage, so that the composite energy storage assembly can meet the demand of the power generation mechanism for the storage speed. When the state of charge of the super capacitor group reaches a preset threshold, the anchor throwing process enters the later stage, at which time the speed of the electric energy converted from the gravity potential energy will also slow down, and then the lithium battery group can be used for steady-state energy storage, while the super capacitor group is in a backup state during the steady-state energy storage of the lithium battery group. Thus, the cooperative energy storage measurement of the lithium battery group and the super capacitor group can not only meet the energy storage demand, but also avoid the problem of damage to the super capacitor group due to excessive charging. At the same time, in the anchor throwing process, the energy recovery efficiency is adjusted in real time through the double-parameter feedback mechanism of the anchor chain tension and the water depth, and then the output torque of the speed increasing transmission mechanism is adjusted by the intelligent controller based on the energy recovery efficiency to adjust the actual torque of the power generation mechanism, so that the actual torque of the power generation mechanism can be based on the target torque determined based on the gravity potential energy, and the secondary operation energy recovery rate can reach 75% to 82%, not only realizing the recovery of the gravity potential energy, but also efficiently recovering the gravity potential energy.

[0103] In one implementation, the electric energy stored in the composite energy storage assembly can be used as a backup power supply for the electric ship power distribution system, or can be used to power the bidirectional anchor machine motor. Based on this, the ship anchor throwing gravity potential energy recovery method further comprises:

[0104] When the ship is in the anchor collecting state, the power load of the bidirectional anchor machine motor is acquired.

[0105] The discharge state of the composite energy storage assembly is switched to the first discharge state or the second discharge state according to the power load.

[0106] Specifically, the power load is used as a basis for determining the discharge state, which reflects the power demand of the bidirectional anchor machine motor. The discharge state is used to reflect the power supply mode of the composite energy storage assembly, wherein the discharge state includes the first discharge state and the second discharge state, the first discharge state indicates that the composite energy storage assembly adopts the lithium battery group power supply mode, i.e., the lithium battery group is used as an energy storage unit for discharging, and the second discharge state indicates that the composite energy storage assembly adopts the hybrid power supply mode, i.e., the lithium battery group and the super capacitor group are used as energy storage units for discharging. That is, when the discharge state is switched to the first discharge state, the lithium battery group in the composite energy storage assembly is controlled to supply power to the bidirectional anchor machine motor, and when the discharge state is switched to the second discharge state, the lithium battery group and the super capacitor group in the composite energy storage assembly are controlled to supply hybrid power to the bidirectional anchor machine motor.

[0107] In one implementation, as shown in Figure 4 In one implementation, as shown in

[0108] In one implementation, as shown in

[0109] In one implementation, as shown in Figure 4

[0110] In one implementation, as shown in

[0111] In one implementation, as shown in

[0112] ​Specifically, the working parameters can include key working parameters such as voltage, current, state of charge (battery remaining capacity), and the like, and whether the working parameters exceed the preset safe range is monitored in real time. For example, if the voltage is too high, the current is too large, or the state of charge is unbalanced, etc., it is determined that the working parameters are in an abnormal state, and the ship anchor gravity potential energy recovery system will immediately trigger an abnormal protection mechanism to protect the ship anchor gravity potential energy recovery system through the abnormal protection mechanism.

[0113] The abnormal protection operation performed by triggering the abnormal protection mechanism can include one or more of overvoltage protection, overcurrent protection, and state of charge imbalance current protection. The overvoltage protection can prevent damage to system components due to excessive voltage. The overcurrent protection ensures that the current flows within a safe range to avoid short circuit or overload. The state of charge imbalance current protection regulates the power difference between individual cells in the lithium battery pack to prevent performance degradation or safety accidents caused by uneven power distribution. Through these abnormal protection operations, the ship anchor gravity potential energy recovery system can quickly respond when an abnormality occurs, ensuring the safety and stability of the overall operation.

[0114] In summary, the embodiment provides a ship anchor gravity potential energy recovery method. The method is used in a ship anchor gravity potential energy recovery system, which includes an anchor chain roller, a bidirectional anchor winch motor, a speed increasing transmission mechanism, a power generation mechanism, a composite energy storage assembly, and an intelligent controller. The speed increasing transmission mechanism is used to convert the low-speed movement of the anchor chain roller into high-efficiency rotation of the generator. The supercapacitor group and the lithium battery group are used in a cooperative energy storage strategy, and the intelligent controller is used to adaptively control the torque of the power generation mechanism. The method proposes an anchor chain tension-water depth double-parameter feedback mechanism to realize real-time optimization of energy recovery efficiency. At the same time, the energy storage strategy is determined according to the energy storage state data of the composite energy storage assembly, and the energy supply strategy is determined according to the load power, realizing efficient recovery and reasonable utilization of gravity potential energy. At the same time, the safety protection assembly of the ship anchor gravity potential energy recovery system is used to protect the operation process of the ship anchor gravity potential energy recovery system, improving the operation safety of the ship anchor gravity potential energy recovery system. Therefore, the embodiment of the application overcomes the technical bottleneck of ship anchor potential energy recovery, and provides an efficient and reliable green energy acquisition and utilization method for all-electric ships.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some technical features. These modifications or substitutions do not change the essence of the corresponding technical solutions, and are within the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A ship anchoring gravity potential energy recovery system, characterized in that: The ship anchoring gravity potential energy recovery system specifically includes: Two-way windlass motor, used as the power source for anchoring and anchoring; Anchor chain drum, connected to the two-way windlass motor, is used to drive the anchor chain wound on the anchor chain drum to move for anchoring and anchoring operations, and convert the gravitational potential energy generated during the anchoring process into mechanical energy; a speed-increasing transmission mechanism connected to the anchor chain drum and used to increase the speed of the anchor chain drum to transmit the mechanical energy; a power generation mechanism connected to the speed-increasing transmission mechanism, and configured to generate electricity under the drive of the speed-increasing transmission mechanism to convert mechanical energy into electrical energy; A composite energy storage component, connected to the power generation mechanism, for storing the electrical energy generated by the power generation mechanism; an intelligent controller connected to the speed-increasing transmission mechanism and the power generation mechanism, and configured to dynamically adjust the speed-increasing transmission mechanism and the power generation mechanism; The working process of the intelligent controller is as follows: Real-time monitoring of anchor chain tension; When the anchor chain tension is greater than a preset threshold, it is determined that the ship is in an anchored state, and the power generation mechanism is driven to rotate by the speed-increasing transmission mechanism to obtain the energy storage state data of the composite energy storage component; according to the energy storage state data, the charging state of the composite energy storage component is switched to a first charging state or a second charging state; wherein, the first charging state is to control the supercapacitor group in the composite energy storage component to be connected to the DC bus, and the electric energy generated by the power generation mechanism is used to charge the supercapacitor group; the second charging state is to control the lithium battery group in the composite energy storage component to be connected to the DC bus, and the electric energy generated by the power generation mechanism is used to charge the lithium battery group, and the supercapacitor group is in a backup state; When the ship is in the anchor-raising state, the power load of the bidirectional anchor windlass motor is obtained; according to the power load, the discharge state of the composite energy storage component is switched to a first discharge state or a second discharge state. The first discharge state indicates that the composite energy storage component adopts a lithium battery pack power supply mode, that is, the lithium battery pack is used as an energy storage unit for discharge. The second charge state indicates that the composite energy storage component adopts a hybrid power supply mode.

2. The ship anchoring gravity potential energy recovery system according to claim 1, characterized in that: The speed increasing transmission mechanism comprises: an increasing speed component, the input end of which is connected to the anchor chain drum and is used to increase the rotation speed of the anchor chain drum; The magnetic powder clutch is connected to the output end of the speed increasing assembly and is used for stepless adjustment of the power generation mechanism.

3. The ship anchoring gravity potential energy recovery system according to claim 1, characterized in that: The ship anchoring gravity potential energy recovery system also includes a safety protection component for protecting the operation safety of the ship anchoring gravity potential energy recovery system, wherein the safety protection component includes one or more of a mechanical brake, a dual redundant hydraulic brake and an emergency bypass switch.

4. The ship anchoring gravity potential energy recovery system according to claim 1, characterized in that: The composite energy storage component includes a supercapacitor group and a lithium battery group. When the charge state of the supercapacitor group does not reach a preset threshold, the composite energy storage component performs transient energy storage through the supercapacitor group; when the charge state of the supercapacitor group reaches a preset threshold, the composite energy storage component performs steady-state energy storage through the lithium battery group.

5. A method for recovering gravitational potential energy of a ship anchoring, characterized in that: The ship anchoring gravity potential energy recovery system according to any one of claims 1 to 4 is applied, and the ship anchoring gravity potential energy recovery method specifically comprises: When the ship is at anchor, the energy storage status data of the composite energy storage component is obtained; Switching the charging state of the composite energy storage component to a first charging state or a second charging state according to the energy storage state data; The first charging state is to control the supercapacitor group in the composite energy storage assembly to be connected to the DC bus, and to charge the supercapacitor group through the electric energy generated by the power generation mechanism; The second charging state is to control the lithium battery pack in the composite energy storage assembly to be connected to the DC bus, and to charge the lithium battery pack through the electric energy generated by the power generation mechanism.

6. The method for recovering the gravitational potential energy of a ship anchoring according to claim 5, characterized in that: When the ship is at anchor, before obtaining the energy storage status data of the composite energy storage assembly, the method further includes: Real-time monitoring of anchor chain tension; When the anchor chain tension is greater than a preset threshold, it is determined that the ship is in an anchored state, and the power generation mechanism is driven to rotate through the speed-increasing transmission mechanism.

7. The method for recovering the gravitational potential energy of a ship anchoring according to claim 5, characterized in that: When the vessel is at anchor, the method further comprises: Real-time collection of anchor body's water entry depth and energy recovery efficiency; Calculating a target torque of a power generation mechanism according to the water entry depth and the energy recovery efficiency; The output torque of the speed-increasing transmission mechanism is adjusted according to the target torque so that the actual torque of the power generation mechanism tracks the target torque.

8. The method for recovering the gravitational potential energy of a ship anchoring according to claim 7, characterized in that: The step of adjusting the output torque of the speed-increasing transmission mechanism according to the target torque specifically includes: Obtain the current actual torque of the power generation mechanism; Based on the current actual torque and the target torque, an intelligent controller outputs an excitation current corresponding to the speed-increasing transmission mechanism, and applies the excitation current to the magnetic powder clutch in the speed-increasing transmission mechanism to control the output torque of the speed-increasing transmission mechanism.

9. The method for recovering gravitational potential energy of a ship anchoring according to claim 5, characterized in that: The method further comprises: When the ship is in the anchor-raising state, obtain the power load of the two-way anchor windlass motor; Switching the charge state of the composite energy storage component to a first discharge state or a second discharge state according to the power load; The first discharge state is to control the battery pack in the composite energy storage assembly to supply power to the bidirectional windlass motor; The second discharge state is to control the battery pack and supercapacitor in the composite energy storage assembly to provide mixed power supply for the bidirectional anchor winch motor.

10. The method for recovering the gravitational potential energy of a ship anchoring according to claim 5, characterized in that: The method further comprises: Real-time monitoring of the operating parameters of the ship anchoring gravity potential energy recovery system; When the working parameter is in an abnormal state, the ship anchoring gravity potential energy recovery system is protected from abnormality, wherein the abnormality protection includes one or more of overvoltage protection, overcurrent protection and charge state imbalance current protection.

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